812 files changed, 33205 insertions, 124936 deletions

diff --git a/.gitignore b/.gitignore
index 71326517f..8b09e4783 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,10 +29,12 @@ mavlink/include/mavlink/v0.9/
 /nuttx-configs/px4io-v1/src/.depend
 /nuttx-configs/px4io-v1/src/Make.dep
 /nuttx-configs/px4io-v1/src/libboard.a
-/NuttX
 /Documentation/doxy.log
 /Documentation/html/
 /Documentation/doxygen*objdb*tmp
 .tags
+tags
 .tags_sorted_by_file
 .pydevproject
+.ropeproject
+*.orig
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 000000000..4b84afac2
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,9 @@
+[submodule "mavlink/include/mavlink/v1.0"]
+	path = mavlink/include/mavlink/v1.0
+	url = git://github.com/mavlink/c_library.git
+[submodule "NuttX"]
+	path = NuttX
+	url = git://github.com/PX4/NuttX.git
+[submodule "uavcan"]
+	path = uavcan
+	url = git://github.com/pavel-kirienko/uavcan.git
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
new file mode 100644
index 000000000..3bf02fbff
--- /dev/null
+++ b/CONTRIBUTING.md
@@ -0,0 +1,44 @@
+# Contributing to PX4 Firmware
+
+We follow the [Github flow](https://guides.github.com/introduction/flow/) development model.
+
+### Fork the project, then clone your repo
+
+First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
+
+### Create a feature branch
+
+*Always* branch off master for new features.
+
+```
+git checkout -b mydescriptivebranchname
+```
+
+### Edit and build the code
+
+The [developer guide](http://pixhawk.org/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://pixhawk.org/dev/code_style) when editing files.
+
+### Commit your changes
+
+Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/px4/Firmware/issues) (Github will link these then conveniently)
+
+**Example:**
+
+```
+Change how the attitude controller works
+
+- Fixes rate feed forward
+- Allows a local body rate override
+
+Fixes issue #123
+```
+
+### Test your changes
+
+Since we care about safety, we will regularly ask you for test results. Best is to do a test flight (or bench test where it applies) and upload the logfile from it (on the microSD card in the logs directory) to Google Drive or Dropbox and share the link.
+
+### Push your changes
+
+Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
+
+Make sure to provide some testing feedback and if possible the link to a flight log file.
diff --git a/Debug/NuttX b/Debug/NuttX
index 3b95e96b2..d34e9f5b4 100644
--- a/Debug/NuttX
+++ b/Debug/NuttX
@@ -34,10 +34,10 @@ define _showheap
 	else
 		set $MM_ALLOC_BIT = 0x80000000
 	end
-	printf "HEAP %d  %p - %p\n", $index, g_heapstart[$index], g_heapend[$index]
+	printf "HEAP %d  %p - %p\n", $index, g_mmheap.mm_heapstart[$index], g_mmheap.mm_heapend[$index]
 	printf "ptr      size\n"
-	set $node = (char *)g_heapstart[$index] + sizeof(struct mm_allocnode_s)
-	while $node < g_heapend[$index]
+	set $node = (char *)g_mmheap.mm_heapstart[$index] + sizeof(struct mm_allocnode_s)
+	while $node < g_mmheap.mm_heapend[$index]
 		printf "  %p", $node
 		set $nodestruct = (struct mm_allocnode_s *)$node
 		printf "  %u", $nodestruct->size
@@ -47,7 +47,7 @@ define _showheap
 		else
 			set $used = $used + $nodestruct->size
 		end
-		if ($nodestruct->size > g_heapsize) || (($node + $nodestruct->size) > g_heapend[$index])
+		if ($nodestruct->size > g_mmheap.mm_heapsize) || (($node + $nodestruct->size) > g_mmheap.mm_heapend[$index])
 			printf "  (BAD SIZE)"
 		end
 		printf "\n"
@@ -59,7 +59,7 @@ define _showheap
 end
 
 define showheap
-	set $nheaps = sizeof(g_heapstart) / sizeof(g_heapstart[0])
+	set $nheaps = sizeof(g_mmheap.mm_heapstart) / sizeof(g_mmheap.mm_heapstart[0])
 	printf "Printing %d heaps\n", $nheaps
 	set $heapindex = (int)0
 	while $heapindex < $nheaps
diff --git a/Debug/Nuttx.py b/Debug/Nuttx.py
index 093edd0e0..7cc21b99f 100644
--- a/Debug/Nuttx.py
+++ b/Debug/Nuttx.py
@@ -306,12 +306,15 @@ class NX_show_heap (gdb.Command):
 
 	def __init__(self):
 		super(NX_show_heap, self).__init__('show heap', gdb.COMMAND_USER)
-		if gdb.lookup_type('struct mm_allocnode_s').sizeof == 8:
-			self._allocflag = 0x80000000
-			self._allocnodesize = 8
-		else:
+                struct_mm_allocnode_s = gdb.lookup_type('struct mm_allocnode_s')
+                preceding_size = struct_mm_allocnode_s['preceding'].type.sizeof
+                if preceding_size == 2:
 			self._allocflag = 0x8000
-			self._allocnodesize = 4
+                elif preceding_size == 4:
+			self._allocflag = 0x80000000
+                else:
+                        raise gdb.GdbError('invalid mm_allocnode_s.preceding size %u' % preceding_size)
+                self._allocnodesize = struct_mm_allocnode_s.sizeof
 
 	def _node_allocated(self, allocnode):
 		if allocnode['preceding'] & self._allocflag:
@@ -333,7 +336,8 @@ class NX_show_heap (gdb.Command):
 				state = ''
 			else:
 				state = '(free)'
-			print '  {} {} {}'.format(allocnode.address + 8, self._node_size(allocnode), state)
+			print '  {} {} {}'.format(allocnode.address + self._allocnodesize,
+                                                  self._node_size(allocnode), state)
 			cursor += self._node_size(allocnode) / self._allocnodesize
 
 	def invoke(self, args, from_tty):
diff --git a/Documentation/rc_mode_switch.odg b/Documentation/rc_mode_switch.odg
index 29d738c39..682c63e47 100644
--- a/Documentation/rc_mode_switch.odg
+++ b/Documentation/rc_mode_switch.odg
diff --git a/Documentation/rc_mode_switch.pdf b/Documentation/rc_mode_switch.pdf
index 856dd55c5..e795f4870 100644
--- a/Documentation/rc_mode_switch.pdf
+++ b/Documentation/rc_mode_switch.pdf
diff --git a/Images/aerocore.prototype b/Images/aerocore.prototype
new file mode 100644
index 000000000..8502a0864
--- /dev/null
+++ b/Images/aerocore.prototype
@@ -0,0 +1,12 @@
+{
+    "board_id": 19,
+    "magic": "AeroCore",
+    "description": "Firmware for the Gumstix AeroCore board",
+    "image": "",
+    "build_time": 0,
+    "summary": "AEROCORE",
+    "version": "0.1",
+    "image_size": 0,
+    "git_identity": "",
+    "board_revision": 0
+}
diff --git a/Makefile b/Makefile
index 0a8562251..809f54dd3 100644
--- a/Makefile
+++ b/Makefile
@@ -104,7 +104,7 @@ DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
 STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
 FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
 
-all:			$(DESIRED_FIRMWARES)
+all:			checksubmodules $(DESIRED_FIRMWARES)
 
 #
 # Copy FIRMWARES into the image directory.
@@ -210,9 +210,19 @@ menuconfig:
 endif
 
 $(NUTTX_SRC):
-	@$(ECHO) ""
-	@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
-	@$(ECHO) ""
+	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
+
+$(UAVCAN_DIR):
+	$(Q) (./Tools/check_submodules.sh)
+
+.PHONY: checksubmodules
+checksubmodules:
+	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
+
+.PHONY: updatesubmodules
+updatesubmodules:
+	$(Q) (git submodule init)
+	$(Q) (git submodule update)
 
 #
 # Testing targets
diff --git a/NuttX b/NuttX
new file mode 160000
+Subproject 088146b90eee5b614ea6386a64dae343a49a517
diff --git a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
index fe85f7d35..c4be16943 100644
--- a/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
+++ b/ROMFS/px4fmu_common/init.d/10015_tbs_discovery
@@ -20,7 +20,7 @@ then
 	param set MC_PITCHRATE_D 0.0025
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.28
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/10016_3dr_iris b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
index f11aa704e..3f47390c1 100644
--- a/ROMFS/px4fmu_common/init.d/10016_3dr_iris
+++ b/ROMFS/px4fmu_common/init.d/10016_3dr_iris
@@ -18,9 +18,9 @@ then
 	param set MC_PITCHRATE_P 0.13
 	param set MC_PITCHRATE_I 0.0
 	param set MC_PITCHRATE_D 0.004
-	param set MC_YAW_P 0.5
-	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAW_P 2.5
+	param set MC_YAWRATE_P 0.25
+	param set MC_YAWRATE_I 0.25
 	param set MC_YAWRATE_D 0.0
 
 	param set BAT_V_SCALING 0.00989
@@ -30,3 +30,6 @@ fi
 set MIXER FMU_quad_w
 
 set PWM_OUTPUTS 1234
+
+set PWM_MIN 1200
+set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
new file mode 100644
index 000000000..6179855f6
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d
@@ -0,0 +1,35 @@
+#!nsh
+#
+# Steadidrone QU4D
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/rc.mc_defaults
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO tune roll/pitch separately
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.13
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.004
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.13
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.004
+	param set MC_YAW_P 0.5
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+
+	param set BAT_N_CELLS 4
+fi
+
+set MIXER FMU_quad_w
+
+set PWM_MIN 1210
+set PWM_MAX 2100
+
+set PWM_OUTPUTS 1234
diff --git a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
index c753ded23..941f5664a 100644
--- a/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
+++ b/ROMFS/px4fmu_common/init.d/1005_rc_fw_Malolo1.hil
@@ -26,15 +26,6 @@ then
 	param set FW_RR_P 0.1
 	param set FW_R_LIM 45
 	param set FW_R_RMAX 0
-	param set FW_T_CLMB_MAX 5
-	param set FW_T_HRATE_P 0.02
-	param set FW_T_PTCH_DAMP 0
-	param set FW_T_RLL2THR 15
-	param set FW_T_SINK_MAX 5
-	param set FW_T_SINK_MIN 2
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 3
-	param set FW_T_VERT_ACC 7
 	param set FW_YR_FF 0.0
 	param set FW_YR_I 0
 	param set FW_YR_IMAX 0.2
diff --git a/ROMFS/px4fmu_common/init.d/11001_hexa_cox b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
index 38e65435b..daa04a4de 100644
--- a/ROMFS/px4fmu_common/init.d/11001_hexa_cox
+++ b/ROMFS/px4fmu_common/init.d/11001_hexa_cox
@@ -1,7 +1,5 @@
 #!nsh
 #
-# UNTESTED UNTESTED!
-#
 # Generic 10" Hexa coaxial geometry
 #
 # Lorenz Meier <lm@inf.ethz.ch>
@@ -9,7 +7,7 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER hexa_cox
+set MIXER FMU_hexa_cox
 
 # We only can run one channel group with one rate, so set all 8 channels
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/12001_octo_cox b/ROMFS/px4fmu_common/init.d/12001_octo_cox
index 99f902a6d..8703f5f2f 100644
--- a/ROMFS/px4fmu_common/init.d/12001_octo_cox
+++ b/ROMFS/px4fmu_common/init.d/12001_octo_cox
@@ -7,6 +7,6 @@
 
 sh /etc/init.d/rc.mc_defaults
 
-set MIXER octo_cox
+set MIXER FMU_octo_cox
 
 set PWM_OUTPUTS 12345678
diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
index 465a22c53..3ab2ac3d1 100644
--- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
+++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar
@@ -5,4 +5,4 @@
 
 sh /etc/init.d/rc.fw_defaults
  
-set MIXER FMU_RET
+set MIXER easystar
diff --git a/ROMFS/px4fmu_common/init.d/3031_phantom b/ROMFS/px4fmu_common/init.d/3031_phantom
index 6cbd23643..31dfe7100 100644
--- a/ROMFS/px4fmu_common/init.d/3031_phantom
+++ b/ROMFS/px4fmu_common/init.d/3031_phantom
@@ -10,8 +10,8 @@ sh /etc/init.d/rc.fw_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
 	param set FW_AIRSPD_MIN 13
-	param set FW_AIRSPD_TRIM 18
-	param set FW_AIRSPD_MAX 40
+	param set FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 25
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.75
 	param set FW_L1_PERIOD 15
@@ -23,17 +23,17 @@ then
 	param set FW_P_LIM_MIN -50
 	param set FW_P_RMAX_NEG 0
 	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 0
+	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.5
 	param set FW_RR_I 0.02
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.08
-	param set FW_R_LIM 70
+	param set FW_R_LIM 50
 	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
 fi
 
-set MIXER FMU_Q
+set MIXER phantom
+
+# Provide ESC a constant 1000 us pulse
+set PWM_OUTPUTS 4
+set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5 b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
index bf5a87068..7d0dc5bff 100644
--- a/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
+++ b/ROMFS/px4fmu_common/init.d/3032_skywalker_x5
@@ -23,17 +23,13 @@ then
 	param set FW_P_LIM_MIN -45
 	param set FW_P_RMAX_NEG 0
 	param set FW_P_RMAX_POS 0
-	param set FW_P_ROLLFF 0
+	param set FW_P_ROLLFF 1
 	param set FW_RR_FF 0.3
 	param set FW_RR_I 0
 	param set FW_RR_IMAX 0.2
 	param set FW_RR_P 0.03
 	param set FW_R_LIM 60
 	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
 fi
 
 set MIXER FMU_X5
diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing
index 6e1a531cf..f4dedef15 100644
--- a/ROMFS/px4fmu_common/init.d/3033_wingwing
+++ b/ROMFS/px4fmu_common/init.d/3033_wingwing
@@ -11,25 +11,38 @@ if [ $DO_AUTOCONFIG == yes ]
 then
 	param set BAT_N_CELLS 2
 	param set FW_AIRSPD_MAX 15
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 11
+	param set FW_AIRSPD_MIN 10
+	param set FW_AIRSPD_TRIM 13
 	param set FW_ATT_TC 0.3
 	param set FW_L1_DAMPING 0.74
-	param set FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 16
 	param set FW_LND_ANG 15
 	param set FW_LND_FLALT 5
 	param set FW_LND_HHDIST 15
 	param set FW_LND_HVIRT 13
 	param set FW_LND_TLALT 5
 	param set FW_THR_LND_MAX 0
-	param set FW_P_ROLLFF 2
-	param set FW_PR_FF 0.6
-	param set FW_PR_IMAX 0.2
-	param set FW_PR_P 0.06
+	param set FW_PR_FF 0.35
+	param set FW_PR_I 0.005
+	param set FW_PR_IMAX 0.4
+	param set FW_PR_P 0.08
 	param set FW_RR_FF 0.6
+	param set FW_RR_I 0.005
 	param set FW_RR_IMAX 0.2
-	param set FW_RR_P 0.09
-	param set FW_THR_CRUISE 0.65
+	param set FW_RR_P 0.04
+	param set MT_TKF_PIT_MAX 30.0
+	param set MT_ACC_D 0.2
+	param set MT_ACC_P 0.6
+	param set MT_A_LP 0.5
+	param set MT_PIT_OFF 0.1
+	param set MT_PIT_I 0.1
+	param set MT_THR_OFF 0.65
+	param set MT_THR_I 0.35
+	param set MT_THR_P  0.2
+	param set MT_THR_FF 1.5
 fi
 
-set MIXER FMU_Q
+set MIXER wingwing
+# Provide ESC a constant 1000 us pulse
+set PWM_OUTPUTS 4
+set PWM_DISARMED 1000
diff --git a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
index 7dbda54d3..9a2150403 100644
--- a/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
+++ b/ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
@@ -33,10 +33,6 @@ then
 	param set FW_RR_P 0.03
 	param set FW_R_LIM 60
 	param set FW_R_RMAX 0
-	param set FW_T_HRATE_P 0.01
-	param set FW_T_RLL2THR 15
-	param set FW_T_SRATE_P 0.01
-	param set FW_T_TIME_CONST 5
 fi
 
 set MIXER FMU_Q
diff --git a/ROMFS/px4fmu_common/init.d/4008_ardrone b/ROMFS/px4fmu_common/init.d/4008_ardrone
index 14786f210..e6007db0e 100644
--- a/ROMFS/px4fmu_common/init.d/4008_ardrone
+++ b/ROMFS/px4fmu_common/init.d/4008_ardrone
@@ -14,19 +14,20 @@ sh /etc/init.d/rc.mc_defaults
 if [ $DO_AUTOCONFIG == yes ]
 then
     # Set all params here, then disable autoconfig
-    param set MC_ROLL_P 5.0
-    param set MC_ROLLRATE_P 0.13
-    param set MC_ROLLRATE_I 0.0
-    param set MC_ROLLRATE_D 0.0
-    param set MC_PITCH_P 5.0
-    param set MC_PITCHRATE_P 0.13
-    param set MC_PITCHRATE_I 0.0
-    param set MC_PITCHRATE_D 0.0
-    param set MC_YAW_P 1.0
-    param set MC_YAWRATE_P 0.15
-    param set MC_YAWRATE_I 0.0
+    param set MC_ROLL_P 6.0
+    param set MC_ROLLRATE_P 0.14
+    param set MC_ROLLRATE_I 0.1
+    param set MC_ROLLRATE_D 0.002
+    param set MC_PITCH_P 6.0
+    param set MC_PITCHRATE_P 0.14
+    param set MC_PITCHRATE_I 0.1
+    param set MC_PITCHRATE_D 0.002
+    param set MC_YAW_P 2.0
+    param set MC_YAWRATE_P 0.2
+    param set MC_YAWRATE_I 0.2
     param set MC_YAWRATE_D 0.0
-    param set MC_YAW_FF 0.15
+    param set MC_YAW_FF 0.8
+    
     param set BAT_V_SCALING 0.00838095238
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/4010_dji_f330 b/ROMFS/px4fmu_common/init.d/4010_dji_f330
index cd4480c3e..282ab620d 100644
--- a/ROMFS/px4fmu_common/init.d/4010_dji_f330
+++ b/ROMFS/px4fmu_common/init.d/4010_dji_f330
@@ -19,9 +19,9 @@ then
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi
 
-set PWM_MIN 1175
-set PWM_MAX 1900
+set PWM_MIN 1200
+set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/4011_dji_f450 b/ROMFS/px4fmu_common/init.d/4011_dji_f450
index ac2ecc70a..517b4aa86 100644
--- a/ROMFS/px4fmu_common/init.d/4011_dji_f450
+++ b/ROMFS/px4fmu_common/init.d/4011_dji_f450
@@ -20,9 +20,9 @@ then
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 fi
 
-set PWM_MIN 1175
-set PWM_MAX 1900
+set PWM_MIN 1230
+set PWM_MAX 1950
diff --git a/ROMFS/px4fmu_common/init.d/4012_quad_x_can b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
new file mode 100644
index 000000000..8c5a4fbf2
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/4012_quad_x_can
@@ -0,0 +1,27 @@
+#!nsh
+#
+# F450-sized quadrotor with CAN
+#
+# Lorenz Meier <lm@inf.ethz.ch>
+#
+
+sh /etc/init.d/4001_quad_x
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	# TODO REVIEW
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
+set OUTPUT_MODE uavcan_esc
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
new file mode 100644
index 000000000..99ffd73a5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -0,0 +1,28 @@
+#!nsh
+#
+# Hobbyking Micro Integrated PCB Quadcopter
+# with SimonK ESC firmware and Mystery A1510 motors
+#
+# Thomas Gubler <thomasgubler@gmail.com>
+#
+echo "HK Micro PCB Quad"
+
+sh /etc/init.d/4001_quad_x
+
+if [ $DO_AUTOCONFIG == yes ]
+then
+	param set MC_ROLL_P 7.0
+	param set MC_ROLLRATE_P 0.1
+	param set MC_ROLLRATE_I 0.0
+	param set MC_ROLLRATE_D 0.003
+	param set MC_PITCH_P 7.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.0
+	param set MC_PITCHRATE_D 0.003
+	param set MC_YAW_P 2.8
+	param set MC_YAWRATE_P 0.2
+	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_D 0.0
+fi
+
+set PWM_MIN 1200
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 6c1329c10..78778d806 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -21,6 +21,12 @@
 # Simulation setups
 #
 
+if param compare SYS_AUTOSTART 901
+then
+	sh /etc/init.d/901_bottle_drop_test.hil
+	set MODE custom
+fi
+
 if param compare SYS_AUTOSTART 1000
 then
 	sh /etc/init.d/1000_rc_fw_easystar.hil
@@ -141,6 +147,16 @@ then
 	sh /etc/init.d/4011_dji_f450
 fi
 
+if param compare SYS_AUTOSTART 4012
+then
+	sh /etc/init.d/4012_quad_x_can
+fi
+
+if param compare SYS_AUTOSTART 4020
+then
+	sh /etc/init.d/4020_hk_micro_pcb
+fi
+
 #
 # Quad +
 #
@@ -200,6 +216,11 @@ then
 	sh /etc/init.d/10016_3dr_iris
 fi
 
+if param compare SYS_AUTOSTART 10017
+then
+	sh /etc/init.d/10017_steadidrone_qu4d
+fi
+
 #
 # Hexa Coaxial
 #
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_apps b/ROMFS/px4fmu_common/init.d/rc.fw_apps
index bb17d44eb..767c54629 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_apps
@@ -6,7 +6,7 @@
 #
 # Start the attitude and position estimator
 #
-fw_att_pos_estimator start
+ekf_att_pos_estimator start
 
 #
 # Start attitude controller
@@ -16,4 +16,4 @@ fw_pos_control_l1 start
 
 bottle_drop start
 fmu mode_pwm
-mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
\ No newline at end of file
+mixer load /dev/px4fmu /etc/mixers/FMU_pass.mix
diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 4cd73e23f..3c336f295 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -11,6 +11,8 @@ then
 	param set NAV_RTL_ALT 100
 	param set NAV_RTL_LAND_T -1
 	param set NAV_ACCEPT_RAD 50
-	param set RC_SCALE_ROLL 1
-	param set RC_SCALE_PITCH 1
+	param set FW_T_HRATE_P 0.01
+	param set FW_T_RLL2THR 15
+	param set FW_T_SRATE_P 0.01
+	param set FW_T_TIME_CONST 5
 fi
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 7f793b219..1de0abb58 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -24,6 +24,11 @@ then
 	else
 		set OUTPUT_DEV /dev/pwm_output
 	fi
+
+	if [ $OUTPUT_MODE == uavcan_esc ]
+	then
+		set OUTPUT_DEV /dev/uavcan/esc
+	fi
 	
 	if mixer load $OUTPUT_DEV $MIXER_FILE
 	then
diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io
index 6e8fdbc0f..e23aebd87 100644
--- a/ROMFS/px4fmu_common/init.d/rc.io
+++ b/ROMFS/px4fmu_common/init.d/rc.io
@@ -11,7 +11,7 @@ px4io recovery
 # Adjust PX4IO update rate limit
 #
 set PX4IO_LIMIT 400
-if hw_ver compare PX4FMU_V1
+if ver hwcmp PX4FMU_V1
 then
 	set PX4IO_LIMIT 200
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index c5aef8273..25f31a7e0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -5,12 +5,12 @@
 
 if [ -d /fs/microsd ]
 then
-	if hw_ver compare PX4FMU_V1
+	if ver hwcmp PX4FMU_V1
 	then
 		echo "Start sdlog2 at 50Hz"
-		sdlog2 start -r 50 -a -b 8 -t
+		sdlog2 start -r 50 -a -b 4 -t
 	else
 		echo "Start sdlog2 at 200Hz"
-		sdlog2 start -r 200 -a -b 16 -t
+		sdlog2 start -r 200 -a -b 22 -t
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index ed3939757..268eb9bba 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -5,6 +5,7 @@
 #
 
 attitude_estimator_ekf start
+#ekf_att_pos_estimator start
 position_estimator_inav start
 
 mc_att_control start
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 4db62607a..0df320f49 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -14,7 +14,7 @@ then
 	param set MC_PITCHRATE_D 0.003
 	param set MC_YAW_P 2.8
 	param set MC_YAWRATE_P 0.2
-	param set MC_YAWRATE_I 0.0
+	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 	param set MC_YAW_FF 0.5
 
@@ -32,9 +32,16 @@ then
 	param set MPC_Z_VEL_D 0.0
 	param set MPC_Z_VEL_MAX 3
 	param set MPC_Z_FF 0.5
-	param set MPC_TILT_MAX 1.0
+	param set MPC_TILTMAX_AIR 45.0
+	param set MPC_TILTMAX_LND 15.0
 	param set MPC_LAND_SPEED 1.0
-	param set MPC_LAND_TILT 0.3
+
+	param set PE_VELNE_NOISE 0.5
+	param set PE_VELD_NOISE 0.7
+	param set PE_POSNE_NOISE 0.5
+	param set PE_POSD_NOISE 1.0
+
+	param set NAV_ACCEPT_RAD 2.0
 fi
 
 set PWM_RATE 400
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 235be2431..ecb408a54 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -6,27 +6,51 @@
 ms5611 start
 adc start
 
-# Mag might be external
-if hmc5883 start
+if mpu6000 -X start
 then
-	echo "[init] Using HMC5883"
 fi
 
 if mpu6000 start
 then
-	echo "[init] Using MPU6000"
+fi
+
+if l3gd20 -X start
+then
 fi
 
 if l3gd20 start
 then
-	echo "[init] Using L3GD20(H)"
 fi
 
-if hw_ver compare PX4FMU_V2
+# MAG selection
+if param compare SENS_EXT_MAG 2
 then
+	if hmc5883 -I start
+	then
+	fi
+else
+	# Use only external as primary
+	if param compare SENS_EXT_MAG 1
+	then
+		if hmc5883 -X start
+		then
+		fi
+	else
+	# auto-detect the primary, prefer external
+		if hmc5883 start
+		then
+		fi
+	fi
+fi
+
+if ver hwcmp PX4FMU_V2
+then
+	if lsm303d -X start
+	then
+	fi
+
 	if lsm303d start
 	then
-		echo "[init] Using LSM303D"
 	fi
 fi
 
@@ -37,11 +61,9 @@ then
 else
 	if ets_airspeed start
 	then
-		echo "[init] Using ETS airspeed sensor (bus 3)"
 	else
 		if ets_airspeed start -b 1
 		then
-			echo "[init] Using ETS airspeed sensor (bus 1)"
 		fi
 	fi
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index b7b556945..f1c21f295 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -3,16 +3,28 @@
 # USB MAVLink start
 #
 
-echo "Starting MAVLink on this USB console"
-
-mavlink start -r 10000 -d /dev/ttyACM0
+mavlink start -r 20000 -d /dev/ttyACM0 -x
 # Enable a number of interesting streams we want via USB
+mavlink stream -d /dev/ttyACM0 -s PARAM_VALUE -r 200
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s MISSION_ITEM -r 50
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
-mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s RC_CHANNELS_RAW -r 5
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s GLOBAL_POSITION_SETPOINT_INT -r 20
+usleep 100000
 
 # Exit shell to make it available to MAVLink
 exit
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c8272a59e..19d42dfa5 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -20,7 +20,7 @@ echo "[init] Looking for microSD..."
 if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
 	set LOG_FILE /fs/microsd/bootlog.txt
-	echo "[init] microSD card mounted at /fs/microsd"
+	echo "[init] microSD mounted: /fs/microsd"
 	# Start playing the startup tune
 	tone_alarm start
 else
@@ -65,12 +65,12 @@ then
 	# Start CDC/ACM serial driver
 	#
 	sercon
-	
+
 	#
 	# Start the ORB (first app to start)
 	#
 	uorb start
-	
+
 	#
 	# Load parameters
 	#
@@ -79,29 +79,33 @@ then
 	then
 		set PARAM_FILE /fs/mtd_params
 	fi
-	
+
 	param select $PARAM_FILE
 	if param load
 	then
-		echo "[init] Parameters loaded: $PARAM_FILE"
+		echo "[init] Params loaded: $PARAM_FILE"
 	else
-		echo "[init] ERROR: Parameters loading failed: $PARAM_FILE"
+		echo "[init] ERROR: Params loading failed: $PARAM_FILE"
 	fi
-	
+
 	#
 	# Start system state indicator
 	#
 	if rgbled start
 	then
-		echo "[init] Using external RGB Led"
+		echo "[init] RGB Led"
 	else
 		if blinkm start
 		then
-			echo "[init] Using blinkm"
+			echo "[init] BlinkM"
 			blinkm systemstate
 		fi
 	fi
-	
+
+	if pca8574 start
+	then
+	fi
+
 	#
 	# Set default values
 	#
@@ -120,17 +124,23 @@ then
 	set EXIT_ON_END no
 	set MAV_TYPE none
 	set LOAD_DEFAULT_APPS yes
-	
+	set GPS yes
+	set GPS_FAKE no
+
 	#
 	# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
 	#
 	if param compare SYS_AUTOCONFIG 1
 	then
+		# We can't be sure the defaults haven't changed, so
+		# if someone requests a re-configuration, we do it
+		# cleanly from scratch (except autostart / autoconfig)
+		param reset_nostart
 		set DO_AUTOCONFIG yes
 	else
 		set DO_AUTOCONFIG no
 	fi
-	
+
 	#
 	# Set USE_IO flag
 	#
@@ -140,13 +150,13 @@ then
 	else
 		set USE_IO no
 	fi
-		
+
 	#
 	# Set parameters and env variables for selected AUTOSTART
 	#
 	if param compare SYS_AUTOSTART 0
 	then
-		echo "[init] Don't try to find autostart script"
+		echo "[init] No autostart"
 	else
 		sh /etc/init.d/rc.autostart
 	fi
@@ -156,10 +166,10 @@ then
 	#
 	if [ -f $CONFIG_FILE ]
 	then
-		echo "[init] Reading config: $CONFIG_FILE"
+		echo "[init] Config: $CONFIG_FILE"
 		sh $CONFIG_FILE
 	else
-		echo "[init] Config file not found: $CONFIG_FILE"
+		echo "[init] Config not found: $CONFIG_FILE"
 	fi
 
 	#
@@ -170,9 +180,9 @@ then
 		param set SYS_AUTOCONFIG 0
 		param save
 	fi
-	
+
 	set IO_PRESENT no
-	
+
 	if [ $USE_IO == yes ]
 	then
 		#
@@ -184,19 +194,19 @@ then
 		else
 			set IO_FILE /etc/extras/px4io-v1_default.bin
 		fi
-		
+
 		if px4io checkcrc $IO_FILE
 		then
 			echo "[init] PX4IO CRC OK"
 			echo "PX4IO CRC OK" >> $LOG_FILE
-	
+
 			set IO_PRESENT yes
 		else
 			echo "[init] Trying to update"
 			echo "PX4IO Trying to update" >> $LOG_FILE
-			
+
 			tone_alarm MLL32CP8MB
-			
+
 			if px4io forceupdate 14662 $IO_FILE
 			then
 				usleep 500000
@@ -205,7 +215,7 @@ then
 					echo "[init] PX4IO CRC OK, update successful"
 					echo "PX4IO CRC OK after updating" >> $LOG_FILE
 					tone_alarm MLL8CDE
-	
+
 					set IO_PRESENT yes
 				else
 					echo "[init] ERROR: PX4IO update failed"
@@ -218,19 +228,13 @@ then
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 		fi
-		
+
 		if [ $IO_PRESENT == no ]
 		then
 			echo "[init] ERROR: PX4IO not found"
 			tone_alarm $TUNE_OUT_ERROR
 		fi
 	fi
-
-	if param compare SYS_AUTOSTART 901
-	then
-		sh /etc/init.d/901_bottle_drop_test.hil
-		set MODE custom
-	fi
 	
 	#
 	# Set default output if not set
@@ -250,9 +254,9 @@ then
 		# Need IO for output but it not present, disable output
 		set OUTPUT_MODE none
 		echo "[init] ERROR: PX4IO not found, disabling output"
-		
+
 		# Avoid using ttyS0 for MAVLink on FMUv1
-		if hw_ver compare PX4FMU_V1
+		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
@@ -266,29 +270,44 @@ then
 	if [ $HIL == yes ]
 	then
 		set OUTPUT_MODE hil
-		if hw_ver compare PX4FMU_V1
+		if ver hwcmp PX4FMU_V1
 		then
 			set FMU_MODE serial
 		fi
-	else
-		# Try to get an USB console if not in HIL mode
-		nshterm /dev/ttyACM0 &
 	fi
-	
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+
+	#
+	# Start the datamanager
+	#
+	dataman start
+
 	#
 	# Start the Commander (needs to be this early for in-air-restarts)
 	#
 	commander start
-	
+
 	#
 	# Start primary output
 	#
 	set TTYS1_BUSY no
-	
+
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output
 	if [ $OUTPUT_MODE != none ]
 	then
-		if [ $OUTPUT_MODE == io ]
+		if [ $OUTPUT_MODE == uavcan_esc ]
+		then
+			if uavcan start 1
+			then
+				echo "CAN UP"
+			else
+				echo "CAN ERR"
+			fi
+		fi
+
+		if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]
 		then
 			echo "[init] Use PX4IO PWM as primary output"
 			if px4io start
@@ -300,6 +319,7 @@ then
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 		fi
+
 		if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
 		then
 			echo "[init] Use FMU as primary output"
@@ -310,8 +330,8 @@ then
 				echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
 				tone_alarm $TUNE_OUT_ERROR
 			fi
-			
-			if hw_ver compare PX4FMU_V1
+
+			if ver hwcmp PX4FMU_V1
 			then
 				if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
 				then
@@ -323,6 +343,7 @@ then
 				fi
 			fi
 		fi
+
 		if [ $OUTPUT_MODE == mkblctrl ]
 		then
 			echo "[init] Use MKBLCTRL as primary output"
@@ -335,7 +356,7 @@ then
 			then
 				set MKBLCTRL_ARG "-mkmode +"
 			fi
-			
+
 			if mkblctrl $MKBLCTRL_ARG
 			then
 				echo "[init] MKBLCTRL started"
@@ -343,8 +364,9 @@ then
 				echo "[init] ERROR: MKBLCTRL start failed"
 				tone_alarm $TUNE_OUT_ERROR
 			fi
-			
-		fi		
+
+		fi
+
 		if [ $OUTPUT_MODE == hil ]
 		then
 			echo "[init] Use HIL as primary output"
@@ -356,7 +378,7 @@ then
 				tone_alarm $TUNE_OUT_ERROR
 			fi
 		fi
-		
+
 		#
 		# Start IO or FMU for RC PPM input if needed
 		#
@@ -383,8 +405,8 @@ then
 					echo "[init] ERROR: FMU mode_$FMU_MODE start failed"
 					tone_alarm $TUNE_OUT_ERROR
 				fi
-	
-				if hw_ver compare PX4FMU_V1
+
+				if ver hwcmp PX4FMU_V1
 				then
 					if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]
 					then
@@ -398,64 +420,50 @@ then
 			fi
 		fi
 	fi
-	
+
 	#
 	# MAVLink
 	#
-	
 	if [ $MAVLINK_FLAGS == default ]
 	then
-		if [ $HIL == yes ]
+		# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
+		if [ $TTYS1_BUSY == yes ]
 		then
-			sleep 1
-			set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
-			usleep 5000
+			# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
+			set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
+
+			# Exit from nsh to free port for mavlink
+			set EXIT_ON_END yes
 		else
-			# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
-			if [ $TTYS1_BUSY == yes ]
-			then
-				# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
-				set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
-				usleep 5000
-				
-				# Exit from nsh to free port for mavlink
-				set EXIT_ON_END yes
-			else
-				# Start MAVLink on default port: ttyS1
-				set MAVLINK_FLAGS "-r 1000"
-				usleep 5000
-			fi
+			# Start MAVLink on default port: ttyS1
+			set MAVLINK_FLAGS "-r 1000"
 		fi
 	fi
 
 	mavlink start $MAVLINK_FLAGS
-	usleep 5000
-	
-	#
-	# Start the datamanager
-	#
-	dataman start
-	
-	#
-	# Start the navigator
-	#
-	navigator start
-	
+
 	#
 	# Sensors, Logging, GPS
 	#
-	echo "[init] Start sensors"
 	sh /etc/init.d/rc.sensors
 
-	if [ $HIL == no ]
+	#
+	# Start logging in all modes, including HIL
+	#
+	sh /etc/init.d/rc.logging
+
+	if [ $GPS == yes ]
 	then
-		echo "[init] Start logging"
-		sh /etc/init.d/rc.logging
-		
 		echo "[init] Start GPS"
-		gps start
+		if [ $GPS_FAKE == yes ]
+		then
+			echo "[init] Faking GPS"
+			gps start -f
+		else
+			gps start
+		fi
 	fi
-	
+
 	#
 	# Start up ARDrone Motor interface
 	#
@@ -470,24 +478,24 @@ then
 	if [ $VEHICLE_TYPE == fw ]
 	then
 		echo "[init] Vehicle type: FIXED WING"
-		
+
 		if [ $MIXER == none ]
 		then
 			# Set default mixer for fixed wing if not defined
 			set MIXER FMU_AERT
 		fi
-		
+
 		if [ $MAV_TYPE == none ]
 		then
 			# Use MAV_TYPE = 1 (fixed wing) if not defined
 			set MAV_TYPE 1
 		fi
-		
+
 		param set MAV_TYPE $MAV_TYPE
-		
+
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
-		
+
 		# Start standard fixedwing apps
 		if [ $LOAD_DEFAULT_APPS == yes ]
 		then
@@ -522,7 +530,7 @@ then
 			then
 				set MAV_TYPE 13
 			fi
-			if [ $MIXER == hexa_cox ]
+			if [ $MIXER == FMU_hexa_cox ]
 			then
 				set MAV_TYPE 13
 			fi
@@ -535,7 +543,7 @@ then
 				set MAV_TYPE 14
 			fi
 		fi
-		
+
 		# Still no MAV_TYPE found
 		if [ $MAV_TYPE == none ]
 		then
@@ -543,10 +551,10 @@ then
 		else
 			param set MAV_TYPE $MAV_TYPE
 		fi
-		
+
 		# Load mixer and configure outputs
 		sh /etc/init.d/rc.interface
-		
+
 		# Start standard multicopter apps
 		if [ $LOAD_DEFAULT_APPS == yes ]
 		then
@@ -555,6 +563,11 @@ then
 	fi
 
 	#
+	# Start the navigator
+	#
+	navigator start
+
+	#
 	# Generic setup (autostart ID not found)
 	#
 	if [ $VEHICLE_TYPE == none ]
@@ -569,7 +582,7 @@ then
 		echo "[init] Starting addons script: $EXTRAS_FILE"
 		sh $EXTRAS_FILE
 	else
-		echo "[init] Addons script not found: $EXTRAS_FILE"
+		echo "[init] No addons script: $EXTRAS_FILE"
 	fi
 
 	if [ $EXIT_ON_END == yes ]
diff --git a/ROMFS/px4fmu_common/mixers/hexa_cox.mix b/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
index 497786feb..497786feb 100644
--- a/ROMFS/px4fmu_common/mixers/hexa_cox.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hexa_cox.mix
diff --git a/ROMFS/px4fmu_common/mixers/README b/ROMFS/px4fmu_common/mixers/README
new file mode 100644
index 000000000..60311232e
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/README
@@ -0,0 +1,154 @@
+PX4 mixer definitions
+=====================
+
+Files in this directory implement example mixers that can be used as a basis
+for customisation, or for general testing purposes.
+
+Mixer basics
+------------
+
+Mixers combine control values from various sources (control tasks, user inputs,
+etc.) and produce output values suitable for controlling actuators; servos,
+motors, switches and so on.
+
+An actuator derives its value from the combination of one or more control
+values. Each of the control values is scaled according to the actuator's
+configuration and then combined to produce the actuator value, which may then be
+further scaled to suit the specific output type.
+
+Internally, all scaling is performed using floating point values. Inputs and
+outputs are clamped to the range -1.0 to 1.0.
+
+control    control   control
+   |          |         |
+   v          v         v
+ scale      scale     scale
+   |          |         |
+   |          v         |
+   +-------> mix <------+
+              |
+            scale
+              |
+              v
+             out
+
+Scaling
+-------
+
+Basic scalers provide linear scaling of the input to the output.
+
+Each scaler allows the input value to be scaled independently for inputs
+greater/less than zero. An offset can be applied to the output, and lower and
+upper boundary constraints can be applied. Negative scaling factors cause the
+output to be inverted (negative input produces positive output).
+
+Scaler pseudocode:
+
+if (input < 0)
+    output = (input * NEGATIVE_SCALE) + OFFSET
+else
+    output = (input * POSITIVE_SCALE) + OFFSET
+
+if (output < LOWER_LIMIT)
+    output = LOWER_LIMIT
+if (output > UPPER_LIMIT)
+    output = UPPER_LIMIT
+
+Syntax
+------
+
+Mixer definitions are text files; lines beginning with a single capital letter
+followed by a colon are significant. All other lines are ignored, meaning that
+explanatory text can be freely mixed with the definitions.
+
+Each file may define more than one mixer; the allocation of mixers to actuators
+is specific to the device reading the mixer definition, and the number of
+actuator outputs generated by a mixer is specific to the mixer.
+
+A mixer begins with a line of the form
+
+	<tag>: <mixer arguments>
+
+The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a 
+multirotor mixer, etc.
+
+Null Mixer
+..........
+
+A null mixer consumes no controls and generates a single actuator output whose
+value is always zero.  Typically a null mixer is used as a placeholder in a
+collection of mixers in order to achieve a specific pattern of actuator outputs.
+
+The null mixer definition has the form:
+
+  Z:
+
+Simple Mixer
+............
+
+A simple mixer combines zero or more control inputs into a single actuator
+output.  Inputs are scaled, and the mixing function sums the result before
+applying an output scaler.
+
+A simple mixer definition begins with:
+
+  M: <control count>
+  O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+If <control count> is zero, the sum is effectively zero and the mixer will
+output a fixed value that is <offset> constrained by <lower limit> and <upper
+limit>.
+
+The second line defines the output scaler with scaler parameters as discussed
+above. Whilst the calculations are performed as floating-point operations, the
+values stored in the definition file are scaled by a factor of 10000; i.e. an
+offset of -0.5 is encoded as -5000.
+
+The definition continues with <control count> entries describing the control
+inputs and their scaling, in the form:
+
+  S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
+
+The <group> value identifies the control group from which the scaler will read,
+and the <index> value an offset within that group.  These values are specific to
+the device reading the mixer definition.
+
+When used to mix vehicle controls, mixer group zero is the vehicle attitude
+control group, and index values zero through three are normally roll, pitch,
+yaw and thrust respectively.
+
+The remaining fields on the line configure the control scaler with parameters as
+discussed above. Whilst the calculations are performed as floating-point
+operations, the values stored in the definition file are scaled by a factor of
+10000; i.e. an offset of -0.5 is encoded as -5000.
+
+Multirotor Mixer
+................
+
+The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
+into a set of actuator outputs intended to drive motor speed controllers.
+
+The mixer definition is a single line of the form:
+
+R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
+
+The supported geometries include:
+
+  4x - quadrotor in X configuration
+  4+ - quadrotor in + configuration
+  6x - hexcopter in X configuration
+  6+ - hexcopter in + configuration
+  8x - octocopter in X configuration
+  8+ - octocopter in + configuration
+  
+Each of the roll, pitch and yaw scale values determine scaling of the roll,
+pitch and yaw controls relative to the thrust control.  Whilst the calculations
+are performed as floating-point operations, the values stored in the definition
+file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
+
+Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
+thrust input ranges from 0.0 to 1.0.  Output for each actuator is in the 
+range -1.0 to 1.0.
+
+In the case where an actuator saturates, all actuator values are rescaled so that 
+the saturating actuator is limited to 1.0.
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix
new file mode 100644
index 000000000..0051ffdbb
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/easystar.mix
@@ -0,0 +1,31 @@
+EASYSTAR / EASYSTAR II MIXER
+============================
+
+Aileron mixer
+-------------
+One output - would be easy to add support for 2 servos
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+Elevator mixer
+------------
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2  -10000  -10000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/phantom.mix b/ROMFS/px4fmu_common/mixers/phantom.mix
new file mode 100644
index 000000000..00c37a16c
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/phantom.mix
@@ -0,0 +1,67 @@
+Phantom FX-61 mixer
+===================
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4/Pixhawk. The configuration assumes the elevon servos are connected to
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor are set so that pitch will have more travel than roll.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/wingwing.mix b/ROMFS/px4fmu_common/mixers/wingwing.mix
new file mode 100644
index 000000000..08333ba5c
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/wingwing.mix
@@ -0,0 +1,51 @@
+Delta-wing mixer for PX4FMU
+===========================
+
+Designed for Wing Wing Z-84
+
+This file defines mixers suitable for controlling a delta wing aircraft using
+PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
+servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
+assumed to be unused.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+See the README for more information on the scaler format.
+
+Elevon mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two elevon servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+The scaling factor for roll inputs is adjusted to implement differential travel
+for the elevons.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  -6000  -6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+
+Output 2
+--------
+This mixer is empty.
+
+Z:
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh
new file mode 100755
index 000000000..3904a2775
--- /dev/null
+++ b/Tools/check_submodules.sh
@@ -0,0 +1,80 @@
+#!/bin/sh
+
+[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
+    # GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules
+    echo "Skipping submodules. NUTTX_SRC is set to $NUTTX_SRC"
+    exit 0
+}
+
+if [ -d NuttX/nuttx ];
+	then
+	STATUSRETVAL=$(git submodule summary | grep -A20 -i "NuttX" | grep "<")
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked NuttX submodule, correct version found"
+	else
+		echo ""
+		echo ""
+		echo "   NuttX sub repo not at correct version. Try 'git submodule update'"
+		echo "   or follow instructions on http://pixhawk.org/dev/git/submodules"
+		echo ""
+		echo "   DO NOT FORGET TO RUN 'make distclean && make archives' AFTER EACH NUTTX UPDATE!"
+		echo ""
+		echo ""
+		echo "New commits required:"
+		echo "$(git submodule summary)"
+		echo ""
+		exit 1
+	fi
+else
+	git submodule init;
+	git submodule update;
+fi
+
+
+if [ -d mavlink/include/mavlink/v1.0 ];
+	then
+	STATUSRETVAL=$(git submodule summary | grep -A20 -i "mavlink/include/mavlink/v1.0" | grep "<")
+	if [ -z "$STATUSRETVAL" ]; then
+		echo "Checked mavlink submodule, correct version found"
+	else
+		echo ""
+		echo ""
+		echo "mavlink sub repo not at correct version. Try 'git submodule update'"
+		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
+		echo ""
+		echo ""
+		echo "New commits required:"
+		echo "$(git submodule summary)"
+		echo ""
+		exit 1
+	fi
+else
+	git submodule init;
+	git submodule update;
+fi
+
+
+if [ -d uavcan ]
+then
+	STATUSRETVAL=$(git submodule summary | grep -A20 -i uavcan | grep "<")
+	if [ -z "$STATUSRETVAL" ]
+	then
+		echo "Checked uavcan submodule, correct version found"
+	else
+		echo ""
+		echo ""
+		echo "uavcan sub repo not at correct version. Try 'git submodule update'"
+		echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
+		echo ""
+		echo ""
+		echo "New commits required:"
+		echo "$(git submodule summary)"
+		echo ""
+		exit 1
+	fi
+else
+	git submodule init;
+	git submodule update;
+fi
+
+exit 0
diff --git a/Tools/fetch_file.py b/Tools/fetch_file.py
new file mode 100644
index 000000000..7ad08192d
--- /dev/null
+++ b/Tools/fetch_file.py
@@ -0,0 +1,207 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+"""Fetch files via nsh console
+
+Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+\t-l\tList files
+\t-f\tOverwrite existing files
+\t-d\tSerial device
+\t-s\tSerial baudrate
+\t-o\tOutput path
+\tpath\tPath to list/fetch, if ends with "/" then directory will be fetched recursively"""
+
+__author__  = "Anton Babushkin"
+__version__ = "1.1"
+
+import serial, time, sys, os
+
+def _wait_for_string(ser, s, timeout):
+    t0 = time.time()
+    buf = []
+    res = []
+    while (True):
+        c = ser.read()
+        buf.append(c)
+        if len(buf) > len(s):
+            res.append(buf.pop(0))
+        if "".join(buf) == s:
+            break
+        if timeout > 0.0 and time.time() - t0 > timeout:
+            raise Exception("Timeout while waiting for: " + s)
+    return "".join(res)
+
+def _exec_cmd(ser, cmd, timeout):
+    ser.write(cmd + "\n")
+    ser.flush()
+    _wait_for_string(ser, cmd + "\r\n", timeout)
+    return _wait_for_string(ser, "nsh> \x1b[K", timeout)
+
+def _ls_dir_raw(ser, dir, timeout):
+    return _exec_cmd(ser, "ls -l " + dir, timeout)
+
+def _ls_dir(ser, dir, timeout):
+    res = []
+    for line in _ls_dir_raw(ser, dir, timeout).splitlines():
+        if line == dir + ":":
+            continue
+        if line.startswith("nsh: ls: no such directory:"):
+            raise Exception("No such file: " + dir)
+        res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
+    return res
+
+def _get_file(ser, fn, fn_out, force, timeout):
+    print "Get %s:" % fn,
+    if not force:
+        # Check if file already exists with the same size
+        try:
+            os.stat(fn_out)
+        except:
+            pass
+        else:
+            print "already fetched, skip"
+            return
+
+    cmd = "dumpfile " + fn
+    ser.write(cmd + "\n")
+    ser.flush()
+    _wait_for_string(ser, cmd + "\r\n", timeout)
+    res = _wait_for_string(ser, "\n", timeout)
+    if res.startswith("OK"):
+        # Got correct responce, open temp file
+        fn_out_part = fn_out + ".part"
+        fout = open(fn_out_part, "wb")
+
+        size = int(res.split()[1])
+        sys.stdout.write(" [%i bytes] " % size)
+        n = 0
+        while (n < size):
+            buf = ser.read(min(size - n, 8192))
+            n += len(buf)
+            sys.stdout.write(".")
+            sys.stdout.flush()
+            fout.write(buf)
+        print " done"
+        fout.close()
+        os.rename(fn_out_part, fn_out)
+    else:
+        raise Exception("Error reading file")
+    _wait_for_string(ser, "nsh> \x1b[K", timeout)
+
+def _get_files_in_dir(ser, path, path_out, force, timeout):
+    try:
+        os.mkdir(path_out)
+    except:
+        pass
+    for fn in _ls_dir(ser, path, timeout):
+        path_fn = os.path.join(path, fn[0])
+        path_fn_out = os.path.join(path_out, fn[0])
+        if fn[2]:
+            _get_files_in_dir(ser, path_fn[:-1], path_fn_out[:-1], force, timeout)
+        else:
+            _get_file(ser, path_fn, path_fn_out, force, timeout)
+
+def _usage():
+    print """Usage: python fetch_file.py [-l] [-f] [-d device] [-s speed] [-o out_path] path
+\t-l\tList files
+\t-f\tOverwrite existing files
+\t-d\tSerial device
+\t-s\tSerial baudrate
+\t-o\tOutput path
+\tpath\tPath to list/fetch, if ends with "/" then directory will be fetched recursively"""
+
+def _main():
+    dev = "/dev/tty.usbmodem1"
+    speed = "57600"
+    cmd = "get"
+    path = None
+    path_out = None
+    force = False
+    
+    opt = None
+    for arg in sys.argv[1:]:
+        if opt != None:
+            if opt == "d":
+                dev = arg
+            elif opt == "s":
+                speed = arg
+            elif opt == "o":
+                path_out = arg
+            opt = None
+        else:
+            if arg == "-l":
+                cmd = "ls"
+            elif arg == "-f":
+                force = True
+            elif arg == "-d":
+                opt = "d"
+            elif arg == "-s":
+                opt = "s"
+            elif arg == "-o":
+                opt = "o"
+            elif path == None:
+                path = arg
+
+    if path == None:
+        _usage()
+        exit(0)
+
+    # Connect to serial port
+    ser = serial.Serial(dev, speed, timeout=0.2)
+
+    timeout = 1.0
+
+    try:
+        if cmd == "ls":
+            # List directory
+            print _ls_dir_raw(ser, path, timeout)
+        elif cmd == "get":
+            # Get file(s)
+            if path.endswith("/"):
+                # Get all files from directory recursively
+                if path_out == None:
+                    path_out = os.path.split(path[:-1])[1]
+                _get_files_in_dir(ser, path[:-1], path_out, force, timeout)
+            else:
+                # Get one file
+                if path_out == None:
+                    path_out = os.path.split(path)[1]
+                _get_file(ser, path, os.path.split(path)[1], force, timeout)
+    except Exception as e:
+        print e
+    
+    ser.close()
+
+if __name__ == "__main__":
+    _main()
diff --git a/Tools/fetch_log.py b/Tools/fetch_log.py
deleted file mode 100644
index edcc6557c..000000000
--- a/Tools/fetch_log.py
+++ /dev/null
@@ -1,133 +0,0 @@
-#!/usr/bin/env python
-############################################################################
-#
-#   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Log fetcher
-#
-# Print list of logs:
-#     python fetch_log.py
-#
-# Fetch log:
-#     python fetch_log.py sess001/log001.bin
-#
-
-import serial, time, sys, os
-
-def wait_for_string(ser, s, timeout=1.0, debug=False):
-    t0 = time.time()
-    buf = []
-    res = []
-    n = 0
-    while (True):
-        c = ser.read()
-        if debug:
-            sys.stderr.write(c)
-        buf.append(c)
-        if len(buf) > len(s):
-            res.append(buf.pop(0))
-            n += 1
-            if n % 10000 == 0:
-                sys.stderr.write(str(n) + "\n")
-        if "".join(buf) == s:
-            break
-        if timeout > 0.0 and time.time() - t0 > timeout:
-            raise Exception("Timeout while waiting for: " + s)
-    return "".join(res)
-
-def exec_cmd(ser, cmd, timeout):
-    ser.write(cmd + "\n")
-    ser.flush()
-    wait_for_string(ser, cmd + "\r\n", timeout)
-    return wait_for_string(ser, "nsh> \x1b[K", timeout)
-
-def ls_dir(ser, dir, timeout=1.0):
-    res = []
-    for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
-        res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
-    return res
-
-def list_logs(ser):
-    logs_dir = "/fs/microsd/log"
-    res = []
-    for d in ls_dir(ser, logs_dir):
-        if d[2]:
-            sess_dir = d[0][:-1]
-            for f in ls_dir(ser, logs_dir + "/" + sess_dir):
-                log_file = f[0]
-                log_size = f[1]
-                res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
-    return "\n".join(res)
-
-def fetch_log(ser, fn, timeout):
-    cmd = "dumpfile " + fn
-    ser.write(cmd + "\n")
-    ser.flush()
-    wait_for_string(ser, cmd + "\r\n", timeout, True)
-    res = wait_for_string(ser, "\n", timeout, True)
-    data = []
-    if res.startswith("OK"):
-        size = int(res.split()[1])
-        n = 0
-        print "Reading data:"
-        while (n < size):
-            buf = ser.read(min(size - n, 8192))
-            data.append(buf)
-            n += len(buf)
-            sys.stdout.write(".")
-            sys.stdout.flush()
-        print
-    else:
-        raise Exception("Error reading log")
-    wait_for_string(ser, "nsh> \x1b[K", timeout)
-    return "".join(data)
-
-def main():
-    dev = "/dev/tty.usbmodem1"
-    ser = serial.Serial(dev, "115200", timeout=0.2)
-    if len(sys.argv) < 2:
-        print list_logs(ser)
-    else:
-        log_file = sys.argv[1]
-        data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
-        try:
-            os.mkdir(log_file.split("/")[0])
-        except:
-            pass
-        fout = open(log_file, "wb")
-        fout.write(data)
-        fout.close()
-    ser.close()
-
-if __name__ == "__main__":
-    main()
diff --git a/Tools/fix_code_style.sh b/Tools/fix_code_style.sh
index 0b6743013..5995d428e 100755
--- a/Tools/fix_code_style.sh
+++ b/Tools/fix_code_style.sh
@@ -16,5 +16,6 @@ astyle \
     --ignore-exclude-errors-x	\
     --lineend=linux		\
     --exclude=EASTL		\
-    --add-brackets \
+    --add-brackets		\
+    --max-code-length=120	\
     $*
diff --git a/Tools/px_generate_xml.sh b/Tools/px_generate_xml.sh
new file mode 100644
index 000000000..65f0c95da
--- /dev/null
+++ b/Tools/px_generate_xml.sh
@@ -0,0 +1,2 @@
+#!/bin/sh
+python px_process_params.py --xml
diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py
index ceef9f9be..fcc40b09e 100644
--- a/Tools/px_romfs_pruner.py
+++ b/Tools/px_romfs_pruner.py
@@ -43,29 +43,30 @@ from __future__ import print_function
 import argparse
 import os
 
+
 def main():
-    
+
         # Parse commandline arguments
         parser = argparse.ArgumentParser(description="ROMFS pruner.")
         parser.add_argument('--folder', action="store", help="ROMFS scratch folder.")
         args = parser.parse_args()
-    
+
         print("Pruning ROMFS files.")
-        
-        # go through 
+
+        # go through
         for (root, dirs, files) in os.walk(args.folder):
                 for file in files:
                         # only prune text files
-                        if ".zip" in file or ".bin" in file:
+                        if ".zip" in file or ".bin" in file or ".swp" in file:
                                 continue
-                        
-                        file_path = os.path.join(root, file)                        
-                        
+
+                        file_path = os.path.join(root, file)
+
                         # read file line by line
                         pruned_content = ""
                         with open(file_path, "r") as f:
-                                for line in  f:
-                                        
+                                for line in f:
+
                                         # handle mixer files differently than startup files
                                         if file_path.endswith(".mix"):
                                                 if line.startswith(("Z:", "M:", "R: ", "O:", "S:")):
@@ -73,11 +74,11 @@ def main():
                                         else:
                                                 if not line.isspace() and not line.strip().startswith("#"):
                                                         pruned_content += line
-                        
+
                         # overwrite old scratch file
                         with open(file_path, "w") as f:
                                 f.write(pruned_content)
-                        
-    
+
+
 if __name__ == '__main__':
-        main()
\ No newline at end of file
+        main()
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index e4a8b3c05..cd7884f6d 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -63,6 +63,7 @@ import zlib
 import base64
 import time
 import array
+import os
 
 from sys import platform as _platform
 
@@ -389,18 +390,22 @@ class uploader(object):
                     self.otp_pid = self.otp[12:8:-1]
                     self.otp_coa = self.otp[32:160]
                     # show user:
-                    print("type: " + self.otp_id.decode('Latin-1'))
-                    print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
-                    print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
-                    print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
-                    print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-                    print("sn: ", end='')
-                    for byte in range(0,12,4):
-                        x = self.__getSN(byte)
-                        x = x[::-1]  # reverse the bytes
-                        self.sn  = self.sn + x
-                        print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
-                    print('')
+                    try:
+                            print("type: " + self.otp_id.decode('Latin-1'))
+                            print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                            print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                            print("pid: "+ binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                            print("coa: "+ binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+                            print("sn: ", end='')
+                            for byte in range(0,12,4):
+                                    x = self.__getSN(byte)
+                                    x = x[::-1]  # reverse the bytes
+                                    self.sn  = self.sn + x
+                                    print(binascii.hexlify(x).decode('Latin-1'), end='') # show user
+                            print('')
+                    except Exception:
+                            # ignore bad character encodings
+                            pass
                 print("erase...")
                 self.__erase()
 
@@ -445,6 +450,12 @@ parser.add_argument('--baud', action="store", type=int, default=115200, help="Ba
 parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
 args = parser.parse_args()
 
+# warn people about ModemManager which interferes badly with Pixhawk
+if os.path.exists("/usr/sbin/ModemManager"):
+        print("==========================================================================================================")
+        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
+        print("==========================================================================================================")
+
 # Load the firmware file
 fw = firmware(args.firmware)
 print("Loaded firmware for %x,%x, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision')))
diff --git a/Tools/sdlog2/sdlog2_dump.py b/Tools/sdlog2/sdlog2_dump.py
index 5b1e55e22..ca2efb021 100644
--- a/Tools/sdlog2/sdlog2_dump.py
+++ b/Tools/sdlog2/sdlog2_dump.py
@@ -149,7 +149,8 @@ class SDLog2Parser:
                         break
                     if first_data_msg:
                         # build CSV columns and init data map
-                        self.__initCSV()
+                        if not self.__debug_out:
+                            self.__initCSV()
                         first_data_msg = False
                     self.__parseMsg(msg_descr)
             bytes_read += self.__ptr
diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore
index 61e091551..87b314c61 100644
--- a/Tools/tests-host/.gitignore
+++ b/Tools/tests-host/.gitignore
@@ -1,2 +1,4 @@
 ./obj/*
 mixer_test
+sbus2_test
+autodeclination_test
diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile
index 7ab1454f0..f0737ef88 100644
--- a/Tools/tests-host/Makefile
+++ b/Tools/tests-host/Makefile
@@ -1,47 +1,39 @@
 
 CC=g++
-CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0"
+CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \
+	-I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm
 
-ODIR=obj
-LDIR =../lib
+all: mixer_test sbus2_test autodeclination_test
 
-LIBS=-lm
+MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \
+		../../src/systemcmds/tests/test_conv.cpp \
+		../../src/modules/systemlib/mixer/mixer_simple.cpp \
+		../../src/modules/systemlib/mixer/mixer_multirotor.cpp \
+		../../src/modules/systemlib/mixer/mixer.cpp \
+		../../src/modules/systemlib/mixer/mixer_group.cpp \
+		../../src/modules/systemlib/mixer/mixer_load.c \
+		../../src/modules/systemlib/pwm_limit/pwm_limit.c \
+		hrt.cpp \
+		mixer_test.cpp
 
-#_DEPS = test.h
-#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS))
+SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \
+		hrt.cpp \
+		sbus2_test.cpp
 
-_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \
-	mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o
-OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ))
+AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \
+		hrt.cpp \
+		autodeclination_test.cpp
 
-#$(DEPS)
-$(ODIR)/%.o: %.cpp
-	mkdir -p obj
-	$(CC) -c -o $@ $< $(CFLAGS)
+mixer_test: $(MIXER_FILES)
+	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
 
-$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
+sbus2_test: $(SBUS2_FILES)
+	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
 
-$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c
-	$(CC) -c -o $@ $< $(CFLAGS)
-
-#
-mixer_test: $(OBJ)
-	g++ -o $@ $^ $(CFLAGS) $(LIBS)
+autodeclination_test: $(SBUS2_FILES)
+	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
 
 .PHONY: clean
 
 clean:
-	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~
\ No newline at end of file
+	rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test
\ No newline at end of file
diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp
new file mode 100644
index 000000000..93bc340bb
--- /dev/null
+++ b/Tools/tests-host/autodeclination_test.cpp
@@ -0,0 +1,28 @@
+
+#include <stdio.h>
+#include <stdlib.h> 
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+#include <geo/geo.h>
+
+int main(int argc, char *argv[]) {
+	warnx("autodeclination test started");
+
+	if (argc < 3)
+		errx(1, "Need lat/lon!");
+
+	char* p_end;
+
+	float lat = strtod(argv[1], &p_end);
+	float lon = strtod(argv[2], &p_end);
+
+	float declination = get_mag_declination(lat, lon);
+
+	printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination);
+
+}
diff --git a/Tools/tests-host/board_config.h b/Tools/tests-host/board_config.h
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/Tools/tests-host/board_config.h
diff --git a/Tools/tests-host/data/fit_linear_voltage.m b/Tools/tests-host/data/fit_linear_voltage.m
new file mode 100644
index 000000000..7d0c2c27f
--- /dev/null
+++ b/Tools/tests-host/data/fit_linear_voltage.m
@@ -0,0 +1,14 @@
+close all;
+clear all;
+M = importdata('px4io_v1.3.csv');
+voltage = M.data(:, 1);
+counts = M.data(:, 2);
+plot(counts, voltage, 'b*-', 'LineWidth', 2, 'MarkerSize', 15);
+coeffs = polyfit(counts, voltage, 1);
+fittedC = linspace(min(counts), max(counts), 500);
+fittedV = polyval(coeffs, fittedC);
+hold on
+plot(fittedC, fittedV, 'r-', 'LineWidth', 3);
+
+slope = coeffs(1)
+y_intersection = coeffs(2)
diff --git a/Tools/tests-host/data/px4io_v1.3.csv b/Tools/tests-host/data/px4io_v1.3.csv
new file mode 100644
index 000000000..b41ee8f1f
--- /dev/null
+++ b/Tools/tests-host/data/px4io_v1.3.csv
@@ -0,0 +1,70 @@
+voltage, counts
+4.3, 950
+4.4, 964
+4.5, 986
+4.6, 1009
+4.7, 1032
+4.8, 1055
+4.9, 1078
+5.0, 1101
+5.2, 1124
+5.3, 1148
+5.4, 1171
+5.5, 1195
+6.0, 1304
+6.1, 1329
+6.2, 1352
+7.0, 1517
+7.1, 1540
+7.2, 1564
+7.3, 1585
+7.4, 1610
+7.5, 1636
+8.0, 1728
+8.1, 1752
+8.2, 1755
+8.3, 1798
+8.4, 1821
+9.0, 1963
+9.1, 1987
+9.3, 2010
+9.4, 2033
+10.0, 2174
+10.1, 2198
+10.2, 2221
+10.3, 2245
+10.4, 2268
+11.0, 2385
+11.1, 2409
+11.2, 2432
+11.3, 2456
+11.4, 2480
+11.5, 2502
+11.6, 2526
+11.7, 2550
+11.8, 2573
+11.9, 2597
+12.0, 2621
+12.1, 2644
+12.3, 2668
+12.4, 2692
+12.5, 2716
+12.6, 2737
+12.7, 2761
+13.0, 2832
+13.5, 2950
+13.6, 2973
+14.1, 3068
+14.2, 3091
+14.7, 3209
+15.0, 3280
+15.1, 3304
+15.5, 3374
+15.6, 3397
+15.7, 3420
+16.0, 3492
+16.1, 3514
+16.2, 3538
+16.9, 3680
+17.0, 3704
+17.1, 3728
diff --git a/Tools/tests-host/debug.h b/Tools/tests-host/debug.h
new file mode 100644
index 000000000..9824d13fc
--- /dev/null
+++ b/Tools/tests-host/debug.h
@@ -0,0 +1,5 @@
+
+#pragma once
+
+#include <systemlib/err.h>
+#define lowsyslog warnx
\ No newline at end of file
diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp
index e311617f9..06499afd0 100644
--- a/Tools/tests-host/mixer_test.cpp
+++ b/Tools/tests-host/mixer_test.cpp
@@ -11,4 +11,4 @@ int main(int argc, char *argv[]) {
 	test_mixer(3, args);
 
 	test_conv(1, args);
-}
\ No newline at end of file
+}
diff --git a/Tools/tests-host/run_tests.sh b/Tools/tests-host/run_tests.sh
new file mode 100755
index 000000000..ff5ee509a
--- /dev/null
+++ b/Tools/tests-host/run_tests.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+
+make clean
+make all
+./mixer_test
+./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt
\ No newline at end of file
diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp
new file mode 100644
index 000000000..d8fcb695d
--- /dev/null
+++ b/Tools/tests-host/sbus2_test.cpp
@@ -0,0 +1,75 @@
+
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+#include <px4iofirmware/px4io.h>
+#include "../../src/systemcmds/tests/tests.h"
+
+int main(int argc, char *argv[]) {
+	warnx("SBUS2 test started");
+
+	if (argc < 2)
+		errx(1, "Need a filename for the input file");
+
+	warnx("loading data from: %s", argv[1]);
+
+	FILE *fp;
+	
+	fp = fopen(argv[1],"rt");
+
+	if (!fp)
+		errx(1, "failed opening file");
+
+	float f;
+	unsigned x;
+	int ret;
+
+	// Trash the first 20 lines
+	for (unsigned i = 0; i < 20; i++) {
+		(void)fscanf(fp, "%f,%x,,", &f, &x);
+	}
+
+	// Init the parser
+	uint8_t frame[30];
+	unsigned partial_frame_count = 0;
+	uint16_t rc_values[18];
+	uint16_t num_values;
+	bool sbus_failsafe;
+	bool sbus_frame_drop;
+	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
+
+	float last_time = 0;
+
+	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
+		if (((f - last_time) * 1000 * 1000) > 3000) {
+			partial_frame_count = 0;
+			warnx("FRAME RESET\n\n");
+		}
+
+		frame[partial_frame_count] = x;
+		partial_frame_count++;
+
+		//warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count);
+
+		if (partial_frame_count == sizeof(frame))
+			partial_frame_count = 0;
+
+		last_time = f;
+
+		// Pipe the data into the parser
+		hrt_abstime now = hrt_absolute_time();
+
+		//if (partial_frame_count % 25 == 0)
+			//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
+	}
+
+	if (ret == EOF) {
+		warnx("Test finished, reached end of file");
+	} else {
+		warnx("Test aborted, errno: %d", ret);
+	}
+
+}
diff --git a/makefiles/board_aerocore.mk b/makefiles/board_aerocore.mk
new file mode 100644
index 000000000..6f4b93266
--- /dev/null
+++ b/makefiles/board_aerocore.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the Gumstix AeroCore
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXM4F
+CONFIG_BOARD			 = AEROCORE
+
+include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/config_aerocore_default.mk b/makefiles/config_aerocore_default.mk
new file mode 100644
index 000000000..0d3934bd0
--- /dev/null
+++ b/makefiles/config_aerocore_default.mk
@@ -0,0 +1,126 @@
+#
+# Makefile for the AeroCore *default* configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/px4fmu
+MODULES		+= drivers/boards/aerocore
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/gps
+MODULES		+= drivers/hil
+MODULES		+= modules/sensors
+
+#
+# System commands
+#
+MODULES		+= systemcmds/boardinfo
+MODULES		+= systemcmds/mixer
+MODULES		+= systemcmds/param
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/preflight_check
+MODULES		+= systemcmds/pwm
+MODULES		+= systemcmds/esc_calib
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
+MODULES		+= systemcmds/mtd
+MODULES		+= systemcmds/dumpfile
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/navigator
+MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= modules/ekf_att_pos_estimator
+MODULES		+= modules/position_estimator_inav
+
+#
+# Vehicle Control
+#
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
+MODULES		+= modules/mc_att_control
+MODULES		+= modules/mc_pos_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+MODULES		+= modules/dataman
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/ecl
+MODULES		+= lib/external_lgpl
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
+
+#
+# Demo apps
+#
+#MODULES		+= examples/math_demo
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/hello_sky
+MODULES		+= examples/px4_simple_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/daemon
+#MODULES		+= examples/px4_daemon_app
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/debug_values
+#MODULES		+= examples/px4_mavlink_debug
+
+# Tutorial code from
+# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
+#MODULES			+= examples/fixedwing_control
+
+# Hardware test
+#MODULES			+= examples/hwtest
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+BUILTIN_COMMANDS := \
+    $(call _B, hello, , 2048, hello_main) \
+    $(call _B, i2c, , 2048, i2c_main)
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index 532e978d0..a7c10f52f 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -25,6 +25,7 @@ MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
+MODULES		+= drivers/ll40ls
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
@@ -52,11 +53,10 @@ MODULES		+= systemcmds/pwm
 MODULES		+= systemcmds/esc_calib
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/hw_ver
 MODULES		+= systemcmds/dumpfile
+MODULES		+= systemcmds/ver
 
 #
 # General system control
@@ -67,12 +67,11 @@ MODULES		+= modules/mavlink
 MODULES		+= modules/gpio_led
 
 #
-# Estimation modules (EKF/ SO3 / other filters)
+# Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/fw_att_pos_estimator
+MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
-#MODULES		+= examples/flow_position_estimator
 
 #
 # Vehicle Control
@@ -81,8 +80,6 @@ MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
 MODULES		+= modules/mc_att_control
 MODULES		+= modules/mc_pos_control
-#MODULES		+= examples/flow_position_control
-#MODULES		+= examples/flow_speed_control
 
 #
 # Logging
@@ -113,6 +110,7 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
 MODULES		+= lib/conversion
 MODULES		+= lib/launchdetection
 
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 5677684b3..7e22c9a94 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -28,18 +28,19 @@ MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
 MODULES		+= drivers/sf0x
+MODULES		+= drivers/ll40ls
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 MODULES		+= drivers/hott/hott_telemetry
 MODULES		+= drivers/hott/hott_sensors
 MODULES		+= drivers/blinkm
-MODULES		+= drivers/roboclaw
 MODULES		+= drivers/airspeed
 MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/frsky_telemetry
 MODULES		+= modules/sensors
 MODULES		+= drivers/mkblctrl
+MODULES		+= drivers/pca8574
 
 
 # Needs to be burned to the ground and re-written; for now,
@@ -63,8 +64,8 @@ MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/config
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/hw_ver
 MODULES		+= systemcmds/dumpfile
+MODULES		+= systemcmds/ver
 
 #
 # General system control
@@ -73,13 +74,14 @@ MODULES		+= modules/commander
 MODULES		+= modules/navigator
 MODULES		+= modules/mavlink
 MODULES		+= modules/gpio_led
+MODULES		+= modules/uavcan
 
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/attitude_estimator_so3
-MODULES		+= modules/fw_att_pos_estimator
+MODULES		+= modules/ekf_att_pos_estimator
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
 
@@ -121,6 +123,7 @@ MODULES		+= lib/mathlib/math/filter
 MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
 MODULES		+= lib/conversion
 MODULES		+= lib/launchdetection
 
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 79922374d..932f92261 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -24,12 +24,19 @@ MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
+MODULES		+= drivers/pca8574
+MODULES		+= drivers/roboclaw
 MODULES		+= systemcmds/perf
 MODULES		+= systemcmds/reboot
 MODULES		+= systemcmds/tests
 MODULES		+= systemcmds/nshterm
 MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/hw_ver
+MODULES		+= systemcmds/ver
+
+#
+# Testing modules
+#
+MODULES		+= examples/matlab_csv_serial
 
 #
 # Library modules
@@ -40,6 +47,7 @@ MODULES		+= modules/uORB
 LIBRARIES	+= lib/mathlib/CMSIS
 MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/conversion
 
 #
 # Libraries
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 1b646d9e0..60602e76f 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -113,7 +113,7 @@ endif
 $(info %  GIT_DESC            = $(GIT_DESC))
 
 #
-# Set a default target so that included makefiles or errors here don't 
+# Set a default target so that included makefiles or errors here don't
 # cause confusion.
 #
 # XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
@@ -177,7 +177,7 @@ GLOBAL_DEPS		+= $(MAKEFILE_LIST)
 #
 # Extra things we should clean
 #
-EXTRA_CLEANS		 = 
+EXTRA_CLEANS		 =
 
 
 #
@@ -371,6 +371,8 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
 $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
 	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
 	$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
+# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
+	$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
 ifneq ($(ROMFS_EXTRA_FILES),)
 	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
 	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index d283096b2..bf0744140 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -64,6 +64,7 @@ LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
 # Add directories from the NuttX export to the relevant search paths
 #
 INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)include/cxx \
 			   $(NUTTX_EXPORT_DIR)arch/chip \
 			   $(NUTTX_EXPORT_DIR)arch/common
 
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 183b143d6..4bfa7a087 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -46,8 +46,10 @@ export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
 export PX4_LIB_DIR	 = $(abspath $(PX4_BASE)/src/lib)/
 export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
 export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
+export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
 export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
 export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
+export UAVCAN_DIR	 = $(abspath $(PX4_BASE)/uavcan)/
 export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
 export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
 export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index bb729e103..71c7fb49f 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -1,5 +1,5 @@
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -48,6 +48,16 @@ NM			 = $(CROSSDEV)nm
 OBJCOPY			 = $(CROSSDEV)objcopy
 OBJDUMP			 = $(CROSSDEV)objdump
 
+# Check if the right version of the toolchain is available
+#
+CROSSDEV_VER_SUPPORTED	 = 4.7
+CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
+
+ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
+$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
+endif
+
+
 # XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
 
 MAXOPTIMIZATION		 ?= -O3
@@ -76,7 +86,7 @@ ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
 ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
 			   -ffixed-r10
 
-ARCHINSTRUMENTATIONDEFINES_CORTEXM3 = 
+ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
 
 # Pick the right set of flags for the architecture.
 #
@@ -111,7 +121,7 @@ INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
 # Language-specific flags
 #
 ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
 
 # Generic warnings
 #
@@ -125,7 +135,15 @@ ARCHWARNINGS		 = -Wall \
 			   -Wlogical-op \
 			   -Wmissing-declarations \
 			   -Wpacked \
-			   -Wno-unused-parameter
+			   -Wno-unused-parameter \
+			   -Werror=format-security \
+			   -Werror=array-bounds \
+			   -Wfatal-errors \
+			   -Wformat=1 \
+			   -Werror=unused-but-set-variable \
+			   -Werror=unused-variable \
+			   -Werror=double-promotion \
+			   -Werror=reorder
 #   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
 #   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
 #   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
@@ -142,7 +160,8 @@ ARCHCWARNINGS		 = $(ARCHWARNINGS) \
 
 # C++-specific warnings
 #
-ARCHWARNINGSXX		 = $(ARCHWARNINGS)
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
 
 # pull in *just* libm from the toolchain ... this is grody
 LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
@@ -260,7 +279,7 @@ define SYM_TO_BIN
 	$(Q) $(OBJCOPY) -O binary $1 $2
 endef
 
-# Take the raw binary $1 and make it into an object file $2. 
+# Take the raw binary $1 and make it into an object file $2.
 # The symbol $3 points to the beginning of the file, and $3_len
 # gives its length.
 #
diff --git a/mavlink/include/mavlink/config.h b/mavlink/include/mavlink/config.h
deleted file mode 100644
index db7db0d7d..000000000
--- a/mavlink/include/mavlink/config.h
+++ /dev/null
@@ -1 +0,0 @@
-#define MAVLINK_VERSION "1.0.7"
diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0
new file mode 160000
+Subproject 04b1ad5b284d5e916858ca9f928e93d97bbf6ad
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
deleted file mode 100644
index 2acb7965c..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ /dev/null
@@ -1,205 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from ardupilotmega.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef ARDUPILOTMEGA_H
-#define ARDUPILOTMEGA_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 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, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 48, 19, 3, 0, 24, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 154, 21, 21, 144, 1, 234, 73, 181, 22, 83, 167, 138, 234, 0, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, 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, MAVLINK_MESSAGE_INFO_RANGEFINDER, MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL, MAVLINK_MESSAGE_INFO_RALLY_POINT, MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_AHRS2, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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"
-
-#define MAVLINK_ENABLED_ARDUPILOTMEGA
-
-// ENUM DEFINITIONS
-
-
-/** @brief Enumeration of possible mount operation modes */
-#ifndef HAVE_ENUM_MAV_MOUNT_MODE
-#define HAVE_ENUM_MAV_MOUNT_MODE
-enum MAV_MOUNT_MODE
-{
-	MAV_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization | */
-	MAV_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM. | */
-	MAV_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
-	MAV_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
-	MAV_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
-	MAV_MOUNT_MODE_ENUM_END=5, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-enum MAV_CMD
-{
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_DO_DIGICAM_CONFIGURE=202, /* Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|  */
-	MAV_CMD_DO_DIGICAM_CONTROL=203, /* Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|  */
-	MAV_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	MAV_CMD_ENUM_END=501, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_FENCE_ACTION
-#define HAVE_ENUM_FENCE_ACTION
-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_REPORT=2, /* Report fence breach, but don't take action | */
-	FENCE_ACTION_GUIDED_THR_PASS=3, /* Switched to guided mode to return point (fence point 0) with manual throttle control | */
-	FENCE_ACTION_ENUM_END=4, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_FENCE_BREACH
-#define HAVE_ENUM_FENCE_BREACH
-enum FENCE_BREACH
-{
-	FENCE_BREACH_NONE=0, /* No last fence breach | */
-	FENCE_BREACH_MINALT=1, /* Breached minimum altitude | */
-	FENCE_BREACH_MAXALT=2, /* Breached maximum altitude | */
-	FENCE_BREACH_BOUNDARY=3, /* Breached fence boundary | */
-	FENCE_BREACH_ENUM_END=4, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_LIMITS_STATE
-#define HAVE_ENUM_LIMITS_STATE
-enum LIMITS_STATE
-{
-	LIMITS_INIT=0, /*  pre-initialization | */
-	LIMITS_DISABLED=1, /*  disabled | */
-	LIMITS_ENABLED=2, /*  checking limits | */
-	LIMITS_TRIGGERED=3, /*  a limit has been breached | */
-	LIMITS_RECOVERING=4, /*  taking action eg. RTL | */
-	LIMITS_RECOVERED=5, /*  we're no longer in breach of a limit | */
-	LIMITS_STATE_ENUM_END=6, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_LIMIT_MODULE
-#define HAVE_ENUM_LIMIT_MODULE
-enum LIMIT_MODULE
-{
-	LIMIT_GPSLOCK=1, /*  pre-initialization | */
-	LIMIT_GEOFENCE=2, /*  disabled | */
-	LIMIT_ALTITUDE=4, /*  checking limits | */
-	LIMIT_MODULE_ENUM_END=5, /*  | */
-};
-#endif
-
-/** @brief Flags in RALLY_POINT message */
-#ifndef HAVE_ENUM_RALLY_FLAGS
-#define HAVE_ENUM_RALLY_FLAGS
-enum RALLY_FLAGS
-{
-	FAVORABLE_WIND=1, /* Flag set when requiring favorable winds for landing.  | */
-	LAND_IMMEDIATELY=2, /* Flag set when plane is to immediately descend to break altitude and land without GCS intervention.  Flag not set when plane is to loiter at Rally point until commanded to land. | */
-	RALLY_FLAGS_ENUM_END=3, /*  | */
-};
-#endif
-
-#include "../common/common.h"
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_sensor_offsets.h"
-#include "./mavlink_msg_set_mag_offsets.h"
-#include "./mavlink_msg_meminfo.h"
-#include "./mavlink_msg_ap_adc.h"
-#include "./mavlink_msg_digicam_configure.h"
-#include "./mavlink_msg_digicam_control.h"
-#include "./mavlink_msg_mount_configure.h"
-#include "./mavlink_msg_mount_control.h"
-#include "./mavlink_msg_mount_status.h"
-#include "./mavlink_msg_fence_point.h"
-#include "./mavlink_msg_fence_fetch_point.h"
-#include "./mavlink_msg_fence_status.h"
-#include "./mavlink_msg_ahrs.h"
-#include "./mavlink_msg_simstate.h"
-#include "./mavlink_msg_hwstatus.h"
-#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"
-#include "./mavlink_msg_rangefinder.h"
-#include "./mavlink_msg_airspeed_autocal.h"
-#include "./mavlink_msg_rally_point.h"
-#include "./mavlink_msg_rally_fetch_point.h"
-#include "./mavlink_msg_ahrs2.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ARDUPILOTMEGA_H
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink.h
deleted file mode 100644
index 551938f04..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from ardupilotmega.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "ardupilotmega.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
deleted file mode 100644
index c3ead1140..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE AHRS PACKING
-
-#define MAVLINK_MSG_ID_AHRS 163
-
-typedef struct __mavlink_ahrs_t
-{
- float omegaIx; ///< X gyro drift estimate rad/s
- float omegaIy; ///< Y gyro drift estimate rad/s
- float omegaIz; ///< Z gyro drift estimate rad/s
- float accel_weight; ///< average accel_weight
- float renorm_val; ///< average renormalisation value
- float error_rp; ///< average error_roll_pitch value
- float error_yaw; ///< average error_yaw value
-} mavlink_ahrs_t;
-
-#define MAVLINK_MSG_ID_AHRS_LEN 28
-#define MAVLINK_MSG_ID_163_LEN 28
-
-#define MAVLINK_MSG_ID_AHRS_CRC 127
-#define MAVLINK_MSG_ID_163_CRC 127
-
-
-
-#define MAVLINK_MESSAGE_INFO_AHRS { \
-	"AHRS", \
-	7, \
-	{  { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
-         { "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
-         { "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
-         { "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
-         { "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
-         { "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
-         { "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
- * @param omegaIy Y gyro drift estimate rad/s
- * @param omegaIz Z gyro drift estimate rad/s
- * @param accel_weight average accel_weight
- * @param renorm_val average renormalisation value
- * @param error_rp average error_roll_pitch value
- * @param error_yaw average error_yaw value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AHRS_LEN];
-	_mav_put_float(buf, 0, omegaIx);
-	_mav_put_float(buf, 4, omegaIy);
-	_mav_put_float(buf, 8, omegaIz);
-	_mav_put_float(buf, 12, accel_weight);
-	_mav_put_float(buf, 16, renorm_val);
-	_mav_put_float(buf, 20, error_rp);
-	_mav_put_float(buf, 24, error_yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
-#else
-	mavlink_ahrs_t packet;
-	packet.omegaIx = omegaIx;
-	packet.omegaIy = omegaIy;
-	packet.omegaIz = omegaIz;
-	packet.accel_weight = accel_weight;
-	packet.renorm_val = renorm_val;
-	packet.error_rp = error_rp;
-	packet.error_yaw = error_yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AHRS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a ahrs 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param omegaIx X gyro drift estimate rad/s
- * @param omegaIy Y gyro drift estimate rad/s
- * @param omegaIz Z gyro drift estimate rad/s
- * @param accel_weight average accel_weight
- * @param renorm_val average renormalisation value
- * @param error_rp average error_roll_pitch value
- * @param error_yaw average error_yaw value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AHRS_LEN];
-	_mav_put_float(buf, 0, omegaIx);
-	_mav_put_float(buf, 4, omegaIy);
-	_mav_put_float(buf, 8, omegaIz);
-	_mav_put_float(buf, 12, accel_weight);
-	_mav_put_float(buf, 16, renorm_val);
-	_mav_put_float(buf, 20, error_rp);
-	_mav_put_float(buf, 24, error_yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
-#else
-	mavlink_ahrs_t packet;
-	packet.omegaIx = omegaIx;
-	packet.omegaIy = omegaIy;
-	packet.omegaIz = omegaIz;
-	packet.accel_weight = accel_weight;
-	packet.renorm_val = renorm_val;
-	packet.error_rp = error_rp;
-	packet.error_yaw = error_yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AHRS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a ahrs struct
- *
- * @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 ahrs C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
-{
-	return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
-}
-
-/**
- * @brief Encode a ahrs struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param ahrs C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
-{
-	return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
-}
-
-/**
- * @brief Send a ahrs message
- * @param chan MAVLink channel to send the message
- *
- * @param omegaIx X gyro drift estimate rad/s
- * @param omegaIy Y gyro drift estimate rad/s
- * @param omegaIz Z gyro drift estimate rad/s
- * @param accel_weight average accel_weight
- * @param renorm_val average renormalisation value
- * @param error_rp average error_roll_pitch value
- * @param error_yaw average error_yaw value
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AHRS_LEN];
-	_mav_put_float(buf, 0, omegaIx);
-	_mav_put_float(buf, 4, omegaIy);
-	_mav_put_float(buf, 8, omegaIz);
-	_mav_put_float(buf, 12, accel_weight);
-	_mav_put_float(buf, 16, renorm_val);
-	_mav_put_float(buf, 20, error_rp);
-	_mav_put_float(buf, 24, error_yaw);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-#else
-	mavlink_ahrs_t packet;
-	packet.omegaIx = omegaIx;
-	packet.omegaIy = omegaIy;
-	packet.omegaIz = omegaIz;
-	packet.accel_weight = accel_weight;
-	packet.renorm_val = renorm_val;
-	packet.error_rp = error_rp;
-	packet.error_yaw = error_yaw;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AHRS UNPACKING
-
-
-/**
- * @brief Get field omegaIx from ahrs message
- *
- * @return X gyro drift estimate rad/s
- */
-static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field omegaIy from ahrs message
- *
- * @return Y gyro drift estimate rad/s
- */
-static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field omegaIz from ahrs message
- *
- * @return Z gyro drift estimate rad/s
- */
-static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field accel_weight from ahrs message
- *
- * @return average accel_weight
- */
-static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field renorm_val from ahrs message
- *
- * @return average renormalisation value
- */
-static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field error_rp from ahrs message
- *
- * @return average error_roll_pitch value
- */
-static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field error_yaw from ahrs message
- *
- * @return average error_yaw value
- */
-static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a ahrs message into a struct
- *
- * @param msg The message to decode
- * @param ahrs C-struct to decode the message contents into
- */
-static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
-	ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
-	ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
-	ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
-	ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
-	ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
-	ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
-#else
-	memcpy(ahrs, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h
deleted file mode 100644
index f6fde9590..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE AHRS2 PACKING
-
-#define MAVLINK_MSG_ID_AHRS2 178
-
-typedef struct __mavlink_ahrs2_t
-{
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
- float altitude; ///< Altitude (MSL)
- int32_t lat; ///< Latitude in degrees * 1E7
- int32_t lng; ///< Longitude in degrees * 1E7
-} mavlink_ahrs2_t;
-
-#define MAVLINK_MSG_ID_AHRS2_LEN 24
-#define MAVLINK_MSG_ID_178_LEN 24
-
-#define MAVLINK_MSG_ID_AHRS2_CRC 47
-#define MAVLINK_MSG_ID_178_CRC 47
-
-
-
-#define MAVLINK_MESSAGE_INFO_AHRS2 { \
-	"AHRS2", \
-	6, \
-	{  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs2_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs2_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs2_t, yaw) }, \
-         { "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs2_t, altitude) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs2_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs2_t, lng) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a ahrs2 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 roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param altitude Altitude (MSL)
- * @param lat Latitude in degrees * 1E7
- * @param lng Longitude in degrees * 1E7
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ahrs2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AHRS2_LEN];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, altitude);
-	_mav_put_int32_t(buf, 16, lat);
-	_mav_put_int32_t(buf, 20, lng);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
-#else
-	mavlink_ahrs2_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.altitude = altitude;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AHRS2;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-}
-
-/**
- * @brief Pack a ahrs2 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param altitude Altitude (MSL)
- * @param lat Latitude in degrees * 1E7
- * @param lng Longitude in degrees * 1E7
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ahrs2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float roll,float pitch,float yaw,float altitude,int32_t lat,int32_t lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AHRS2_LEN];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, altitude);
-	_mav_put_int32_t(buf, 16, lat);
-	_mav_put_int32_t(buf, 20, lng);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
-#else
-	mavlink_ahrs2_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.altitude = altitude;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AHRS2;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-}
-
-/**
- * @brief Encode a ahrs2 struct
- *
- * @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 ahrs2 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ahrs2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
-{
-	return mavlink_msg_ahrs2_pack(system_id, component_id, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
-}
-
-/**
- * @brief Encode a ahrs2 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param ahrs2 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ahrs2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
-{
-	return mavlink_msg_ahrs2_pack_chan(system_id, component_id, chan, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
-}
-
-/**
- * @brief Send a ahrs2 message
- * @param chan MAVLink channel to send the message
- *
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param altitude Altitude (MSL)
- * @param lat Latitude in degrees * 1E7
- * @param lng Longitude in degrees * 1E7
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_ahrs2_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AHRS2_LEN];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, altitude);
-	_mav_put_int32_t(buf, 16, lat);
-	_mav_put_int32_t(buf, 20, lng);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-#else
-	mavlink_ahrs2_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.altitude = altitude;
-	packet.lat = lat;
-	packet.lng = lng;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AHRS2 UNPACKING
-
-
-/**
- * @brief Get field roll from ahrs2 message
- *
- * @return Roll angle (rad)
- */
-static inline float mavlink_msg_ahrs2_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field pitch from ahrs2 message
- *
- * @return Pitch angle (rad)
- */
-static inline float mavlink_msg_ahrs2_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field yaw from ahrs2 message
- *
- * @return Yaw angle (rad)
- */
-static inline float mavlink_msg_ahrs2_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field altitude from ahrs2 message
- *
- * @return Altitude (MSL)
- */
-static inline float mavlink_msg_ahrs2_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field lat from ahrs2 message
- *
- * @return Latitude in degrees * 1E7
- */
-static inline int32_t mavlink_msg_ahrs2_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  16);
-}
-
-/**
- * @brief Get field lng from ahrs2 message
- *
- * @return Longitude in degrees * 1E7
- */
-static inline int32_t mavlink_msg_ahrs2_get_lng(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  20);
-}
-
-/**
- * @brief Decode a ahrs2 message into a struct
- *
- * @param msg The message to decode
- * @param ahrs2 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_ahrs2_decode(const mavlink_message_t* msg, mavlink_ahrs2_t* ahrs2)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	ahrs2->roll = mavlink_msg_ahrs2_get_roll(msg);
-	ahrs2->pitch = mavlink_msg_ahrs2_get_pitch(msg);
-	ahrs2->yaw = mavlink_msg_ahrs2_get_yaw(msg);
-	ahrs2->altitude = mavlink_msg_ahrs2_get_altitude(msg);
-	ahrs2->lat = mavlink_msg_ahrs2_get_lat(msg);
-	ahrs2->lng = mavlink_msg_ahrs2_get_lng(msg);
-#else
-	memcpy(ahrs2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS2_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h
deleted file mode 100644
index d046f2ad0..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_airspeed_autocal.h
+++ /dev/null
@@ -1,419 +0,0 @@
-// MESSAGE AIRSPEED_AUTOCAL PACKING
-
-#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL 174
-
-typedef struct __mavlink_airspeed_autocal_t
-{
- float vx; ///< GPS velocity north m/s
- float vy; ///< GPS velocity east m/s
- float vz; ///< GPS velocity down m/s
- float diff_pressure; ///< Differential pressure pascals
- float EAS2TAS; ///< Estimated to true airspeed ratio
- float ratio; ///< Airspeed ratio
- float state_x; ///< EKF state x
- float state_y; ///< EKF state y
- float state_z; ///< EKF state z
- float Pax; ///< EKF Pax
- float Pby; ///< EKF Pby
- float Pcz; ///< EKF Pcz
-} mavlink_airspeed_autocal_t;
-
-#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN 48
-#define MAVLINK_MSG_ID_174_LEN 48
-
-#define MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC 167
-#define MAVLINK_MSG_ID_174_CRC 167
-
-
-
-#define MAVLINK_MESSAGE_INFO_AIRSPEED_AUTOCAL { \
-	"AIRSPEED_AUTOCAL", \
-	12, \
-	{  { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_airspeed_autocal_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_airspeed_autocal_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_airspeed_autocal_t, vz) }, \
-         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_airspeed_autocal_t, diff_pressure) }, \
-         { "EAS2TAS", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_airspeed_autocal_t, EAS2TAS) }, \
-         { "ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_airspeed_autocal_t, ratio) }, \
-         { "state_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_airspeed_autocal_t, state_x) }, \
-         { "state_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_airspeed_autocal_t, state_y) }, \
-         { "state_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_airspeed_autocal_t, state_z) }, \
-         { "Pax", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_airspeed_autocal_t, Pax) }, \
-         { "Pby", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_airspeed_autocal_t, Pby) }, \
-         { "Pcz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_airspeed_autocal_t, Pcz) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a airspeed_autocal 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 vx GPS velocity north m/s
- * @param vy GPS velocity east m/s
- * @param vz GPS velocity down m/s
- * @param diff_pressure Differential pressure pascals
- * @param EAS2TAS Estimated to true airspeed ratio
- * @param ratio Airspeed ratio
- * @param state_x EKF state x
- * @param state_y EKF state y
- * @param state_z EKF state z
- * @param Pax EKF Pax
- * @param Pby EKF Pby
- * @param Pcz EKF Pcz
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_airspeed_autocal_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
-	_mav_put_float(buf, 0, vx);
-	_mav_put_float(buf, 4, vy);
-	_mav_put_float(buf, 8, vz);
-	_mav_put_float(buf, 12, diff_pressure);
-	_mav_put_float(buf, 16, EAS2TAS);
-	_mav_put_float(buf, 20, ratio);
-	_mav_put_float(buf, 24, state_x);
-	_mav_put_float(buf, 28, state_y);
-	_mav_put_float(buf, 32, state_z);
-	_mav_put_float(buf, 36, Pax);
-	_mav_put_float(buf, 40, Pby);
-	_mav_put_float(buf, 44, Pcz);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#else
-	mavlink_airspeed_autocal_t packet;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.diff_pressure = diff_pressure;
-	packet.EAS2TAS = EAS2TAS;
-	packet.ratio = ratio;
-	packet.state_x = state_x;
-	packet.state_y = state_y;
-	packet.state_z = state_z;
-	packet.Pax = Pax;
-	packet.Pby = Pby;
-	packet.Pcz = Pcz;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AIRSPEED_AUTOCAL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a airspeed_autocal 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param vx GPS velocity north m/s
- * @param vy GPS velocity east m/s
- * @param vz GPS velocity down m/s
- * @param diff_pressure Differential pressure pascals
- * @param EAS2TAS Estimated to true airspeed ratio
- * @param ratio Airspeed ratio
- * @param state_x EKF state x
- * @param state_y EKF state y
- * @param state_z EKF state z
- * @param Pax EKF Pax
- * @param Pby EKF Pby
- * @param Pcz EKF Pcz
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_airspeed_autocal_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float vx,float vy,float vz,float diff_pressure,float EAS2TAS,float ratio,float state_x,float state_y,float state_z,float Pax,float Pby,float Pcz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
-	_mav_put_float(buf, 0, vx);
-	_mav_put_float(buf, 4, vy);
-	_mav_put_float(buf, 8, vz);
-	_mav_put_float(buf, 12, diff_pressure);
-	_mav_put_float(buf, 16, EAS2TAS);
-	_mav_put_float(buf, 20, ratio);
-	_mav_put_float(buf, 24, state_x);
-	_mav_put_float(buf, 28, state_y);
-	_mav_put_float(buf, 32, state_z);
-	_mav_put_float(buf, 36, Pax);
-	_mav_put_float(buf, 40, Pby);
-	_mav_put_float(buf, 44, Pcz);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#else
-	mavlink_airspeed_autocal_t packet;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.diff_pressure = diff_pressure;
-	packet.EAS2TAS = EAS2TAS;
-	packet.ratio = ratio;
-	packet.state_x = state_x;
-	packet.state_y = state_y;
-	packet.state_z = state_z;
-	packet.Pax = Pax;
-	packet.Pby = Pby;
-	packet.Pcz = Pcz;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AIRSPEED_AUTOCAL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a airspeed_autocal struct
- *
- * @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 airspeed_autocal C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_airspeed_autocal_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeed_autocal_t* airspeed_autocal)
-{
-	return mavlink_msg_airspeed_autocal_pack(system_id, component_id, msg, airspeed_autocal->vx, airspeed_autocal->vy, airspeed_autocal->vz, airspeed_autocal->diff_pressure, airspeed_autocal->EAS2TAS, airspeed_autocal->ratio, airspeed_autocal->state_x, airspeed_autocal->state_y, airspeed_autocal->state_z, airspeed_autocal->Pax, airspeed_autocal->Pby, airspeed_autocal->Pcz);
-}
-
-/**
- * @brief Encode a airspeed_autocal struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param airspeed_autocal C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_airspeed_autocal_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_airspeed_autocal_t* airspeed_autocal)
-{
-	return mavlink_msg_airspeed_autocal_pack_chan(system_id, component_id, chan, msg, airspeed_autocal->vx, airspeed_autocal->vy, airspeed_autocal->vz, airspeed_autocal->diff_pressure, airspeed_autocal->EAS2TAS, airspeed_autocal->ratio, airspeed_autocal->state_x, airspeed_autocal->state_y, airspeed_autocal->state_z, airspeed_autocal->Pax, airspeed_autocal->Pby, airspeed_autocal->Pcz);
-}
-
-/**
- * @brief Send a airspeed_autocal message
- * @param chan MAVLink channel to send the message
- *
- * @param vx GPS velocity north m/s
- * @param vy GPS velocity east m/s
- * @param vz GPS velocity down m/s
- * @param diff_pressure Differential pressure pascals
- * @param EAS2TAS Estimated to true airspeed ratio
- * @param ratio Airspeed ratio
- * @param state_x EKF state x
- * @param state_y EKF state y
- * @param state_z EKF state z
- * @param Pax EKF Pax
- * @param Pby EKF Pby
- * @param Pcz EKF Pcz
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_airspeed_autocal_send(mavlink_channel_t chan, float vx, float vy, float vz, float diff_pressure, float EAS2TAS, float ratio, float state_x, float state_y, float state_z, float Pax, float Pby, float Pcz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN];
-	_mav_put_float(buf, 0, vx);
-	_mav_put_float(buf, 4, vy);
-	_mav_put_float(buf, 8, vz);
-	_mav_put_float(buf, 12, diff_pressure);
-	_mav_put_float(buf, 16, EAS2TAS);
-	_mav_put_float(buf, 20, ratio);
-	_mav_put_float(buf, 24, state_x);
-	_mav_put_float(buf, 28, state_y);
-	_mav_put_float(buf, 32, state_z);
-	_mav_put_float(buf, 36, Pax);
-	_mav_put_float(buf, 40, Pby);
-	_mav_put_float(buf, 44, Pcz);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, buf, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-#else
-	mavlink_airspeed_autocal_t packet;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.diff_pressure = diff_pressure;
-	packet.EAS2TAS = EAS2TAS;
-	packet.ratio = ratio;
-	packet.state_x = state_x;
-	packet.state_y = state_y;
-	packet.state_z = state_z;
-	packet.Pax = Pax;
-	packet.Pby = Pby;
-	packet.Pcz = Pcz;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AIRSPEED_AUTOCAL UNPACKING
-
-
-/**
- * @brief Get field vx from airspeed_autocal message
- *
- * @return GPS velocity north m/s
- */
-static inline float mavlink_msg_airspeed_autocal_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field vy from airspeed_autocal message
- *
- * @return GPS velocity east m/s
- */
-static inline float mavlink_msg_airspeed_autocal_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field vz from airspeed_autocal message
- *
- * @return GPS velocity down m/s
- */
-static inline float mavlink_msg_airspeed_autocal_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field diff_pressure from airspeed_autocal message
- *
- * @return Differential pressure pascals
- */
-static inline float mavlink_msg_airspeed_autocal_get_diff_pressure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field EAS2TAS from airspeed_autocal message
- *
- * @return Estimated to true airspeed ratio
- */
-static inline float mavlink_msg_airspeed_autocal_get_EAS2TAS(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field ratio from airspeed_autocal message
- *
- * @return Airspeed ratio
- */
-static inline float mavlink_msg_airspeed_autocal_get_ratio(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field state_x from airspeed_autocal message
- *
- * @return EKF state x
- */
-static inline float mavlink_msg_airspeed_autocal_get_state_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field state_y from airspeed_autocal message
- *
- * @return EKF state y
- */
-static inline float mavlink_msg_airspeed_autocal_get_state_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field state_z from airspeed_autocal message
- *
- * @return EKF state z
- */
-static inline float mavlink_msg_airspeed_autocal_get_state_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field Pax from airspeed_autocal message
- *
- * @return EKF Pax
- */
-static inline float mavlink_msg_airspeed_autocal_get_Pax(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field Pby from airspeed_autocal message
- *
- * @return EKF Pby
- */
-static inline float mavlink_msg_airspeed_autocal_get_Pby(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field Pcz from airspeed_autocal message
- *
- * @return EKF Pcz
- */
-static inline float mavlink_msg_airspeed_autocal_get_Pcz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Decode a airspeed_autocal message into a struct
- *
- * @param msg The message to decode
- * @param airspeed_autocal C-struct to decode the message contents into
- */
-static inline void mavlink_msg_airspeed_autocal_decode(const mavlink_message_t* msg, mavlink_airspeed_autocal_t* airspeed_autocal)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	airspeed_autocal->vx = mavlink_msg_airspeed_autocal_get_vx(msg);
-	airspeed_autocal->vy = mavlink_msg_airspeed_autocal_get_vy(msg);
-	airspeed_autocal->vz = mavlink_msg_airspeed_autocal_get_vz(msg);
-	airspeed_autocal->diff_pressure = mavlink_msg_airspeed_autocal_get_diff_pressure(msg);
-	airspeed_autocal->EAS2TAS = mavlink_msg_airspeed_autocal_get_EAS2TAS(msg);
-	airspeed_autocal->ratio = mavlink_msg_airspeed_autocal_get_ratio(msg);
-	airspeed_autocal->state_x = mavlink_msg_airspeed_autocal_get_state_x(msg);
-	airspeed_autocal->state_y = mavlink_msg_airspeed_autocal_get_state_y(msg);
-	airspeed_autocal->state_z = mavlink_msg_airspeed_autocal_get_state_z(msg);
-	airspeed_autocal->Pax = mavlink_msg_airspeed_autocal_get_Pax(msg);
-	airspeed_autocal->Pby = mavlink_msg_airspeed_autocal_get_Pby(msg);
-	airspeed_autocal->Pcz = mavlink_msg_airspeed_autocal_get_Pcz(msg);
-#else
-	memcpy(airspeed_autocal, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AIRSPEED_AUTOCAL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
deleted file mode 100644
index 821ce73e4..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ap_adc.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE AP_ADC PACKING
-
-#define MAVLINK_MSG_ID_AP_ADC 153
-
-typedef struct __mavlink_ap_adc_t
-{
- uint16_t adc1; ///< ADC output 1
- uint16_t adc2; ///< ADC output 2
- uint16_t adc3; ///< ADC output 3
- uint16_t adc4; ///< ADC output 4
- uint16_t adc5; ///< ADC output 5
- uint16_t adc6; ///< ADC output 6
-} mavlink_ap_adc_t;
-
-#define MAVLINK_MSG_ID_AP_ADC_LEN 12
-#define MAVLINK_MSG_ID_153_LEN 12
-
-#define MAVLINK_MSG_ID_AP_ADC_CRC 188
-#define MAVLINK_MSG_ID_153_CRC 188
-
-
-
-#define MAVLINK_MESSAGE_INFO_AP_ADC { \
-	"AP_ADC", \
-	6, \
-	{  { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
-         { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
-         { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
-         { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
-         { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
-         { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a ap_adc 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 adc1 ADC output 1
- * @param adc2 ADC output 2
- * @param adc3 ADC output 3
- * @param adc4 ADC output 4
- * @param adc5 ADC output 5
- * @param adc6 ADC output 6
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AP_ADC_LEN];
-	_mav_put_uint16_t(buf, 0, adc1);
-	_mav_put_uint16_t(buf, 2, adc2);
-	_mav_put_uint16_t(buf, 4, adc3);
-	_mav_put_uint16_t(buf, 6, adc4);
-	_mav_put_uint16_t(buf, 8, adc5);
-	_mav_put_uint16_t(buf, 10, adc6);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AP_ADC_LEN);
-#else
-	mavlink_ap_adc_t packet;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.adc5 = adc5;
-	packet.adc6 = adc6;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-}
-
-/**
- * @brief Pack a ap_adc 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param adc1 ADC output 1
- * @param adc2 ADC output 2
- * @param adc3 ADC output 3
- * @param adc4 ADC output 4
- * @param adc5 ADC output 5
- * @param adc6 ADC output 6
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AP_ADC_LEN];
-	_mav_put_uint16_t(buf, 0, adc1);
-	_mav_put_uint16_t(buf, 2, adc2);
-	_mav_put_uint16_t(buf, 4, adc3);
-	_mav_put_uint16_t(buf, 6, adc4);
-	_mav_put_uint16_t(buf, 8, adc5);
-	_mav_put_uint16_t(buf, 10, adc6);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AP_ADC_LEN);
-#else
-	mavlink_ap_adc_t packet;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.adc5 = adc5;
-	packet.adc6 = adc6;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-}
-
-/**
- * @brief Encode a ap_adc struct
- *
- * @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 ap_adc C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
-{
-	return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
-}
-
-/**
- * @brief Encode a ap_adc struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param ap_adc C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ap_adc_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
-{
-	return mavlink_msg_ap_adc_pack_chan(system_id, component_id, chan, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
-}
-
-/**
- * @brief Send a ap_adc message
- * @param chan MAVLink channel to send the message
- *
- * @param adc1 ADC output 1
- * @param adc2 ADC output 2
- * @param adc3 ADC output 3
- * @param adc4 ADC output 4
- * @param adc5 ADC output 5
- * @param adc6 ADC output 6
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AP_ADC_LEN];
-	_mav_put_uint16_t(buf, 0, adc1);
-	_mav_put_uint16_t(buf, 2, adc2);
-	_mav_put_uint16_t(buf, 4, adc3);
-	_mav_put_uint16_t(buf, 6, adc4);
-	_mav_put_uint16_t(buf, 8, adc5);
-	_mav_put_uint16_t(buf, 10, adc6);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-#else
-	mavlink_ap_adc_t packet;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.adc5 = adc5;
-	packet.adc6 = adc6;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, MAVLINK_MSG_ID_AP_ADC_LEN, MAVLINK_MSG_ID_AP_ADC_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AP_ADC UNPACKING
-
-
-/**
- * @brief Get field adc1 from ap_adc message
- *
- * @return ADC output 1
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field adc2 from ap_adc message
- *
- * @return ADC output 2
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Get field adc3 from ap_adc message
- *
- * @return ADC output 3
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field adc4 from ap_adc message
- *
- * @return ADC output 4
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field adc5 from ap_adc message
- *
- * @return ADC output 5
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field adc6 from ap_adc message
- *
- * @return ADC output 6
- */
-static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Decode a ap_adc message into a struct
- *
- * @param msg The message to decode
- * @param ap_adc C-struct to decode the message contents into
- */
-static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
-	ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
-	ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
-	ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
-	ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
-	ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
-#else
-	memcpy(ap_adc, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AP_ADC_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h
deleted file mode 100644
index 9200eefa0..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data16.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// 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_ID_DATA16_CRC 234
-#define MAVLINK_MSG_ID_169_CRC 234
-
-#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[MAVLINK_MSG_ID_DATA16_LEN];
-	_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, MAVLINK_MSG_ID_DATA16_LEN);
-#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, MAVLINK_MSG_ID_DATA16_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA16;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA16_LEN);
-#endif
-}
-
-/**
- * @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 will be 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[MAVLINK_MSG_ID_DATA16_LEN];
-	_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, MAVLINK_MSG_ID_DATA16_LEN);
-#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, MAVLINK_MSG_ID_DATA16_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA16;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA16_LEN);
-#endif
-}
-
-/**
- * @brief Encode a data16 struct
- *
- * @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 Encode a data16 struct 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 will be sent over
- * @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_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data16_t* data16)
-{
-	return mavlink_msg_data16_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_DATA16_LEN];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, len);
-	_mav_put_uint8_t_array(buf, 2, data, 16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, buf, MAVLINK_MSG_ID_DATA16_LEN);
-#endif
-#else
-	mavlink_data16_t packet;
-	packet.type = type;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_LEN, MAVLINK_MSG_ID_DATA16_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA16, (const char *)&packet, MAVLINK_MSG_ID_DATA16_LEN);
-#endif
-#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), MAVLINK_MSG_ID_DATA16_LEN);
-#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
deleted file mode 100644
index 3afedb787..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data32.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// 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_ID_DATA32_CRC 73
-#define MAVLINK_MSG_ID_170_CRC 73
-
-#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[MAVLINK_MSG_ID_DATA32_LEN];
-	_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, MAVLINK_MSG_ID_DATA32_LEN);
-#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, MAVLINK_MSG_ID_DATA32_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA32;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA32_LEN);
-#endif
-}
-
-/**
- * @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 will be 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[MAVLINK_MSG_ID_DATA32_LEN];
-	_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, MAVLINK_MSG_ID_DATA32_LEN);
-#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, MAVLINK_MSG_ID_DATA32_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA32;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA32_LEN);
-#endif
-}
-
-/**
- * @brief Encode a data32 struct
- *
- * @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 Encode a data32 struct 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 will be sent over
- * @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_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data32_t* data32)
-{
-	return mavlink_msg_data32_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_DATA32_LEN];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, len);
-	_mav_put_uint8_t_array(buf, 2, data, 32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, buf, MAVLINK_MSG_ID_DATA32_LEN);
-#endif
-#else
-	mavlink_data32_t packet;
-	packet.type = type;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, MAVLINK_MSG_ID_DATA32_LEN, MAVLINK_MSG_ID_DATA32_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA32, (const char *)&packet, MAVLINK_MSG_ID_DATA32_LEN);
-#endif
-#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), MAVLINK_MSG_ID_DATA32_LEN);
-#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
deleted file mode 100644
index 6931ada16..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data64.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// 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_ID_DATA64_CRC 181
-#define MAVLINK_MSG_ID_171_CRC 181
-
-#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[MAVLINK_MSG_ID_DATA64_LEN];
-	_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, MAVLINK_MSG_ID_DATA64_LEN);
-#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, MAVLINK_MSG_ID_DATA64_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA64;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA64_LEN);
-#endif
-}
-
-/**
- * @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 will be 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[MAVLINK_MSG_ID_DATA64_LEN];
-	_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, MAVLINK_MSG_ID_DATA64_LEN);
-#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, MAVLINK_MSG_ID_DATA64_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA64;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA64_LEN);
-#endif
-}
-
-/**
- * @brief Encode a data64 struct
- *
- * @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 Encode a data64 struct 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 will be sent over
- * @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_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data64_t* data64)
-{
-	return mavlink_msg_data64_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_DATA64_LEN];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, len);
-	_mav_put_uint8_t_array(buf, 2, data, 64);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, buf, MAVLINK_MSG_ID_DATA64_LEN);
-#endif
-#else
-	mavlink_data64_t packet;
-	packet.type = type;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*64);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, MAVLINK_MSG_ID_DATA64_LEN, MAVLINK_MSG_ID_DATA64_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA64, (const char *)&packet, MAVLINK_MSG_ID_DATA64_LEN);
-#endif
-#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), MAVLINK_MSG_ID_DATA64_LEN);
-#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
deleted file mode 100644
index cffc7d7e7..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_data96.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// 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_ID_DATA96_CRC 22
-#define MAVLINK_MSG_ID_172_CRC 22
-
-#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[MAVLINK_MSG_ID_DATA96_LEN];
-	_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, MAVLINK_MSG_ID_DATA96_LEN);
-#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, MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA96;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-}
-
-/**
- * @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 will be 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[MAVLINK_MSG_ID_DATA96_LEN];
-	_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, MAVLINK_MSG_ID_DATA96_LEN);
-#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, MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA96;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-}
-
-/**
- * @brief Encode a data96 struct
- *
- * @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 Encode a data96 struct 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 will be sent over
- * @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_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data96_t* data96)
-{
-	return mavlink_msg_data96_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_DATA96_LEN];
-	_mav_put_uint8_t(buf, 0, type);
-	_mav_put_uint8_t(buf, 1, len);
-	_mav_put_uint8_t_array(buf, 2, data, 96);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, buf, MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-#else
-	mavlink_data96_t packet;
-	packet.type = type;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*96);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_LEN, MAVLINK_MSG_ID_DATA96_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA96, (const char *)&packet, MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-#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), MAVLINK_MSG_ID_DATA96_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
deleted file mode 100644
index c6518c419..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_configure.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE DIGICAM_CONFIGURE PACKING
-
-#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE 154
-
-typedef struct __mavlink_digicam_configure_t
-{
- float extra_value; ///< Correspondent value to given extra_param
- uint16_t shutter_speed; ///< Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t mode; ///< Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- uint8_t aperture; ///< F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- uint8_t iso; ///< ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- uint8_t exposure_type; ///< Exposure type enumeration from 1 to N (0 means ignore)
- uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- uint8_t engine_cut_off; ///< Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
-} mavlink_digicam_configure_t;
-
-#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN 15
-#define MAVLINK_MSG_ID_154_LEN 15
-
-#define MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC 84
-#define MAVLINK_MSG_ID_154_CRC 84
-
-
-
-#define MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE { \
-	"DIGICAM_CONFIGURE", \
-	11, \
-	{  { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_digicam_configure_t, extra_value) }, \
-         { "shutter_speed", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_digicam_configure_t, shutter_speed) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_configure_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_configure_t, target_component) }, \
-         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_digicam_configure_t, mode) }, \
-         { "aperture", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_configure_t, aperture) }, \
-         { "iso", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_configure_t, iso) }, \
-         { "exposure_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_digicam_configure_t, exposure_type) }, \
-         { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_digicam_configure_t, command_id) }, \
-         { "engine_cut_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_digicam_configure_t, engine_cut_off) }, \
-         { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_digicam_configure_t, extra_param) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a digicam_configure 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 target_system System ID
- * @param target_component Component ID
- * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN];
-	_mav_put_float(buf, 0, extra_value);
-	_mav_put_uint16_t(buf, 4, shutter_speed);
-	_mav_put_uint8_t(buf, 6, target_system);
-	_mav_put_uint8_t(buf, 7, target_component);
-	_mav_put_uint8_t(buf, 8, mode);
-	_mav_put_uint8_t(buf, 9, aperture);
-	_mav_put_uint8_t(buf, 10, iso);
-	_mav_put_uint8_t(buf, 11, exposure_type);
-	_mav_put_uint8_t(buf, 12, command_id);
-	_mav_put_uint8_t(buf, 13, engine_cut_off);
-	_mav_put_uint8_t(buf, 14, extra_param);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#else
-	mavlink_digicam_configure_t packet;
-	packet.extra_value = extra_value;
-	packet.shutter_speed = shutter_speed;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mode = mode;
-	packet.aperture = aperture;
-	packet.iso = iso;
-	packet.exposure_type = exposure_type;
-	packet.command_id = command_id;
-	packet.engine_cut_off = engine_cut_off;
-	packet.extra_param = extra_param;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a digicam_configure 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t mode,uint16_t shutter_speed,uint8_t aperture,uint8_t iso,uint8_t exposure_type,uint8_t command_id,uint8_t engine_cut_off,uint8_t extra_param,float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN];
-	_mav_put_float(buf, 0, extra_value);
-	_mav_put_uint16_t(buf, 4, shutter_speed);
-	_mav_put_uint8_t(buf, 6, target_system);
-	_mav_put_uint8_t(buf, 7, target_component);
-	_mav_put_uint8_t(buf, 8, mode);
-	_mav_put_uint8_t(buf, 9, aperture);
-	_mav_put_uint8_t(buf, 10, iso);
-	_mav_put_uint8_t(buf, 11, exposure_type);
-	_mav_put_uint8_t(buf, 12, command_id);
-	_mav_put_uint8_t(buf, 13, engine_cut_off);
-	_mav_put_uint8_t(buf, 14, extra_param);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#else
-	mavlink_digicam_configure_t packet;
-	packet.extra_value = extra_value;
-	packet.shutter_speed = shutter_speed;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mode = mode;
-	packet.aperture = aperture;
-	packet.iso = iso;
-	packet.exposure_type = exposure_type;
-	packet.command_id = command_id;
-	packet.engine_cut_off = engine_cut_off;
-	packet.extra_param = extra_param;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONFIGURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a digicam_configure struct
- *
- * @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 digicam_configure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_digicam_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
-{
-	return mavlink_msg_digicam_configure_pack(system_id, component_id, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
-}
-
-/**
- * @brief Encode a digicam_configure struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param digicam_configure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_digicam_configure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_digicam_configure_t* digicam_configure)
-{
-	return mavlink_msg_digicam_configure_pack_chan(system_id, component_id, chan, msg, digicam_configure->target_system, digicam_configure->target_component, digicam_configure->mode, digicam_configure->shutter_speed, digicam_configure->aperture, digicam_configure->iso, digicam_configure->exposure_type, digicam_configure->command_id, digicam_configure->engine_cut_off, digicam_configure->extra_param, digicam_configure->extra_value);
-}
-
-/**
- * @brief Send a digicam_configure message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param mode Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- * @param shutter_speed Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- * @param aperture F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- * @param iso ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- * @param exposure_type Exposure type enumeration from 1 to N (0 means ignore)
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param engine_cut_off Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_digicam_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mode, uint16_t shutter_speed, uint8_t aperture, uint8_t iso, uint8_t exposure_type, uint8_t command_id, uint8_t engine_cut_off, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN];
-	_mav_put_float(buf, 0, extra_value);
-	_mav_put_uint16_t(buf, 4, shutter_speed);
-	_mav_put_uint8_t(buf, 6, target_system);
-	_mav_put_uint8_t(buf, 7, target_component);
-	_mav_put_uint8_t(buf, 8, mode);
-	_mav_put_uint8_t(buf, 9, aperture);
-	_mav_put_uint8_t(buf, 10, iso);
-	_mav_put_uint8_t(buf, 11, exposure_type);
-	_mav_put_uint8_t(buf, 12, command_id);
-	_mav_put_uint8_t(buf, 13, engine_cut_off);
-	_mav_put_uint8_t(buf, 14, extra_param);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, buf, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-#else
-	mavlink_digicam_configure_t packet;
-	packet.extra_value = extra_value;
-	packet.shutter_speed = shutter_speed;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mode = mode;
-	packet.aperture = aperture;
-	packet.iso = iso;
-	packet.exposure_type = exposure_type;
-	packet.command_id = command_id;
-	packet.engine_cut_off = engine_cut_off;
-	packet.extra_param = extra_param;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE DIGICAM_CONFIGURE UNPACKING
-
-
-/**
- * @brief Get field target_system from digicam_configure message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field target_component from digicam_configure message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field mode from digicam_configure message
- *
- * @return Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field shutter_speed from digicam_configure message
- *
- * @return Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
- */
-static inline uint16_t mavlink_msg_digicam_configure_get_shutter_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field aperture from digicam_configure message
- *
- * @return F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_aperture(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Get field iso from digicam_configure message
- *
- * @return ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_iso(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field exposure_type from digicam_configure message
- *
- * @return Exposure type enumeration from 1 to N (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_exposure_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field command_id from digicam_configure message
- *
- * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_command_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field engine_cut_off from digicam_configure message
- *
- * @return Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_engine_cut_off(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  13);
-}
-
-/**
- * @brief Get field extra_param from digicam_configure message
- *
- * @return Extra parameters enumeration (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_configure_get_extra_param(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Get field extra_value from digicam_configure message
- *
- * @return Correspondent value to given extra_param
- */
-static inline float mavlink_msg_digicam_configure_get_extra_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a digicam_configure message into a struct
- *
- * @param msg The message to decode
- * @param digicam_configure C-struct to decode the message contents into
- */
-static inline void mavlink_msg_digicam_configure_decode(const mavlink_message_t* msg, mavlink_digicam_configure_t* digicam_configure)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	digicam_configure->extra_value = mavlink_msg_digicam_configure_get_extra_value(msg);
-	digicam_configure->shutter_speed = mavlink_msg_digicam_configure_get_shutter_speed(msg);
-	digicam_configure->target_system = mavlink_msg_digicam_configure_get_target_system(msg);
-	digicam_configure->target_component = mavlink_msg_digicam_configure_get_target_component(msg);
-	digicam_configure->mode = mavlink_msg_digicam_configure_get_mode(msg);
-	digicam_configure->aperture = mavlink_msg_digicam_configure_get_aperture(msg);
-	digicam_configure->iso = mavlink_msg_digicam_configure_get_iso(msg);
-	digicam_configure->exposure_type = mavlink_msg_digicam_configure_get_exposure_type(msg);
-	digicam_configure->command_id = mavlink_msg_digicam_configure_get_command_id(msg);
-	digicam_configure->engine_cut_off = mavlink_msg_digicam_configure_get_engine_cut_off(msg);
-	digicam_configure->extra_param = mavlink_msg_digicam_configure_get_extra_param(msg);
-#else
-	memcpy(digicam_configure, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DIGICAM_CONFIGURE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
deleted file mode 100644
index bfa5414a3..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_digicam_control.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE DIGICAM_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_DIGICAM_CONTROL 155
-
-typedef struct __mavlink_digicam_control_t
-{
- float extra_value; ///< Correspondent value to given extra_param
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t session; ///< 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- uint8_t zoom_pos; ///< 1 to N //Zoom's absolute position (0 means ignore)
- int8_t zoom_step; ///< -100 to 100 //Zooming step value to offset zoom from the current position
- uint8_t focus_lock; ///< 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- uint8_t shot; ///< 0: ignore, 1: shot or start filming
- uint8_t command_id; ///< Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- uint8_t extra_param; ///< Extra parameters enumeration (0 means ignore)
-} mavlink_digicam_control_t;
-
-#define MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN 13
-#define MAVLINK_MSG_ID_155_LEN 13
-
-#define MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC 22
-#define MAVLINK_MSG_ID_155_CRC 22
-
-
-
-#define MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL { \
-	"DIGICAM_CONTROL", \
-	10, \
-	{  { "extra_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_digicam_control_t, extra_value) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_digicam_control_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_digicam_control_t, target_component) }, \
-         { "session", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_digicam_control_t, session) }, \
-         { "zoom_pos", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_digicam_control_t, zoom_pos) }, \
-         { "zoom_step", NULL, MAVLINK_TYPE_INT8_T, 0, 8, offsetof(mavlink_digicam_control_t, zoom_step) }, \
-         { "focus_lock", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_digicam_control_t, focus_lock) }, \
-         { "shot", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_digicam_control_t, shot) }, \
-         { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_digicam_control_t, command_id) }, \
-         { "extra_param", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_digicam_control_t, extra_param) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a digicam_control 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 target_system System ID
- * @param target_component Component ID
- * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
- * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
- * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- * @param shot 0: ignore, 1: shot or start filming
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN];
-	_mav_put_float(buf, 0, extra_value);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-	_mav_put_uint8_t(buf, 6, session);
-	_mav_put_uint8_t(buf, 7, zoom_pos);
-	_mav_put_int8_t(buf, 8, zoom_step);
-	_mav_put_uint8_t(buf, 9, focus_lock);
-	_mav_put_uint8_t(buf, 10, shot);
-	_mav_put_uint8_t(buf, 11, command_id);
-	_mav_put_uint8_t(buf, 12, extra_param);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#else
-	mavlink_digicam_control_t packet;
-	packet.extra_value = extra_value;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.session = session;
-	packet.zoom_pos = zoom_pos;
-	packet.zoom_step = zoom_step;
-	packet.focus_lock = focus_lock;
-	packet.shot = shot;
-	packet.command_id = command_id;
-	packet.extra_param = extra_param;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a digicam_control 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
- * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
- * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- * @param shot 0: ignore, 1: shot or start filming
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_digicam_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t session,uint8_t zoom_pos,int8_t zoom_step,uint8_t focus_lock,uint8_t shot,uint8_t command_id,uint8_t extra_param,float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN];
-	_mav_put_float(buf, 0, extra_value);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-	_mav_put_uint8_t(buf, 6, session);
-	_mav_put_uint8_t(buf, 7, zoom_pos);
-	_mav_put_int8_t(buf, 8, zoom_step);
-	_mav_put_uint8_t(buf, 9, focus_lock);
-	_mav_put_uint8_t(buf, 10, shot);
-	_mav_put_uint8_t(buf, 11, command_id);
-	_mav_put_uint8_t(buf, 12, extra_param);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#else
-	mavlink_digicam_control_t packet;
-	packet.extra_value = extra_value;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.session = session;
-	packet.zoom_pos = zoom_pos;
-	packet.zoom_step = zoom_step;
-	packet.focus_lock = focus_lock;
-	packet.shot = shot;
-	packet.command_id = command_id;
-	packet.extra_param = extra_param;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DIGICAM_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a digicam_control struct
- *
- * @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 digicam_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_digicam_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
-{
-	return mavlink_msg_digicam_control_pack(system_id, component_id, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
-}
-
-/**
- * @brief Encode a digicam_control struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param digicam_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_digicam_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_digicam_control_t* digicam_control)
-{
-	return mavlink_msg_digicam_control_pack_chan(system_id, component_id, chan, msg, digicam_control->target_system, digicam_control->target_component, digicam_control->session, digicam_control->zoom_pos, digicam_control->zoom_step, digicam_control->focus_lock, digicam_control->shot, digicam_control->command_id, digicam_control->extra_param, digicam_control->extra_value);
-}
-
-/**
- * @brief Send a digicam_control message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param session 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- * @param zoom_pos 1 to N //Zoom's absolute position (0 means ignore)
- * @param zoom_step -100 to 100 //Zooming step value to offset zoom from the current position
- * @param focus_lock 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- * @param shot 0: ignore, 1: shot or start filming
- * @param command_id Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- * @param extra_param Extra parameters enumeration (0 means ignore)
- * @param extra_value Correspondent value to given extra_param
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_digicam_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t session, uint8_t zoom_pos, int8_t zoom_step, uint8_t focus_lock, uint8_t shot, uint8_t command_id, uint8_t extra_param, float extra_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN];
-	_mav_put_float(buf, 0, extra_value);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-	_mav_put_uint8_t(buf, 6, session);
-	_mav_put_uint8_t(buf, 7, zoom_pos);
-	_mav_put_int8_t(buf, 8, zoom_step);
-	_mav_put_uint8_t(buf, 9, focus_lock);
-	_mav_put_uint8_t(buf, 10, shot);
-	_mav_put_uint8_t(buf, 11, command_id);
-	_mav_put_uint8_t(buf, 12, extra_param);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, buf, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-#else
-	mavlink_digicam_control_t packet;
-	packet.extra_value = extra_value;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.session = session;
-	packet.zoom_pos = zoom_pos;
-	packet.zoom_step = zoom_step;
-	packet.focus_lock = focus_lock;
-	packet.shot = shot;
-	packet.command_id = command_id;
-	packet.extra_param = extra_param;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN, MAVLINK_MSG_ID_DIGICAM_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DIGICAM_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE DIGICAM_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target_system from digicam_control message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_digicam_control_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from digicam_control message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_digicam_control_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field session from digicam_control message
- *
- * @return 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
- */
-static inline uint8_t mavlink_msg_digicam_control_get_session(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field zoom_pos from digicam_control message
- *
- * @return 1 to N //Zoom's absolute position (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_control_get_zoom_pos(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field zoom_step from digicam_control message
- *
- * @return -100 to 100 //Zooming step value to offset zoom from the current position
- */
-static inline int8_t mavlink_msg_digicam_control_get_zoom_step(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  8);
-}
-
-/**
- * @brief Get field focus_lock from digicam_control message
- *
- * @return 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
- */
-static inline uint8_t mavlink_msg_digicam_control_get_focus_lock(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Get field shot from digicam_control message
- *
- * @return 0: ignore, 1: shot or start filming
- */
-static inline uint8_t mavlink_msg_digicam_control_get_shot(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field command_id from digicam_control message
- *
- * @return Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
- */
-static inline uint8_t mavlink_msg_digicam_control_get_command_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field extra_param from digicam_control message
- *
- * @return Extra parameters enumeration (0 means ignore)
- */
-static inline uint8_t mavlink_msg_digicam_control_get_extra_param(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field extra_value from digicam_control message
- *
- * @return Correspondent value to given extra_param
- */
-static inline float mavlink_msg_digicam_control_get_extra_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a digicam_control message into a struct
- *
- * @param msg The message to decode
- * @param digicam_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_digicam_control_decode(const mavlink_message_t* msg, mavlink_digicam_control_t* digicam_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	digicam_control->extra_value = mavlink_msg_digicam_control_get_extra_value(msg);
-	digicam_control->target_system = mavlink_msg_digicam_control_get_target_system(msg);
-	digicam_control->target_component = mavlink_msg_digicam_control_get_target_component(msg);
-	digicam_control->session = mavlink_msg_digicam_control_get_session(msg);
-	digicam_control->zoom_pos = mavlink_msg_digicam_control_get_zoom_pos(msg);
-	digicam_control->zoom_step = mavlink_msg_digicam_control_get_zoom_step(msg);
-	digicam_control->focus_lock = mavlink_msg_digicam_control_get_focus_lock(msg);
-	digicam_control->shot = mavlink_msg_digicam_control_get_shot(msg);
-	digicam_control->command_id = mavlink_msg_digicam_control_get_command_id(msg);
-	digicam_control->extra_param = mavlink_msg_digicam_control_get_extra_param(msg);
-#else
-	memcpy(digicam_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DIGICAM_CONTROL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
deleted file mode 100644
index fe3677d53..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_fetch_point.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE FENCE_FETCH_POINT PACKING
-
-#define MAVLINK_MSG_ID_FENCE_FETCH_POINT 161
-
-typedef struct __mavlink_fence_fetch_point_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t idx; ///< point index (first point is 1, 0 is for return point)
-} mavlink_fence_fetch_point_t;
-
-#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN 3
-#define MAVLINK_MSG_ID_161_LEN 3
-
-#define MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC 68
-#define MAVLINK_MSG_ID_161_CRC 68
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT { \
-	"FENCE_FETCH_POINT", \
-	3, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_fence_fetch_point_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_fence_fetch_point_t, target_component) }, \
-         { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_fence_fetch_point_t, idx) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fence_fetch_point 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 target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#else
-	mavlink_fence_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a fence_fetch_point 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#else
-	mavlink_fence_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_FETCH_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a fence_fetch_point struct
- *
- * @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 fence_fetch_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
-{
-	return mavlink_msg_fence_fetch_point_pack(system_id, component_id, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
-}
-
-/**
- * @brief Encode a fence_fetch_point struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param fence_fetch_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_fetch_point_t* fence_fetch_point)
-{
-	return mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, chan, msg, fence_fetch_point->target_system, fence_fetch_point->target_component, fence_fetch_point->idx);
-}
-
-/**
- * @brief Send a fence_fetch_point message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fence_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, buf, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-#else
-	mavlink_fence_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN, MAVLINK_MSG_ID_FENCE_FETCH_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FENCE_FETCH_POINT UNPACKING
-
-
-/**
- * @brief Get field target_system from fence_fetch_point message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_fence_fetch_point_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from fence_fetch_point message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_fence_fetch_point_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field idx from fence_fetch_point message
- *
- * @return point index (first point is 1, 0 is for return point)
- */
-static inline uint8_t mavlink_msg_fence_fetch_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a fence_fetch_point message into a struct
- *
- * @param msg The message to decode
- * @param fence_fetch_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fence_fetch_point_decode(const mavlink_message_t* msg, mavlink_fence_fetch_point_t* fence_fetch_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fence_fetch_point->target_system = mavlink_msg_fence_fetch_point_get_target_system(msg);
-	fence_fetch_point->target_component = mavlink_msg_fence_fetch_point_get_target_component(msg);
-	fence_fetch_point->idx = mavlink_msg_fence_fetch_point_get_idx(msg);
-#else
-	memcpy(fence_fetch_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FENCE_FETCH_POINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
deleted file mode 100644
index febda6cdc..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_point.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE FENCE_POINT PACKING
-
-#define MAVLINK_MSG_ID_FENCE_POINT 160
-
-typedef struct __mavlink_fence_point_t
-{
- float lat; ///< Latitude of point
- float lng; ///< Longitude of point
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t idx; ///< point index (first point is 1, 0 is for return point)
- uint8_t count; ///< total number of points (for sanity checking)
-} mavlink_fence_point_t;
-
-#define MAVLINK_MSG_ID_FENCE_POINT_LEN 12
-#define MAVLINK_MSG_ID_160_LEN 12
-
-#define MAVLINK_MSG_ID_FENCE_POINT_CRC 78
-#define MAVLINK_MSG_ID_160_CRC 78
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCE_POINT { \
-	"FENCE_POINT", \
-	6, \
-	{  { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_fence_point_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fence_point_t, lng) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_fence_point_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_fence_point_t, target_component) }, \
-         { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_fence_point_t, idx) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_fence_point_t, count) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fence_point 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 target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_POINT_LEN];
-	_mav_put_float(buf, 0, lat);
-	_mav_put_float(buf, 4, lng);
-	_mav_put_uint8_t(buf, 8, target_system);
-	_mav_put_uint8_t(buf, 9, target_component);
-	_mav_put_uint8_t(buf, 10, idx);
-	_mav_put_uint8_t(buf, 11, count);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#else
-	mavlink_fence_point_t packet;
-	packet.lat = lat;
-	packet.lng = lng;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a fence_point 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,float lat,float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_POINT_LEN];
-	_mav_put_float(buf, 0, lat);
-	_mav_put_float(buf, 4, lng);
-	_mav_put_uint8_t(buf, 8, target_system);
-	_mav_put_uint8_t(buf, 9, target_component);
-	_mav_put_uint8_t(buf, 10, idx);
-	_mav_put_uint8_t(buf, 11, count);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#else
-	mavlink_fence_point_t packet;
-	packet.lat = lat;
-	packet.lng = lng;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a fence_point struct
- *
- * @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 fence_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
-{
-	return mavlink_msg_fence_point_pack(system_id, component_id, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
-}
-
-/**
- * @brief Encode a fence_point struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param fence_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_point_t* fence_point)
-{
-	return mavlink_msg_fence_point_pack_chan(system_id, component_id, chan, msg, fence_point->target_system, fence_point->target_component, fence_point->idx, fence_point->count, fence_point->lat, fence_point->lng);
-}
-
-/**
- * @brief Send a fence_point message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 1, 0 is for return point)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point
- * @param lng Longitude of point
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fence_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, float lat, float lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_POINT_LEN];
-	_mav_put_float(buf, 0, lat);
-	_mav_put_float(buf, 4, lng);
-	_mav_put_uint8_t(buf, 8, target_system);
-	_mav_put_uint8_t(buf, 9, target_component);
-	_mav_put_uint8_t(buf, 10, idx);
-	_mav_put_uint8_t(buf, 11, count);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, buf, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-#else
-	mavlink_fence_point_t packet;
-	packet.lat = lat;
-	packet.lng = lng;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_POINT_LEN, MAVLINK_MSG_ID_FENCE_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_POINT, (const char *)&packet, MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FENCE_POINT UNPACKING
-
-
-/**
- * @brief Get field target_system from fence_point message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_fence_point_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field target_component from fence_point message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_fence_point_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Get field idx from fence_point message
- *
- * @return point index (first point is 1, 0 is for return point)
- */
-static inline uint8_t mavlink_msg_fence_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field count from fence_point message
- *
- * @return total number of points (for sanity checking)
- */
-static inline uint8_t mavlink_msg_fence_point_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field lat from fence_point message
- *
- * @return Latitude of point
- */
-static inline float mavlink_msg_fence_point_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field lng from fence_point message
- *
- * @return Longitude of point
- */
-static inline float mavlink_msg_fence_point_get_lng(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Decode a fence_point message into a struct
- *
- * @param msg The message to decode
- * @param fence_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fence_point_decode(const mavlink_message_t* msg, mavlink_fence_point_t* fence_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fence_point->lat = mavlink_msg_fence_point_get_lat(msg);
-	fence_point->lng = mavlink_msg_fence_point_get_lng(msg);
-	fence_point->target_system = mavlink_msg_fence_point_get_target_system(msg);
-	fence_point->target_component = mavlink_msg_fence_point_get_target_component(msg);
-	fence_point->idx = mavlink_msg_fence_point_get_idx(msg);
-	fence_point->count = mavlink_msg_fence_point_get_count(msg);
-#else
-	memcpy(fence_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FENCE_POINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h
deleted file mode 100644
index 612090406..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_fence_status.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE FENCE_STATUS PACKING
-
-#define MAVLINK_MSG_ID_FENCE_STATUS 162
-
-typedef struct __mavlink_fence_status_t
-{
- uint32_t breach_time; ///< time of last breach in milliseconds since boot
- uint16_t breach_count; ///< number of fence breaches
- uint8_t breach_status; ///< 0 if currently inside fence, 1 if outside
- uint8_t breach_type; ///< last breach type (see FENCE_BREACH_* enum)
-} mavlink_fence_status_t;
-
-#define MAVLINK_MSG_ID_FENCE_STATUS_LEN 8
-#define MAVLINK_MSG_ID_162_LEN 8
-
-#define MAVLINK_MSG_ID_FENCE_STATUS_CRC 189
-#define MAVLINK_MSG_ID_162_CRC 189
-
-
-
-#define MAVLINK_MESSAGE_INFO_FENCE_STATUS { \
-	"FENCE_STATUS", \
-	4, \
-	{  { "breach_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fence_status_t, breach_time) }, \
-         { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_fence_status_t, breach_count) }, \
-         { "breach_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_fence_status_t, breach_status) }, \
-         { "breach_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_fence_status_t, breach_type) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a fence_status 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 breach_status 0 if currently inside fence, 1 if outside
- * @param breach_count number of fence breaches
- * @param breach_type last breach type (see FENCE_BREACH_* enum)
- * @param breach_time time of last breach in milliseconds since boot
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, breach_time);
-	_mav_put_uint16_t(buf, 4, breach_count);
-	_mav_put_uint8_t(buf, 6, breach_status);
-	_mav_put_uint8_t(buf, 7, breach_type);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#else
-	mavlink_fence_status_t packet;
-	packet.breach_time = breach_time;
-	packet.breach_count = breach_count;
-	packet.breach_status = breach_status;
-	packet.breach_type = breach_type;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a fence_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param breach_status 0 if currently inside fence, 1 if outside
- * @param breach_count number of fence breaches
- * @param breach_type last breach type (see FENCE_BREACH_* enum)
- * @param breach_time time of last breach in milliseconds since boot
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_fence_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t breach_status,uint16_t breach_count,uint8_t breach_type,uint32_t breach_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, breach_time);
-	_mav_put_uint16_t(buf, 4, breach_count);
-	_mav_put_uint8_t(buf, 6, breach_status);
-	_mav_put_uint8_t(buf, 7, breach_type);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#else
-	mavlink_fence_status_t packet;
-	packet.breach_time = breach_time;
-	packet.breach_count = breach_count;
-	packet.breach_status = breach_status;
-	packet.breach_type = breach_type;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FENCE_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a fence_status struct
- *
- * @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 fence_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
-{
-	return mavlink_msg_fence_status_pack(system_id, component_id, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
-}
-
-/**
- * @brief Encode a fence_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param fence_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_fence_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fence_status_t* fence_status)
-{
-	return mavlink_msg_fence_status_pack_chan(system_id, component_id, chan, msg, fence_status->breach_status, fence_status->breach_count, fence_status->breach_type, fence_status->breach_time);
-}
-
-/**
- * @brief Send a fence_status message
- * @param chan MAVLink channel to send the message
- *
- * @param breach_status 0 if currently inside fence, 1 if outside
- * @param breach_count number of fence breaches
- * @param breach_type last breach type (see FENCE_BREACH_* enum)
- * @param breach_time time of last breach in milliseconds since boot
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_fence_status_send(mavlink_channel_t chan, uint8_t breach_status, uint16_t breach_count, uint8_t breach_type, uint32_t breach_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FENCE_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, breach_time);
-	_mav_put_uint16_t(buf, 4, breach_count);
-	_mav_put_uint8_t(buf, 6, breach_status);
-	_mav_put_uint8_t(buf, 7, breach_type);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, buf, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-#else
-	mavlink_fence_status_t packet;
-	packet.breach_time = breach_time;
-	packet.breach_count = breach_count;
-	packet.breach_status = breach_status;
-	packet.breach_type = breach_type;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN, MAVLINK_MSG_ID_FENCE_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FENCE_STATUS, (const char *)&packet, MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FENCE_STATUS UNPACKING
-
-
-/**
- * @brief Get field breach_status from fence_status message
- *
- * @return 0 if currently inside fence, 1 if outside
- */
-static inline uint8_t mavlink_msg_fence_status_get_breach_status(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field breach_count from fence_status message
- *
- * @return number of fence breaches
- */
-static inline uint16_t mavlink_msg_fence_status_get_breach_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field breach_type from fence_status message
- *
- * @return last breach type (see FENCE_BREACH_* enum)
- */
-static inline uint8_t mavlink_msg_fence_status_get_breach_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field breach_time from fence_status message
- *
- * @return time of last breach in milliseconds since boot
- */
-static inline uint32_t mavlink_msg_fence_status_get_breach_time(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Decode a fence_status message into a struct
- *
- * @param msg The message to decode
- * @param fence_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_fence_status_decode(const mavlink_message_t* msg, mavlink_fence_status_t* fence_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	fence_status->breach_time = mavlink_msg_fence_status_get_breach_time(msg);
-	fence_status->breach_count = mavlink_msg_fence_status_get_breach_count(msg);
-	fence_status->breach_status = mavlink_msg_fence_status_get_breach_status(msg);
-	fence_status->breach_type = mavlink_msg_fence_status_get_breach_type(msg);
-#else
-	memcpy(fence_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FENCE_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
deleted file mode 100644
index 2f5dea513..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_hwstatus.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE HWSTATUS PACKING
-
-#define MAVLINK_MSG_ID_HWSTATUS 165
-
-typedef struct __mavlink_hwstatus_t
-{
- uint16_t Vcc; ///< board voltage (mV)
- uint8_t I2Cerr; ///< I2C error count
-} mavlink_hwstatus_t;
-
-#define MAVLINK_MSG_ID_HWSTATUS_LEN 3
-#define MAVLINK_MSG_ID_165_LEN 3
-
-#define MAVLINK_MSG_ID_HWSTATUS_CRC 21
-#define MAVLINK_MSG_ID_165_CRC 21
-
-
-
-#define MAVLINK_MESSAGE_INFO_HWSTATUS { \
-	"HWSTATUS", \
-	2, \
-	{  { "Vcc", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_hwstatus_t, Vcc) }, \
-         { "I2Cerr", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_hwstatus_t, I2Cerr) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hwstatus 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 Vcc board voltage (mV)
- * @param I2Cerr I2C error count
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hwstatus_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t Vcc, uint8_t I2Cerr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
-	_mav_put_uint16_t(buf, 0, Vcc);
-	_mav_put_uint8_t(buf, 2, I2Cerr);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#else
-	mavlink_hwstatus_t packet;
-	packet.Vcc = Vcc;
-	packet.I2Cerr = I2Cerr;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hwstatus 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param Vcc board voltage (mV)
- * @param I2Cerr I2C error count
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hwstatus_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t Vcc,uint8_t I2Cerr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
-	_mav_put_uint16_t(buf, 0, Vcc);
-	_mav_put_uint8_t(buf, 2, I2Cerr);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#else
-	mavlink_hwstatus_t packet;
-	packet.Vcc = Vcc;
-	packet.I2Cerr = I2Cerr;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HWSTATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hwstatus struct
- *
- * @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 hwstatus C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hwstatus_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
-{
-	return mavlink_msg_hwstatus_pack(system_id, component_id, msg, hwstatus->Vcc, hwstatus->I2Cerr);
-}
-
-/**
- * @brief Encode a hwstatus struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hwstatus C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hwstatus_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hwstatus_t* hwstatus)
-{
-	return mavlink_msg_hwstatus_pack_chan(system_id, component_id, chan, msg, hwstatus->Vcc, hwstatus->I2Cerr);
-}
-
-/**
- * @brief Send a hwstatus message
- * @param chan MAVLink channel to send the message
- *
- * @param Vcc board voltage (mV)
- * @param I2Cerr I2C error count
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hwstatus_send(mavlink_channel_t chan, uint16_t Vcc, uint8_t I2Cerr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HWSTATUS_LEN];
-	_mav_put_uint16_t(buf, 0, Vcc);
-	_mav_put_uint8_t(buf, 2, I2Cerr);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, buf, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-#else
-	mavlink_hwstatus_t packet;
-	packet.Vcc = Vcc;
-	packet.I2Cerr = I2Cerr;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, MAVLINK_MSG_ID_HWSTATUS_LEN, MAVLINK_MSG_ID_HWSTATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HWSTATUS, (const char *)&packet, MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HWSTATUS UNPACKING
-
-
-/**
- * @brief Get field Vcc from hwstatus message
- *
- * @return board voltage (mV)
- */
-static inline uint16_t mavlink_msg_hwstatus_get_Vcc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field I2Cerr from hwstatus message
- *
- * @return I2C error count
- */
-static inline uint8_t mavlink_msg_hwstatus_get_I2Cerr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a hwstatus message into a struct
- *
- * @param msg The message to decode
- * @param hwstatus C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hwstatus_decode(const mavlink_message_t* msg, mavlink_hwstatus_t* hwstatus)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hwstatus->Vcc = mavlink_msg_hwstatus_get_Vcc(msg);
-	hwstatus->I2Cerr = mavlink_msg_hwstatus_get_I2Cerr(msg);
-#else
-	memcpy(hwstatus, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HWSTATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h
deleted file mode 100644
index 34743fd02..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE LIMITS_STATUS PACKING
-
-#define MAVLINK_MSG_ID_LIMITS_STATUS 167
-
-typedef struct __mavlink_limits_status_t
-{
- uint32_t last_trigger; ///< time of last breach in milliseconds since boot
- uint32_t last_action; ///< time of last recovery action in milliseconds since boot
- uint32_t last_recovery; ///< time of last successful recovery in milliseconds since boot
- uint32_t last_clear; ///< time of last all-clear in milliseconds since boot
- uint16_t breach_count; ///< number of fence breaches
- uint8_t limits_state; ///< state of AP_Limits, (see enum LimitState, LIMITS_STATE)
- uint8_t mods_enabled; ///< AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
- uint8_t mods_required; ///< AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
- uint8_t mods_triggered; ///< AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
-} mavlink_limits_status_t;
-
-#define MAVLINK_MSG_ID_LIMITS_STATUS_LEN 22
-#define MAVLINK_MSG_ID_167_LEN 22
-
-#define MAVLINK_MSG_ID_LIMITS_STATUS_CRC 144
-#define MAVLINK_MSG_ID_167_CRC 144
-
-
-
-#define MAVLINK_MESSAGE_INFO_LIMITS_STATUS { \
-	"LIMITS_STATUS", \
-	9, \
-	{  { "last_trigger", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_limits_status_t, last_trigger) }, \
-         { "last_action", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_limits_status_t, last_action) }, \
-         { "last_recovery", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_limits_status_t, last_recovery) }, \
-         { "last_clear", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_limits_status_t, last_clear) }, \
-         { "breach_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_limits_status_t, breach_count) }, \
-         { "limits_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_limits_status_t, limits_state) }, \
-         { "mods_enabled", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_limits_status_t, mods_enabled) }, \
-         { "mods_required", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_limits_status_t, mods_required) }, \
-         { "mods_triggered", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_limits_status_t, mods_triggered) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a limits_status 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 limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
- * @param last_trigger time of last breach in milliseconds since boot
- * @param last_action time of last recovery action in milliseconds since boot
- * @param last_recovery time of last successful recovery in milliseconds since boot
- * @param last_clear time of last all-clear in milliseconds since boot
- * @param breach_count number of fence breaches
- * @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
- * @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
- * @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_limits_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, last_trigger);
-	_mav_put_uint32_t(buf, 4, last_action);
-	_mav_put_uint32_t(buf, 8, last_recovery);
-	_mav_put_uint32_t(buf, 12, last_clear);
-	_mav_put_uint16_t(buf, 16, breach_count);
-	_mav_put_uint8_t(buf, 18, limits_state);
-	_mav_put_uint8_t(buf, 19, mods_enabled);
-	_mav_put_uint8_t(buf, 20, mods_required);
-	_mav_put_uint8_t(buf, 21, mods_triggered);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#else
-	mavlink_limits_status_t packet;
-	packet.last_trigger = last_trigger;
-	packet.last_action = last_action;
-	packet.last_recovery = last_recovery;
-	packet.last_clear = last_clear;
-	packet.breach_count = breach_count;
-	packet.limits_state = limits_state;
-	packet.mods_enabled = mods_enabled;
-	packet.mods_required = mods_required;
-	packet.mods_triggered = mods_triggered;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a limits_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
- * @param last_trigger time of last breach in milliseconds since boot
- * @param last_action time of last recovery action in milliseconds since boot
- * @param last_recovery time of last successful recovery in milliseconds since boot
- * @param last_clear time of last all-clear in milliseconds since boot
- * @param breach_count number of fence breaches
- * @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
- * @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
- * @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_limits_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t limits_state,uint32_t last_trigger,uint32_t last_action,uint32_t last_recovery,uint32_t last_clear,uint16_t breach_count,uint8_t mods_enabled,uint8_t mods_required,uint8_t mods_triggered)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, last_trigger);
-	_mav_put_uint32_t(buf, 4, last_action);
-	_mav_put_uint32_t(buf, 8, last_recovery);
-	_mav_put_uint32_t(buf, 12, last_clear);
-	_mav_put_uint16_t(buf, 16, breach_count);
-	_mav_put_uint8_t(buf, 18, limits_state);
-	_mav_put_uint8_t(buf, 19, mods_enabled);
-	_mav_put_uint8_t(buf, 20, mods_required);
-	_mav_put_uint8_t(buf, 21, mods_triggered);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#else
-	mavlink_limits_status_t packet;
-	packet.last_trigger = last_trigger;
-	packet.last_action = last_action;
-	packet.last_recovery = last_recovery;
-	packet.last_clear = last_clear;
-	packet.breach_count = breach_count;
-	packet.limits_state = limits_state;
-	packet.mods_enabled = mods_enabled;
-	packet.mods_required = mods_required;
-	packet.mods_triggered = mods_triggered;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a limits_status struct
- *
- * @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 limits_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_limits_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status)
-{
-	return mavlink_msg_limits_status_pack(system_id, component_id, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
-}
-
-/**
- * @brief Encode a limits_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param limits_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_limits_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_limits_status_t* limits_status)
-{
-	return mavlink_msg_limits_status_pack_chan(system_id, component_id, chan, msg, limits_status->limits_state, limits_status->last_trigger, limits_status->last_action, limits_status->last_recovery, limits_status->last_clear, limits_status->breach_count, limits_status->mods_enabled, limits_status->mods_required, limits_status->mods_triggered);
-}
-
-/**
- * @brief Send a limits_status message
- * @param chan MAVLink channel to send the message
- *
- * @param limits_state state of AP_Limits, (see enum LimitState, LIMITS_STATE)
- * @param last_trigger time of last breach in milliseconds since boot
- * @param last_action time of last recovery action in milliseconds since boot
- * @param last_recovery time of last successful recovery in milliseconds since boot
- * @param last_clear time of last all-clear in milliseconds since boot
- * @param breach_count number of fence breaches
- * @param mods_enabled AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
- * @param mods_required AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
- * @param mods_triggered AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_limits_status_send(mavlink_channel_t chan, uint8_t limits_state, uint32_t last_trigger, uint32_t last_action, uint32_t last_recovery, uint32_t last_clear, uint16_t breach_count, uint8_t mods_enabled, uint8_t mods_required, uint8_t mods_triggered)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LIMITS_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, last_trigger);
-	_mav_put_uint32_t(buf, 4, last_action);
-	_mav_put_uint32_t(buf, 8, last_recovery);
-	_mav_put_uint32_t(buf, 12, last_clear);
-	_mav_put_uint16_t(buf, 16, breach_count);
-	_mav_put_uint8_t(buf, 18, limits_state);
-	_mav_put_uint8_t(buf, 19, mods_enabled);
-	_mav_put_uint8_t(buf, 20, mods_required);
-	_mav_put_uint8_t(buf, 21, mods_triggered);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, buf, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-#else
-	mavlink_limits_status_t packet;
-	packet.last_trigger = last_trigger;
-	packet.last_action = last_action;
-	packet.last_recovery = last_recovery;
-	packet.last_clear = last_clear;
-	packet.breach_count = breach_count;
-	packet.limits_state = limits_state;
-	packet.mods_enabled = mods_enabled;
-	packet.mods_required = mods_required;
-	packet.mods_triggered = mods_triggered;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN, MAVLINK_MSG_ID_LIMITS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LIMITS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LIMITS_STATUS UNPACKING
-
-
-/**
- * @brief Get field limits_state from limits_status message
- *
- * @return state of AP_Limits, (see enum LimitState, LIMITS_STATE)
- */
-static inline uint8_t mavlink_msg_limits_status_get_limits_state(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  18);
-}
-
-/**
- * @brief Get field last_trigger from limits_status message
- *
- * @return time of last breach in milliseconds since boot
- */
-static inline uint32_t mavlink_msg_limits_status_get_last_trigger(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field last_action from limits_status message
- *
- * @return time of last recovery action in milliseconds since boot
- */
-static inline uint32_t mavlink_msg_limits_status_get_last_action(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  4);
-}
-
-/**
- * @brief Get field last_recovery from limits_status message
- *
- * @return time of last successful recovery in milliseconds since boot
- */
-static inline uint32_t mavlink_msg_limits_status_get_last_recovery(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  8);
-}
-
-/**
- * @brief Get field last_clear from limits_status message
- *
- * @return time of last all-clear in milliseconds since boot
- */
-static inline uint32_t mavlink_msg_limits_status_get_last_clear(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  12);
-}
-
-/**
- * @brief Get field breach_count from limits_status message
- *
- * @return number of fence breaches
- */
-static inline uint16_t mavlink_msg_limits_status_get_breach_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field mods_enabled from limits_status message
- *
- * @return AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
- */
-static inline uint8_t mavlink_msg_limits_status_get_mods_enabled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  19);
-}
-
-/**
- * @brief Get field mods_required from limits_status message
- *
- * @return AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
- */
-static inline uint8_t mavlink_msg_limits_status_get_mods_required(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Get field mods_triggered from limits_status message
- *
- * @return AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
- */
-static inline uint8_t mavlink_msg_limits_status_get_mods_triggered(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  21);
-}
-
-/**
- * @brief Decode a limits_status message into a struct
- *
- * @param msg The message to decode
- * @param limits_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_limits_status_decode(const mavlink_message_t* msg, mavlink_limits_status_t* limits_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	limits_status->last_trigger = mavlink_msg_limits_status_get_last_trigger(msg);
-	limits_status->last_action = mavlink_msg_limits_status_get_last_action(msg);
-	limits_status->last_recovery = mavlink_msg_limits_status_get_last_recovery(msg);
-	limits_status->last_clear = mavlink_msg_limits_status_get_last_clear(msg);
-	limits_status->breach_count = mavlink_msg_limits_status_get_breach_count(msg);
-	limits_status->limits_state = mavlink_msg_limits_status_get_limits_state(msg);
-	limits_status->mods_enabled = mavlink_msg_limits_status_get_mods_enabled(msg);
-	limits_status->mods_required = mavlink_msg_limits_status_get_mods_required(msg);
-	limits_status->mods_triggered = mavlink_msg_limits_status_get_mods_triggered(msg);
-#else
-	memcpy(limits_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LIMITS_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h
deleted file mode 100644
index 55f772bbc..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_meminfo.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE MEMINFO PACKING
-
-#define MAVLINK_MSG_ID_MEMINFO 152
-
-typedef struct __mavlink_meminfo_t
-{
- uint16_t brkval; ///< heap top
- uint16_t freemem; ///< free memory
-} mavlink_meminfo_t;
-
-#define MAVLINK_MSG_ID_MEMINFO_LEN 4
-#define MAVLINK_MSG_ID_152_LEN 4
-
-#define MAVLINK_MSG_ID_MEMINFO_CRC 208
-#define MAVLINK_MSG_ID_152_CRC 208
-
-
-
-#define MAVLINK_MESSAGE_INFO_MEMINFO { \
-	"MEMINFO", \
-	2, \
-	{  { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
-         { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a meminfo 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 brkval heap top
- * @param freemem free memory
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t brkval, uint16_t freemem)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MEMINFO_LEN];
-	_mav_put_uint16_t(buf, 0, brkval);
-	_mav_put_uint16_t(buf, 2, freemem);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMINFO_LEN);
-#else
-	mavlink_meminfo_t packet;
-	packet.brkval = brkval;
-	packet.freemem = freemem;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MEMINFO;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-}
-
-/**
- * @brief Pack a meminfo 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param brkval heap top
- * @param freemem free memory
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t brkval,uint16_t freemem)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MEMINFO_LEN];
-	_mav_put_uint16_t(buf, 0, brkval);
-	_mav_put_uint16_t(buf, 2, freemem);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMINFO_LEN);
-#else
-	mavlink_meminfo_t packet;
-	packet.brkval = brkval;
-	packet.freemem = freemem;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MEMINFO;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-}
-
-/**
- * @brief Encode a meminfo struct
- *
- * @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 meminfo C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
-{
-	return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
-}
-
-/**
- * @brief Encode a meminfo struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param meminfo C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_meminfo_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
-{
-	return mavlink_msg_meminfo_pack_chan(system_id, component_id, chan, msg, meminfo->brkval, meminfo->freemem);
-}
-
-/**
- * @brief Send a meminfo message
- * @param chan MAVLink channel to send the message
- *
- * @param brkval heap top
- * @param freemem free memory
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MEMINFO_LEN];
-	_mav_put_uint16_t(buf, 0, brkval);
-	_mav_put_uint16_t(buf, 2, freemem);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-#else
-	mavlink_meminfo_t packet;
-	packet.brkval = brkval;
-	packet.freemem = freemem;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, MAVLINK_MSG_ID_MEMINFO_LEN, MAVLINK_MSG_ID_MEMINFO_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MEMINFO UNPACKING
-
-
-/**
- * @brief Get field brkval from meminfo message
- *
- * @return heap top
- */
-static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field freemem from meminfo message
- *
- * @return free memory
- */
-static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a meminfo message into a struct
- *
- * @param msg The message to decode
- * @param meminfo C-struct to decode the message contents into
- */
-static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg);
-	meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg);
-#else
-	memcpy(meminfo, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MEMINFO_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
deleted file mode 100644
index de717dfa4..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_configure.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE MOUNT_CONFIGURE PACKING
-
-#define MAVLINK_MSG_ID_MOUNT_CONFIGURE 156
-
-typedef struct __mavlink_mount_configure_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t mount_mode; ///< mount operating mode (see MAV_MOUNT_MODE enum)
- uint8_t stab_roll; ///< (1 = yes, 0 = no)
- uint8_t stab_pitch; ///< (1 = yes, 0 = no)
- uint8_t stab_yaw; ///< (1 = yes, 0 = no)
-} mavlink_mount_configure_t;
-
-#define MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN 6
-#define MAVLINK_MSG_ID_156_LEN 6
-
-#define MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC 19
-#define MAVLINK_MSG_ID_156_CRC 19
-
-
-
-#define MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE { \
-	"MOUNT_CONFIGURE", \
-	6, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mount_configure_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mount_configure_t, target_component) }, \
-         { "mount_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mount_configure_t, mount_mode) }, \
-         { "stab_roll", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mount_configure_t, stab_roll) }, \
-         { "stab_pitch", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mount_configure_t, stab_pitch) }, \
-         { "stab_yaw", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mount_configure_t, stab_yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mount_configure 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 target_system System ID
- * @param target_component Component ID
- * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
- * @param stab_roll (1 = yes, 0 = no)
- * @param stab_pitch (1 = yes, 0 = no)
- * @param stab_yaw (1 = yes, 0 = no)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_configure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mount_mode);
-	_mav_put_uint8_t(buf, 3, stab_roll);
-	_mav_put_uint8_t(buf, 4, stab_pitch);
-	_mav_put_uint8_t(buf, 5, stab_yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#else
-	mavlink_mount_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mount_mode = mount_mode;
-	packet.stab_roll = stab_roll;
-	packet.stab_pitch = stab_pitch;
-	packet.stab_yaw = stab_yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mount_configure 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
- * @param stab_roll (1 = yes, 0 = no)
- * @param stab_pitch (1 = yes, 0 = no)
- * @param stab_yaw (1 = yes, 0 = no)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_configure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t mount_mode,uint8_t stab_roll,uint8_t stab_pitch,uint8_t stab_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mount_mode);
-	_mav_put_uint8_t(buf, 3, stab_roll);
-	_mav_put_uint8_t(buf, 4, stab_pitch);
-	_mav_put_uint8_t(buf, 5, stab_yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#else
-	mavlink_mount_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mount_mode = mount_mode;
-	packet.stab_roll = stab_roll;
-	packet.stab_pitch = stab_pitch;
-	packet.stab_yaw = stab_yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONFIGURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mount_configure struct
- *
- * @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 mount_configure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_configure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
-{
-	return mavlink_msg_mount_configure_pack(system_id, component_id, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
-}
-
-/**
- * @brief Encode a mount_configure struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mount_configure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_configure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_configure_t* mount_configure)
-{
-	return mavlink_msg_mount_configure_pack_chan(system_id, component_id, chan, msg, mount_configure->target_system, mount_configure->target_component, mount_configure->mount_mode, mount_configure->stab_roll, mount_configure->stab_pitch, mount_configure->stab_yaw);
-}
-
-/**
- * @brief Send a mount_configure message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param mount_mode mount operating mode (see MAV_MOUNT_MODE enum)
- * @param stab_roll (1 = yes, 0 = no)
- * @param stab_pitch (1 = yes, 0 = no)
- * @param stab_yaw (1 = yes, 0 = no)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mount_configure_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t mount_mode, uint8_t stab_roll, uint8_t stab_pitch, uint8_t stab_yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, mount_mode);
-	_mav_put_uint8_t(buf, 3, stab_roll);
-	_mav_put_uint8_t(buf, 4, stab_pitch);
-	_mav_put_uint8_t(buf, 5, stab_yaw);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, buf, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-#else
-	mavlink_mount_configure_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.mount_mode = mount_mode;
-	packet.stab_roll = stab_roll;
-	packet.stab_pitch = stab_pitch;
-	packet.stab_yaw = stab_yaw;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN, MAVLINK_MSG_ID_MOUNT_CONFIGURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONFIGURE, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MOUNT_CONFIGURE UNPACKING
-
-
-/**
- * @brief Get field target_system from mount_configure message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mount_configure_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mount_configure message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mount_configure_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field mount_mode from mount_configure message
- *
- * @return mount operating mode (see MAV_MOUNT_MODE enum)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_mount_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field stab_roll from mount_configure message
- *
- * @return (1 = yes, 0 = no)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_stab_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field stab_pitch from mount_configure message
- *
- * @return (1 = yes, 0 = no)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_stab_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field stab_yaw from mount_configure message
- *
- * @return (1 = yes, 0 = no)
- */
-static inline uint8_t mavlink_msg_mount_configure_get_stab_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Decode a mount_configure message into a struct
- *
- * @param msg The message to decode
- * @param mount_configure C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mount_configure_decode(const mavlink_message_t* msg, mavlink_mount_configure_t* mount_configure)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mount_configure->target_system = mavlink_msg_mount_configure_get_target_system(msg);
-	mount_configure->target_component = mavlink_msg_mount_configure_get_target_component(msg);
-	mount_configure->mount_mode = mavlink_msg_mount_configure_get_mount_mode(msg);
-	mount_configure->stab_roll = mavlink_msg_mount_configure_get_stab_roll(msg);
-	mount_configure->stab_pitch = mavlink_msg_mount_configure_get_stab_pitch(msg);
-	mount_configure->stab_yaw = mavlink_msg_mount_configure_get_stab_yaw(msg);
-#else
-	memcpy(mount_configure, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MOUNT_CONFIGURE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h
deleted file mode 100644
index 44416353e..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_control.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE MOUNT_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_MOUNT_CONTROL 157
-
-typedef struct __mavlink_mount_control_t
-{
- int32_t input_a; ///< pitch(deg*100) or lat, depending on mount mode
- int32_t input_b; ///< roll(deg*100) or lon depending on mount mode
- int32_t input_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t save_position; ///< if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
-} mavlink_mount_control_t;
-
-#define MAVLINK_MSG_ID_MOUNT_CONTROL_LEN 15
-#define MAVLINK_MSG_ID_157_LEN 15
-
-#define MAVLINK_MSG_ID_MOUNT_CONTROL_CRC 21
-#define MAVLINK_MSG_ID_157_CRC 21
-
-
-
-#define MAVLINK_MESSAGE_INFO_MOUNT_CONTROL { \
-	"MOUNT_CONTROL", \
-	6, \
-	{  { "input_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_control_t, input_a) }, \
-         { "input_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_control_t, input_b) }, \
-         { "input_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_control_t, input_c) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_control_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_control_t, target_component) }, \
-         { "save_position", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_mount_control_t, save_position) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mount_control 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 target_system System ID
- * @param target_component Component ID
- * @param input_a pitch(deg*100) or lat, depending on mount mode
- * @param input_b roll(deg*100) or lon depending on mount mode
- * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_CONTROL_LEN];
-	_mav_put_int32_t(buf, 0, input_a);
-	_mav_put_int32_t(buf, 4, input_b);
-	_mav_put_int32_t(buf, 8, input_c);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-	_mav_put_uint8_t(buf, 14, save_position);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#else
-	mavlink_mount_control_t packet;
-	packet.input_a = input_a;
-	packet.input_b = input_b;
-	packet.input_c = input_c;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.save_position = save_position;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mount_control 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param input_a pitch(deg*100) or lat, depending on mount mode
- * @param input_b roll(deg*100) or lon depending on mount mode
- * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int32_t input_a,int32_t input_b,int32_t input_c,uint8_t save_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_CONTROL_LEN];
-	_mav_put_int32_t(buf, 0, input_a);
-	_mav_put_int32_t(buf, 4, input_b);
-	_mav_put_int32_t(buf, 8, input_c);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-	_mav_put_uint8_t(buf, 14, save_position);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#else
-	mavlink_mount_control_t packet;
-	packet.input_a = input_a;
-	packet.input_b = input_b;
-	packet.input_c = input_c;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.save_position = save_position;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mount_control struct
- *
- * @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 mount_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
-{
-	return mavlink_msg_mount_control_pack(system_id, component_id, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
-}
-
-/**
- * @brief Encode a mount_control struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mount_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_control_t* mount_control)
-{
-	return mavlink_msg_mount_control_pack_chan(system_id, component_id, chan, msg, mount_control->target_system, mount_control->target_component, mount_control->input_a, mount_control->input_b, mount_control->input_c, mount_control->save_position);
-}
-
-/**
- * @brief Send a mount_control message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param input_a pitch(deg*100) or lat, depending on mount mode
- * @param input_b roll(deg*100) or lon depending on mount mode
- * @param input_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @param save_position if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mount_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t input_a, int32_t input_b, int32_t input_c, uint8_t save_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_CONTROL_LEN];
-	_mav_put_int32_t(buf, 0, input_a);
-	_mav_put_int32_t(buf, 4, input_b);
-	_mav_put_int32_t(buf, 8, input_c);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-	_mav_put_uint8_t(buf, 14, save_position);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, buf, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-#else
-	mavlink_mount_control_t packet;
-	packet.input_a = input_a;
-	packet.input_b = input_b;
-	packet.input_c = input_c;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.save_position = save_position;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN, MAVLINK_MSG_ID_MOUNT_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MOUNT_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target_system from mount_control message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mount_control_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field target_component from mount_control message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mount_control_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  13);
-}
-
-/**
- * @brief Get field input_a from mount_control message
- *
- * @return pitch(deg*100) or lat, depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_control_get_input_a(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field input_b from mount_control message
- *
- * @return roll(deg*100) or lon depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_control_get_input_b(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field input_c from mount_control message
- *
- * @return yaw(deg*100) or alt (in cm) depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_control_get_input_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field save_position from mount_control message
- *
- * @return if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
- */
-static inline uint8_t mavlink_msg_mount_control_get_save_position(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Decode a mount_control message into a struct
- *
- * @param msg The message to decode
- * @param mount_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mount_control_decode(const mavlink_message_t* msg, mavlink_mount_control_t* mount_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mount_control->input_a = mavlink_msg_mount_control_get_input_a(msg);
-	mount_control->input_b = mavlink_msg_mount_control_get_input_b(msg);
-	mount_control->input_c = mavlink_msg_mount_control_get_input_c(msg);
-	mount_control->target_system = mavlink_msg_mount_control_get_target_system(msg);
-	mount_control->target_component = mavlink_msg_mount_control_get_target_component(msg);
-	mount_control->save_position = mavlink_msg_mount_control_get_save_position(msg);
-#else
-	memcpy(mount_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MOUNT_CONTROL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h
deleted file mode 100644
index 4905905dc..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_mount_status.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE MOUNT_STATUS PACKING
-
-#define MAVLINK_MSG_ID_MOUNT_STATUS 158
-
-typedef struct __mavlink_mount_status_t
-{
- int32_t pointing_a; ///< pitch(deg*100) or lat, depending on mount mode
- int32_t pointing_b; ///< roll(deg*100) or lon depending on mount mode
- int32_t pointing_c; ///< yaw(deg*100) or alt (in cm) depending on mount mode
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mount_status_t;
-
-#define MAVLINK_MSG_ID_MOUNT_STATUS_LEN 14
-#define MAVLINK_MSG_ID_158_LEN 14
-
-#define MAVLINK_MSG_ID_MOUNT_STATUS_CRC 134
-#define MAVLINK_MSG_ID_158_CRC 134
-
-
-
-#define MAVLINK_MESSAGE_INFO_MOUNT_STATUS { \
-	"MOUNT_STATUS", \
-	5, \
-	{  { "pointing_a", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_mount_status_t, pointing_a) }, \
-         { "pointing_b", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_mount_status_t, pointing_b) }, \
-         { "pointing_c", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_mount_status_t, pointing_c) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_mount_status_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_mount_status_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mount_status 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 target_system System ID
- * @param target_component Component ID
- * @param pointing_a pitch(deg*100) or lat, depending on mount mode
- * @param pointing_b roll(deg*100) or lon depending on mount mode
- * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, pointing_a);
-	_mav_put_int32_t(buf, 4, pointing_b);
-	_mav_put_int32_t(buf, 8, pointing_c);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#else
-	mavlink_mount_status_t packet;
-	packet.pointing_a = pointing_a;
-	packet.pointing_b = pointing_b;
-	packet.pointing_c = pointing_c;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mount_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param pointing_a pitch(deg*100) or lat, depending on mount mode
- * @param pointing_b roll(deg*100) or lon depending on mount mode
- * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mount_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int32_t pointing_a,int32_t pointing_b,int32_t pointing_c)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, pointing_a);
-	_mav_put_int32_t(buf, 4, pointing_b);
-	_mav_put_int32_t(buf, 8, pointing_c);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#else
-	mavlink_mount_status_t packet;
-	packet.pointing_a = pointing_a;
-	packet.pointing_b = pointing_b;
-	packet.pointing_c = pointing_c;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MOUNT_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mount_status struct
- *
- * @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 mount_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
-{
-	return mavlink_msg_mount_status_pack(system_id, component_id, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
-}
-
-/**
- * @brief Encode a mount_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mount_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mount_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_status_t* mount_status)
-{
-	return mavlink_msg_mount_status_pack_chan(system_id, component_id, chan, msg, mount_status->target_system, mount_status->target_component, mount_status->pointing_a, mount_status->pointing_b, mount_status->pointing_c);
-}
-
-/**
- * @brief Send a mount_status message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param pointing_a pitch(deg*100) or lat, depending on mount mode
- * @param pointing_b roll(deg*100) or lon depending on mount mode
- * @param pointing_c yaw(deg*100) or alt (in cm) depending on mount mode
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mount_status_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int32_t pointing_a, int32_t pointing_b, int32_t pointing_c)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MOUNT_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, pointing_a);
-	_mav_put_int32_t(buf, 4, pointing_b);
-	_mav_put_int32_t(buf, 8, pointing_c);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, buf, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-#else
-	mavlink_mount_status_t packet;
-	packet.pointing_a = pointing_a;
-	packet.pointing_b = pointing_b;
-	packet.pointing_c = pointing_c;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN, MAVLINK_MSG_ID_MOUNT_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_STATUS, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MOUNT_STATUS UNPACKING
-
-
-/**
- * @brief Get field target_system from mount_status message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mount_status_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field target_component from mount_status message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mount_status_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  13);
-}
-
-/**
- * @brief Get field pointing_a from mount_status message
- *
- * @return pitch(deg*100) or lat, depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_status_get_pointing_a(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field pointing_b from mount_status message
- *
- * @return roll(deg*100) or lon depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_status_get_pointing_b(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field pointing_c from mount_status message
- *
- * @return yaw(deg*100) or alt (in cm) depending on mount mode
- */
-static inline int32_t mavlink_msg_mount_status_get_pointing_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a mount_status message into a struct
- *
- * @param msg The message to decode
- * @param mount_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mount_status_decode(const mavlink_message_t* msg, mavlink_mount_status_t* mount_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mount_status->pointing_a = mavlink_msg_mount_status_get_pointing_a(msg);
-	mount_status->pointing_b = mavlink_msg_mount_status_get_pointing_b(msg);
-	mount_status->pointing_c = mavlink_msg_mount_status_get_pointing_c(msg);
-	mount_status->target_system = mavlink_msg_mount_status_get_target_system(msg);
-	mount_status->target_component = mavlink_msg_mount_status_get_target_component(msg);
-#else
-	memcpy(mount_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MOUNT_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h
deleted file mode 100644
index 8e9740e82..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_radio.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE RADIO PACKING
-
-#define MAVLINK_MSG_ID_RADIO 166
-
-typedef struct __mavlink_radio_t
-{
- uint16_t rxerrors; ///< receive errors
- uint16_t fixed; ///< count of error corrected packets
- uint8_t rssi; ///< local signal strength
- uint8_t remrssi; ///< remote signal strength
- uint8_t txbuf; ///< how full the tx buffer is as a percentage
- uint8_t noise; ///< background noise level
- uint8_t remnoise; ///< remote background noise level
-} mavlink_radio_t;
-
-#define MAVLINK_MSG_ID_RADIO_LEN 9
-#define MAVLINK_MSG_ID_166_LEN 9
-
-#define MAVLINK_MSG_ID_RADIO_CRC 21
-#define MAVLINK_MSG_ID_166_CRC 21
-
-
-
-#define MAVLINK_MESSAGE_INFO_RADIO { \
-	"RADIO", \
-	7, \
-	{  { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_t, rxerrors) }, \
-         { "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_t, fixed) }, \
-         { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_t, rssi) }, \
-         { "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_t, remrssi) }, \
-         { "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_t, txbuf) }, \
-         { "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_t, noise) }, \
-         { "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_t, remnoise) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a radio 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 rssi local signal strength
- * @param remrssi remote signal strength
- * @param txbuf how full the tx buffer is as a percentage
- * @param noise background noise level
- * @param remnoise remote background noise level
- * @param rxerrors receive errors
- * @param fixed count of error corrected packets
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_radio_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RADIO_LEN];
-	_mav_put_uint16_t(buf, 0, rxerrors);
-	_mav_put_uint16_t(buf, 2, fixed);
-	_mav_put_uint8_t(buf, 4, rssi);
-	_mav_put_uint8_t(buf, 5, remrssi);
-	_mav_put_uint8_t(buf, 6, txbuf);
-	_mav_put_uint8_t(buf, 7, noise);
-	_mav_put_uint8_t(buf, 8, remnoise);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
-#else
-	mavlink_radio_t packet;
-	packet.rxerrors = rxerrors;
-	packet.fixed = fixed;
-	packet.rssi = rssi;
-	packet.remrssi = remrssi;
-	packet.txbuf = txbuf;
-	packet.noise = noise;
-	packet.remnoise = remnoise;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RADIO;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-}
-
-/**
- * @brief Pack a radio 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rssi local signal strength
- * @param remrssi remote signal strength
- * @param txbuf how full the tx buffer is as a percentage
- * @param noise background noise level
- * @param remnoise remote background noise level
- * @param rxerrors receive errors
- * @param fixed count of error corrected packets
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_radio_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RADIO_LEN];
-	_mav_put_uint16_t(buf, 0, rxerrors);
-	_mav_put_uint16_t(buf, 2, fixed);
-	_mav_put_uint8_t(buf, 4, rssi);
-	_mav_put_uint8_t(buf, 5, remrssi);
-	_mav_put_uint8_t(buf, 6, txbuf);
-	_mav_put_uint8_t(buf, 7, noise);
-	_mav_put_uint8_t(buf, 8, remnoise);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_LEN);
-#else
-	mavlink_radio_t packet;
-	packet.rxerrors = rxerrors;
-	packet.fixed = fixed;
-	packet.rssi = rssi;
-	packet.remrssi = remrssi;
-	packet.txbuf = txbuf;
-	packet.noise = noise;
-	packet.remnoise = remnoise;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RADIO;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-}
-
-/**
- * @brief Encode a radio struct
- *
- * @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 radio C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_radio_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_t* radio)
-{
-	return mavlink_msg_radio_pack(system_id, component_id, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
-}
-
-/**
- * @brief Encode a radio struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param radio C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_radio_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_t* radio)
-{
-	return mavlink_msg_radio_pack_chan(system_id, component_id, chan, msg, radio->rssi, radio->remrssi, radio->txbuf, radio->noise, radio->remnoise, radio->rxerrors, radio->fixed);
-}
-
-/**
- * @brief Send a radio message
- * @param chan MAVLink channel to send the message
- *
- * @param rssi local signal strength
- * @param remrssi remote signal strength
- * @param txbuf how full the tx buffer is as a percentage
- * @param noise background noise level
- * @param remnoise remote background noise level
- * @param rxerrors receive errors
- * @param fixed count of error corrected packets
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_radio_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RADIO_LEN];
-	_mav_put_uint16_t(buf, 0, rxerrors);
-	_mav_put_uint16_t(buf, 2, fixed);
-	_mav_put_uint8_t(buf, 4, rssi);
-	_mav_put_uint8_t(buf, 5, remrssi);
-	_mav_put_uint8_t(buf, 6, txbuf);
-	_mav_put_uint8_t(buf, 7, noise);
-	_mav_put_uint8_t(buf, 8, remnoise);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, buf, MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-#else
-	mavlink_radio_t packet;
-	packet.rxerrors = rxerrors;
-	packet.fixed = fixed;
-	packet.rssi = rssi;
-	packet.remrssi = remrssi;
-	packet.txbuf = txbuf;
-	packet.noise = noise;
-	packet.remnoise = remnoise;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_LEN, MAVLINK_MSG_ID_RADIO_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO, (const char *)&packet, MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RADIO UNPACKING
-
-
-/**
- * @brief Get field rssi from radio message
- *
- * @return local signal strength
- */
-static inline uint8_t mavlink_msg_radio_get_rssi(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field remrssi from radio message
- *
- * @return remote signal strength
- */
-static inline uint8_t mavlink_msg_radio_get_remrssi(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field txbuf from radio message
- *
- * @return how full the tx buffer is as a percentage
- */
-static inline uint8_t mavlink_msg_radio_get_txbuf(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field noise from radio message
- *
- * @return background noise level
- */
-static inline uint8_t mavlink_msg_radio_get_noise(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field remnoise from radio message
- *
- * @return remote background noise level
- */
-static inline uint8_t mavlink_msg_radio_get_remnoise(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field rxerrors from radio message
- *
- * @return receive errors
- */
-static inline uint16_t mavlink_msg_radio_get_rxerrors(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field fixed from radio message
- *
- * @return count of error corrected packets
- */
-static inline uint16_t mavlink_msg_radio_get_fixed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a radio message into a struct
- *
- * @param msg The message to decode
- * @param radio C-struct to decode the message contents into
- */
-static inline void mavlink_msg_radio_decode(const mavlink_message_t* msg, mavlink_radio_t* radio)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	radio->rxerrors = mavlink_msg_radio_get_rxerrors(msg);
-	radio->fixed = mavlink_msg_radio_get_fixed(msg);
-	radio->rssi = mavlink_msg_radio_get_rssi(msg);
-	radio->remrssi = mavlink_msg_radio_get_remrssi(msg);
-	radio->txbuf = mavlink_msg_radio_get_txbuf(msg);
-	radio->noise = mavlink_msg_radio_get_noise(msg);
-	radio->remnoise = mavlink_msg_radio_get_remnoise(msg);
-#else
-	memcpy(radio, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RADIO_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h
deleted file mode 100644
index f057e3c33..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_fetch_point.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE RALLY_FETCH_POINT PACKING
-
-#define MAVLINK_MSG_ID_RALLY_FETCH_POINT 176
-
-typedef struct __mavlink_rally_fetch_point_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t idx; ///< point index (first point is 0)
-} mavlink_rally_fetch_point_t;
-
-#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN 3
-#define MAVLINK_MSG_ID_176_LEN 3
-
-#define MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC 234
-#define MAVLINK_MSG_ID_176_CRC 234
-
-
-
-#define MAVLINK_MESSAGE_INFO_RALLY_FETCH_POINT { \
-	"RALLY_FETCH_POINT", \
-	3, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_rally_fetch_point_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_rally_fetch_point_t, target_component) }, \
-         { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_rally_fetch_point_t, idx) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a rally_fetch_point 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 target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 0)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rally_fetch_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#else
-	mavlink_rally_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a rally_fetch_point 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 0)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rally_fetch_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#else
-	mavlink_rally_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RALLY_FETCH_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a rally_fetch_point struct
- *
- * @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 rally_fetch_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rally_fetch_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point)
-{
-	return mavlink_msg_rally_fetch_point_pack(system_id, component_id, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx);
-}
-
-/**
- * @brief Encode a rally_fetch_point struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rally_fetch_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rally_fetch_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_fetch_point_t* rally_fetch_point)
-{
-	return mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, chan, msg, rally_fetch_point->target_system, rally_fetch_point->target_component, rally_fetch_point->idx);
-}
-
-/**
- * @brief Send a rally_fetch_point message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 0)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_rally_fetch_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, idx);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, buf, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-#else
-	mavlink_rally_fetch_point_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN, MAVLINK_MSG_ID_RALLY_FETCH_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_FETCH_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RALLY_FETCH_POINT UNPACKING
-
-
-/**
- * @brief Get field target_system from rally_fetch_point message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_rally_fetch_point_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from rally_fetch_point message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_rally_fetch_point_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field idx from rally_fetch_point message
- *
- * @return point index (first point is 0)
- */
-static inline uint8_t mavlink_msg_rally_fetch_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a rally_fetch_point message into a struct
- *
- * @param msg The message to decode
- * @param rally_fetch_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_rally_fetch_point_decode(const mavlink_message_t* msg, mavlink_rally_fetch_point_t* rally_fetch_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	rally_fetch_point->target_system = mavlink_msg_rally_fetch_point_get_target_system(msg);
-	rally_fetch_point->target_component = mavlink_msg_rally_fetch_point_get_target_component(msg);
-	rally_fetch_point->idx = mavlink_msg_rally_fetch_point_get_idx(msg);
-#else
-	memcpy(rally_fetch_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_FETCH_POINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h
deleted file mode 100644
index 2c21db4c0..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rally_point.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE RALLY_POINT PACKING
-
-#define MAVLINK_MSG_ID_RALLY_POINT 175
-
-typedef struct __mavlink_rally_point_t
-{
- int32_t lat; ///< Latitude of point in degrees * 1E7
- int32_t lng; ///< Longitude of point in degrees * 1E7
- int16_t alt; ///< Transit / loiter altitude in meters relative to home
- int16_t break_alt; ///< Break altitude in meters relative to home
- uint16_t land_dir; ///< Heading to aim for when landing. In centi-degrees.
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t idx; ///< point index (first point is 0)
- uint8_t count; ///< total number of points (for sanity checking)
- uint8_t flags; ///< See RALLY_FLAGS enum for definition of the bitmask.
-} mavlink_rally_point_t;
-
-#define MAVLINK_MSG_ID_RALLY_POINT_LEN 19
-#define MAVLINK_MSG_ID_175_LEN 19
-
-#define MAVLINK_MSG_ID_RALLY_POINT_CRC 138
-#define MAVLINK_MSG_ID_175_CRC 138
-
-
-
-#define MAVLINK_MESSAGE_INFO_RALLY_POINT { \
-	"RALLY_POINT", \
-	10, \
-	{  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_rally_point_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_rally_point_t, lng) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rally_point_t, alt) }, \
-         { "break_alt", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rally_point_t, break_alt) }, \
-         { "land_dir", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rally_point_t, land_dir) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_rally_point_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_rally_point_t, target_component) }, \
-         { "idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rally_point_t, idx) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rally_point_t, count) }, \
-         { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_rally_point_t, flags) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a rally_point 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 target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 0)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point in degrees * 1E7
- * @param lng Longitude of point in degrees * 1E7
- * @param alt Transit / loiter altitude in meters relative to home
- * @param break_alt Break altitude in meters relative to home
- * @param land_dir Heading to aim for when landing. In centi-degrees.
- * @param flags See RALLY_FLAGS enum for definition of the bitmask.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rally_point_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN];
-	_mav_put_int32_t(buf, 0, lat);
-	_mav_put_int32_t(buf, 4, lng);
-	_mav_put_int16_t(buf, 8, alt);
-	_mav_put_int16_t(buf, 10, break_alt);
-	_mav_put_uint16_t(buf, 12, land_dir);
-	_mav_put_uint8_t(buf, 14, target_system);
-	_mav_put_uint8_t(buf, 15, target_component);
-	_mav_put_uint8_t(buf, 16, idx);
-	_mav_put_uint8_t(buf, 17, count);
-	_mav_put_uint8_t(buf, 18, flags);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#else
-	mavlink_rally_point_t packet;
-	packet.lat = lat;
-	packet.lng = lng;
-	packet.alt = alt;
-	packet.break_alt = break_alt;
-	packet.land_dir = land_dir;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-	packet.flags = flags;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a rally_point 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 0)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point in degrees * 1E7
- * @param lng Longitude of point in degrees * 1E7
- * @param alt Transit / loiter altitude in meters relative to home
- * @param break_alt Break altitude in meters relative to home
- * @param land_dir Heading to aim for when landing. In centi-degrees.
- * @param flags See RALLY_FLAGS enum for definition of the bitmask.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rally_point_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t idx,uint8_t count,int32_t lat,int32_t lng,int16_t alt,int16_t break_alt,uint16_t land_dir,uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN];
-	_mav_put_int32_t(buf, 0, lat);
-	_mav_put_int32_t(buf, 4, lng);
-	_mav_put_int16_t(buf, 8, alt);
-	_mav_put_int16_t(buf, 10, break_alt);
-	_mav_put_uint16_t(buf, 12, land_dir);
-	_mav_put_uint8_t(buf, 14, target_system);
-	_mav_put_uint8_t(buf, 15, target_component);
-	_mav_put_uint8_t(buf, 16, idx);
-	_mav_put_uint8_t(buf, 17, count);
-	_mav_put_uint8_t(buf, 18, flags);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#else
-	mavlink_rally_point_t packet;
-	packet.lat = lat;
-	packet.lng = lng;
-	packet.alt = alt;
-	packet.break_alt = break_alt;
-	packet.land_dir = land_dir;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-	packet.flags = flags;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RALLY_POINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a rally_point struct
- *
- * @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 rally_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rally_point_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
-{
-	return mavlink_msg_rally_point_pack(system_id, component_id, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
-}
-
-/**
- * @brief Encode a rally_point struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rally_point C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rally_point_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rally_point_t* rally_point)
-{
-	return mavlink_msg_rally_point_pack_chan(system_id, component_id, chan, msg, rally_point->target_system, rally_point->target_component, rally_point->idx, rally_point->count, rally_point->lat, rally_point->lng, rally_point->alt, rally_point->break_alt, rally_point->land_dir, rally_point->flags);
-}
-
-/**
- * @brief Send a rally_point message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param idx point index (first point is 0)
- * @param count total number of points (for sanity checking)
- * @param lat Latitude of point in degrees * 1E7
- * @param lng Longitude of point in degrees * 1E7
- * @param alt Transit / loiter altitude in meters relative to home
- * @param break_alt Break altitude in meters relative to home
- * @param land_dir Heading to aim for when landing. In centi-degrees.
- * @param flags See RALLY_FLAGS enum for definition of the bitmask.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_rally_point_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t idx, uint8_t count, int32_t lat, int32_t lng, int16_t alt, int16_t break_alt, uint16_t land_dir, uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RALLY_POINT_LEN];
-	_mav_put_int32_t(buf, 0, lat);
-	_mav_put_int32_t(buf, 4, lng);
-	_mav_put_int16_t(buf, 8, alt);
-	_mav_put_int16_t(buf, 10, break_alt);
-	_mav_put_uint16_t(buf, 12, land_dir);
-	_mav_put_uint8_t(buf, 14, target_system);
-	_mav_put_uint8_t(buf, 15, target_component);
-	_mav_put_uint8_t(buf, 16, idx);
-	_mav_put_uint8_t(buf, 17, count);
-	_mav_put_uint8_t(buf, 18, flags);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, buf, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-#else
-	mavlink_rally_point_t packet;
-	packet.lat = lat;
-	packet.lng = lng;
-	packet.alt = alt;
-	packet.break_alt = break_alt;
-	packet.land_dir = land_dir;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.idx = idx;
-	packet.count = count;
-	packet.flags = flags;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_LEN, MAVLINK_MSG_ID_RALLY_POINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RALLY_POINT, (const char *)&packet, MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RALLY_POINT UNPACKING
-
-
-/**
- * @brief Get field target_system from rally_point message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_rally_point_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Get field target_component from rally_point message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_rally_point_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  15);
-}
-
-/**
- * @brief Get field idx from rally_point message
- *
- * @return point index (first point is 0)
- */
-static inline uint8_t mavlink_msg_rally_point_get_idx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field count from rally_point message
- *
- * @return total number of points (for sanity checking)
- */
-static inline uint8_t mavlink_msg_rally_point_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field lat from rally_point message
- *
- * @return Latitude of point in degrees * 1E7
- */
-static inline int32_t mavlink_msg_rally_point_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field lng from rally_point message
- *
- * @return Longitude of point in degrees * 1E7
- */
-static inline int32_t mavlink_msg_rally_point_get_lng(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field alt from rally_point message
- *
- * @return Transit / loiter altitude in meters relative to home
- */
-static inline int16_t mavlink_msg_rally_point_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field break_alt from rally_point message
- *
- * @return Break altitude in meters relative to home
- */
-static inline int16_t mavlink_msg_rally_point_get_break_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field land_dir from rally_point message
- *
- * @return Heading to aim for when landing. In centi-degrees.
- */
-static inline uint16_t mavlink_msg_rally_point_get_land_dir(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field flags from rally_point message
- *
- * @return See RALLY_FLAGS enum for definition of the bitmask.
- */
-static inline uint8_t mavlink_msg_rally_point_get_flags(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  18);
-}
-
-/**
- * @brief Decode a rally_point message into a struct
- *
- * @param msg The message to decode
- * @param rally_point C-struct to decode the message contents into
- */
-static inline void mavlink_msg_rally_point_decode(const mavlink_message_t* msg, mavlink_rally_point_t* rally_point)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	rally_point->lat = mavlink_msg_rally_point_get_lat(msg);
-	rally_point->lng = mavlink_msg_rally_point_get_lng(msg);
-	rally_point->alt = mavlink_msg_rally_point_get_alt(msg);
-	rally_point->break_alt = mavlink_msg_rally_point_get_break_alt(msg);
-	rally_point->land_dir = mavlink_msg_rally_point_get_land_dir(msg);
-	rally_point->target_system = mavlink_msg_rally_point_get_target_system(msg);
-	rally_point->target_component = mavlink_msg_rally_point_get_target_component(msg);
-	rally_point->idx = mavlink_msg_rally_point_get_idx(msg);
-	rally_point->count = mavlink_msg_rally_point_get_count(msg);
-	rally_point->flags = mavlink_msg_rally_point_get_flags(msg);
-#else
-	memcpy(rally_point, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RALLY_POINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h
deleted file mode 100644
index c476447a8..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_rangefinder.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE RANGEFINDER PACKING
-
-#define MAVLINK_MSG_ID_RANGEFINDER 173
-
-typedef struct __mavlink_rangefinder_t
-{
- float distance; ///< distance in meters
- float voltage; ///< raw voltage if available, zero otherwise
-} mavlink_rangefinder_t;
-
-#define MAVLINK_MSG_ID_RANGEFINDER_LEN 8
-#define MAVLINK_MSG_ID_173_LEN 8
-
-#define MAVLINK_MSG_ID_RANGEFINDER_CRC 83
-#define MAVLINK_MSG_ID_173_CRC 83
-
-
-
-#define MAVLINK_MESSAGE_INFO_RANGEFINDER { \
-	"RANGEFINDER", \
-	2, \
-	{  { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_rangefinder_t, distance) }, \
-         { "voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_rangefinder_t, voltage) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a rangefinder 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 distance distance in meters
- * @param voltage raw voltage if available, zero otherwise
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rangefinder_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float distance, float voltage)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
-	_mav_put_float(buf, 0, distance);
-	_mav_put_float(buf, 4, voltage);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#else
-	mavlink_rangefinder_t packet;
-	packet.distance = distance;
-	packet.voltage = voltage;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-}
-
-/**
- * @brief Pack a rangefinder 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param distance distance in meters
- * @param voltage raw voltage if available, zero otherwise
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rangefinder_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float distance,float voltage)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
-	_mav_put_float(buf, 0, distance);
-	_mav_put_float(buf, 4, voltage);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#else
-	mavlink_rangefinder_t packet;
-	packet.distance = distance;
-	packet.voltage = voltage;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RANGEFINDER;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-}
-
-/**
- * @brief Encode a rangefinder struct
- *
- * @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 rangefinder C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rangefinder_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
-{
-	return mavlink_msg_rangefinder_pack(system_id, component_id, msg, rangefinder->distance, rangefinder->voltage);
-}
-
-/**
- * @brief Encode a rangefinder struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rangefinder C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rangefinder_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rangefinder_t* rangefinder)
-{
-	return mavlink_msg_rangefinder_pack_chan(system_id, component_id, chan, msg, rangefinder->distance, rangefinder->voltage);
-}
-
-/**
- * @brief Send a rangefinder message
- * @param chan MAVLink channel to send the message
- *
- * @param distance distance in meters
- * @param voltage raw voltage if available, zero otherwise
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_rangefinder_send(mavlink_channel_t chan, float distance, float voltage)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RANGEFINDER_LEN];
-	_mav_put_float(buf, 0, distance);
-	_mav_put_float(buf, 4, voltage);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, buf, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-#else
-	mavlink_rangefinder_t packet;
-	packet.distance = distance;
-	packet.voltage = voltage;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN, MAVLINK_MSG_ID_RANGEFINDER_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RANGEFINDER, (const char *)&packet, MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RANGEFINDER UNPACKING
-
-
-/**
- * @brief Get field distance from rangefinder message
- *
- * @return distance in meters
- */
-static inline float mavlink_msg_rangefinder_get_distance(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field voltage from rangefinder message
- *
- * @return raw voltage if available, zero otherwise
- */
-static inline float mavlink_msg_rangefinder_get_voltage(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Decode a rangefinder message into a struct
- *
- * @param msg The message to decode
- * @param rangefinder C-struct to decode the message contents into
- */
-static inline void mavlink_msg_rangefinder_decode(const mavlink_message_t* msg, mavlink_rangefinder_t* rangefinder)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	rangefinder->distance = mavlink_msg_rangefinder_get_distance(msg);
-	rangefinder->voltage = mavlink_msg_rangefinder_get_voltage(msg);
-#else
-	memcpy(rangefinder, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RANGEFINDER_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
deleted file mode 100644
index 31b7d989d..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_sensor_offsets.h
+++ /dev/null
@@ -1,419 +0,0 @@
-// MESSAGE SENSOR_OFFSETS PACKING
-
-#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
-
-typedef struct __mavlink_sensor_offsets_t
-{
- float mag_declination; ///< magnetic declination (radians)
- int32_t raw_press; ///< raw pressure from barometer
- int32_t raw_temp; ///< raw temperature from barometer
- float gyro_cal_x; ///< gyro X calibration
- float gyro_cal_y; ///< gyro Y calibration
- float gyro_cal_z; ///< gyro Z calibration
- float accel_cal_x; ///< accel X calibration
- float accel_cal_y; ///< accel Y calibration
- float accel_cal_z; ///< accel Z calibration
- int16_t mag_ofs_x; ///< magnetometer X offset
- int16_t mag_ofs_y; ///< magnetometer Y offset
- int16_t mag_ofs_z; ///< magnetometer Z offset
-} mavlink_sensor_offsets_t;
-
-#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
-#define MAVLINK_MSG_ID_150_LEN 42
-
-#define MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC 134
-#define MAVLINK_MSG_ID_150_CRC 134
-
-
-
-#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
-	"SENSOR_OFFSETS", \
-	12, \
-	{  { "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
-         { "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
-         { "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
-         { "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
-         { "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
-         { "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
-         { "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
-         { "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
-         { "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
-         { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
-         { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
-         { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a sensor_offsets 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 mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @param mag_declination magnetic declination (radians)
- * @param raw_press raw pressure from barometer
- * @param raw_temp raw temperature from barometer
- * @param gyro_cal_x gyro X calibration
- * @param gyro_cal_y gyro Y calibration
- * @param gyro_cal_z gyro Z calibration
- * @param accel_cal_x accel X calibration
- * @param accel_cal_y accel Y calibration
- * @param accel_cal_z accel Z calibration
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
-	_mav_put_float(buf, 0, mag_declination);
-	_mav_put_int32_t(buf, 4, raw_press);
-	_mav_put_int32_t(buf, 8, raw_temp);
-	_mav_put_float(buf, 12, gyro_cal_x);
-	_mav_put_float(buf, 16, gyro_cal_y);
-	_mav_put_float(buf, 20, gyro_cal_z);
-	_mav_put_float(buf, 24, accel_cal_x);
-	_mav_put_float(buf, 28, accel_cal_y);
-	_mav_put_float(buf, 32, accel_cal_z);
-	_mav_put_int16_t(buf, 36, mag_ofs_x);
-	_mav_put_int16_t(buf, 38, mag_ofs_y);
-	_mav_put_int16_t(buf, 40, mag_ofs_z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#else
-	mavlink_sensor_offsets_t packet;
-	packet.mag_declination = mag_declination;
-	packet.raw_press = raw_press;
-	packet.raw_temp = raw_temp;
-	packet.gyro_cal_x = gyro_cal_x;
-	packet.gyro_cal_y = gyro_cal_y;
-	packet.gyro_cal_z = gyro_cal_z;
-	packet.accel_cal_x = accel_cal_x;
-	packet.accel_cal_y = accel_cal_y;
-	packet.accel_cal_z = accel_cal_z;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a sensor_offsets 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @param mag_declination magnetic declination (radians)
- * @param raw_press raw pressure from barometer
- * @param raw_temp raw temperature from barometer
- * @param gyro_cal_x gyro X calibration
- * @param gyro_cal_y gyro Y calibration
- * @param gyro_cal_z gyro Z calibration
- * @param accel_cal_x accel X calibration
- * @param accel_cal_y accel Y calibration
- * @param accel_cal_z accel Z calibration
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
-	_mav_put_float(buf, 0, mag_declination);
-	_mav_put_int32_t(buf, 4, raw_press);
-	_mav_put_int32_t(buf, 8, raw_temp);
-	_mav_put_float(buf, 12, gyro_cal_x);
-	_mav_put_float(buf, 16, gyro_cal_y);
-	_mav_put_float(buf, 20, gyro_cal_z);
-	_mav_put_float(buf, 24, accel_cal_x);
-	_mav_put_float(buf, 28, accel_cal_y);
-	_mav_put_float(buf, 32, accel_cal_z);
-	_mav_put_int16_t(buf, 36, mag_ofs_x);
-	_mav_put_int16_t(buf, 38, mag_ofs_y);
-	_mav_put_int16_t(buf, 40, mag_ofs_z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#else
-	mavlink_sensor_offsets_t packet;
-	packet.mag_declination = mag_declination;
-	packet.raw_press = raw_press;
-	packet.raw_temp = raw_temp;
-	packet.gyro_cal_x = gyro_cal_x;
-	packet.gyro_cal_y = gyro_cal_y;
-	packet.gyro_cal_z = gyro_cal_z;
-	packet.accel_cal_x = accel_cal_x;
-	packet.accel_cal_y = accel_cal_y;
-	packet.accel_cal_z = accel_cal_z;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a sensor_offsets struct
- *
- * @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 sensor_offsets C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
-{
-	return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
-}
-
-/**
- * @brief Encode a sensor_offsets struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sensor_offsets C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sensor_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
-{
-	return mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, chan, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
-}
-
-/**
- * @brief Send a sensor_offsets message
- * @param chan MAVLink channel to send the message
- *
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @param mag_declination magnetic declination (radians)
- * @param raw_press raw pressure from barometer
- * @param raw_temp raw temperature from barometer
- * @param gyro_cal_x gyro X calibration
- * @param gyro_cal_y gyro Y calibration
- * @param gyro_cal_z gyro Z calibration
- * @param accel_cal_x accel X calibration
- * @param accel_cal_y accel Y calibration
- * @param accel_cal_z accel Z calibration
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
-	_mav_put_float(buf, 0, mag_declination);
-	_mav_put_int32_t(buf, 4, raw_press);
-	_mav_put_int32_t(buf, 8, raw_temp);
-	_mav_put_float(buf, 12, gyro_cal_x);
-	_mav_put_float(buf, 16, gyro_cal_y);
-	_mav_put_float(buf, 20, gyro_cal_z);
-	_mav_put_float(buf, 24, accel_cal_x);
-	_mav_put_float(buf, 28, accel_cal_y);
-	_mav_put_float(buf, 32, accel_cal_z);
-	_mav_put_int16_t(buf, 36, mag_ofs_x);
-	_mav_put_int16_t(buf, 38, mag_ofs_y);
-	_mav_put_int16_t(buf, 40, mag_ofs_z);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-#else
-	mavlink_sensor_offsets_t packet;
-	packet.mag_declination = mag_declination;
-	packet.raw_press = raw_press;
-	packet.raw_temp = raw_temp;
-	packet.gyro_cal_x = gyro_cal_x;
-	packet.gyro_cal_y = gyro_cal_y;
-	packet.gyro_cal_z = gyro_cal_z;
-	packet.accel_cal_x = accel_cal_x;
-	packet.accel_cal_y = accel_cal_y;
-	packet.accel_cal_z = accel_cal_z;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SENSOR_OFFSETS UNPACKING
-
-
-/**
- * @brief Get field mag_ofs_x from sensor_offsets message
- *
- * @return magnetometer X offset
- */
-static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  36);
-}
-
-/**
- * @brief Get field mag_ofs_y from sensor_offsets message
- *
- * @return magnetometer Y offset
- */
-static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  38);
-}
-
-/**
- * @brief Get field mag_ofs_z from sensor_offsets message
- *
- * @return magnetometer Z offset
- */
-static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  40);
-}
-
-/**
- * @brief Get field mag_declination from sensor_offsets message
- *
- * @return magnetic declination (radians)
- */
-static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field raw_press from sensor_offsets message
- *
- * @return raw pressure from barometer
- */
-static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field raw_temp from sensor_offsets message
- *
- * @return raw temperature from barometer
- */
-static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field gyro_cal_x from sensor_offsets message
- *
- * @return gyro X calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field gyro_cal_y from sensor_offsets message
- *
- * @return gyro Y calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field gyro_cal_z from sensor_offsets message
- *
- * @return gyro Z calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field accel_cal_x from sensor_offsets message
- *
- * @return accel X calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field accel_cal_y from sensor_offsets message
- *
- * @return accel Y calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field accel_cal_z from sensor_offsets message
- *
- * @return accel Z calibration
- */
-static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Decode a sensor_offsets message into a struct
- *
- * @param msg The message to decode
- * @param sensor_offsets C-struct to decode the message contents into
- */
-static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
-	sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
-	sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
-	sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
-	sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
-	sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
-	sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
-	sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
-	sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
-	sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
-	sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
-	sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
-#else
-	memcpy(sensor_offsets, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
deleted file mode 100644
index b2c629c39..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_set_mag_offsets.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE SET_MAG_OFFSETS PACKING
-
-#define MAVLINK_MSG_ID_SET_MAG_OFFSETS 151
-
-typedef struct __mavlink_set_mag_offsets_t
-{
- int16_t mag_ofs_x; ///< magnetometer X offset
- int16_t mag_ofs_y; ///< magnetometer Y offset
- int16_t mag_ofs_z; ///< magnetometer Z offset
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_set_mag_offsets_t;
-
-#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN 8
-#define MAVLINK_MSG_ID_151_LEN 8
-
-#define MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC 219
-#define MAVLINK_MSG_ID_151_CRC 219
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS { \
-	"SET_MAG_OFFSETS", \
-	5, \
-	{  { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_set_mag_offsets_t, mag_ofs_x) }, \
-         { "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_set_mag_offsets_t, mag_ofs_y) }, \
-         { "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_set_mag_offsets_t, mag_ofs_z) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_set_mag_offsets_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_set_mag_offsets_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_mag_offsets 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 target_system System ID
- * @param target_component Component ID
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN];
-	_mav_put_int16_t(buf, 0, mag_ofs_x);
-	_mav_put_int16_t(buf, 2, mag_ofs_y);
-	_mav_put_int16_t(buf, 4, mag_ofs_z);
-	_mav_put_uint8_t(buf, 6, target_system);
-	_mav_put_uint8_t(buf, 7, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#else
-	mavlink_set_mag_offsets_t packet;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_mag_offsets 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN];
-	_mav_put_int16_t(buf, 0, mag_ofs_x);
-	_mav_put_int16_t(buf, 2, mag_ofs_y);
-	_mav_put_int16_t(buf, 4, mag_ofs_z);
-	_mav_put_uint8_t(buf, 6, target_system);
-	_mav_put_uint8_t(buf, 7, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#else
-	mavlink_set_mag_offsets_t packet;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_MAG_OFFSETS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_mag_offsets struct
- *
- * @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 set_mag_offsets C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
-{
-	return mavlink_msg_set_mag_offsets_pack(system_id, component_id, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
-}
-
-/**
- * @brief Encode a set_mag_offsets struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_mag_offsets C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_mag_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_mag_offsets_t* set_mag_offsets)
-{
-	return mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, chan, msg, set_mag_offsets->target_system, set_mag_offsets->target_component, set_mag_offsets->mag_ofs_x, set_mag_offsets->mag_ofs_y, set_mag_offsets->mag_ofs_z);
-}
-
-/**
- * @brief Send a set_mag_offsets message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param mag_ofs_x magnetometer X offset
- * @param mag_ofs_y magnetometer Y offset
- * @param mag_ofs_z magnetometer Z offset
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_mag_offsets_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN];
-	_mav_put_int16_t(buf, 0, mag_ofs_x);
-	_mav_put_int16_t(buf, 2, mag_ofs_y);
-	_mav_put_int16_t(buf, 4, mag_ofs_z);
-	_mav_put_uint8_t(buf, 6, target_system);
-	_mav_put_uint8_t(buf, 7, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, buf, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-#else
-	mavlink_set_mag_offsets_t packet;
-	packet.mag_ofs_x = mag_ofs_x;
-	packet.mag_ofs_y = mag_ofs_y;
-	packet.mag_ofs_z = mag_ofs_z;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN, MAVLINK_MSG_ID_SET_MAG_OFFSETS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MAG_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_MAG_OFFSETS UNPACKING
-
-
-/**
- * @brief Get field target_system from set_mag_offsets message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_mag_offsets_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field target_component from set_mag_offsets message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_set_mag_offsets_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field mag_ofs_x from set_mag_offsets message
- *
- * @return magnetometer X offset
- */
-static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Get field mag_ofs_y from set_mag_offsets message
- *
- * @return magnetometer Y offset
- */
-static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Get field mag_ofs_z from set_mag_offsets message
- *
- * @return magnetometer Z offset
- */
-static inline int16_t mavlink_msg_set_mag_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Decode a set_mag_offsets message into a struct
- *
- * @param msg The message to decode
- * @param set_mag_offsets C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_mag_offsets_decode(const mavlink_message_t* msg, mavlink_set_mag_offsets_t* set_mag_offsets)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_mag_offsets->mag_ofs_x = mavlink_msg_set_mag_offsets_get_mag_ofs_x(msg);
-	set_mag_offsets->mag_ofs_y = mavlink_msg_set_mag_offsets_get_mag_ofs_y(msg);
-	set_mag_offsets->mag_ofs_z = mavlink_msg_set_mag_offsets_get_mag_ofs_z(msg);
-	set_mag_offsets->target_system = mavlink_msg_set_mag_offsets_get_target_system(msg);
-	set_mag_offsets->target_component = mavlink_msg_set_mag_offsets_get_target_component(msg);
-#else
-	memcpy(set_mag_offsets, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_MAG_OFFSETS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
deleted file mode 100644
index 8ef44f76d..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_simstate.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE SIMSTATE PACKING
-
-#define MAVLINK_MSG_ID_SIMSTATE 164
-
-typedef struct __mavlink_simstate_t
-{
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
- float xacc; ///< X acceleration m/s/s
- float yacc; ///< Y acceleration m/s/s
- float zacc; ///< Z acceleration m/s/s
- float xgyro; ///< Angular speed around X axis rad/s
- float ygyro; ///< Angular speed around Y axis rad/s
- float zgyro; ///< Angular speed around Z axis rad/s
- int32_t lat; ///< Latitude in degrees * 1E7
- int32_t lng; ///< Longitude in degrees * 1E7
-} mavlink_simstate_t;
-
-#define MAVLINK_MSG_ID_SIMSTATE_LEN 44
-#define MAVLINK_MSG_ID_164_LEN 44
-
-#define MAVLINK_MSG_ID_SIMSTATE_CRC 154
-#define MAVLINK_MSG_ID_164_CRC 154
-
-
-
-#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
-	"SIMSTATE", \
-	11, \
-	{  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
-         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
-         { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a simstate 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 roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param xacc X acceleration m/s/s
- * @param yacc Y acceleration m/s/s
- * @param zacc Z acceleration m/s/s
- * @param xgyro Angular speed around X axis rad/s
- * @param ygyro Angular speed around Y axis rad/s
- * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees * 1E7
- * @param lng Longitude in degrees * 1E7
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, xacc);
-	_mav_put_float(buf, 16, yacc);
-	_mav_put_float(buf, 20, zacc);
-	_mav_put_float(buf, 24, xgyro);
-	_mav_put_float(buf, 28, ygyro);
-	_mav_put_float(buf, 32, zgyro);
-	_mav_put_int32_t(buf, 36, lat);
-	_mav_put_int32_t(buf, 40, lng);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#else
-	mavlink_simstate_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a simstate 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param xacc X acceleration m/s/s
- * @param yacc Y acceleration m/s/s
- * @param zacc Z acceleration m/s/s
- * @param xgyro Angular speed around X axis rad/s
- * @param ygyro Angular speed around Y axis rad/s
- * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees * 1E7
- * @param lng Longitude in degrees * 1E7
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,int32_t lat,int32_t lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, xacc);
-	_mav_put_float(buf, 16, yacc);
-	_mav_put_float(buf, 20, zacc);
-	_mav_put_float(buf, 24, xgyro);
-	_mav_put_float(buf, 28, ygyro);
-	_mav_put_float(buf, 32, zgyro);
-	_mav_put_int32_t(buf, 36, lat);
-	_mav_put_int32_t(buf, 40, lng);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#else
-	mavlink_simstate_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.lat = lat;
-	packet.lng = lng;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a simstate struct
- *
- * @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 simstate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
-{
-	return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
-}
-
-/**
- * @brief Encode a simstate struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param simstate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_simstate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
-{
-	return mavlink_msg_simstate_pack_chan(system_id, component_id, chan, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
-}
-
-/**
- * @brief Send a simstate message
- * @param chan MAVLink channel to send the message
- *
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param xacc X acceleration m/s/s
- * @param yacc Y acceleration m/s/s
- * @param zacc Z acceleration m/s/s
- * @param xgyro Angular speed around X axis rad/s
- * @param ygyro Angular speed around Y axis rad/s
- * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees * 1E7
- * @param lng Longitude in degrees * 1E7
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
-	_mav_put_float(buf, 0, roll);
-	_mav_put_float(buf, 4, pitch);
-	_mav_put_float(buf, 8, yaw);
-	_mav_put_float(buf, 12, xacc);
-	_mav_put_float(buf, 16, yacc);
-	_mav_put_float(buf, 20, zacc);
-	_mav_put_float(buf, 24, xgyro);
-	_mav_put_float(buf, 28, ygyro);
-	_mav_put_float(buf, 32, zgyro);
-	_mav_put_int32_t(buf, 36, lat);
-	_mav_put_int32_t(buf, 40, lng);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-#else
-	mavlink_simstate_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.lat = lat;
-	packet.lng = lng;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SIMSTATE UNPACKING
-
-
-/**
- * @brief Get field roll from simstate message
- *
- * @return Roll angle (rad)
- */
-static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field pitch from simstate message
- *
- * @return Pitch angle (rad)
- */
-static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field yaw from simstate message
- *
- * @return Yaw angle (rad)
- */
-static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field xacc from simstate message
- *
- * @return X acceleration m/s/s
- */
-static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yacc from simstate message
- *
- * @return Y acceleration m/s/s
- */
-static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field zacc from simstate message
- *
- * @return Z acceleration m/s/s
- */
-static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field xgyro from simstate message
- *
- * @return Angular speed around X axis rad/s
- */
-static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field ygyro from simstate message
- *
- * @return Angular speed around Y axis rad/s
- */
-static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field zgyro from simstate message
- *
- * @return Angular speed around Z axis rad/s
- */
-static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field lat from simstate message
- *
- * @return Latitude in degrees * 1E7
- */
-static inline int32_t mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  36);
-}
-
-/**
- * @brief Get field lng from simstate message
- *
- * @return Longitude in degrees * 1E7
- */
-static inline int32_t mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  40);
-}
-
-/**
- * @brief Decode a simstate message into a struct
- *
- * @param msg The message to decode
- * @param simstate C-struct to decode the message contents into
- */
-static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	simstate->roll = mavlink_msg_simstate_get_roll(msg);
-	simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
-	simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
-	simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
-	simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
-	simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
-	simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
-	simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
-	simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
-	simstate->lat = mavlink_msg_simstate_get_lat(msg);
-	simstate->lng = mavlink_msg_simstate_get_lng(msg);
-#else
-	memcpy(simstate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SIMSTATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
deleted file mode 100644
index 7608a7bd1..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_wind.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE WIND PACKING
-
-#define MAVLINK_MSG_ID_WIND 168
-
-typedef struct __mavlink_wind_t
-{
- float direction; ///< wind direction that wind is coming from (degrees)
- float speed; ///< wind speed in ground plane (m/s)
- float speed_z; ///< vertical wind speed (m/s)
-} mavlink_wind_t;
-
-#define MAVLINK_MSG_ID_WIND_LEN 12
-#define MAVLINK_MSG_ID_168_LEN 12
-
-#define MAVLINK_MSG_ID_WIND_CRC 1
-#define MAVLINK_MSG_ID_168_CRC 1
-
-
-
-#define MAVLINK_MESSAGE_INFO_WIND { \
-	"WIND", \
-	3, \
-	{  { "direction", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_wind_t, direction) }, \
-         { "speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_wind_t, speed) }, \
-         { "speed_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_wind_t, speed_z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a wind 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 direction wind direction that wind is coming from (degrees)
- * @param speed wind speed in ground plane (m/s)
- * @param speed_z vertical wind speed (m/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float direction, float speed, float speed_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WIND_LEN];
-	_mav_put_float(buf, 0, direction);
-	_mav_put_float(buf, 4, speed);
-	_mav_put_float(buf, 8, speed_z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WIND_LEN);
-#else
-	mavlink_wind_t packet;
-	packet.direction = direction;
-	packet.speed = speed;
-	packet.speed_z = speed_z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WIND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WIND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WIND_LEN);
-#endif
-}
-
-/**
- * @brief Pack a wind 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param direction wind direction that wind is coming from (degrees)
- * @param speed wind speed in ground plane (m/s)
- * @param speed_z vertical wind speed (m/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float direction,float speed,float speed_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WIND_LEN];
-	_mav_put_float(buf, 0, direction);
-	_mav_put_float(buf, 4, speed);
-	_mav_put_float(buf, 8, speed_z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WIND_LEN);
-#else
-	mavlink_wind_t packet;
-	packet.direction = direction;
-	packet.speed = speed;
-	packet.speed_z = speed_z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WIND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WIND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WIND_LEN);
-#endif
-}
-
-/**
- * @brief Encode a wind struct
- *
- * @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 wind C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wind_t* wind)
-{
-	return mavlink_msg_wind_pack(system_id, component_id, msg, wind->direction, wind->speed, wind->speed_z);
-}
-
-/**
- * @brief Encode a wind struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param wind C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_wind_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_wind_t* wind)
-{
-	return mavlink_msg_wind_pack_chan(system_id, component_id, chan, msg, wind->direction, wind->speed, wind->speed_z);
-}
-
-/**
- * @brief Send a wind message
- * @param chan MAVLink channel to send the message
- *
- * @param direction wind direction that wind is coming from (degrees)
- * @param speed wind speed in ground plane (m/s)
- * @param speed_z vertical wind speed (m/s)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_wind_send(mavlink_channel_t chan, float direction, float speed, float speed_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WIND_LEN];
-	_mav_put_float(buf, 0, direction);
-	_mav_put_float(buf, 4, speed);
-	_mav_put_float(buf, 8, speed_z);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, buf, MAVLINK_MSG_ID_WIND_LEN);
-#endif
-#else
-	mavlink_wind_t packet;
-	packet.direction = direction;
-	packet.speed = speed;
-	packet.speed_z = speed_z;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)&packet, MAVLINK_MSG_ID_WIND_LEN, MAVLINK_MSG_ID_WIND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND, (const char *)&packet, MAVLINK_MSG_ID_WIND_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE WIND UNPACKING
-
-
-/**
- * @brief Get field direction from wind message
- *
- * @return wind direction that wind is coming from (degrees)
- */
-static inline float mavlink_msg_wind_get_direction(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field speed from wind message
- *
- * @return wind speed in ground plane (m/s)
- */
-static inline float mavlink_msg_wind_get_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field speed_z from wind message
- *
- * @return vertical wind speed (m/s)
- */
-static inline float mavlink_msg_wind_get_speed_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Decode a wind message into a struct
- *
- * @param msg The message to decode
- * @param wind C-struct to decode the message contents into
- */
-static inline void mavlink_msg_wind_decode(const mavlink_message_t* msg, mavlink_wind_t* wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	wind->direction = mavlink_msg_wind_get_direction(msg);
-	wind->speed = mavlink_msg_wind_get_speed(msg);
-	wind->speed_z = mavlink_msg_wind_get_speed_z(msg);
-#else
-	memcpy(wind, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_WIND_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h b/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
deleted file mode 100644
index b2496334f..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/testsuite.h
+++ /dev/null
@@ -1,1488 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef ARDUPILOTMEGA_TESTSUITE_H
-#define ARDUPILOTMEGA_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_common(system_id, component_id, last_msg);
-	mavlink_test_ardupilotmega(system_id, component_id, last_msg);
-}
-#endif
-
-#include "../common/testsuite.h"
-
-
-static void mavlink_test_sensor_offsets(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_sensor_offsets_t packet_in = {
-		17.0,
-	}963497672,
-	}963497880,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}19107,
-	}19211,
-	}19315,
-	};
-	mavlink_sensor_offsets_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.mag_declination = packet_in.mag_declination;
-        	packet1.raw_press = packet_in.raw_press;
-        	packet1.raw_temp = packet_in.raw_temp;
-        	packet1.gyro_cal_x = packet_in.gyro_cal_x;
-        	packet1.gyro_cal_y = packet_in.gyro_cal_y;
-        	packet1.gyro_cal_z = packet_in.gyro_cal_z;
-        	packet1.accel_cal_x = packet_in.accel_cal_x;
-        	packet1.accel_cal_y = packet_in.accel_cal_y;
-        	packet1.accel_cal_z = packet_in.accel_cal_z;
-        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
-        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
-        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
-	mavlink_msg_sensor_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
-	mavlink_msg_sensor_offsets_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_sensor_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
-	mavlink_msg_sensor_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_mag_offsets(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_set_mag_offsets_t packet_in = {
-		17235,
-	}17339,
-	}17443,
-	}151,
-	}218,
-	};
-	mavlink_set_mag_offsets_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.mag_ofs_x = packet_in.mag_ofs_x;
-        	packet1.mag_ofs_y = packet_in.mag_ofs_y;
-        	packet1.mag_ofs_z = packet_in.mag_ofs_z;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
-	mavlink_msg_set_mag_offsets_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
-	mavlink_msg_set_mag_offsets_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_set_mag_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
-	mavlink_msg_set_mag_offsets_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_meminfo(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_meminfo_t packet_in = {
-		17235,
-	}17339,
-	};
-	mavlink_meminfo_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.brkval = packet_in.brkval;
-        	packet1.freemem = packet_in.freemem;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_meminfo_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
-	mavlink_msg_meminfo_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
-	mavlink_msg_meminfo_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_meminfo_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
-	mavlink_msg_meminfo_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_ap_adc(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_ap_adc_t packet_in = {
-		17235,
-	}17339,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	};
-	mavlink_ap_adc_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.adc1 = packet_in.adc1;
-        	packet1.adc2 = packet_in.adc2;
-        	packet1.adc3 = packet_in.adc3;
-        	packet1.adc4 = packet_in.adc4;
-        	packet1.adc5 = packet_in.adc5;
-        	packet1.adc6 = packet_in.adc6;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_ap_adc_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
-	mavlink_msg_ap_adc_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
-	mavlink_msg_ap_adc_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_ap_adc_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
-	mavlink_msg_ap_adc_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_digicam_configure(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_digicam_configure_t packet_in = {
-		17.0,
-	}17443,
-	}151,
-	}218,
-	}29,
-	}96,
-	}163,
-	}230,
-	}41,
-	}108,
-	}175,
-	};
-	mavlink_digicam_configure_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.extra_value = packet_in.extra_value;
-        	packet1.shutter_speed = packet_in.shutter_speed;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.mode = packet_in.mode;
-        	packet1.aperture = packet_in.aperture;
-        	packet1.iso = packet_in.iso;
-        	packet1.exposure_type = packet_in.exposure_type;
-        	packet1.command_id = packet_in.command_id;
-        	packet1.engine_cut_off = packet_in.engine_cut_off;
-        	packet1.extra_param = packet_in.extra_param;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_digicam_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_configure_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_digicam_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_digicam_control(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_digicam_control_t packet_in = {
-		17.0,
-	}17,
-	}84,
-	}151,
-	}218,
-	}29,
-	}96,
-	}163,
-	}230,
-	}41,
-	};
-	mavlink_digicam_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.extra_value = packet_in.extra_value;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.session = packet_in.session;
-        	packet1.zoom_pos = packet_in.zoom_pos;
-        	packet1.zoom_step = packet_in.zoom_step;
-        	packet1.focus_lock = packet_in.focus_lock;
-        	packet1.shot = packet_in.shot;
-        	packet1.command_id = packet_in.command_id;
-        	packet1.extra_param = packet_in.extra_param;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_digicam_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_control_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_digicam_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
-	mavlink_msg_digicam_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mount_configure(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_mount_configure_t packet_in = {
-		5,
-	}72,
-	}139,
-	}206,
-	}17,
-	}84,
-	};
-	mavlink_mount_configure_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.mount_mode = packet_in.mount_mode;
-        	packet1.stab_roll = packet_in.stab_roll;
-        	packet1.stab_pitch = packet_in.stab_pitch;
-        	packet1.stab_yaw = packet_in.stab_yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mount_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
-	mavlink_msg_mount_configure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
-	mavlink_msg_mount_configure_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_mount_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
-	mavlink_msg_mount_configure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mount_control(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_mount_control_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}41,
-	}108,
-	}175,
-	};
-	mavlink_mount_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.input_a = packet_in.input_a;
-        	packet1.input_b = packet_in.input_b;
-        	packet1.input_c = packet_in.input_c;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.save_position = packet_in.save_position;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mount_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
-	mavlink_msg_mount_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
-	mavlink_msg_mount_control_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_mount_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
-	mavlink_msg_mount_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mount_status(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_mount_status_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}41,
-	}108,
-	};
-	mavlink_mount_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.pointing_a = packet_in.pointing_a;
-        	packet1.pointing_b = packet_in.pointing_b;
-        	packet1.pointing_c = packet_in.pointing_c;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mount_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
-	mavlink_msg_mount_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
-	mavlink_msg_mount_status_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_mount_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
-	mavlink_msg_mount_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_fence_point(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_fence_point_t packet_in = {
-		17.0,
-	}45.0,
-	}29,
-	}96,
-	}163,
-	}230,
-	};
-	mavlink_fence_point_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.lat = packet_in.lat;
-        	packet1.lng = packet_in.lng;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.idx = packet_in.idx;
-        	packet1.count = packet_in.count;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_fence_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
-	mavlink_msg_fence_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
-	mavlink_msg_fence_point_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_fence_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
-	mavlink_msg_fence_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_fence_fetch_point(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_fence_fetch_point_t packet_in = {
-		5,
-	}72,
-	}139,
-	};
-	mavlink_fence_fetch_point_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.idx = packet_in.idx;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_fence_fetch_point_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_fence_fetch_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_fence_status(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_fence_status_t packet_in = {
-		963497464,
-	}17443,
-	}151,
-	}218,
-	};
-	mavlink_fence_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.breach_time = packet_in.breach_time;
-        	packet1.breach_count = packet_in.breach_count;
-        	packet1.breach_status = packet_in.breach_status;
-        	packet1.breach_type = packet_in.breach_type;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_fence_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
-	mavlink_msg_fence_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
-	mavlink_msg_fence_status_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_fence_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
-	mavlink_msg_fence_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_ahrs(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_ahrs_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	};
-	mavlink_ahrs_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.omegaIx = packet_in.omegaIx;
-        	packet1.omegaIy = packet_in.omegaIy;
-        	packet1.omegaIz = packet_in.omegaIz;
-        	packet1.accel_weight = packet_in.accel_weight;
-        	packet1.renorm_val = packet_in.renorm_val;
-        	packet1.error_rp = packet_in.error_rp;
-        	packet1.error_yaw = packet_in.error_yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_ahrs_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
-	mavlink_msg_ahrs_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
-	mavlink_msg_ahrs_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_ahrs_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
-	mavlink_msg_ahrs_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_simstate(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_simstate_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}963499336,
-	}963499544,
-	};
-	mavlink_simstate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.lat = packet_in.lat;
-        	packet1.lng = packet_in.lng;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_simstate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
-	mavlink_msg_simstate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
-	mavlink_msg_simstate_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_simstate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
-	mavlink_msg_simstate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hwstatus(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_hwstatus_t packet_in = {
-		17235,
-	}139,
-	};
-	mavlink_hwstatus_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.Vcc = packet_in.Vcc;
-        	packet1.I2Cerr = packet_in.I2Cerr;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hwstatus_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hwstatus_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hwstatus_pack(system_id, component_id, &msg , packet1.Vcc , packet1.I2Cerr );
-	mavlink_msg_hwstatus_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hwstatus_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.I2Cerr );
-	mavlink_msg_hwstatus_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_hwstatus_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hwstatus_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.I2Cerr );
-	mavlink_msg_hwstatus_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_radio(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_radio_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	}151,
-	}218,
-	}29,
-	};
-	mavlink_radio_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.rxerrors = packet_in.rxerrors;
-        	packet1.fixed = packet_in.fixed;
-        	packet1.rssi = packet_in.rssi;
-        	packet1.remrssi = packet_in.remrssi;
-        	packet1.txbuf = packet_in.txbuf;
-        	packet1.noise = packet_in.noise;
-        	packet1.remnoise = packet_in.remnoise;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_radio_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
-	mavlink_msg_radio_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
-	mavlink_msg_radio_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_radio_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
-	mavlink_msg_radio_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_limits_status(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_limits_status_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}963498088,
-	}18067,
-	}187,
-	}254,
-	}65,
-	}132,
-	};
-	mavlink_limits_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.last_trigger = packet_in.last_trigger;
-        	packet1.last_action = packet_in.last_action;
-        	packet1.last_recovery = packet_in.last_recovery;
-        	packet1.last_clear = packet_in.last_clear;
-        	packet1.breach_count = packet_in.breach_count;
-        	packet1.limits_state = packet_in.limits_state;
-        	packet1.mods_enabled = packet_in.mods_enabled;
-        	packet1.mods_required = packet_in.mods_required;
-        	packet1.mods_triggered = packet_in.mods_triggered;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_limits_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_limits_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_limits_status_pack(system_id, component_id, &msg , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
-	mavlink_msg_limits_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_limits_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
-	mavlink_msg_limits_status_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_limits_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_limits_status_send(MAVLINK_COMM_1 , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
-	mavlink_msg_limits_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_wind(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_wind_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	};
-	mavlink_wind_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.direction = packet_in.direction;
-        	packet1.speed = packet_in.speed;
-        	packet1.speed_z = packet_in.speed_z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_wind_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_wind_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_wind_pack(system_id, component_id, &msg , packet1.direction , packet1.speed , packet1.speed_z );
-	mavlink_msg_wind_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.direction , packet1.speed , packet1.speed_z );
-	mavlink_msg_wind_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_wind_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_wind_send(MAVLINK_COMM_1 , packet1.direction , packet1.speed , packet1.speed_z );
-	mavlink_msg_wind_decode(last_msg, &packet2);
-        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_rangefinder(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_rangefinder_t packet_in = {
-		17.0,
-	}45.0,
-	};
-	mavlink_rangefinder_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.distance = packet_in.distance;
-        	packet1.voltage = packet_in.voltage;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rangefinder_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_rangefinder_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rangefinder_pack(system_id, component_id, &msg , packet1.distance , packet1.voltage );
-	mavlink_msg_rangefinder_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rangefinder_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.distance , packet1.voltage );
-	mavlink_msg_rangefinder_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_rangefinder_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rangefinder_send(MAVLINK_COMM_1 , packet1.distance , packet1.voltage );
-	mavlink_msg_rangefinder_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_airspeed_autocal(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_airspeed_autocal_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}297.0,
-	}325.0,
-	};
-	mavlink_airspeed_autocal_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.vx = packet_in.vx;
-        	packet1.vy = packet_in.vy;
-        	packet1.vz = packet_in.vz;
-        	packet1.diff_pressure = packet_in.diff_pressure;
-        	packet1.EAS2TAS = packet_in.EAS2TAS;
-        	packet1.ratio = packet_in.ratio;
-        	packet1.state_x = packet_in.state_x;
-        	packet1.state_y = packet_in.state_y;
-        	packet1.state_z = packet_in.state_z;
-        	packet1.Pax = packet_in.Pax;
-        	packet1.Pby = packet_in.Pby;
-        	packet1.Pcz = packet_in.Pcz;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeed_autocal_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_airspeed_autocal_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeed_autocal_pack(system_id, component_id, &msg , packet1.vx , packet1.vy , packet1.vz , packet1.diff_pressure , packet1.EAS2TAS , packet1.ratio , packet1.state_x , packet1.state_y , packet1.state_z , packet1.Pax , packet1.Pby , packet1.Pcz );
-	mavlink_msg_airspeed_autocal_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeed_autocal_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vx , packet1.vy , packet1.vz , packet1.diff_pressure , packet1.EAS2TAS , packet1.ratio , packet1.state_x , packet1.state_y , packet1.state_z , packet1.Pax , packet1.Pby , packet1.Pcz );
-	mavlink_msg_airspeed_autocal_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_airspeed_autocal_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeed_autocal_send(MAVLINK_COMM_1 , packet1.vx , packet1.vy , packet1.vz , packet1.diff_pressure , packet1.EAS2TAS , packet1.ratio , packet1.state_x , packet1.state_y , packet1.state_z , packet1.Pax , packet1.Pby , packet1.Pcz );
-	mavlink_msg_airspeed_autocal_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_rally_point(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_rally_point_t packet_in = {
-		963497464,
-	}963497672,
-	}17651,
-	}17755,
-	}17859,
-	}175,
-	}242,
-	}53,
-	}120,
-	}187,
-	};
-	mavlink_rally_point_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.lat = packet_in.lat;
-        	packet1.lng = packet_in.lng;
-        	packet1.alt = packet_in.alt;
-        	packet1.break_alt = packet_in.break_alt;
-        	packet1.land_dir = packet_in.land_dir;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.idx = packet_in.idx;
-        	packet1.count = packet_in.count;
-        	packet1.flags = packet_in.flags;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_point_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_rally_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags );
-	mavlink_msg_rally_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags );
-	mavlink_msg_rally_point_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_rally_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng , packet1.alt , packet1.break_alt , packet1.land_dir , packet1.flags );
-	mavlink_msg_rally_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_rally_fetch_point(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_rally_fetch_point_t packet_in = {
-		5,
-	}72,
-	}139,
-	};
-	mavlink_rally_fetch_point_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.idx = packet_in.idx;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_fetch_point_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_rally_fetch_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_rally_fetch_point_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_rally_fetch_point_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_rally_fetch_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rally_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
-	mavlink_msg_rally_fetch_point_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_ahrs2(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_ahrs2_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}963498296,
-	}963498504,
-	};
-	mavlink_ahrs2_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.altitude = packet_in.altitude;
-        	packet1.lat = packet_in.lat;
-        	packet1.lng = packet_in.lng;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs2_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_ahrs2_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs2_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.altitude , packet1.lat , packet1.lng );
-	mavlink_msg_ahrs2_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.altitude , packet1.lat , packet1.lng );
-	mavlink_msg_ahrs2_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_ahrs2_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ahrs2_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.altitude , packet1.lat , packet1.lng );
-	mavlink_msg_ahrs2_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);
-	mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
-	mavlink_test_meminfo(system_id, component_id, last_msg);
-	mavlink_test_ap_adc(system_id, component_id, last_msg);
-	mavlink_test_digicam_configure(system_id, component_id, last_msg);
-	mavlink_test_digicam_control(system_id, component_id, last_msg);
-	mavlink_test_mount_configure(system_id, component_id, last_msg);
-	mavlink_test_mount_control(system_id, component_id, last_msg);
-	mavlink_test_mount_status(system_id, component_id, last_msg);
-	mavlink_test_fence_point(system_id, component_id, last_msg);
-	mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
-	mavlink_test_fence_status(system_id, component_id, last_msg);
-	mavlink_test_ahrs(system_id, component_id, last_msg);
-	mavlink_test_simstate(system_id, component_id, last_msg);
-	mavlink_test_hwstatus(system_id, component_id, last_msg);
-	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);
-	mavlink_test_rangefinder(system_id, component_id, last_msg);
-	mavlink_test_airspeed_autocal(system_id, component_id, last_msg);
-	mavlink_test_rally_point(system_id, component_id, last_msg);
-	mavlink_test_rally_fetch_point(system_id, component_id, last_msg);
-	mavlink_test_ahrs2(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ARDUPILOTMEGA_TESTSUITE_H
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
deleted file mode 100644
index 983237eb5..000000000
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from ardupilotmega.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Tue Feb  4 15:27:33 2014"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
deleted file mode 100644
index b4dde669f..000000000
--- a/mavlink/include/mavlink/v1.0/autoquad/autoquad.h
+++ /dev/null
@@ -1,123 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from autoquad.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef AUTOQUAD_H
-#define AUTOQUAD_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 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, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 241, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_AQ_TELEMETRY_F, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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"
-
-#define MAVLINK_ENABLED_AUTOQUAD
-
-// ENUM DEFINITIONS
-
-
-/** @brief Available operating modes/statuses for AutoQuad flight controller. 
-				Bitmask up to 32 bits. Low side bits for base modes, high side for 
-				additional active features/modifiers/constraints. */
-#ifndef HAVE_ENUM_AUTOQUAD_NAV_STATUS
-#define HAVE_ENUM_AUTOQUAD_NAV_STATUS
-enum AUTOQUAD_NAV_STATUS
-{
-	AQ_NAV_STATUS_INIT=0, /* System is initializing | */
-	AQ_NAV_STATUS_STANDBY=1, /* System is standing by, not active | */
-	AQ_NAV_STATUS_MANUAL=2, /* Stabilized, under full manual control | */
-	AQ_NAV_STATUS_ALTHOLD=4, /* Altitude hold engaged | */
-	AQ_NAV_STATUS_POSHOLD=8, /* Position hold engaged | */
-	AQ_NAV_STATUS_DVH=16, /* Dynamic Velocity Hold is active | */
-	AQ_NAV_STATUS_MISSION=32, /* Autonomous mission execution mode | */
-	AQ_NAV_STATUS_CEILING_REACHED=67108864, /* Craft is at ceiling altitude | */
-	AQ_NAV_STATUS_CEILING=134217728, /* Ceiling altitude is set | */
-	AQ_NAV_STATUS_HF_DYNAMIC=268435456, /* Heading-Free dynamic mode active | */
-	AQ_NAV_STATUS_HF_LOCKED=536870912, /* Heading-Free locked mode active | */
-	AQ_NAV_STATUS_RTH=1073741824, /* Automatic Return to Home is active | */
-	AQ_NAV_STATUS_FAILSAFE=2147483648, /* System is in failsafe recovery mode | */
-	AUTOQUAD_NAV_STATUS_ENUM_END=2147483649, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-enum MAV_CMD
-{
-	MAV_CMD_AQ_TELEMETRY=2, /* Start/stop AutoQuad telemetry values stream. |Start or stop (1 or 0)| Stream frequency in us| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_AQ_FOLLOW=3, /* Command AutoQuad to go to a particular place at a set speed. |Latitude| Lontitude| Altitude| Speed| Empty| Empty| Empty|  */
-	MAV_CMD_AQ_REQUEST_VERSION=4, /* Request AutoQuad firmware version number. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	MAV_CMD_ENUM_END=501, /*  | */
-};
-#endif
-
-#include "../common/common.h"
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_aq_telemetry_f.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // AUTOQUAD_H
diff --git a/mavlink/include/mavlink/v1.0/autoquad/mavlink.h b/mavlink/include/mavlink/v1.0/autoquad/mavlink.h
deleted file mode 100644
index 3f80c9a41..000000000
--- a/mavlink/include/mavlink/v1.0/autoquad/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from autoquad.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "autoquad.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h b/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h
deleted file mode 100644
index ed7c86bcb..000000000
--- a/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h
+++ /dev/null
@@ -1,617 +0,0 @@
-// MESSAGE AQ_TELEMETRY_F PACKING
-
-#define MAVLINK_MSG_ID_AQ_TELEMETRY_F 150
-
-typedef struct __mavlink_aq_telemetry_f_t
-{
- float value1; ///< value1
- float value2; ///< value2
- float value3; ///< value3
- float value4; ///< value4
- float value5; ///< value5
- float value6; ///< value6
- float value7; ///< value7
- float value8; ///< value8
- float value9; ///< value9
- float value10; ///< value10
- float value11; ///< value11
- float value12; ///< value12
- float value13; ///< value13
- float value14; ///< value14
- float value15; ///< value15
- float value16; ///< value16
- float value17; ///< value17
- float value18; ///< value18
- float value19; ///< value19
- float value20; ///< value20
- uint16_t Index; ///< Index of message
-} mavlink_aq_telemetry_f_t;
-
-#define MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN 82
-#define MAVLINK_MSG_ID_150_LEN 82
-
-#define MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC 241
-#define MAVLINK_MSG_ID_150_CRC 241
-
-
-
-#define MAVLINK_MESSAGE_INFO_AQ_TELEMETRY_F { \
-	"AQ_TELEMETRY_F", \
-	21, \
-	{  { "value1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_aq_telemetry_f_t, value1) }, \
-         { "value2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_aq_telemetry_f_t, value2) }, \
-         { "value3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_aq_telemetry_f_t, value3) }, \
-         { "value4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_aq_telemetry_f_t, value4) }, \
-         { "value5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_aq_telemetry_f_t, value5) }, \
-         { "value6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_aq_telemetry_f_t, value6) }, \
-         { "value7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_aq_telemetry_f_t, value7) }, \
-         { "value8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_aq_telemetry_f_t, value8) }, \
-         { "value9", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_aq_telemetry_f_t, value9) }, \
-         { "value10", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_aq_telemetry_f_t, value10) }, \
-         { "value11", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_aq_telemetry_f_t, value11) }, \
-         { "value12", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_aq_telemetry_f_t, value12) }, \
-         { "value13", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_aq_telemetry_f_t, value13) }, \
-         { "value14", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_aq_telemetry_f_t, value14) }, \
-         { "value15", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_aq_telemetry_f_t, value15) }, \
-         { "value16", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_aq_telemetry_f_t, value16) }, \
-         { "value17", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_aq_telemetry_f_t, value17) }, \
-         { "value18", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_aq_telemetry_f_t, value18) }, \
-         { "value19", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_aq_telemetry_f_t, value19) }, \
-         { "value20", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_aq_telemetry_f_t, value20) }, \
-         { "Index", NULL, MAVLINK_TYPE_UINT16_T, 0, 80, offsetof(mavlink_aq_telemetry_f_t, Index) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a aq_telemetry_f 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 Index Index of message
- * @param value1 value1
- * @param value2 value2
- * @param value3 value3
- * @param value4 value4
- * @param value5 value5
- * @param value6 value6
- * @param value7 value7
- * @param value8 value8
- * @param value9 value9
- * @param value10 value10
- * @param value11 value11
- * @param value12 value12
- * @param value13 value13
- * @param value14 value14
- * @param value15 value15
- * @param value16 value16
- * @param value17 value17
- * @param value18 value18
- * @param value19 value19
- * @param value20 value20
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_aq_telemetry_f_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t Index, float value1, float value2, float value3, float value4, float value5, float value6, float value7, float value8, float value9, float value10, float value11, float value12, float value13, float value14, float value15, float value16, float value17, float value18, float value19, float value20)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN];
-	_mav_put_float(buf, 0, value1);
-	_mav_put_float(buf, 4, value2);
-	_mav_put_float(buf, 8, value3);
-	_mav_put_float(buf, 12, value4);
-	_mav_put_float(buf, 16, value5);
-	_mav_put_float(buf, 20, value6);
-	_mav_put_float(buf, 24, value7);
-	_mav_put_float(buf, 28, value8);
-	_mav_put_float(buf, 32, value9);
-	_mav_put_float(buf, 36, value10);
-	_mav_put_float(buf, 40, value11);
-	_mav_put_float(buf, 44, value12);
-	_mav_put_float(buf, 48, value13);
-	_mav_put_float(buf, 52, value14);
-	_mav_put_float(buf, 56, value15);
-	_mav_put_float(buf, 60, value16);
-	_mav_put_float(buf, 64, value17);
-	_mav_put_float(buf, 68, value18);
-	_mav_put_float(buf, 72, value19);
-	_mav_put_float(buf, 76, value20);
-	_mav_put_uint16_t(buf, 80, Index);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#else
-	mavlink_aq_telemetry_f_t packet;
-	packet.value1 = value1;
-	packet.value2 = value2;
-	packet.value3 = value3;
-	packet.value4 = value4;
-	packet.value5 = value5;
-	packet.value6 = value6;
-	packet.value7 = value7;
-	packet.value8 = value8;
-	packet.value9 = value9;
-	packet.value10 = value10;
-	packet.value11 = value11;
-	packet.value12 = value12;
-	packet.value13 = value13;
-	packet.value14 = value14;
-	packet.value15 = value15;
-	packet.value16 = value16;
-	packet.value17 = value17;
-	packet.value18 = value18;
-	packet.value19 = value19;
-	packet.value20 = value20;
-	packet.Index = Index;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AQ_TELEMETRY_F;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-}
-
-/**
- * @brief Pack a aq_telemetry_f 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param Index Index of message
- * @param value1 value1
- * @param value2 value2
- * @param value3 value3
- * @param value4 value4
- * @param value5 value5
- * @param value6 value6
- * @param value7 value7
- * @param value8 value8
- * @param value9 value9
- * @param value10 value10
- * @param value11 value11
- * @param value12 value12
- * @param value13 value13
- * @param value14 value14
- * @param value15 value15
- * @param value16 value16
- * @param value17 value17
- * @param value18 value18
- * @param value19 value19
- * @param value20 value20
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_aq_telemetry_f_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t Index,float value1,float value2,float value3,float value4,float value5,float value6,float value7,float value8,float value9,float value10,float value11,float value12,float value13,float value14,float value15,float value16,float value17,float value18,float value19,float value20)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN];
-	_mav_put_float(buf, 0, value1);
-	_mav_put_float(buf, 4, value2);
-	_mav_put_float(buf, 8, value3);
-	_mav_put_float(buf, 12, value4);
-	_mav_put_float(buf, 16, value5);
-	_mav_put_float(buf, 20, value6);
-	_mav_put_float(buf, 24, value7);
-	_mav_put_float(buf, 28, value8);
-	_mav_put_float(buf, 32, value9);
-	_mav_put_float(buf, 36, value10);
-	_mav_put_float(buf, 40, value11);
-	_mav_put_float(buf, 44, value12);
-	_mav_put_float(buf, 48, value13);
-	_mav_put_float(buf, 52, value14);
-	_mav_put_float(buf, 56, value15);
-	_mav_put_float(buf, 60, value16);
-	_mav_put_float(buf, 64, value17);
-	_mav_put_float(buf, 68, value18);
-	_mav_put_float(buf, 72, value19);
-	_mav_put_float(buf, 76, value20);
-	_mav_put_uint16_t(buf, 80, Index);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#else
-	mavlink_aq_telemetry_f_t packet;
-	packet.value1 = value1;
-	packet.value2 = value2;
-	packet.value3 = value3;
-	packet.value4 = value4;
-	packet.value5 = value5;
-	packet.value6 = value6;
-	packet.value7 = value7;
-	packet.value8 = value8;
-	packet.value9 = value9;
-	packet.value10 = value10;
-	packet.value11 = value11;
-	packet.value12 = value12;
-	packet.value13 = value13;
-	packet.value14 = value14;
-	packet.value15 = value15;
-	packet.value16 = value16;
-	packet.value17 = value17;
-	packet.value18 = value18;
-	packet.value19 = value19;
-	packet.value20 = value20;
-	packet.Index = Index;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AQ_TELEMETRY_F;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-}
-
-/**
- * @brief Encode a aq_telemetry_f struct
- *
- * @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 aq_telemetry_f C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_aq_telemetry_f_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aq_telemetry_f_t* aq_telemetry_f)
-{
-	return mavlink_msg_aq_telemetry_f_pack(system_id, component_id, msg, aq_telemetry_f->Index, aq_telemetry_f->value1, aq_telemetry_f->value2, aq_telemetry_f->value3, aq_telemetry_f->value4, aq_telemetry_f->value5, aq_telemetry_f->value6, aq_telemetry_f->value7, aq_telemetry_f->value8, aq_telemetry_f->value9, aq_telemetry_f->value10, aq_telemetry_f->value11, aq_telemetry_f->value12, aq_telemetry_f->value13, aq_telemetry_f->value14, aq_telemetry_f->value15, aq_telemetry_f->value16, aq_telemetry_f->value17, aq_telemetry_f->value18, aq_telemetry_f->value19, aq_telemetry_f->value20);
-}
-
-/**
- * @brief Encode a aq_telemetry_f struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param aq_telemetry_f C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_aq_telemetry_f_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_aq_telemetry_f_t* aq_telemetry_f)
-{
-	return mavlink_msg_aq_telemetry_f_pack_chan(system_id, component_id, chan, msg, aq_telemetry_f->Index, aq_telemetry_f->value1, aq_telemetry_f->value2, aq_telemetry_f->value3, aq_telemetry_f->value4, aq_telemetry_f->value5, aq_telemetry_f->value6, aq_telemetry_f->value7, aq_telemetry_f->value8, aq_telemetry_f->value9, aq_telemetry_f->value10, aq_telemetry_f->value11, aq_telemetry_f->value12, aq_telemetry_f->value13, aq_telemetry_f->value14, aq_telemetry_f->value15, aq_telemetry_f->value16, aq_telemetry_f->value17, aq_telemetry_f->value18, aq_telemetry_f->value19, aq_telemetry_f->value20);
-}
-
-/**
- * @brief Send a aq_telemetry_f message
- * @param chan MAVLink channel to send the message
- *
- * @param Index Index of message
- * @param value1 value1
- * @param value2 value2
- * @param value3 value3
- * @param value4 value4
- * @param value5 value5
- * @param value6 value6
- * @param value7 value7
- * @param value8 value8
- * @param value9 value9
- * @param value10 value10
- * @param value11 value11
- * @param value12 value12
- * @param value13 value13
- * @param value14 value14
- * @param value15 value15
- * @param value16 value16
- * @param value17 value17
- * @param value18 value18
- * @param value19 value19
- * @param value20 value20
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_aq_telemetry_f_send(mavlink_channel_t chan, uint16_t Index, float value1, float value2, float value3, float value4, float value5, float value6, float value7, float value8, float value9, float value10, float value11, float value12, float value13, float value14, float value15, float value16, float value17, float value18, float value19, float value20)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN];
-	_mav_put_float(buf, 0, value1);
-	_mav_put_float(buf, 4, value2);
-	_mav_put_float(buf, 8, value3);
-	_mav_put_float(buf, 12, value4);
-	_mav_put_float(buf, 16, value5);
-	_mav_put_float(buf, 20, value6);
-	_mav_put_float(buf, 24, value7);
-	_mav_put_float(buf, 28, value8);
-	_mav_put_float(buf, 32, value9);
-	_mav_put_float(buf, 36, value10);
-	_mav_put_float(buf, 40, value11);
-	_mav_put_float(buf, 44, value12);
-	_mav_put_float(buf, 48, value13);
-	_mav_put_float(buf, 52, value14);
-	_mav_put_float(buf, 56, value15);
-	_mav_put_float(buf, 60, value16);
-	_mav_put_float(buf, 64, value17);
-	_mav_put_float(buf, 68, value18);
-	_mav_put_float(buf, 72, value19);
-	_mav_put_float(buf, 76, value20);
-	_mav_put_uint16_t(buf, 80, Index);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-#else
-	mavlink_aq_telemetry_f_t packet;
-	packet.value1 = value1;
-	packet.value2 = value2;
-	packet.value3 = value3;
-	packet.value4 = value4;
-	packet.value5 = value5;
-	packet.value6 = value6;
-	packet.value7 = value7;
-	packet.value8 = value8;
-	packet.value9 = value9;
-	packet.value10 = value10;
-	packet.value11 = value11;
-	packet.value12 = value12;
-	packet.value13 = value13;
-	packet.value14 = value14;
-	packet.value15 = value15;
-	packet.value16 = value16;
-	packet.value17 = value17;
-	packet.value18 = value18;
-	packet.value19 = value19;
-	packet.value20 = value20;
-	packet.Index = Index;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)&packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)&packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AQ_TELEMETRY_F UNPACKING
-
-
-/**
- * @brief Get field Index from aq_telemetry_f message
- *
- * @return Index of message
- */
-static inline uint16_t mavlink_msg_aq_telemetry_f_get_Index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  80);
-}
-
-/**
- * @brief Get field value1 from aq_telemetry_f message
- *
- * @return value1
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field value2 from aq_telemetry_f message
- *
- * @return value2
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field value3 from aq_telemetry_f message
- *
- * @return value3
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field value4 from aq_telemetry_f message
- *
- * @return value4
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field value5 from aq_telemetry_f message
- *
- * @return value5
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field value6 from aq_telemetry_f message
- *
- * @return value6
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field value7 from aq_telemetry_f message
- *
- * @return value7
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field value8 from aq_telemetry_f message
- *
- * @return value8
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field value9 from aq_telemetry_f message
- *
- * @return value9
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value9(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field value10 from aq_telemetry_f message
- *
- * @return value10
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value10(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field value11 from aq_telemetry_f message
- *
- * @return value11
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value11(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field value12 from aq_telemetry_f message
- *
- * @return value12
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value12(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Get field value13 from aq_telemetry_f message
- *
- * @return value13
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value13(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  48);
-}
-
-/**
- * @brief Get field value14 from aq_telemetry_f message
- *
- * @return value14
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value14(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  52);
-}
-
-/**
- * @brief Get field value15 from aq_telemetry_f message
- *
- * @return value15
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value15(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  56);
-}
-
-/**
- * @brief Get field value16 from aq_telemetry_f message
- *
- * @return value16
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  60);
-}
-
-/**
- * @brief Get field value17 from aq_telemetry_f message
- *
- * @return value17
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value17(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  64);
-}
-
-/**
- * @brief Get field value18 from aq_telemetry_f message
- *
- * @return value18
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value18(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  68);
-}
-
-/**
- * @brief Get field value19 from aq_telemetry_f message
- *
- * @return value19
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value19(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  72);
-}
-
-/**
- * @brief Get field value20 from aq_telemetry_f message
- *
- * @return value20
- */
-static inline float mavlink_msg_aq_telemetry_f_get_value20(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  76);
-}
-
-/**
- * @brief Decode a aq_telemetry_f message into a struct
- *
- * @param msg The message to decode
- * @param aq_telemetry_f C-struct to decode the message contents into
- */
-static inline void mavlink_msg_aq_telemetry_f_decode(const mavlink_message_t* msg, mavlink_aq_telemetry_f_t* aq_telemetry_f)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	aq_telemetry_f->value1 = mavlink_msg_aq_telemetry_f_get_value1(msg);
-	aq_telemetry_f->value2 = mavlink_msg_aq_telemetry_f_get_value2(msg);
-	aq_telemetry_f->value3 = mavlink_msg_aq_telemetry_f_get_value3(msg);
-	aq_telemetry_f->value4 = mavlink_msg_aq_telemetry_f_get_value4(msg);
-	aq_telemetry_f->value5 = mavlink_msg_aq_telemetry_f_get_value5(msg);
-	aq_telemetry_f->value6 = mavlink_msg_aq_telemetry_f_get_value6(msg);
-	aq_telemetry_f->value7 = mavlink_msg_aq_telemetry_f_get_value7(msg);
-	aq_telemetry_f->value8 = mavlink_msg_aq_telemetry_f_get_value8(msg);
-	aq_telemetry_f->value9 = mavlink_msg_aq_telemetry_f_get_value9(msg);
-	aq_telemetry_f->value10 = mavlink_msg_aq_telemetry_f_get_value10(msg);
-	aq_telemetry_f->value11 = mavlink_msg_aq_telemetry_f_get_value11(msg);
-	aq_telemetry_f->value12 = mavlink_msg_aq_telemetry_f_get_value12(msg);
-	aq_telemetry_f->value13 = mavlink_msg_aq_telemetry_f_get_value13(msg);
-	aq_telemetry_f->value14 = mavlink_msg_aq_telemetry_f_get_value14(msg);
-	aq_telemetry_f->value15 = mavlink_msg_aq_telemetry_f_get_value15(msg);
-	aq_telemetry_f->value16 = mavlink_msg_aq_telemetry_f_get_value16(msg);
-	aq_telemetry_f->value17 = mavlink_msg_aq_telemetry_f_get_value17(msg);
-	aq_telemetry_f->value18 = mavlink_msg_aq_telemetry_f_get_value18(msg);
-	aq_telemetry_f->value19 = mavlink_msg_aq_telemetry_f_get_value19(msg);
-	aq_telemetry_f->value20 = mavlink_msg_aq_telemetry_f_get_value20(msg);
-	aq_telemetry_f->Index = mavlink_msg_aq_telemetry_f_get_Index(msg);
-#else
-	memcpy(aq_telemetry_f, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/autoquad/testsuite.h b/mavlink/include/mavlink/v1.0/autoquad/testsuite.h
deleted file mode 100644
index 4eafe7be5..000000000
--- a/mavlink/include/mavlink/v1.0/autoquad/testsuite.h
+++ /dev/null
@@ -1,118 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from autoquad.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef AUTOQUAD_TESTSUITE_H
-#define AUTOQUAD_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-static void mavlink_test_autoquad(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_common(system_id, component_id, last_msg);
-	mavlink_test_autoquad(system_id, component_id, last_msg);
-}
-#endif
-
-#include "../common/testsuite.h"
-
-
-static void mavlink_test_aq_telemetry_f(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_aq_telemetry_f_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}297.0,
-	}325.0,
-	}353.0,
-	}381.0,
-	}409.0,
-	}437.0,
-	}465.0,
-	}493.0,
-	}521.0,
-	}549.0,
-	}21395,
-	};
-	mavlink_aq_telemetry_f_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.value1 = packet_in.value1;
-        	packet1.value2 = packet_in.value2;
-        	packet1.value3 = packet_in.value3;
-        	packet1.value4 = packet_in.value4;
-        	packet1.value5 = packet_in.value5;
-        	packet1.value6 = packet_in.value6;
-        	packet1.value7 = packet_in.value7;
-        	packet1.value8 = packet_in.value8;
-        	packet1.value9 = packet_in.value9;
-        	packet1.value10 = packet_in.value10;
-        	packet1.value11 = packet_in.value11;
-        	packet1.value12 = packet_in.value12;
-        	packet1.value13 = packet_in.value13;
-        	packet1.value14 = packet_in.value14;
-        	packet1.value15 = packet_in.value15;
-        	packet1.value16 = packet_in.value16;
-        	packet1.value17 = packet_in.value17;
-        	packet1.value18 = packet_in.value18;
-        	packet1.value19 = packet_in.value19;
-        	packet1.value20 = packet_in.value20;
-        	packet1.Index = packet_in.Index;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_aq_telemetry_f_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_aq_telemetry_f_pack(system_id, component_id, &msg , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 );
-	mavlink_msg_aq_telemetry_f_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_aq_telemetry_f_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 );
-	mavlink_msg_aq_telemetry_f_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_aq_telemetry_f_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_aq_telemetry_f_send(MAVLINK_COMM_1 , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 );
-	mavlink_msg_aq_telemetry_f_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_autoquad(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_aq_telemetry_f(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // AUTOQUAD_TESTSUITE_H
diff --git a/mavlink/include/mavlink/v1.0/autoquad/version.h b/mavlink/include/mavlink/v1.0/autoquad/version.h
deleted file mode 100644
index d125e92b1..000000000
--- a/mavlink/include/mavlink/v1.0/autoquad/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from autoquad.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Tue Feb  4 15:27:43 2014"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/include/mavlink/v1.0/checksum.h b/mavlink/include/mavlink/v1.0/checksum.h
deleted file mode 100644
index 948e080a1..000000000
--- a/mavlink/include/mavlink/v1.0/checksum.h
+++ /dev/null
@@ -1,91 +0,0 @@
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef _CHECKSUM_H_
-#define _CHECKSUM_H_
-
-
-/**
- *
- *  CALCULATE THE CHECKSUM
- *
- */
-
-#define X25_INIT_CRC 0xffff
-#define X25_VALIDATE_CRC 0xf0b8
-
-#ifndef HAVE_CRC_ACCUMULATE
-/**
- * @brief Accumulate the X.25 CRC by adding one char at a time.
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new char to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
-{
-        /*Accumulate one byte of data into the CRC*/
-        uint8_t tmp;
-
-        tmp = data ^ (uint8_t)(*crcAccum &0xff);
-        tmp ^= (tmp<<4);
-        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
-}
-#endif
-
-/**
- * @brief Initiliaze the buffer for the X.25 CRC
- *
- * @param crcAccum the 16 bit X.25 CRC
- */
-static inline void crc_init(uint16_t* crcAccum)
-{
-        *crcAccum = X25_INIT_CRC;
-}
-
-
-/**
- * @brief Calculates the X.25 checksum on a byte buffer
- *
- * @param  pBuffer buffer containing the byte array to hash
- * @param  length  length of the byte array
- * @return the checksum over the buffer bytes
- **/
-static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
-{
-        uint16_t crcTmp;
-        crc_init(&crcTmp);
-	while (length--) {
-                crc_accumulate(*pBuffer++, &crcTmp);
-        }
-        return crcTmp;
-}
-
-/**
- * @brief Accumulate the X.25 CRC by adding an array of bytes
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new bytes to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
-{
-	const uint8_t *p = (const uint8_t *)pBuffer;
-	while (length--) {
-                crc_accumulate(*p++, crcAccum);
-        }
-}
-
-
-
-
-#endif /* _CHECKSUM_H_ */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/mavlink/include/mavlink/v1.0/common/common.h b/mavlink/include/mavlink/v1.0/common/common.h
deleted file mode 100644
index 7e1cf765b..000000000
--- a/mavlink/include/mavlink/v1.0/common/common.h
+++ /dev/null
@@ -1,556 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from common.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef COMMON_H
-#define COMMON_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 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, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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"
-
-#define MAVLINK_ENABLED_COMMON
-
-// ENUM DEFINITIONS
-
-
-/** @brief Micro air vehicle / autopilot classes. This identifies the individual model. */
-#ifndef HAVE_ENUM_MAV_AUTOPILOT
-#define HAVE_ENUM_MAV_AUTOPILOT
-enum MAV_AUTOPILOT
-{
-	MAV_AUTOPILOT_GENERIC=0, /* Generic autopilot, full support for everything | */
-	MAV_AUTOPILOT_PIXHAWK=1, /* PIXHAWK autopilot, http://pixhawk.ethz.ch | */
-	MAV_AUTOPILOT_SLUGS=2, /* SLUGS autopilot, http://slugsuav.soe.ucsc.edu | */
-	MAV_AUTOPILOT_ARDUPILOTMEGA=3, /* ArduPilotMega / ArduCopter, http://diydrones.com | */
-	MAV_AUTOPILOT_OPENPILOT=4, /* OpenPilot, http://openpilot.org | */
-	MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY=5, /* Generic autopilot only supporting simple waypoints | */
-	MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY=6, /* Generic autopilot supporting waypoints and other simple navigation commands | */
-	MAV_AUTOPILOT_GENERIC_MISSION_FULL=7, /* Generic autopilot supporting the full mission command set | */
-	MAV_AUTOPILOT_INVALID=8, /* No valid autopilot, e.g. a GCS or other MAVLink component | */
-	MAV_AUTOPILOT_PPZ=9, /* PPZ UAV - http://nongnu.org/paparazzi | */
-	MAV_AUTOPILOT_UDB=10, /* UAV Dev Board | */
-	MAV_AUTOPILOT_FP=11, /* FlexiPilot | */
-	MAV_AUTOPILOT_PX4=12, /* PX4 Autopilot - http://pixhawk.ethz.ch/px4/ | */
-	MAV_AUTOPILOT_SMACCMPILOT=13, /* SMACCMPilot - http://smaccmpilot.org | */
-	MAV_AUTOPILOT_AUTOQUAD=14, /* AutoQuad -- http://autoquad.org | */
-	MAV_AUTOPILOT_ARMAZILA=15, /* Armazila -- http://armazila.com | */
-	MAV_AUTOPILOT_AEROB=16, /* Aerob -- http://aerob.ru | */
-	MAV_AUTOPILOT_ENUM_END=17, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_TYPE
-#define HAVE_ENUM_MAV_TYPE
-enum MAV_TYPE
-{
-	MAV_TYPE_GENERIC=0, /* Generic micro air vehicle. | */
-	MAV_TYPE_FIXED_WING=1, /* Fixed wing aircraft. | */
-	MAV_TYPE_QUADROTOR=2, /* Quadrotor | */
-	MAV_TYPE_COAXIAL=3, /* Coaxial helicopter | */
-	MAV_TYPE_HELICOPTER=4, /* Normal helicopter with tail rotor. | */
-	MAV_TYPE_ANTENNA_TRACKER=5, /* Ground installation | */
-	MAV_TYPE_GCS=6, /* Operator control unit / ground control station | */
-	MAV_TYPE_AIRSHIP=7, /* Airship, controlled | */
-	MAV_TYPE_FREE_BALLOON=8, /* Free balloon, uncontrolled | */
-	MAV_TYPE_ROCKET=9, /* Rocket | */
-	MAV_TYPE_GROUND_ROVER=10, /* Ground rover | */
-	MAV_TYPE_SURFACE_BOAT=11, /* Surface vessel, boat, ship | */
-	MAV_TYPE_SUBMARINE=12, /* Submarine | */
-	MAV_TYPE_HEXAROTOR=13, /* Hexarotor | */
-	MAV_TYPE_OCTOROTOR=14, /* Octorotor | */
-	MAV_TYPE_TRICOPTER=15, /* Octorotor | */
-	MAV_TYPE_FLAPPING_WING=16, /* Flapping wing | */
-	MAV_TYPE_KITE=17, /* Flapping wing | */
-	MAV_TYPE_ENUM_END=18, /*  | */
-};
-#endif
-
-/** @brief These flags encode the MAV mode. */
-#ifndef HAVE_ENUM_MAV_MODE_FLAG
-#define HAVE_ENUM_MAV_MODE_FLAG
-enum MAV_MODE_FLAG
-{
-	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */
-	MAV_MODE_FLAG_TEST_ENABLED=2, /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
-	MAV_MODE_FLAG_AUTO_ENABLED=4, /* 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. | */
-	MAV_MODE_FLAG_GUIDED_ENABLED=8, /* 0b00001000 guided mode enabled, system flies MISSIONs / mission items. | */
-	MAV_MODE_FLAG_STABILIZE_ENABLED=16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
-	MAV_MODE_FLAG_HIL_ENABLED=32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
-	MAV_MODE_FLAG_MANUAL_INPUT_ENABLED=64, /* 0b01000000 remote control input is enabled. | */
-	MAV_MODE_FLAG_SAFETY_ARMED=128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
-	MAV_MODE_FLAG_ENUM_END=129, /*  | */
-};
-#endif
-
-/** @brief These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not. */
-#ifndef HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
-#define HAVE_ENUM_MAV_MODE_FLAG_DECODE_POSITION
-enum MAV_MODE_FLAG_DECODE_POSITION
-{
-	MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE=1, /* Eighth bit: 00000001 | */
-	MAV_MODE_FLAG_DECODE_POSITION_TEST=2, /* Seventh bit: 00000010 | */
-	MAV_MODE_FLAG_DECODE_POSITION_AUTO=4, /* Sixt bit:   00000100 | */
-	MAV_MODE_FLAG_DECODE_POSITION_GUIDED=8, /* Fifth bit:  00001000 | */
-	MAV_MODE_FLAG_DECODE_POSITION_STABILIZE=16, /* Fourth bit: 00010000 | */
-	MAV_MODE_FLAG_DECODE_POSITION_HIL=32, /* Third bit:  00100000 | */
-	MAV_MODE_FLAG_DECODE_POSITION_MANUAL=64, /* Second bit: 01000000 | */
-	MAV_MODE_FLAG_DECODE_POSITION_SAFETY=128, /* First bit:  10000000 | */
-	MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=129, /*  | */
-};
-#endif
-
-/** @brief Override command, pauses current mission execution and moves immediately to a position */
-#ifndef HAVE_ENUM_MAV_GOTO
-#define HAVE_ENUM_MAV_GOTO
-enum MAV_GOTO
-{
-	MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */
-	MAV_GOTO_DO_CONTINUE=1, /* Continue with the next item in mission execution. | */
-	MAV_GOTO_HOLD_AT_CURRENT_POSITION=2, /* Hold at the current position of the system | */
-	MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=3, /* Hold at the position specified in the parameters of the DO_HOLD action | */
-	MAV_GOTO_ENUM_END=4, /*  | */
-};
-#endif
-
-/** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
-               simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */
-#ifndef HAVE_ENUM_MAV_MODE
-#define HAVE_ENUM_MAV_MODE
-enum MAV_MODE
-{
-	MAV_MODE_PREFLIGHT=0, /* System is not ready to fly, booting, calibrating, etc. No flag is set. | */
-	MAV_MODE_MANUAL_DISARMED=64, /* System is allowed to be active, under manual (RC) control, no stabilization | */
-	MAV_MODE_TEST_DISARMED=66, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
-	MAV_MODE_STABILIZE_DISARMED=80, /* System is allowed to be active, under assisted RC control. | */
-	MAV_MODE_GUIDED_DISARMED=88, /* System is allowed to be active, under autonomous control, manual setpoint | */
-	MAV_MODE_AUTO_DISARMED=92, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
-	MAV_MODE_MANUAL_ARMED=192, /* System is allowed to be active, under manual (RC) control, no stabilization | */
-	MAV_MODE_TEST_ARMED=194, /* UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. | */
-	MAV_MODE_STABILIZE_ARMED=208, /* System is allowed to be active, under assisted RC control. | */
-	MAV_MODE_GUIDED_ARMED=216, /* System is allowed to be active, under autonomous control, manual setpoint | */
-	MAV_MODE_AUTO_ARMED=220, /* System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) | */
-	MAV_MODE_ENUM_END=221, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_STATE
-#define HAVE_ENUM_MAV_STATE
-enum MAV_STATE
-{
-	MAV_STATE_UNINIT=0, /* Uninitialized system, state is unknown. | */
-	MAV_STATE_BOOT=1, /* System is booting up. | */
-	MAV_STATE_CALIBRATING=2, /* System is calibrating and not flight-ready. | */
-	MAV_STATE_STANDBY=3, /* System is grounded and on standby. It can be launched any time. | */
-	MAV_STATE_ACTIVE=4, /* System is active and might be already airborne. Motors are engaged. | */
-	MAV_STATE_CRITICAL=5, /* System is in a non-normal flight mode. It can however still navigate. | */
-	MAV_STATE_EMERGENCY=6, /* System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | */
-	MAV_STATE_POWEROFF=7, /* System just initialized its power-down sequence, will shut down now. | */
-	MAV_STATE_ENUM_END=8, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_COMPONENT
-#define HAVE_ENUM_MAV_COMPONENT
-enum MAV_COMPONENT
-{
-	MAV_COMP_ID_ALL=0, /*  | */
-	MAV_COMP_ID_CAMERA=100, /*  | */
-	MAV_COMP_ID_SERVO1=140, /*  | */
-	MAV_COMP_ID_SERVO2=141, /*  | */
-	MAV_COMP_ID_SERVO3=142, /*  | */
-	MAV_COMP_ID_SERVO4=143, /*  | */
-	MAV_COMP_ID_SERVO5=144, /*  | */
-	MAV_COMP_ID_SERVO6=145, /*  | */
-	MAV_COMP_ID_SERVO7=146, /*  | */
-	MAV_COMP_ID_SERVO8=147, /*  | */
-	MAV_COMP_ID_SERVO9=148, /*  | */
-	MAV_COMP_ID_SERVO10=149, /*  | */
-	MAV_COMP_ID_SERVO11=150, /*  | */
-	MAV_COMP_ID_SERVO12=151, /*  | */
-	MAV_COMP_ID_SERVO13=152, /*  | */
-	MAV_COMP_ID_SERVO14=153, /*  | */
-	MAV_COMP_ID_MAPPER=180, /*  | */
-	MAV_COMP_ID_MISSIONPLANNER=190, /*  | */
-	MAV_COMP_ID_PATHPLANNER=195, /*  | */
-	MAV_COMP_ID_IMU=200, /*  | */
-	MAV_COMP_ID_IMU_2=201, /*  | */
-	MAV_COMP_ID_IMU_3=202, /*  | */
-	MAV_COMP_ID_GPS=220, /*  | */
-	MAV_COMP_ID_UDP_BRIDGE=240, /*  | */
-	MAV_COMP_ID_UART_BRIDGE=241, /*  | */
-	MAV_COMP_ID_SYSTEM_CONTROL=250, /*  | */
-	MAV_COMPONENT_ENUM_END=251, /*  | */
-};
-#endif
-
-/** @brief These encode the sensors whose status is sent as part of the SYS_STATUS message. */
-#ifndef HAVE_ENUM_MAV_SYS_STATUS_SENSOR
-#define HAVE_ENUM_MAV_SYS_STATUS_SENSOR
-enum MAV_SYS_STATUS_SENSOR
-{
-	MAV_SYS_STATUS_SENSOR_3D_GYRO=1, /* 0x01 3D gyro | */
-	MAV_SYS_STATUS_SENSOR_3D_ACCEL=2, /* 0x02 3D accelerometer | */
-	MAV_SYS_STATUS_SENSOR_3D_MAG=4, /* 0x04 3D magnetometer | */
-	MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE=8, /* 0x08 absolute pressure | */
-	MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE=16, /* 0x10 differential pressure | */
-	MAV_SYS_STATUS_SENSOR_GPS=32, /* 0x20 GPS | */
-	MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW=64, /* 0x40 optical flow | */
-	MAV_SYS_STATUS_SENSOR_VISION_POSITION=128, /* 0x80 computer vision position | */
-	MAV_SYS_STATUS_SENSOR_LASER_POSITION=256, /* 0x100 laser based position | */
-	MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH=512, /* 0x200 external ground truth (Vicon or Leica) | */
-	MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL=1024, /* 0x400 3D angular rate control | */
-	MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION=2048, /* 0x800 attitude stabilization | */
-	MAV_SYS_STATUS_SENSOR_YAW_POSITION=4096, /* 0x1000 yaw position | */
-	MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL=8192, /* 0x2000 z/altitude control | */
-	MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL=16384, /* 0x4000 x/y position control | */
-	MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS=32768, /* 0x8000 motor outputs / control | */
-	MAV_SYS_STATUS_SENSOR_RC_RECEIVER=65536, /* 0x10000 rc receiver | */
-	MAV_SYS_STATUS_SENSOR_3D_GYRO2=131072, /* 0x20000 2nd 3D gyro | */
-	MAV_SYS_STATUS_SENSOR_3D_ACCEL2=262144, /* 0x40000 2nd 3D accelerometer | */
-	MAV_SYS_STATUS_SENSOR_3D_MAG2=524288, /* 0x80000 2nd 3D magnetometer | */
-	MAV_SYS_STATUS_SENSOR_ENUM_END=524289, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_FRAME
-#define HAVE_ENUM_MAV_FRAME
-enum MAV_FRAME
-{
-	MAV_FRAME_GLOBAL=0, /* Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) | */
-	MAV_FRAME_LOCAL_NED=1, /* Local coordinate frame, Z-up (x: north, y: east, z: down). | */
-	MAV_FRAME_MISSION=2, /* NOT a coordinate frame, indicates a mission command. | */
-	MAV_FRAME_GLOBAL_RELATIVE_ALT=3, /* Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. | */
-	MAV_FRAME_LOCAL_ENU=4, /* Local coordinate frame, Z-down (x: east, y: north, z: up) | */
-	MAV_FRAME_ENUM_END=5, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE
-#define HAVE_ENUM_MAVLINK_DATA_STREAM_TYPE
-enum MAVLINK_DATA_STREAM_TYPE
-{
-	MAVLINK_DATA_STREAM_IMG_JPEG=1, /*  | */
-	MAVLINK_DATA_STREAM_IMG_BMP=2, /*  | */
-	MAVLINK_DATA_STREAM_IMG_RAW8U=3, /*  | */
-	MAVLINK_DATA_STREAM_IMG_RAW32U=4, /*  | */
-	MAVLINK_DATA_STREAM_IMG_PGM=5, /*  | */
-	MAVLINK_DATA_STREAM_IMG_PNG=6, /*  | */
-	MAVLINK_DATA_STREAM_TYPE_ENUM_END=7, /*  | */
-};
-#endif
-
-/** @brief Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-enum MAV_CMD
-{
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	MAV_CMD_ENUM_END=501, /*  | */
-};
-#endif
-
-/** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
-     recommendation to the autopilot software. Individual autopilots may or may not obey
-     the recommended messages. */
-#ifndef HAVE_ENUM_MAV_DATA_STREAM
-#define HAVE_ENUM_MAV_DATA_STREAM
-enum MAV_DATA_STREAM
-{
-	MAV_DATA_STREAM_ALL=0, /* Enable all data streams | */
-	MAV_DATA_STREAM_RAW_SENSORS=1, /* Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. | */
-	MAV_DATA_STREAM_EXTENDED_STATUS=2, /* Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS | */
-	MAV_DATA_STREAM_RC_CHANNELS=3, /* Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW | */
-	MAV_DATA_STREAM_RAW_CONTROLLER=4, /* Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. | */
-	MAV_DATA_STREAM_POSITION=6, /* Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. | */
-	MAV_DATA_STREAM_EXTRA1=10, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_EXTRA2=11, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_EXTRA3=12, /* Dependent on the autopilot | */
-	MAV_DATA_STREAM_ENUM_END=13, /*  | */
-};
-#endif
-
-/** @brief  The ROI (region of interest) for the vehicle. This can be
-                be used by the vehicle for camera/vehicle attitude alignment (see
-                MAV_CMD_NAV_ROI). */
-#ifndef HAVE_ENUM_MAV_ROI
-#define HAVE_ENUM_MAV_ROI
-enum MAV_ROI
-{
-	MAV_ROI_NONE=0, /* No region of interest. | */
-	MAV_ROI_WPNEXT=1, /* Point toward next MISSION. | */
-	MAV_ROI_WPINDEX=2, /* Point toward given MISSION. | */
-	MAV_ROI_LOCATION=3, /* Point toward fixed location. | */
-	MAV_ROI_TARGET=4, /* Point toward of given id. | */
-	MAV_ROI_ENUM_END=5, /*  | */
-};
-#endif
-
-/** @brief ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. */
-#ifndef HAVE_ENUM_MAV_CMD_ACK
-#define HAVE_ENUM_MAV_CMD_ACK
-enum MAV_CMD_ACK
-{
-	MAV_CMD_ACK_OK=1, /* Command / mission item is ok. | */
-	MAV_CMD_ACK_ERR_FAIL=2, /* Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | */
-	MAV_CMD_ACK_ERR_ACCESS_DENIED=3, /* The system is refusing to accept this command from this source / communication partner. | */
-	MAV_CMD_ACK_ERR_NOT_SUPPORTED=4, /* Command or mission item is not supported, other commands would be accepted. | */
-	MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED=5, /* The coordinate frame of this command / mission item is not supported. | */
-	MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE=6, /* The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. | */
-	MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE=7, /* The X or latitude value is out of range. | */
-	MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE=8, /* The Y or longitude value is out of range. | */
-	MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE=9, /* The Z or altitude value is out of range. | */
-	MAV_CMD_ACK_ENUM_END=10, /*  | */
-};
-#endif
-
-/** @brief Specifies the datatype of a MAVLink parameter. */
-#ifndef HAVE_ENUM_MAV_PARAM_TYPE
-#define HAVE_ENUM_MAV_PARAM_TYPE
-enum MAV_PARAM_TYPE
-{
-	MAV_PARAM_TYPE_UINT8=1, /* 8-bit unsigned integer | */
-	MAV_PARAM_TYPE_INT8=2, /* 8-bit signed integer | */
-	MAV_PARAM_TYPE_UINT16=3, /* 16-bit unsigned integer | */
-	MAV_PARAM_TYPE_INT16=4, /* 16-bit signed integer | */
-	MAV_PARAM_TYPE_UINT32=5, /* 32-bit unsigned integer | */
-	MAV_PARAM_TYPE_INT32=6, /* 32-bit signed integer | */
-	MAV_PARAM_TYPE_UINT64=7, /* 64-bit unsigned integer | */
-	MAV_PARAM_TYPE_INT64=8, /* 64-bit signed integer | */
-	MAV_PARAM_TYPE_REAL32=9, /* 32-bit floating-point | */
-	MAV_PARAM_TYPE_REAL64=10, /* 64-bit floating-point | */
-	MAV_PARAM_TYPE_ENUM_END=11, /*  | */
-};
-#endif
-
-/** @brief result from a mavlink command */
-#ifndef HAVE_ENUM_MAV_RESULT
-#define HAVE_ENUM_MAV_RESULT
-enum MAV_RESULT
-{
-	MAV_RESULT_ACCEPTED=0, /* Command ACCEPTED and EXECUTED | */
-	MAV_RESULT_TEMPORARILY_REJECTED=1, /* Command TEMPORARY REJECTED/DENIED | */
-	MAV_RESULT_DENIED=2, /* Command PERMANENTLY DENIED | */
-	MAV_RESULT_UNSUPPORTED=3, /* Command UNKNOWN/UNSUPPORTED | */
-	MAV_RESULT_FAILED=4, /* Command executed, but failed | */
-	MAV_RESULT_ENUM_END=5, /*  | */
-};
-#endif
-
-/** @brief result in a mavlink mission ack */
-#ifndef HAVE_ENUM_MAV_MISSION_RESULT
-#define HAVE_ENUM_MAV_MISSION_RESULT
-enum MAV_MISSION_RESULT
-{
-	MAV_MISSION_ACCEPTED=0, /* mission accepted OK | */
-	MAV_MISSION_ERROR=1, /* generic error / not accepting mission commands at all right now | */
-	MAV_MISSION_UNSUPPORTED_FRAME=2, /* coordinate frame is not supported | */
-	MAV_MISSION_UNSUPPORTED=3, /* command is not supported | */
-	MAV_MISSION_NO_SPACE=4, /* mission item exceeds storage space | */
-	MAV_MISSION_INVALID=5, /* one of the parameters has an invalid value | */
-	MAV_MISSION_INVALID_PARAM1=6, /* param1 has an invalid value | */
-	MAV_MISSION_INVALID_PARAM2=7, /* param2 has an invalid value | */
-	MAV_MISSION_INVALID_PARAM3=8, /* param3 has an invalid value | */
-	MAV_MISSION_INVALID_PARAM4=9, /* param4 has an invalid value | */
-	MAV_MISSION_INVALID_PARAM5_X=10, /* x/param5 has an invalid value | */
-	MAV_MISSION_INVALID_PARAM6_Y=11, /* y/param6 has an invalid value | */
-	MAV_MISSION_INVALID_PARAM7=12, /* param7 has an invalid value | */
-	MAV_MISSION_INVALID_SEQUENCE=13, /* received waypoint out of sequence | */
-	MAV_MISSION_DENIED=14, /* not accepting any mission commands from this communication partner | */
-	MAV_MISSION_RESULT_ENUM_END=15, /*  | */
-};
-#endif
-
-/** @brief Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/. */
-#ifndef HAVE_ENUM_MAV_SEVERITY
-#define HAVE_ENUM_MAV_SEVERITY
-enum MAV_SEVERITY
-{
-	MAV_SEVERITY_EMERGENCY=0, /* System is unusable. This is a "panic" condition. | */
-	MAV_SEVERITY_ALERT=1, /* Action should be taken immediately. Indicates error in non-critical systems. | */
-	MAV_SEVERITY_CRITICAL=2, /* Action must be taken immediately. Indicates failure in a primary system. | */
-	MAV_SEVERITY_ERROR=3, /* Indicates an error in secondary/redundant systems. | */
-	MAV_SEVERITY_WARNING=4, /* Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning. | */
-	MAV_SEVERITY_NOTICE=5, /* An unusual event has occured, though not an error condition. This should be investigated for the root cause. | */
-	MAV_SEVERITY_INFO=6, /* Normal operational messages. Useful for logging. No action is required for these messages. | */
-	MAV_SEVERITY_DEBUG=7, /* Useful non-operational messages that can assist in debugging. These should not occur during normal operation. | */
-	MAV_SEVERITY_ENUM_END=8, /*  | */
-};
-#endif
-
-
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_heartbeat.h"
-#include "./mavlink_msg_sys_status.h"
-#include "./mavlink_msg_system_time.h"
-#include "./mavlink_msg_ping.h"
-#include "./mavlink_msg_change_operator_control.h"
-#include "./mavlink_msg_change_operator_control_ack.h"
-#include "./mavlink_msg_auth_key.h"
-#include "./mavlink_msg_set_mode.h"
-#include "./mavlink_msg_param_request_read.h"
-#include "./mavlink_msg_param_request_list.h"
-#include "./mavlink_msg_param_value.h"
-#include "./mavlink_msg_param_set.h"
-#include "./mavlink_msg_gps_raw_int.h"
-#include "./mavlink_msg_gps_status.h"
-#include "./mavlink_msg_scaled_imu.h"
-#include "./mavlink_msg_raw_imu.h"
-#include "./mavlink_msg_raw_pressure.h"
-#include "./mavlink_msg_scaled_pressure.h"
-#include "./mavlink_msg_attitude.h"
-#include "./mavlink_msg_attitude_quaternion.h"
-#include "./mavlink_msg_local_position_ned.h"
-#include "./mavlink_msg_global_position_int.h"
-#include "./mavlink_msg_rc_channels_scaled.h"
-#include "./mavlink_msg_rc_channels_raw.h"
-#include "./mavlink_msg_servo_output_raw.h"
-#include "./mavlink_msg_mission_request_partial_list.h"
-#include "./mavlink_msg_mission_write_partial_list.h"
-#include "./mavlink_msg_mission_item.h"
-#include "./mavlink_msg_mission_request.h"
-#include "./mavlink_msg_mission_set_current.h"
-#include "./mavlink_msg_mission_current.h"
-#include "./mavlink_msg_mission_request_list.h"
-#include "./mavlink_msg_mission_count.h"
-#include "./mavlink_msg_mission_clear_all.h"
-#include "./mavlink_msg_mission_item_reached.h"
-#include "./mavlink_msg_mission_ack.h"
-#include "./mavlink_msg_set_gps_global_origin.h"
-#include "./mavlink_msg_gps_global_origin.h"
-#include "./mavlink_msg_set_local_position_setpoint.h"
-#include "./mavlink_msg_local_position_setpoint.h"
-#include "./mavlink_msg_global_position_setpoint_int.h"
-#include "./mavlink_msg_set_global_position_setpoint_int.h"
-#include "./mavlink_msg_safety_set_allowed_area.h"
-#include "./mavlink_msg_safety_allowed_area.h"
-#include "./mavlink_msg_set_roll_pitch_yaw_thrust.h"
-#include "./mavlink_msg_set_roll_pitch_yaw_speed_thrust.h"
-#include "./mavlink_msg_roll_pitch_yaw_thrust_setpoint.h"
-#include "./mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h"
-#include "./mavlink_msg_set_quad_motors_setpoint.h"
-#include "./mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h"
-#include "./mavlink_msg_nav_controller_output.h"
-#include "./mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h"
-#include "./mavlink_msg_state_correction.h"
-#include "./mavlink_msg_request_data_stream.h"
-#include "./mavlink_msg_data_stream.h"
-#include "./mavlink_msg_manual_control.h"
-#include "./mavlink_msg_rc_channels_override.h"
-#include "./mavlink_msg_vfr_hud.h"
-#include "./mavlink_msg_command_long.h"
-#include "./mavlink_msg_command_ack.h"
-#include "./mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h"
-#include "./mavlink_msg_manual_setpoint.h"
-#include "./mavlink_msg_local_position_ned_system_global_offset.h"
-#include "./mavlink_msg_hil_state.h"
-#include "./mavlink_msg_hil_controls.h"
-#include "./mavlink_msg_hil_rc_inputs_raw.h"
-#include "./mavlink_msg_optical_flow.h"
-#include "./mavlink_msg_global_vision_position_estimate.h"
-#include "./mavlink_msg_vision_position_estimate.h"
-#include "./mavlink_msg_vision_speed_estimate.h"
-#include "./mavlink_msg_vicon_position_estimate.h"
-#include "./mavlink_msg_highres_imu.h"
-#include "./mavlink_msg_omnidirectional_flow.h"
-#include "./mavlink_msg_hil_sensor.h"
-#include "./mavlink_msg_sim_state.h"
-#include "./mavlink_msg_radio_status.h"
-#include "./mavlink_msg_file_transfer_start.h"
-#include "./mavlink_msg_file_transfer_dir_list.h"
-#include "./mavlink_msg_file_transfer_res.h"
-#include "./mavlink_msg_hil_gps.h"
-#include "./mavlink_msg_hil_optical_flow.h"
-#include "./mavlink_msg_hil_state_quaternion.h"
-#include "./mavlink_msg_scaled_imu2.h"
-#include "./mavlink_msg_log_request_list.h"
-#include "./mavlink_msg_log_entry.h"
-#include "./mavlink_msg_log_request_data.h"
-#include "./mavlink_msg_log_data.h"
-#include "./mavlink_msg_log_erase.h"
-#include "./mavlink_msg_log_request_end.h"
-#include "./mavlink_msg_gps_inject_data.h"
-#include "./mavlink_msg_gps2_raw.h"
-#include "./mavlink_msg_data_transmission_handshake.h"
-#include "./mavlink_msg_encapsulated_data.h"
-#include "./mavlink_msg_battery_status.h"
-#include "./mavlink_msg_setpoint_8dof.h"
-#include "./mavlink_msg_setpoint_6dof.h"
-#include "./mavlink_msg_memory_vect.h"
-#include "./mavlink_msg_debug_vect.h"
-#include "./mavlink_msg_named_value_float.h"
-#include "./mavlink_msg_named_value_int.h"
-#include "./mavlink_msg_statustext.h"
-#include "./mavlink_msg_debug.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // COMMON_H
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink.h b/mavlink/include/mavlink/v1.0/common/mavlink.h
deleted file mode 100644
index 17b732970..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from common.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "common.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
deleted file mode 100644
index 8ddf5bf09..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE ATTITUDE PACKING
-
-#define MAVLINK_MSG_ID_ATTITUDE 30
-
-typedef struct __mavlink_attitude_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float roll; ///< Roll angle (rad, -pi..+pi)
- float pitch; ///< Pitch angle (rad, -pi..+pi)
- float yaw; ///< Yaw angle (rad, -pi..+pi)
- float rollspeed; ///< Roll angular speed (rad/s)
- float pitchspeed; ///< Pitch angular speed (rad/s)
- float yawspeed; ///< Yaw angular speed (rad/s)
-} mavlink_attitude_t;
-
-#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
-#define MAVLINK_MSG_ID_30_LEN 28
-
-#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
-#define MAVLINK_MSG_ID_30_CRC 39
-
-
-
-#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
-	"ATTITUDE", \
-	7, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
-         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
-         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
-         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a attitude 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad, -pi..+pi)
- * @param pitch Pitch angle (rad, -pi..+pi)
- * @param yaw Yaw angle (rad, -pi..+pi)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, rollspeed);
-	_mav_put_float(buf, 20, pitchspeed);
-	_mav_put_float(buf, 24, yawspeed);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#else
-	mavlink_attitude_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a attitude 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad, -pi..+pi)
- * @param pitch Pitch angle (rad, -pi..+pi)
- * @param yaw Yaw angle (rad, -pi..+pi)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, rollspeed);
-	_mav_put_float(buf, 20, pitchspeed);
-	_mav_put_float(buf, 24, yawspeed);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#else
-	mavlink_attitude_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a attitude struct
- *
- * @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 attitude C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
-{
-	return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
-}
-
-/**
- * @brief Encode a attitude struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param attitude C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
-{
-	return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
-}
-
-/**
- * @brief Send a attitude message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param roll Roll angle (rad, -pi..+pi)
- * @param pitch Pitch angle (rad, -pi..+pi)
- * @param yaw Yaw angle (rad, -pi..+pi)
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, rollspeed);
-	_mav_put_float(buf, 20, pitchspeed);
-	_mav_put_float(buf, 24, yawspeed);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-#else
-	mavlink_attitude_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ATTITUDE UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from attitude message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field roll from attitude message
- *
- * @return Roll angle (rad, -pi..+pi)
- */
-static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field pitch from attitude message
- *
- * @return Pitch angle (rad, -pi..+pi)
- */
-static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from attitude message
- *
- * @return Yaw angle (rad, -pi..+pi)
- */
-static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field rollspeed from attitude message
- *
- * @return Roll angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field pitchspeed from attitude message
- *
- * @return Pitch angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field yawspeed from attitude message
- *
- * @return Yaw angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a attitude message into a struct
- *
- * @param msg The message to decode
- * @param attitude C-struct to decode the message contents into
- */
-static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
-	attitude->roll = mavlink_msg_attitude_get_roll(msg);
-	attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
-	attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
-	attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
-	attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
-	attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
-#else
-	memcpy(attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h
deleted file mode 100644
index 9f8d58759..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude_quaternion.h
+++ /dev/null
@@ -1,331 +0,0 @@
-// MESSAGE ATTITUDE_QUATERNION PACKING
-
-#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
-
-typedef struct __mavlink_attitude_quaternion_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float q1; ///< Quaternion component 1
- float q2; ///< Quaternion component 2
- float q3; ///< Quaternion component 3
- float q4; ///< Quaternion component 4
- float rollspeed; ///< Roll angular speed (rad/s)
- float pitchspeed; ///< Pitch angular speed (rad/s)
- float yawspeed; ///< Yaw angular speed (rad/s)
-} mavlink_attitude_quaternion_t;
-
-#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
-#define MAVLINK_MSG_ID_31_LEN 32
-
-#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
-#define MAVLINK_MSG_ID_31_CRC 246
-
-
-
-#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
-	"ATTITUDE_QUATERNION", \
-	8, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
-         { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
-         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
-         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
-         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
-         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
-         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
-         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a attitude_quaternion 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param q1 Quaternion component 1
- * @param q2 Quaternion component 2
- * @param q3 Quaternion component 3
- * @param q4 Quaternion component 4
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, q1);
-	_mav_put_float(buf, 8, q2);
-	_mav_put_float(buf, 12, q3);
-	_mav_put_float(buf, 16, q4);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#else
-	mavlink_attitude_quaternion_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.q1 = q1;
-	packet.q2 = q2;
-	packet.q3 = q3;
-	packet.q4 = q4;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-}
-
-/**
- * @brief Pack a attitude_quaternion 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param q1 Quaternion component 1
- * @param q2 Quaternion component 2
- * @param q3 Quaternion component 3
- * @param q4 Quaternion component 4
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, q1);
-	_mav_put_float(buf, 8, q2);
-	_mav_put_float(buf, 12, q3);
-	_mav_put_float(buf, 16, q4);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#else
-	mavlink_attitude_quaternion_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.q1 = q1;
-	packet.q2 = q2;
-	packet.q3 = q3;
-	packet.q4 = q4;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-}
-
-/**
- * @brief Encode a attitude_quaternion struct
- *
- * @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 attitude_quaternion C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
-{
-	return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
-}
-
-/**
- * @brief Encode a attitude_quaternion struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param attitude_quaternion C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
-{
-	return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
-}
-
-/**
- * @brief Send a attitude_quaternion message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param q1 Quaternion component 1
- * @param q2 Quaternion component 2
- * @param q3 Quaternion component 3
- * @param q4 Quaternion component 4
- * @param rollspeed Roll angular speed (rad/s)
- * @param pitchspeed Pitch angular speed (rad/s)
- * @param yawspeed Yaw angular speed (rad/s)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, q1);
-	_mav_put_float(buf, 8, q2);
-	_mav_put_float(buf, 12, q3);
-	_mav_put_float(buf, 16, q4);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-#else
-	mavlink_attitude_quaternion_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.q1 = q1;
-	packet.q2 = q2;
-	packet.q3 = q3;
-	packet.q4 = q4;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ATTITUDE_QUATERNION UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from attitude_quaternion message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field q1 from attitude_quaternion message
- *
- * @return Quaternion component 1
- */
-static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field q2 from attitude_quaternion message
- *
- * @return Quaternion component 2
- */
-static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field q3 from attitude_quaternion message
- *
- * @return Quaternion component 3
- */
-static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field q4 from attitude_quaternion message
- *
- * @return Quaternion component 4
- */
-static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field rollspeed from attitude_quaternion message
- *
- * @return Roll angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitchspeed from attitude_quaternion message
- *
- * @return Pitch angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yawspeed from attitude_quaternion message
- *
- * @return Yaw angular speed (rad/s)
- */
-static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a attitude_quaternion message into a struct
- *
- * @param msg The message to decode
- * @param attitude_quaternion C-struct to decode the message contents into
- */
-static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
-	attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
-	attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
-	attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
-	attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
-	attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
-	attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
-	attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
-#else
-	memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h
deleted file mode 100644
index 5703a5987..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_auth_key.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// MESSAGE AUTH_KEY PACKING
-
-#define MAVLINK_MSG_ID_AUTH_KEY 7
-
-typedef struct __mavlink_auth_key_t
-{
- char key[32]; ///< key
-} mavlink_auth_key_t;
-
-#define MAVLINK_MSG_ID_AUTH_KEY_LEN 32
-#define MAVLINK_MSG_ID_7_LEN 32
-
-#define MAVLINK_MSG_ID_AUTH_KEY_CRC 119
-#define MAVLINK_MSG_ID_7_CRC 119
-
-#define MAVLINK_MSG_AUTH_KEY_FIELD_KEY_LEN 32
-
-#define MAVLINK_MESSAGE_INFO_AUTH_KEY { \
-	"AUTH_KEY", \
-	1, \
-	{  { "key", NULL, MAVLINK_TYPE_CHAR, 32, 0, offsetof(mavlink_auth_key_t, key) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a auth_key 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 key key
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_auth_key_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const char *key)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AUTH_KEY_LEN];
-
-	_mav_put_char_array(buf, 0, key, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#else
-	mavlink_auth_key_t packet;
-
-	mav_array_memcpy(packet.key, key, sizeof(char)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-}
-
-/**
- * @brief Pack a auth_key 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param key key
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_auth_key_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const char *key)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AUTH_KEY_LEN];
-
-	_mav_put_char_array(buf, 0, key, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#else
-	mavlink_auth_key_t packet;
-
-	mav_array_memcpy(packet.key, key, sizeof(char)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AUTH_KEY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-}
-
-/**
- * @brief Encode a auth_key struct
- *
- * @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 auth_key C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_auth_key_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
-{
-	return mavlink_msg_auth_key_pack(system_id, component_id, msg, auth_key->key);
-}
-
-/**
- * @brief Encode a auth_key struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param auth_key C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_auth_key_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_auth_key_t* auth_key)
-{
-	return mavlink_msg_auth_key_pack_chan(system_id, component_id, chan, msg, auth_key->key);
-}
-
-/**
- * @brief Send a auth_key message
- * @param chan MAVLink channel to send the message
- *
- * @param key key
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_auth_key_send(mavlink_channel_t chan, const char *key)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AUTH_KEY_LEN];
-
-	_mav_put_char_array(buf, 0, key, 32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, buf, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-#else
-	mavlink_auth_key_t packet;
-
-	mav_array_memcpy(packet.key, key, sizeof(char)*32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, MAVLINK_MSG_ID_AUTH_KEY_LEN, MAVLINK_MSG_ID_AUTH_KEY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AUTH_KEY, (const char *)&packet, MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AUTH_KEY UNPACKING
-
-
-/**
- * @brief Get field key from auth_key message
- *
- * @return key
- */
-static inline uint16_t mavlink_msg_auth_key_get_key(const mavlink_message_t* msg, char *key)
-{
-	return _MAV_RETURN_char_array(msg, key, 32,  0);
-}
-
-/**
- * @brief Decode a auth_key message into a struct
- *
- * @param msg The message to decode
- * @param auth_key C-struct to decode the message contents into
- */
-static inline void mavlink_msg_auth_key_decode(const mavlink_message_t* msg, mavlink_auth_key_t* auth_key)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_auth_key_get_key(msg, auth_key->key);
-#else
-	memcpy(auth_key, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AUTH_KEY_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h
deleted file mode 100644
index 03e4d569e..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_battery_status.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE BATTERY_STATUS PACKING
-
-#define MAVLINK_MSG_ID_BATTERY_STATUS 147
-
-typedef struct __mavlink_battery_status_t
-{
- int32_t current_consumed; ///< Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
- int32_t energy_consumed; ///< Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
- uint16_t voltage_cell_1; ///< Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
- uint16_t voltage_cell_2; ///< Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
- uint16_t voltage_cell_3; ///< Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
- uint16_t voltage_cell_4; ///< Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
- uint16_t voltage_cell_5; ///< Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
- uint16_t voltage_cell_6; ///< Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
- int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- uint8_t accu_id; ///< Accupack ID
- int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
-} mavlink_battery_status_t;
-
-#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 24
-#define MAVLINK_MSG_ID_147_LEN 24
-
-#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 177
-#define MAVLINK_MSG_ID_147_CRC 177
-
-
-
-#define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
-	"BATTERY_STATUS", \
-	11, \
-	{  { "current_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_battery_status_t, current_consumed) }, \
-         { "energy_consumed", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_battery_status_t, energy_consumed) }, \
-         { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
-         { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
-         { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
-         { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
-         { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
-         { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
-         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_battery_status_t, current_battery) }, \
-         { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_battery_status_t, accu_id) }, \
-         { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 23, offsetof(mavlink_battery_status_t, battery_remaining) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a battery_status 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 accu_id Accupack ID
- * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
- * @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
- * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
- * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
- * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, current_consumed);
-	_mav_put_int32_t(buf, 4, energy_consumed);
-	_mav_put_uint16_t(buf, 8, voltage_cell_1);
-	_mav_put_uint16_t(buf, 10, voltage_cell_2);
-	_mav_put_uint16_t(buf, 12, voltage_cell_3);
-	_mav_put_uint16_t(buf, 14, voltage_cell_4);
-	_mav_put_uint16_t(buf, 16, voltage_cell_5);
-	_mav_put_uint16_t(buf, 18, voltage_cell_6);
-	_mav_put_int16_t(buf, 20, current_battery);
-	_mav_put_uint8_t(buf, 22, accu_id);
-	_mav_put_int8_t(buf, 23, battery_remaining);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#else
-	mavlink_battery_status_t packet;
-	packet.current_consumed = current_consumed;
-	packet.energy_consumed = energy_consumed;
-	packet.voltage_cell_1 = voltage_cell_1;
-	packet.voltage_cell_2 = voltage_cell_2;
-	packet.voltage_cell_3 = voltage_cell_3;
-	packet.voltage_cell_4 = voltage_cell_4;
-	packet.voltage_cell_5 = voltage_cell_5;
-	packet.voltage_cell_6 = voltage_cell_6;
-	packet.current_battery = current_battery;
-	packet.accu_id = accu_id;
-	packet.battery_remaining = battery_remaining;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a battery_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param accu_id Accupack ID
- * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
- * @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
- * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
- * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
- * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t accu_id,uint16_t voltage_cell_1,uint16_t voltage_cell_2,uint16_t voltage_cell_3,uint16_t voltage_cell_4,uint16_t voltage_cell_5,uint16_t voltage_cell_6,int16_t current_battery,int32_t current_consumed,int32_t energy_consumed,int8_t battery_remaining)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, current_consumed);
-	_mav_put_int32_t(buf, 4, energy_consumed);
-	_mav_put_uint16_t(buf, 8, voltage_cell_1);
-	_mav_put_uint16_t(buf, 10, voltage_cell_2);
-	_mav_put_uint16_t(buf, 12, voltage_cell_3);
-	_mav_put_uint16_t(buf, 14, voltage_cell_4);
-	_mav_put_uint16_t(buf, 16, voltage_cell_5);
-	_mav_put_uint16_t(buf, 18, voltage_cell_6);
-	_mav_put_int16_t(buf, 20, current_battery);
-	_mav_put_uint8_t(buf, 22, accu_id);
-	_mav_put_int8_t(buf, 23, battery_remaining);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#else
-	mavlink_battery_status_t packet;
-	packet.current_consumed = current_consumed;
-	packet.energy_consumed = energy_consumed;
-	packet.voltage_cell_1 = voltage_cell_1;
-	packet.voltage_cell_2 = voltage_cell_2;
-	packet.voltage_cell_3 = voltage_cell_3;
-	packet.voltage_cell_4 = voltage_cell_4;
-	packet.voltage_cell_5 = voltage_cell_5;
-	packet.voltage_cell_6 = voltage_cell_6;
-	packet.current_battery = current_battery;
-	packet.accu_id = accu_id;
-	packet.battery_remaining = battery_remaining;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_BATTERY_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a battery_status struct
- *
- * @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 battery_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
-{
-	return mavlink_msg_battery_status_pack(system_id, component_id, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining);
-}
-
-/**
- * @brief Encode a battery_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param battery_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_battery_status_t* battery_status)
-{
-	return mavlink_msg_battery_status_pack_chan(system_id, component_id, chan, msg, battery_status->accu_id, battery_status->voltage_cell_1, battery_status->voltage_cell_2, battery_status->voltage_cell_3, battery_status->voltage_cell_4, battery_status->voltage_cell_5, battery_status->voltage_cell_6, battery_status->current_battery, battery_status->current_consumed, battery_status->energy_consumed, battery_status->battery_remaining);
-}
-
-/**
- * @brief Send a battery_status message
- * @param chan MAVLink channel to send the message
- *
- * @param accu_id Accupack ID
- * @param voltage_cell_1 Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
- * @param voltage_cell_2 Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_3 Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_4 Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_5 Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
- * @param voltage_cell_6 Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
- * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- * @param current_consumed Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
- * @param energy_consumed Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
- * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8_t accu_id, uint16_t voltage_cell_1, uint16_t voltage_cell_2, uint16_t voltage_cell_3, uint16_t voltage_cell_4, uint16_t voltage_cell_5, uint16_t voltage_cell_6, int16_t current_battery, int32_t current_consumed, int32_t energy_consumed, int8_t battery_remaining)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_BATTERY_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, current_consumed);
-	_mav_put_int32_t(buf, 4, energy_consumed);
-	_mav_put_uint16_t(buf, 8, voltage_cell_1);
-	_mav_put_uint16_t(buf, 10, voltage_cell_2);
-	_mav_put_uint16_t(buf, 12, voltage_cell_3);
-	_mav_put_uint16_t(buf, 14, voltage_cell_4);
-	_mav_put_uint16_t(buf, 16, voltage_cell_5);
-	_mav_put_uint16_t(buf, 18, voltage_cell_6);
-	_mav_put_int16_t(buf, 20, current_battery);
-	_mav_put_uint8_t(buf, 22, accu_id);
-	_mav_put_int8_t(buf, 23, battery_remaining);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, buf, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-#else
-	mavlink_battery_status_t packet;
-	packet.current_consumed = current_consumed;
-	packet.energy_consumed = energy_consumed;
-	packet.voltage_cell_1 = voltage_cell_1;
-	packet.voltage_cell_2 = voltage_cell_2;
-	packet.voltage_cell_3 = voltage_cell_3;
-	packet.voltage_cell_4 = voltage_cell_4;
-	packet.voltage_cell_5 = voltage_cell_5;
-	packet.voltage_cell_6 = voltage_cell_6;
-	packet.current_battery = current_battery;
-	packet.accu_id = accu_id;
-	packet.battery_remaining = battery_remaining;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN, MAVLINK_MSG_ID_BATTERY_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BATTERY_STATUS, (const char *)&packet, MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE BATTERY_STATUS UNPACKING
-
-
-/**
- * @brief Get field accu_id from battery_status message
- *
- * @return Accupack ID
- */
-static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  22);
-}
-
-/**
- * @brief Get field voltage_cell_1 from battery_status message
- *
- * @return Battery voltage of cell 1, in millivolts (1 = 1 millivolt)
- */
-static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field voltage_cell_2 from battery_status message
- *
- * @return Battery voltage of cell 2, in millivolts (1 = 1 millivolt), -1: no cell
- */
-static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field voltage_cell_3 from battery_status message
- *
- * @return Battery voltage of cell 3, in millivolts (1 = 1 millivolt), -1: no cell
- */
-static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field voltage_cell_4 from battery_status message
- *
- * @return Battery voltage of cell 4, in millivolts (1 = 1 millivolt), -1: no cell
- */
-static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  14);
-}
-
-/**
- * @brief Get field voltage_cell_5 from battery_status message
- *
- * @return Battery voltage of cell 5, in millivolts (1 = 1 millivolt), -1: no cell
- */
-static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field voltage_cell_6 from battery_status message
- *
- * @return Battery voltage of cell 6, in millivolts (1 = 1 millivolt), -1: no cell
- */
-static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Get field current_battery from battery_status message
- *
- * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- */
-static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field current_consumed from battery_status message
- *
- * @return Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
- */
-static inline int32_t mavlink_msg_battery_status_get_current_consumed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field energy_consumed from battery_status message
- *
- * @return Consumed energy, in 100*Joules (intergrated U*I*dt)  (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
- */
-static inline int32_t mavlink_msg_battery_status_get_energy_consumed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field battery_remaining from battery_status message
- *
- * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
- */
-static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  23);
-}
-
-/**
- * @brief Decode a battery_status message into a struct
- *
- * @param msg The message to decode
- * @param battery_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_battery_status_decode(const mavlink_message_t* msg, mavlink_battery_status_t* battery_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	battery_status->current_consumed = mavlink_msg_battery_status_get_current_consumed(msg);
-	battery_status->energy_consumed = mavlink_msg_battery_status_get_energy_consumed(msg);
-	battery_status->voltage_cell_1 = mavlink_msg_battery_status_get_voltage_cell_1(msg);
-	battery_status->voltage_cell_2 = mavlink_msg_battery_status_get_voltage_cell_2(msg);
-	battery_status->voltage_cell_3 = mavlink_msg_battery_status_get_voltage_cell_3(msg);
-	battery_status->voltage_cell_4 = mavlink_msg_battery_status_get_voltage_cell_4(msg);
-	battery_status->voltage_cell_5 = mavlink_msg_battery_status_get_voltage_cell_5(msg);
-	battery_status->voltage_cell_6 = mavlink_msg_battery_status_get_voltage_cell_6(msg);
-	battery_status->current_battery = mavlink_msg_battery_status_get_current_battery(msg);
-	battery_status->accu_id = mavlink_msg_battery_status_get_accu_id(msg);
-	battery_status->battery_remaining = mavlink_msg_battery_status_get_battery_remaining(msg);
-#else
-	memcpy(battery_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BATTERY_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h
deleted file mode 100644
index 0b6de930d..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// MESSAGE CHANGE_OPERATOR_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL 5
-
-typedef struct __mavlink_change_operator_control_t
-{
- uint8_t target_system; ///< System the GCS requests control for
- uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
- uint8_t version; ///< 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- char passkey[25]; ///< Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
-} mavlink_change_operator_control_t;
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN 28
-#define MAVLINK_MSG_ID_5_LEN 28
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC 217
-#define MAVLINK_MSG_ID_5_CRC 217
-
-#define MAVLINK_MSG_CHANGE_OPERATOR_CONTROL_FIELD_PASSKEY_LEN 25
-
-#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL { \
-	"CHANGE_OPERATOR_CONTROL", \
-	4, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_t, target_system) }, \
-         { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_t, control_request) }, \
-         { "version", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_t, version) }, \
-         { "passkey", NULL, MAVLINK_TYPE_CHAR, 25, 3, offsetof(mavlink_change_operator_control_t, passkey) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a change_operator_control 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 target_system System the GCS requests control for
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, version);
-	_mav_put_char_array(buf, 3, passkey, 25);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#else
-	mavlink_change_operator_control_t packet;
-	packet.target_system = target_system;
-	packet.control_request = control_request;
-	packet.version = version;
-	mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a change_operator_control 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System the GCS requests control for
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t control_request,uint8_t version,const char *passkey)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, version);
-	_mav_put_char_array(buf, 3, passkey, 25);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#else
-	mavlink_change_operator_control_t packet;
-	packet.target_system = target_system;
-	packet.control_request = control_request;
-	packet.version = version;
-	mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a change_operator_control struct
- *
- * @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 change_operator_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_change_operator_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
-{
-	return mavlink_msg_change_operator_control_pack(system_id, component_id, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
-}
-
-/**
- * @brief Encode a change_operator_control struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param change_operator_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_change_operator_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_change_operator_control_t* change_operator_control)
-{
-	return mavlink_msg_change_operator_control_pack_chan(system_id, component_id, chan, msg, change_operator_control->target_system, change_operator_control->control_request, change_operator_control->version, change_operator_control->passkey);
-}
-
-/**
- * @brief Send a change_operator_control message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System the GCS requests control for
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param version 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- * @param passkey Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_change_operator_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t control_request, uint8_t version, const char *passkey)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, version);
-	_mav_put_char_array(buf, 3, passkey, 25);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-#else
-	mavlink_change_operator_control_t packet;
-	packet.target_system = target_system;
-	packet.control_request = control_request;
-	packet.version = version;
-	mav_array_memcpy(packet.passkey, passkey, sizeof(char)*25);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE CHANGE_OPERATOR_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target_system from change_operator_control message
- *
- * @return System the GCS requests control for
- */
-static inline uint8_t mavlink_msg_change_operator_control_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field control_request from change_operator_control message
- *
- * @return 0: request control of this MAV, 1: Release control of this MAV
- */
-static inline uint8_t mavlink_msg_change_operator_control_get_control_request(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field version from change_operator_control message
- *
- * @return 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
- */
-static inline uint8_t mavlink_msg_change_operator_control_get_version(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field passkey from change_operator_control message
- *
- * @return Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
- */
-static inline uint16_t mavlink_msg_change_operator_control_get_passkey(const mavlink_message_t* msg, char *passkey)
-{
-	return _MAV_RETURN_char_array(msg, passkey, 25,  3);
-}
-
-/**
- * @brief Decode a change_operator_control message into a struct
- *
- * @param msg The message to decode
- * @param change_operator_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_change_operator_control_decode(const mavlink_message_t* msg, mavlink_change_operator_control_t* change_operator_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	change_operator_control->target_system = mavlink_msg_change_operator_control_get_target_system(msg);
-	change_operator_control->control_request = mavlink_msg_change_operator_control_get_control_request(msg);
-	change_operator_control->version = mavlink_msg_change_operator_control_get_version(msg);
-	mavlink_msg_change_operator_control_get_passkey(msg, change_operator_control->passkey);
-#else
-	memcpy(change_operator_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h
deleted file mode 100644
index c6f6a28e4..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_change_operator_control_ack.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE CHANGE_OPERATOR_CONTROL_ACK PACKING
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK 6
-
-typedef struct __mavlink_change_operator_control_ack_t
-{
- uint8_t gcs_system_id; ///< ID of the GCS this message 
- uint8_t control_request; ///< 0: request control of this MAV, 1: Release control of this MAV
- uint8_t ack; ///< 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
-} mavlink_change_operator_control_ack_t;
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN 3
-#define MAVLINK_MSG_ID_6_LEN 3
-
-#define MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC 104
-#define MAVLINK_MSG_ID_6_CRC 104
-
-
-
-#define MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK { \
-	"CHANGE_OPERATOR_CONTROL_ACK", \
-	3, \
-	{  { "gcs_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_change_operator_control_ack_t, gcs_system_id) }, \
-         { "control_request", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_change_operator_control_ack_t, control_request) }, \
-         { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_change_operator_control_ack_t, ack) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a change_operator_control_ack 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 gcs_system_id ID of the GCS this message 
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN];
-	_mav_put_uint8_t(buf, 0, gcs_system_id);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, ack);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#else
-	mavlink_change_operator_control_ack_t packet;
-	packet.gcs_system_id = gcs_system_id;
-	packet.control_request = control_request;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a change_operator_control_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gcs_system_id ID of the GCS this message 
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t gcs_system_id,uint8_t control_request,uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN];
-	_mav_put_uint8_t(buf, 0, gcs_system_id);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, ack);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#else
-	mavlink_change_operator_control_ack_t packet;
-	packet.gcs_system_id = gcs_system_id;
-	packet.control_request = control_request;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a change_operator_control_ack struct
- *
- * @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 change_operator_control_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
-{
-	return mavlink_msg_change_operator_control_ack_pack(system_id, component_id, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack);
-}
-
-/**
- * @brief Encode a change_operator_control_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param change_operator_control_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_change_operator_control_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_change_operator_control_ack_t* change_operator_control_ack)
-{
-	return mavlink_msg_change_operator_control_ack_pack_chan(system_id, component_id, chan, msg, change_operator_control_ack->gcs_system_id, change_operator_control_ack->control_request, change_operator_control_ack->ack);
-}
-
-/**
- * @brief Send a change_operator_control_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param gcs_system_id ID of the GCS this message 
- * @param control_request 0: request control of this MAV, 1: Release control of this MAV
- * @param ack 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_change_operator_control_ack_send(mavlink_channel_t chan, uint8_t gcs_system_id, uint8_t control_request, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN];
-	_mav_put_uint8_t(buf, 0, gcs_system_id);
-	_mav_put_uint8_t(buf, 1, control_request);
-	_mav_put_uint8_t(buf, 2, ack);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, buf, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-#else
-	mavlink_change_operator_control_ack_t packet;
-	packet.gcs_system_id = gcs_system_id;
-	packet.control_request = control_request;
-	packet.ack = ack;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, (const char *)&packet, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE CHANGE_OPERATOR_CONTROL_ACK UNPACKING
-
-
-/**
- * @brief Get field gcs_system_id from change_operator_control_ack message
- *
- * @return ID of the GCS this message 
- */
-static inline uint8_t mavlink_msg_change_operator_control_ack_get_gcs_system_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field control_request from change_operator_control_ack message
- *
- * @return 0: request control of this MAV, 1: Release control of this MAV
- */
-static inline uint8_t mavlink_msg_change_operator_control_ack_get_control_request(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field ack from change_operator_control_ack message
- *
- * @return 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
- */
-static inline uint8_t mavlink_msg_change_operator_control_ack_get_ack(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a change_operator_control_ack message into a struct
- *
- * @param msg The message to decode
- * @param change_operator_control_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_change_operator_control_ack_decode(const mavlink_message_t* msg, mavlink_change_operator_control_ack_t* change_operator_control_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	change_operator_control_ack->gcs_system_id = mavlink_msg_change_operator_control_ack_get_gcs_system_id(msg);
-	change_operator_control_ack->control_request = mavlink_msg_change_operator_control_ack_get_control_request(msg);
-	change_operator_control_ack->ack = mavlink_msg_change_operator_control_ack_get_ack(msg);
-#else
-	memcpy(change_operator_control_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h
deleted file mode 100644
index dca2fe681..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_ack.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE COMMAND_ACK PACKING
-
-#define MAVLINK_MSG_ID_COMMAND_ACK 77
-
-typedef struct __mavlink_command_ack_t
-{
- uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
- uint8_t result; ///< See MAV_RESULT enum
-} mavlink_command_ack_t;
-
-#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
-#define MAVLINK_MSG_ID_77_LEN 3
-
-#define MAVLINK_MSG_ID_COMMAND_ACK_CRC 143
-#define MAVLINK_MSG_ID_77_CRC 143
-
-
-
-#define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
-	"COMMAND_ACK", \
-	2, \
-	{  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
-         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a command_ack 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 command Command ID, as defined by MAV_CMD enum.
- * @param result See MAV_RESULT enum
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t command, uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, command);
-	_mav_put_uint8_t(buf, 2, result);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#else
-	mavlink_command_ack_t packet;
-	packet.command = command;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a command_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param result See MAV_RESULT enum
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t command,uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, command);
-	_mav_put_uint8_t(buf, 2, result);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#else
-	mavlink_command_ack_t packet;
-	packet.command = command;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a command_ack struct
- *
- * @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 command_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
-{
-	return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
-}
-
-/**
- * @brief Encode a command_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param command_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
-{
-	return mavlink_msg_command_ack_pack_chan(system_id, component_id, chan, msg, command_ack->command, command_ack->result);
-}
-
-/**
- * @brief Send a command_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param result See MAV_RESULT enum
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_COMMAND_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, command);
-	_mav_put_uint8_t(buf, 2, result);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-#else
-	mavlink_command_ack_t packet;
-	packet.command = command;
-	packet.result = result;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN, MAVLINK_MSG_ID_COMMAND_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE COMMAND_ACK UNPACKING
-
-
-/**
- * @brief Get field command from command_ack message
- *
- * @return Command ID, as defined by MAV_CMD enum.
- */
-static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field result from command_ack message
- *
- * @return See MAV_RESULT enum
- */
-static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a command_ack message into a struct
- *
- * @param msg The message to decode
- * @param command_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	command_ack->command = mavlink_msg_command_ack_get_command(msg);
-	command_ack->result = mavlink_msg_command_ack_get_result(msg);
-#else
-	memcpy(command_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMMAND_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h
deleted file mode 100644
index 8f705c0dd..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_command_long.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE COMMAND_LONG PACKING
-
-#define MAVLINK_MSG_ID_COMMAND_LONG 76
-
-typedef struct __mavlink_command_long_t
-{
- float param1; ///< Parameter 1, as defined by MAV_CMD enum.
- float param2; ///< Parameter 2, as defined by MAV_CMD enum.
- float param3; ///< Parameter 3, as defined by MAV_CMD enum.
- float param4; ///< Parameter 4, as defined by MAV_CMD enum.
- float param5; ///< Parameter 5, as defined by MAV_CMD enum.
- float param6; ///< Parameter 6, as defined by MAV_CMD enum.
- float param7; ///< Parameter 7, as defined by MAV_CMD enum.
- uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
- uint8_t target_system; ///< System which should execute the command
- uint8_t target_component; ///< Component which should execute the command, 0 for all components
- uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
-} mavlink_command_long_t;
-
-#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33
-#define MAVLINK_MSG_ID_76_LEN 33
-
-#define MAVLINK_MSG_ID_COMMAND_LONG_CRC 152
-#define MAVLINK_MSG_ID_76_CRC 152
-
-
-
-#define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \
-	"COMMAND_LONG", \
-	11, \
-	{  { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
-         { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
-         { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
-         { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
-         { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
-         { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
-         { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
-         { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
-         { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a command_long 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 target_system System which should execute the command
- * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @param param5 Parameter 5, as defined by MAV_CMD enum.
- * @param param6 Parameter 6, as defined by MAV_CMD enum.
- * @param param7 Parameter 7, as defined by MAV_CMD enum.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
-	_mav_put_float(buf, 0, param1);
-	_mav_put_float(buf, 4, param2);
-	_mav_put_float(buf, 8, param3);
-	_mav_put_float(buf, 12, param4);
-	_mav_put_float(buf, 16, param5);
-	_mav_put_float(buf, 20, param6);
-	_mav_put_float(buf, 24, param7);
-	_mav_put_uint16_t(buf, 28, command);
-	_mav_put_uint8_t(buf, 30, target_system);
-	_mav_put_uint8_t(buf, 31, target_component);
-	_mav_put_uint8_t(buf, 32, confirmation);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#else
-	mavlink_command_long_t packet;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-	packet.param5 = param5;
-	packet.param6 = param6;
-	packet.param7 = param7;
-	packet.command = command;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.confirmation = confirmation;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-}
-
-/**
- * @brief Pack a command_long 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System which should execute the command
- * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @param param5 Parameter 5, as defined by MAV_CMD enum.
- * @param param6 Parameter 6, as defined by MAV_CMD enum.
- * @param param7 Parameter 7, as defined by MAV_CMD enum.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
-	_mav_put_float(buf, 0, param1);
-	_mav_put_float(buf, 4, param2);
-	_mav_put_float(buf, 8, param3);
-	_mav_put_float(buf, 12, param4);
-	_mav_put_float(buf, 16, param5);
-	_mav_put_float(buf, 20, param6);
-	_mav_put_float(buf, 24, param7);
-	_mav_put_uint16_t(buf, 28, command);
-	_mav_put_uint8_t(buf, 30, target_system);
-	_mav_put_uint8_t(buf, 31, target_component);
-	_mav_put_uint8_t(buf, 32, confirmation);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#else
-	mavlink_command_long_t packet;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-	packet.param5 = param5;
-	packet.param6 = param6;
-	packet.param7 = param7;
-	packet.command = command;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.confirmation = confirmation;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-}
-
-/**
- * @brief Encode a command_long struct
- *
- * @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 command_long C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
-{
-	return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
-}
-
-/**
- * @brief Encode a command_long struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param command_long C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_command_long_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
-{
-	return mavlink_msg_command_long_pack_chan(system_id, component_id, chan, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
-}
-
-/**
- * @brief Send a command_long message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System which should execute the command
- * @param target_component Component which should execute the command, 0 for all components
- * @param command Command ID, as defined by MAV_CMD enum.
- * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- * @param param1 Parameter 1, as defined by MAV_CMD enum.
- * @param param2 Parameter 2, as defined by MAV_CMD enum.
- * @param param3 Parameter 3, as defined by MAV_CMD enum.
- * @param param4 Parameter 4, as defined by MAV_CMD enum.
- * @param param5 Parameter 5, as defined by MAV_CMD enum.
- * @param param6 Parameter 6, as defined by MAV_CMD enum.
- * @param param7 Parameter 7, as defined by MAV_CMD enum.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
-	_mav_put_float(buf, 0, param1);
-	_mav_put_float(buf, 4, param2);
-	_mav_put_float(buf, 8, param3);
-	_mav_put_float(buf, 12, param4);
-	_mav_put_float(buf, 16, param5);
-	_mav_put_float(buf, 20, param6);
-	_mav_put_float(buf, 24, param7);
-	_mav_put_uint16_t(buf, 28, command);
-	_mav_put_uint8_t(buf, 30, target_system);
-	_mav_put_uint8_t(buf, 31, target_component);
-	_mav_put_uint8_t(buf, 32, confirmation);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-#else
-	mavlink_command_long_t packet;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-	packet.param5 = param5;
-	packet.param6 = param6;
-	packet.param7 = param7;
-	packet.command = command;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.confirmation = confirmation;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE COMMAND_LONG UNPACKING
-
-
-/**
- * @brief Get field target_system from command_long message
- *
- * @return System which should execute the command
- */
-static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  30);
-}
-
-/**
- * @brief Get field target_component from command_long message
- *
- * @return Component which should execute the command, 0 for all components
- */
-static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  31);
-}
-
-/**
- * @brief Get field command from command_long message
- *
- * @return Command ID, as defined by MAV_CMD enum.
- */
-static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  28);
-}
-
-/**
- * @brief Get field confirmation from command_long message
- *
- * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
- */
-static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field param1 from command_long message
- *
- * @return Parameter 1, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field param2 from command_long message
- *
- * @return Parameter 2, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field param3 from command_long message
- *
- * @return Parameter 3, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field param4 from command_long message
- *
- * @return Parameter 4, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field param5 from command_long message
- *
- * @return Parameter 5, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field param6 from command_long message
- *
- * @return Parameter 6, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field param7 from command_long message
- *
- * @return Parameter 7, as defined by MAV_CMD enum.
- */
-static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a command_long message into a struct
- *
- * @param msg The message to decode
- * @param command_long C-struct to decode the message contents into
- */
-static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	command_long->param1 = mavlink_msg_command_long_get_param1(msg);
-	command_long->param2 = mavlink_msg_command_long_get_param2(msg);
-	command_long->param3 = mavlink_msg_command_long_get_param3(msg);
-	command_long->param4 = mavlink_msg_command_long_get_param4(msg);
-	command_long->param5 = mavlink_msg_command_long_get_param5(msg);
-	command_long->param6 = mavlink_msg_command_long_get_param6(msg);
-	command_long->param7 = mavlink_msg_command_long_get_param7(msg);
-	command_long->command = mavlink_msg_command_long_get_command(msg);
-	command_long->target_system = mavlink_msg_command_long_get_target_system(msg);
-	command_long->target_component = mavlink_msg_command_long_get_target_component(msg);
-	command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg);
-#else
-	memcpy(command_long, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_COMMAND_LONG_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h
deleted file mode 100644
index dc0768e12..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_stream.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE DATA_STREAM PACKING
-
-#define MAVLINK_MSG_ID_DATA_STREAM 67
-
-typedef struct __mavlink_data_stream_t
-{
- uint16_t message_rate; ///< The requested interval between two messages of this type
- uint8_t stream_id; ///< The ID of the requested data stream
- uint8_t on_off; ///< 1 stream is enabled, 0 stream is stopped.
-} mavlink_data_stream_t;
-
-#define MAVLINK_MSG_ID_DATA_STREAM_LEN 4
-#define MAVLINK_MSG_ID_67_LEN 4
-
-#define MAVLINK_MSG_ID_DATA_STREAM_CRC 21
-#define MAVLINK_MSG_ID_67_CRC 21
-
-
-
-#define MAVLINK_MESSAGE_INFO_DATA_STREAM { \
-	"DATA_STREAM", \
-	3, \
-	{  { "message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_data_stream_t, message_rate) }, \
-         { "stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_data_stream_t, stream_id) }, \
-         { "on_off", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_data_stream_t, on_off) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a data_stream 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 stream_id The ID of the requested data stream
- * @param message_rate The requested interval between two messages of this type
- * @param on_off 1 stream is enabled, 0 stream is stopped.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
-	_mav_put_uint16_t(buf, 0, message_rate);
-	_mav_put_uint8_t(buf, 2, stream_id);
-	_mav_put_uint8_t(buf, 3, on_off);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#else
-	mavlink_data_stream_t packet;
-	packet.message_rate = message_rate;
-	packet.stream_id = stream_id;
-	packet.on_off = on_off;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-}
-
-/**
- * @brief Pack a data_stream 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param stream_id The ID of the requested data stream
- * @param message_rate The requested interval between two messages of this type
- * @param on_off 1 stream is enabled, 0 stream is stopped.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t stream_id,uint16_t message_rate,uint8_t on_off)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
-	_mav_put_uint16_t(buf, 0, message_rate);
-	_mav_put_uint8_t(buf, 2, stream_id);
-	_mav_put_uint8_t(buf, 3, on_off);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#else
-	mavlink_data_stream_t packet;
-	packet.message_rate = message_rate;
-	packet.stream_id = stream_id;
-	packet.on_off = on_off;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA_STREAM;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-}
-
-/**
- * @brief Encode a data_stream struct
- *
- * @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 data_stream C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
-{
-	return mavlink_msg_data_stream_pack(system_id, component_id, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
-}
-
-/**
- * @brief Encode a data_stream struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param data_stream C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_data_stream_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data_stream_t* data_stream)
-{
-	return mavlink_msg_data_stream_pack_chan(system_id, component_id, chan, msg, data_stream->stream_id, data_stream->message_rate, data_stream->on_off);
-}
-
-/**
- * @brief Send a data_stream message
- * @param chan MAVLink channel to send the message
- *
- * @param stream_id The ID of the requested data stream
- * @param message_rate The requested interval between two messages of this type
- * @param on_off 1 stream is enabled, 0 stream is stopped.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_data_stream_send(mavlink_channel_t chan, uint8_t stream_id, uint16_t message_rate, uint8_t on_off)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DATA_STREAM_LEN];
-	_mav_put_uint16_t(buf, 0, message_rate);
-	_mav_put_uint8_t(buf, 2, stream_id);
-	_mav_put_uint8_t(buf, 3, on_off);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, buf, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-#else
-	mavlink_data_stream_t packet;
-	packet.message_rate = message_rate;
-	packet.stream_id = stream_id;
-	packet.on_off = on_off;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_LEN, MAVLINK_MSG_ID_DATA_STREAM_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE DATA_STREAM UNPACKING
-
-
-/**
- * @brief Get field stream_id from data_stream message
- *
- * @return The ID of the requested data stream
- */
-static inline uint8_t mavlink_msg_data_stream_get_stream_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field message_rate from data_stream message
- *
- * @return The requested interval between two messages of this type
- */
-static inline uint16_t mavlink_msg_data_stream_get_message_rate(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field on_off from data_stream message
- *
- * @return 1 stream is enabled, 0 stream is stopped.
- */
-static inline uint8_t mavlink_msg_data_stream_get_on_off(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Decode a data_stream message into a struct
- *
- * @param msg The message to decode
- * @param data_stream C-struct to decode the message contents into
- */
-static inline void mavlink_msg_data_stream_decode(const mavlink_message_t* msg, mavlink_data_stream_t* data_stream)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	data_stream->message_rate = mavlink_msg_data_stream_get_message_rate(msg);
-	data_stream->stream_id = mavlink_msg_data_stream_get_stream_id(msg);
-	data_stream->on_off = mavlink_msg_data_stream_get_on_off(msg);
-#else
-	memcpy(data_stream, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA_STREAM_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h
deleted file mode 100644
index fdd8fddd8..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_data_transmission_handshake.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE DATA_TRANSMISSION_HANDSHAKE PACKING
-
-#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE 130
-
-typedef struct __mavlink_data_transmission_handshake_t
-{
- uint32_t size; ///< total data size in bytes (set on ACK only)
- uint16_t width; ///< Width of a matrix or image
- uint16_t height; ///< Height of a matrix or image
- uint16_t packets; ///< number of packets beeing sent (set on ACK only)
- uint8_t type; ///< type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- uint8_t payload; ///< payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- uint8_t jpg_quality; ///< JPEG quality out of [1,100]
-} mavlink_data_transmission_handshake_t;
-
-#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN 13
-#define MAVLINK_MSG_ID_130_LEN 13
-
-#define MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC 29
-#define MAVLINK_MSG_ID_130_CRC 29
-
-
-
-#define MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE { \
-	"DATA_TRANSMISSION_HANDSHAKE", \
-	7, \
-	{  { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_data_transmission_handshake_t, size) }, \
-         { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_data_transmission_handshake_t, width) }, \
-         { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_data_transmission_handshake_t, height) }, \
-         { "packets", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_data_transmission_handshake_t, packets) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_data_transmission_handshake_t, type) }, \
-         { "payload", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_data_transmission_handshake_t, payload) }, \
-         { "jpg_quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_data_transmission_handshake_t, jpg_quality) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a data_transmission_handshake 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 type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- * @param size total data size in bytes (set on ACK only)
- * @param width Width of a matrix or image
- * @param height Height of a matrix or image
- * @param packets number of packets beeing sent (set on ACK only)
- * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- * @param jpg_quality JPEG quality out of [1,100]
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN];
-	_mav_put_uint32_t(buf, 0, size);
-	_mav_put_uint16_t(buf, 4, width);
-	_mav_put_uint16_t(buf, 6, height);
-	_mav_put_uint16_t(buf, 8, packets);
-	_mav_put_uint8_t(buf, 10, type);
-	_mav_put_uint8_t(buf, 11, payload);
-	_mav_put_uint8_t(buf, 12, jpg_quality);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#else
-	mavlink_data_transmission_handshake_t packet;
-	packet.size = size;
-	packet.width = width;
-	packet.height = height;
-	packet.packets = packets;
-	packet.type = type;
-	packet.payload = payload;
-	packet.jpg_quality = jpg_quality;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a data_transmission_handshake 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- * @param size total data size in bytes (set on ACK only)
- * @param width Width of a matrix or image
- * @param height Height of a matrix or image
- * @param packets number of packets beeing sent (set on ACK only)
- * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- * @param jpg_quality JPEG quality out of [1,100]
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t type,uint32_t size,uint16_t width,uint16_t height,uint16_t packets,uint8_t payload,uint8_t jpg_quality)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN];
-	_mav_put_uint32_t(buf, 0, size);
-	_mav_put_uint16_t(buf, 4, width);
-	_mav_put_uint16_t(buf, 6, height);
-	_mav_put_uint16_t(buf, 8, packets);
-	_mav_put_uint8_t(buf, 10, type);
-	_mav_put_uint8_t(buf, 11, payload);
-	_mav_put_uint8_t(buf, 12, jpg_quality);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#else
-	mavlink_data_transmission_handshake_t packet;
-	packet.size = size;
-	packet.width = width;
-	packet.height = height;
-	packet.packets = packets;
-	packet.type = type;
-	packet.payload = payload;
-	packet.jpg_quality = jpg_quality;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a data_transmission_handshake struct
- *
- * @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 data_transmission_handshake C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake)
-{
-	return mavlink_msg_data_transmission_handshake_pack(system_id, component_id, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->width, data_transmission_handshake->height, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality);
-}
-
-/**
- * @brief Encode a data_transmission_handshake struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param data_transmission_handshake C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_data_transmission_handshake_t* data_transmission_handshake)
-{
-	return mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, chan, msg, data_transmission_handshake->type, data_transmission_handshake->size, data_transmission_handshake->width, data_transmission_handshake->height, data_transmission_handshake->packets, data_transmission_handshake->payload, data_transmission_handshake->jpg_quality);
-}
-
-/**
- * @brief Send a data_transmission_handshake message
- * @param chan MAVLink channel to send the message
- *
- * @param type type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- * @param size total data size in bytes (set on ACK only)
- * @param width Width of a matrix or image
- * @param height Height of a matrix or image
- * @param packets number of packets beeing sent (set on ACK only)
- * @param payload payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- * @param jpg_quality JPEG quality out of [1,100]
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_data_transmission_handshake_send(mavlink_channel_t chan, uint8_t type, uint32_t size, uint16_t width, uint16_t height, uint16_t packets, uint8_t payload, uint8_t jpg_quality)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN];
-	_mav_put_uint32_t(buf, 0, size);
-	_mav_put_uint16_t(buf, 4, width);
-	_mav_put_uint16_t(buf, 6, height);
-	_mav_put_uint16_t(buf, 8, packets);
-	_mav_put_uint8_t(buf, 10, type);
-	_mav_put_uint8_t(buf, 11, payload);
-	_mav_put_uint8_t(buf, 12, jpg_quality);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, buf, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-#else
-	mavlink_data_transmission_handshake_t packet;
-	packet.size = size;
-	packet.width = width;
-	packet.height = height;
-	packet.packets = packets;
-	packet.type = type;
-	packet.payload = payload;
-	packet.jpg_quality = jpg_quality;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, (const char *)&packet, MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE DATA_TRANSMISSION_HANDSHAKE UNPACKING
-
-
-/**
- * @brief Get field type from data_transmission_handshake message
- *
- * @return type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
- */
-static inline uint8_t mavlink_msg_data_transmission_handshake_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field size from data_transmission_handshake message
- *
- * @return total data size in bytes (set on ACK only)
- */
-static inline uint32_t mavlink_msg_data_transmission_handshake_get_size(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field width from data_transmission_handshake message
- *
- * @return Width of a matrix or image
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_get_width(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field height from data_transmission_handshake message
- *
- * @return Height of a matrix or image
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_get_height(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field packets from data_transmission_handshake message
- *
- * @return number of packets beeing sent (set on ACK only)
- */
-static inline uint16_t mavlink_msg_data_transmission_handshake_get_packets(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field payload from data_transmission_handshake message
- *
- * @return payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
- */
-static inline uint8_t mavlink_msg_data_transmission_handshake_get_payload(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field jpg_quality from data_transmission_handshake message
- *
- * @return JPEG quality out of [1,100]
- */
-static inline uint8_t mavlink_msg_data_transmission_handshake_get_jpg_quality(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Decode a data_transmission_handshake message into a struct
- *
- * @param msg The message to decode
- * @param data_transmission_handshake C-struct to decode the message contents into
- */
-static inline void mavlink_msg_data_transmission_handshake_decode(const mavlink_message_t* msg, mavlink_data_transmission_handshake_t* data_transmission_handshake)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	data_transmission_handshake->size = mavlink_msg_data_transmission_handshake_get_size(msg);
-	data_transmission_handshake->width = mavlink_msg_data_transmission_handshake_get_width(msg);
-	data_transmission_handshake->height = mavlink_msg_data_transmission_handshake_get_height(msg);
-	data_transmission_handshake->packets = mavlink_msg_data_transmission_handshake_get_packets(msg);
-	data_transmission_handshake->type = mavlink_msg_data_transmission_handshake_get_type(msg);
-	data_transmission_handshake->payload = mavlink_msg_data_transmission_handshake_get_payload(msg);
-	data_transmission_handshake->jpg_quality = mavlink_msg_data_transmission_handshake_get_jpg_quality(msg);
-#else
-	memcpy(data_transmission_handshake, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h
deleted file mode 100644
index 9a6ed87ee..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE DEBUG PACKING
-
-#define MAVLINK_MSG_ID_DEBUG 254
-
-typedef struct __mavlink_debug_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float value; ///< DEBUG value
- uint8_t ind; ///< index of debug variable
-} mavlink_debug_t;
-
-#define MAVLINK_MSG_ID_DEBUG_LEN 9
-#define MAVLINK_MSG_ID_254_LEN 9
-
-#define MAVLINK_MSG_ID_DEBUG_CRC 46
-#define MAVLINK_MSG_ID_254_CRC 46
-
-
-
-#define MAVLINK_MESSAGE_INFO_DEBUG { \
-	"DEBUG", \
-	3, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_debug_t, time_boot_ms) }, \
-         { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_debug_t, value) }, \
-         { "ind", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_debug_t, ind) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a debug 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param ind index of debug variable
- * @param value DEBUG value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, uint8_t ind, float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DEBUG_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, value);
-	_mav_put_uint8_t(buf, 8, ind);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
-#else
-	mavlink_debug_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	packet.ind = ind;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-}
-
-/**
- * @brief Pack a debug 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param ind index of debug variable
- * @param value DEBUG value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,uint8_t ind,float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DEBUG_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, value);
-	_mav_put_uint8_t(buf, 8, ind);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_LEN);
-#else
-	mavlink_debug_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	packet.ind = ind;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-}
-
-/**
- * @brief Encode a debug struct
- *
- * @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 debug C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_debug_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_t* debug)
-{
-	return mavlink_msg_debug_pack(system_id, component_id, msg, debug->time_boot_ms, debug->ind, debug->value);
-}
-
-/**
- * @brief Encode a debug struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param debug C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_debug_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_t* debug)
-{
-	return mavlink_msg_debug_pack_chan(system_id, component_id, chan, msg, debug->time_boot_ms, debug->ind, debug->value);
-}
-
-/**
- * @brief Send a debug message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param ind index of debug variable
- * @param value DEBUG value
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_debug_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t ind, float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DEBUG_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, value);
-	_mav_put_uint8_t(buf, 8, ind);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, buf, MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-#else
-	mavlink_debug_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	packet.ind = ind;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_LEN, MAVLINK_MSG_ID_DEBUG_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE DEBUG UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from debug message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_debug_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field ind from debug message
- *
- * @return index of debug variable
- */
-static inline uint8_t mavlink_msg_debug_get_ind(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field value from debug message
- *
- * @return DEBUG value
- */
-static inline float mavlink_msg_debug_get_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Decode a debug message into a struct
- *
- * @param msg The message to decode
- * @param debug C-struct to decode the message contents into
- */
-static inline void mavlink_msg_debug_decode(const mavlink_message_t* msg, mavlink_debug_t* debug)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	debug->time_boot_ms = mavlink_msg_debug_get_time_boot_ms(msg);
-	debug->value = mavlink_msg_debug_get_value(msg);
-	debug->ind = mavlink_msg_debug_get_ind(msg);
-#else
-	memcpy(debug, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DEBUG_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h
deleted file mode 100644
index 6cfc75212..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_debug_vect.h
+++ /dev/null
@@ -1,259 +0,0 @@
-// MESSAGE DEBUG_VECT PACKING
-
-#define MAVLINK_MSG_ID_DEBUG_VECT 250
-
-typedef struct __mavlink_debug_vect_t
-{
- uint64_t time_usec; ///< Timestamp
- float x; ///< x
- float y; ///< y
- float z; ///< z
- char name[10]; ///< Name
-} mavlink_debug_vect_t;
-
-#define MAVLINK_MSG_ID_DEBUG_VECT_LEN 30
-#define MAVLINK_MSG_ID_250_LEN 30
-
-#define MAVLINK_MSG_ID_DEBUG_VECT_CRC 49
-#define MAVLINK_MSG_ID_250_CRC 49
-
-#define MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN 10
-
-#define MAVLINK_MESSAGE_INFO_DEBUG_VECT { \
-	"DEBUG_VECT", \
-	5, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_debug_vect_t, time_usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_debug_vect_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_debug_vect_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_debug_vect_t, z) }, \
-         { "name", NULL, MAVLINK_TYPE_CHAR, 10, 20, offsetof(mavlink_debug_vect_t, name) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a debug_vect 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 name Name
- * @param time_usec Timestamp
- * @param x x
- * @param y y
- * @param z z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const char *name, uint64_t time_usec, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_char_array(buf, 20, name, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#else
-	mavlink_debug_vect_t packet;
-	packet.time_usec = time_usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a debug_vect 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param name Name
- * @param time_usec Timestamp
- * @param x x
- * @param y y
- * @param z z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_debug_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const char *name,uint64_t time_usec,float x,float y,float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_char_array(buf, 20, name, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#else
-	mavlink_debug_vect_t packet;
-	packet.time_usec = time_usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_DEBUG_VECT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a debug_vect struct
- *
- * @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 debug_vect C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_debug_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
-{
-	return mavlink_msg_debug_vect_pack(system_id, component_id, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
-}
-
-/**
- * @brief Encode a debug_vect struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param debug_vect C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_debug_vect_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_debug_vect_t* debug_vect)
-{
-	return mavlink_msg_debug_vect_pack_chan(system_id, component_id, chan, msg, debug_vect->name, debug_vect->time_usec, debug_vect->x, debug_vect->y, debug_vect->z);
-}
-
-/**
- * @brief Send a debug_vect message
- * @param chan MAVLink channel to send the message
- *
- * @param name Name
- * @param time_usec Timestamp
- * @param x x
- * @param y y
- * @param z z
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_debug_vect_send(mavlink_channel_t chan, const char *name, uint64_t time_usec, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_DEBUG_VECT_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_char_array(buf, 20, name, 10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, buf, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-#else
-	mavlink_debug_vect_t packet;
-	packet.time_usec = time_usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN, MAVLINK_MSG_ID_DEBUG_VECT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEBUG_VECT, (const char *)&packet, MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE DEBUG_VECT UNPACKING
-
-
-/**
- * @brief Get field name from debug_vect message
- *
- * @return Name
- */
-static inline uint16_t mavlink_msg_debug_vect_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 10,  20);
-}
-
-/**
- * @brief Get field time_usec from debug_vect message
- *
- * @return Timestamp
- */
-static inline uint64_t mavlink_msg_debug_vect_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field x from debug_vect message
- *
- * @return x
- */
-static inline float mavlink_msg_debug_vect_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field y from debug_vect message
- *
- * @return y
- */
-static inline float mavlink_msg_debug_vect_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field z from debug_vect message
- *
- * @return z
- */
-static inline float mavlink_msg_debug_vect_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a debug_vect message into a struct
- *
- * @param msg The message to decode
- * @param debug_vect C-struct to decode the message contents into
- */
-static inline void mavlink_msg_debug_vect_decode(const mavlink_message_t* msg, mavlink_debug_vect_t* debug_vect)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	debug_vect->time_usec = mavlink_msg_debug_vect_get_time_usec(msg);
-	debug_vect->x = mavlink_msg_debug_vect_get_x(msg);
-	debug_vect->y = mavlink_msg_debug_vect_get_y(msg);
-	debug_vect->z = mavlink_msg_debug_vect_get_z(msg);
-	mavlink_msg_debug_vect_get_name(msg, debug_vect->name);
-#else
-	memcpy(debug_vect, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_DEBUG_VECT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h
deleted file mode 100644
index 5900ea838..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_encapsulated_data.h
+++ /dev/null
@@ -1,193 +0,0 @@
-// MESSAGE ENCAPSULATED_DATA PACKING
-
-#define MAVLINK_MSG_ID_ENCAPSULATED_DATA 131
-
-typedef struct __mavlink_encapsulated_data_t
-{
- uint16_t seqnr; ///< sequence number (starting with 0 on every transmission)
- uint8_t data[253]; ///< image data bytes
-} mavlink_encapsulated_data_t;
-
-#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN 255
-#define MAVLINK_MSG_ID_131_LEN 255
-
-#define MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC 223
-#define MAVLINK_MSG_ID_131_CRC 223
-
-#define MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN 253
-
-#define MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA { \
-	"ENCAPSULATED_DATA", \
-	2, \
-	{  { "seqnr", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_encapsulated_data_t, seqnr) }, \
-         { "data", NULL, MAVLINK_TYPE_UINT8_T, 253, 2, offsetof(mavlink_encapsulated_data_t, data) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a encapsulated_data 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 seqnr sequence number (starting with 0 on every transmission)
- * @param data image data bytes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_encapsulated_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t seqnr, const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
-	_mav_put_uint16_t(buf, 0, seqnr);
-	_mav_put_uint8_t_array(buf, 2, data, 253);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#else
-	mavlink_encapsulated_data_t packet;
-	packet.seqnr = seqnr;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Pack a encapsulated_data 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param seqnr sequence number (starting with 0 on every transmission)
- * @param data image data bytes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_encapsulated_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t seqnr,const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
-	_mav_put_uint16_t(buf, 0, seqnr);
-	_mav_put_uint8_t_array(buf, 2, data, 253);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#else
-	mavlink_encapsulated_data_t packet;
-	packet.seqnr = seqnr;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ENCAPSULATED_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Encode a encapsulated_data struct
- *
- * @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 encapsulated_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_encapsulated_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
-{
-	return mavlink_msg_encapsulated_data_pack(system_id, component_id, msg, encapsulated_data->seqnr, encapsulated_data->data);
-}
-
-/**
- * @brief Encode a encapsulated_data struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param encapsulated_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_encapsulated_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_encapsulated_data_t* encapsulated_data)
-{
-	return mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, chan, msg, encapsulated_data->seqnr, encapsulated_data->data);
-}
-
-/**
- * @brief Send a encapsulated_data message
- * @param chan MAVLink channel to send the message
- *
- * @param seqnr sequence number (starting with 0 on every transmission)
- * @param data image data bytes
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_encapsulated_data_send(mavlink_channel_t chan, uint16_t seqnr, const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN];
-	_mav_put_uint16_t(buf, 0, seqnr);
-	_mav_put_uint8_t_array(buf, 2, data, 253);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, buf, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-#else
-	mavlink_encapsulated_data_t packet;
-	packet.seqnr = seqnr;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*253);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN, MAVLINK_MSG_ID_ENCAPSULATED_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ENCAPSULATED_DATA, (const char *)&packet, MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ENCAPSULATED_DATA UNPACKING
-
-
-/**
- * @brief Get field seqnr from encapsulated_data message
- *
- * @return sequence number (starting with 0 on every transmission)
- */
-static inline uint16_t mavlink_msg_encapsulated_data_get_seqnr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field data from encapsulated_data message
- *
- * @return image data bytes
- */
-static inline uint16_t mavlink_msg_encapsulated_data_get_data(const mavlink_message_t* msg, uint8_t *data)
-{
-	return _MAV_RETURN_uint8_t_array(msg, data, 253,  2);
-}
-
-/**
- * @brief Decode a encapsulated_data message into a struct
- *
- * @param msg The message to decode
- * @param encapsulated_data C-struct to decode the message contents into
- */
-static inline void mavlink_msg_encapsulated_data_decode(const mavlink_message_t* msg, mavlink_encapsulated_data_t* encapsulated_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	encapsulated_data->seqnr = mavlink_msg_encapsulated_data_get_seqnr(msg);
-	mavlink_msg_encapsulated_data_get_data(msg, encapsulated_data->data);
-#else
-	memcpy(encapsulated_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ENCAPSULATED_DATA_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h
deleted file mode 100644
index 4f31698d5..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_dir_list.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// MESSAGE FILE_TRANSFER_DIR_LIST PACKING
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST 111
-
-typedef struct __mavlink_file_transfer_dir_list_t
-{
- uint64_t transfer_uid; ///< Unique transfer ID
- char dir_path[240]; ///< Directory path to list
- uint8_t flags; ///< RESERVED
-} mavlink_file_transfer_dir_list_t;
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN 249
-#define MAVLINK_MSG_ID_111_LEN 249
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC 93
-#define MAVLINK_MSG_ID_111_CRC 93
-
-#define MAVLINK_MSG_FILE_TRANSFER_DIR_LIST_FIELD_DIR_PATH_LEN 240
-
-#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST { \
-	"FILE_TRANSFER_DIR_LIST", \
-	3, \
-	{  { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_dir_list_t, transfer_uid) }, \
-         { "dir_path", NULL, MAVLINK_TYPE_CHAR, 240, 8, offsetof(mavlink_file_transfer_dir_list_t, dir_path) }, \
-         { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 248, offsetof(mavlink_file_transfer_dir_list_t, flags) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a file_transfer_dir_list 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 transfer_uid Unique transfer ID
- * @param dir_path Directory path to list
- * @param flags RESERVED
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_file_transfer_dir_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t transfer_uid, const char *dir_path, uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint8_t(buf, 248, flags);
-	_mav_put_char_array(buf, 8, dir_path, 240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#else
-	mavlink_file_transfer_dir_list_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.flags = flags;
-	mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a file_transfer_dir_list 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param transfer_uid Unique transfer ID
- * @param dir_path Directory path to list
- * @param flags RESERVED
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_file_transfer_dir_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t transfer_uid,const char *dir_path,uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint8_t(buf, 248, flags);
-	_mav_put_char_array(buf, 8, dir_path, 240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#else
-	mavlink_file_transfer_dir_list_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.flags = flags;
-	mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a file_transfer_dir_list struct
- *
- * @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 file_transfer_dir_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_file_transfer_dir_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
-{
-	return mavlink_msg_file_transfer_dir_list_pack(system_id, component_id, msg, file_transfer_dir_list->transfer_uid, file_transfer_dir_list->dir_path, file_transfer_dir_list->flags);
-}
-
-/**
- * @brief Encode a file_transfer_dir_list struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param file_transfer_dir_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_file_transfer_dir_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
-{
-	return mavlink_msg_file_transfer_dir_list_pack_chan(system_id, component_id, chan, msg, file_transfer_dir_list->transfer_uid, file_transfer_dir_list->dir_path, file_transfer_dir_list->flags);
-}
-
-/**
- * @brief Send a file_transfer_dir_list message
- * @param chan MAVLink channel to send the message
- *
- * @param transfer_uid Unique transfer ID
- * @param dir_path Directory path to list
- * @param flags RESERVED
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_file_transfer_dir_list_send(mavlink_channel_t chan, uint64_t transfer_uid, const char *dir_path, uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint8_t(buf, 248, flags);
-	_mav_put_char_array(buf, 8, dir_path, 240);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, buf, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-#else
-	mavlink_file_transfer_dir_list_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.flags = flags;
-	mav_array_memcpy(packet.dir_path, dir_path, sizeof(char)*240);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FILE_TRANSFER_DIR_LIST UNPACKING
-
-
-/**
- * @brief Get field transfer_uid from file_transfer_dir_list message
- *
- * @return Unique transfer ID
- */
-static inline uint64_t mavlink_msg_file_transfer_dir_list_get_transfer_uid(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field dir_path from file_transfer_dir_list message
- *
- * @return Directory path to list
- */
-static inline uint16_t mavlink_msg_file_transfer_dir_list_get_dir_path(const mavlink_message_t* msg, char *dir_path)
-{
-	return _MAV_RETURN_char_array(msg, dir_path, 240,  8);
-}
-
-/**
- * @brief Get field flags from file_transfer_dir_list message
- *
- * @return RESERVED
- */
-static inline uint8_t mavlink_msg_file_transfer_dir_list_get_flags(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  248);
-}
-
-/**
- * @brief Decode a file_transfer_dir_list message into a struct
- *
- * @param msg The message to decode
- * @param file_transfer_dir_list C-struct to decode the message contents into
- */
-static inline void mavlink_msg_file_transfer_dir_list_decode(const mavlink_message_t* msg, mavlink_file_transfer_dir_list_t* file_transfer_dir_list)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	file_transfer_dir_list->transfer_uid = mavlink_msg_file_transfer_dir_list_get_transfer_uid(msg);
-	mavlink_msg_file_transfer_dir_list_get_dir_path(msg, file_transfer_dir_list->dir_path);
-	file_transfer_dir_list->flags = mavlink_msg_file_transfer_dir_list_get_flags(msg);
-#else
-	memcpy(file_transfer_dir_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILE_TRANSFER_DIR_LIST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h
deleted file mode 100644
index fc6247fac..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_res.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE FILE_TRANSFER_RES PACKING
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_RES 112
-
-typedef struct __mavlink_file_transfer_res_t
-{
- uint64_t transfer_uid; ///< Unique transfer ID
- uint8_t result; ///< 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
-} mavlink_file_transfer_res_t;
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN 9
-#define MAVLINK_MSG_ID_112_LEN 9
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC 124
-#define MAVLINK_MSG_ID_112_CRC 124
-
-
-
-#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES { \
-	"FILE_TRANSFER_RES", \
-	2, \
-	{  { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_res_t, transfer_uid) }, \
-         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_file_transfer_res_t, result) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a file_transfer_res 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 transfer_uid Unique transfer ID
- * @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_file_transfer_res_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t transfer_uid, uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint8_t(buf, 8, result);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#else
-	mavlink_file_transfer_res_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_RES;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-}
-
-/**
- * @brief Pack a file_transfer_res 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param transfer_uid Unique transfer ID
- * @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_file_transfer_res_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t transfer_uid,uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint8_t(buf, 8, result);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#else
-	mavlink_file_transfer_res_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_RES;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-}
-
-/**
- * @brief Encode a file_transfer_res struct
- *
- * @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 file_transfer_res C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_file_transfer_res_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_res_t* file_transfer_res)
-{
-	return mavlink_msg_file_transfer_res_pack(system_id, component_id, msg, file_transfer_res->transfer_uid, file_transfer_res->result);
-}
-
-/**
- * @brief Encode a file_transfer_res struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param file_transfer_res C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_file_transfer_res_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_file_transfer_res_t* file_transfer_res)
-{
-	return mavlink_msg_file_transfer_res_pack_chan(system_id, component_id, chan, msg, file_transfer_res->transfer_uid, file_transfer_res->result);
-}
-
-/**
- * @brief Send a file_transfer_res message
- * @param chan MAVLink channel to send the message
- *
- * @param transfer_uid Unique transfer ID
- * @param result 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_file_transfer_res_send(mavlink_channel_t chan, uint64_t transfer_uid, uint8_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint8_t(buf, 8, result);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, buf, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-#else
-	mavlink_file_transfer_res_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.result = result;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_RES_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_RES, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FILE_TRANSFER_RES UNPACKING
-
-
-/**
- * @brief Get field transfer_uid from file_transfer_res message
- *
- * @return Unique transfer ID
- */
-static inline uint64_t mavlink_msg_file_transfer_res_get_transfer_uid(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field result from file_transfer_res message
- *
- * @return 0: OK, 1: not permitted, 2: bad path / file name, 3: no space left on device
- */
-static inline uint8_t mavlink_msg_file_transfer_res_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Decode a file_transfer_res message into a struct
- *
- * @param msg The message to decode
- * @param file_transfer_res C-struct to decode the message contents into
- */
-static inline void mavlink_msg_file_transfer_res_decode(const mavlink_message_t* msg, mavlink_file_transfer_res_t* file_transfer_res)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	file_transfer_res->transfer_uid = mavlink_msg_file_transfer_res_get_transfer_uid(msg);
-	file_transfer_res->result = mavlink_msg_file_transfer_res_get_result(msg);
-#else
-	memcpy(file_transfer_res, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILE_TRANSFER_RES_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h
deleted file mode 100644
index 05be77339..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_file_transfer_start.h
+++ /dev/null
@@ -1,259 +0,0 @@
-// MESSAGE FILE_TRANSFER_START PACKING
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_START 110
-
-typedef struct __mavlink_file_transfer_start_t
-{
- uint64_t transfer_uid; ///< Unique transfer ID
- uint32_t file_size; ///< File size in bytes
- char dest_path[240]; ///< Destination path
- uint8_t direction; ///< Transfer direction: 0: from requester, 1: to requester
- uint8_t flags; ///< RESERVED
-} mavlink_file_transfer_start_t;
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN 254
-#define MAVLINK_MSG_ID_110_LEN 254
-
-#define MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC 235
-#define MAVLINK_MSG_ID_110_CRC 235
-
-#define MAVLINK_MSG_FILE_TRANSFER_START_FIELD_DEST_PATH_LEN 240
-
-#define MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START { \
-	"FILE_TRANSFER_START", \
-	5, \
-	{  { "transfer_uid", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_file_transfer_start_t, transfer_uid) }, \
-         { "file_size", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_file_transfer_start_t, file_size) }, \
-         { "dest_path", NULL, MAVLINK_TYPE_CHAR, 240, 12, offsetof(mavlink_file_transfer_start_t, dest_path) }, \
-         { "direction", NULL, MAVLINK_TYPE_UINT8_T, 0, 252, offsetof(mavlink_file_transfer_start_t, direction) }, \
-         { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 253, offsetof(mavlink_file_transfer_start_t, flags) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a file_transfer_start 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 transfer_uid Unique transfer ID
- * @param dest_path Destination path
- * @param direction Transfer direction: 0: from requester, 1: to requester
- * @param file_size File size in bytes
- * @param flags RESERVED
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_file_transfer_start_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint32_t(buf, 8, file_size);
-	_mav_put_uint8_t(buf, 252, direction);
-	_mav_put_uint8_t(buf, 253, flags);
-	_mav_put_char_array(buf, 12, dest_path, 240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#else
-	mavlink_file_transfer_start_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.file_size = file_size;
-	packet.direction = direction;
-	packet.flags = flags;
-	mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_START;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-}
-
-/**
- * @brief Pack a file_transfer_start 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param transfer_uid Unique transfer ID
- * @param dest_path Destination path
- * @param direction Transfer direction: 0: from requester, 1: to requester
- * @param file_size File size in bytes
- * @param flags RESERVED
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_file_transfer_start_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t transfer_uid,const char *dest_path,uint8_t direction,uint32_t file_size,uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint32_t(buf, 8, file_size);
-	_mav_put_uint8_t(buf, 252, direction);
-	_mav_put_uint8_t(buf, 253, flags);
-	_mav_put_char_array(buf, 12, dest_path, 240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#else
-	mavlink_file_transfer_start_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.file_size = file_size;
-	packet.direction = direction;
-	packet.flags = flags;
-	mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILE_TRANSFER_START;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-}
-
-/**
- * @brief Encode a file_transfer_start struct
- *
- * @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 file_transfer_start C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_file_transfer_start_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_file_transfer_start_t* file_transfer_start)
-{
-	return mavlink_msg_file_transfer_start_pack(system_id, component_id, msg, file_transfer_start->transfer_uid, file_transfer_start->dest_path, file_transfer_start->direction, file_transfer_start->file_size, file_transfer_start->flags);
-}
-
-/**
- * @brief Encode a file_transfer_start struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param file_transfer_start C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_file_transfer_start_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_file_transfer_start_t* file_transfer_start)
-{
-	return mavlink_msg_file_transfer_start_pack_chan(system_id, component_id, chan, msg, file_transfer_start->transfer_uid, file_transfer_start->dest_path, file_transfer_start->direction, file_transfer_start->file_size, file_transfer_start->flags);
-}
-
-/**
- * @brief Send a file_transfer_start message
- * @param chan MAVLink channel to send the message
- *
- * @param transfer_uid Unique transfer ID
- * @param dest_path Destination path
- * @param direction Transfer direction: 0: from requester, 1: to requester
- * @param file_size File size in bytes
- * @param flags RESERVED
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_file_transfer_start_send(mavlink_channel_t chan, uint64_t transfer_uid, const char *dest_path, uint8_t direction, uint32_t file_size, uint8_t flags)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN];
-	_mav_put_uint64_t(buf, 0, transfer_uid);
-	_mav_put_uint32_t(buf, 8, file_size);
-	_mav_put_uint8_t(buf, 252, direction);
-	_mav_put_uint8_t(buf, 253, flags);
-	_mav_put_char_array(buf, 12, dest_path, 240);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, buf, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-#else
-	mavlink_file_transfer_start_t packet;
-	packet.transfer_uid = transfer_uid;
-	packet.file_size = file_size;
-	packet.direction = direction;
-	packet.flags = flags;
-	mav_array_memcpy(packet.dest_path, dest_path, sizeof(char)*240);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN, MAVLINK_MSG_ID_FILE_TRANSFER_START_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILE_TRANSFER_START, (const char *)&packet, MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FILE_TRANSFER_START UNPACKING
-
-
-/**
- * @brief Get field transfer_uid from file_transfer_start message
- *
- * @return Unique transfer ID
- */
-static inline uint64_t mavlink_msg_file_transfer_start_get_transfer_uid(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field dest_path from file_transfer_start message
- *
- * @return Destination path
- */
-static inline uint16_t mavlink_msg_file_transfer_start_get_dest_path(const mavlink_message_t* msg, char *dest_path)
-{
-	return _MAV_RETURN_char_array(msg, dest_path, 240,  12);
-}
-
-/**
- * @brief Get field direction from file_transfer_start message
- *
- * @return Transfer direction: 0: from requester, 1: to requester
- */
-static inline uint8_t mavlink_msg_file_transfer_start_get_direction(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  252);
-}
-
-/**
- * @brief Get field file_size from file_transfer_start message
- *
- * @return File size in bytes
- */
-static inline uint32_t mavlink_msg_file_transfer_start_get_file_size(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  8);
-}
-
-/**
- * @brief Get field flags from file_transfer_start message
- *
- * @return RESERVED
- */
-static inline uint8_t mavlink_msg_file_transfer_start_get_flags(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  253);
-}
-
-/**
- * @brief Decode a file_transfer_start message into a struct
- *
- * @param msg The message to decode
- * @param file_transfer_start C-struct to decode the message contents into
- */
-static inline void mavlink_msg_file_transfer_start_decode(const mavlink_message_t* msg, mavlink_file_transfer_start_t* file_transfer_start)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	file_transfer_start->transfer_uid = mavlink_msg_file_transfer_start_get_transfer_uid(msg);
-	file_transfer_start->file_size = mavlink_msg_file_transfer_start_get_file_size(msg);
-	mavlink_msg_file_transfer_start_get_dest_path(msg, file_transfer_start->dest_path);
-	file_transfer_start->direction = mavlink_msg_file_transfer_start_get_direction(msg);
-	file_transfer_start->flags = mavlink_msg_file_transfer_start_get_flags(msg);
-#else
-	memcpy(file_transfer_start, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILE_TRANSFER_START_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h
deleted file mode 100644
index 7ed3d2a63..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_int.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE GLOBAL_POSITION_INT PACKING
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
-
-typedef struct __mavlink_global_position_int_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int32_t lat; ///< Latitude, expressed as * 1E7
- int32_t lon; ///< Longitude, expressed as * 1E7
- int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL
- int32_t relative_alt; ///< Altitude above ground in meters, expressed as * 1000 (millimeters)
- int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
- int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
- int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
- uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
-} mavlink_global_position_int_t;
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
-#define MAVLINK_MSG_ID_33_LEN 28
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
-#define MAVLINK_MSG_ID_33_CRC 104
-
-
-
-#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
-	"GLOBAL_POSITION_INT", \
-	9, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
-         { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
-         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
-         { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a global_position_int 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, lon);
-	_mav_put_int32_t(buf, 12, alt);
-	_mav_put_int32_t(buf, 16, relative_alt);
-	_mav_put_int16_t(buf, 20, vx);
-	_mav_put_int16_t(buf, 22, vy);
-	_mav_put_int16_t(buf, 24, vz);
-	_mav_put_uint16_t(buf, 26, hdg);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#else
-	mavlink_global_position_int_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.relative_alt = relative_alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.hdg = hdg;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a global_position_int 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, lon);
-	_mav_put_int32_t(buf, 12, alt);
-	_mav_put_int32_t(buf, 16, relative_alt);
-	_mav_put_int16_t(buf, 20, vx);
-	_mav_put_int16_t(buf, 22, vy);
-	_mav_put_int16_t(buf, 24, vz);
-	_mav_put_uint16_t(buf, 26, hdg);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#else
-	mavlink_global_position_int_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.relative_alt = relative_alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.hdg = hdg;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a global_position_int struct
- *
- * @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 global_position_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
-{
-	return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
-}
-
-/**
- * @brief Encode a global_position_int struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param global_position_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
-{
-	return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
-}
-
-/**
- * @brief Send a global_position_int message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, lon);
-	_mav_put_int32_t(buf, 12, alt);
-	_mav_put_int32_t(buf, 16, relative_alt);
-	_mav_put_int16_t(buf, 20, vx);
-	_mav_put_int16_t(buf, 22, vy);
-	_mav_put_int16_t(buf, 24, vz);
-	_mav_put_uint16_t(buf, 26, hdg);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-#else
-	mavlink_global_position_int_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.relative_alt = relative_alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.hdg = hdg;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GLOBAL_POSITION_INT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from global_position_int message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field lat from global_position_int message
- *
- * @return Latitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field lon from global_position_int message
- *
- * @return Longitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field alt from global_position_int message
- *
- * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
- */
-static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  12);
-}
-
-/**
- * @brief Get field relative_alt from global_position_int message
- *
- * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  16);
-}
-
-/**
- * @brief Get field vx from global_position_int message
- *
- * @return Ground X Speed (Latitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field vy from global_position_int message
- *
- * @return Ground Y Speed (Longitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field vz from global_position_int message
- *
- * @return Ground Z Speed (Altitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  24);
-}
-
-/**
- * @brief Get field hdg from global_position_int message
- *
- * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  26);
-}
-
-/**
- * @brief Decode a global_position_int message into a struct
- *
- * @param msg The message to decode
- * @param global_position_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
-	global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
-	global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
-	global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
-	global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
-	global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
-	global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
-	global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
-	global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
-#else
-	memcpy(global_position_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h
deleted file mode 100644
index 1a1c97199..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_position_setpoint_int.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE GLOBAL_POSITION_SETPOINT_INT PACKING
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT 52
-
-typedef struct __mavlink_global_position_setpoint_int_t
-{
- int32_t latitude; ///< Latitude (WGS84), in degrees * 1E7
- int32_t longitude; ///< Longitude (WGS84), in degrees * 1E7
- int32_t altitude; ///< Altitude (WGS84), in meters * 1000 (positive for up)
- int16_t yaw; ///< Desired yaw angle in degrees * 100
- uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
-} mavlink_global_position_setpoint_int_t;
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN 15
-#define MAVLINK_MSG_ID_52_LEN 15
-
-#define MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC 141
-#define MAVLINK_MSG_ID_52_CRC 141
-
-
-
-#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT { \
-	"GLOBAL_POSITION_SETPOINT_INT", \
-	5, \
-	{  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_global_position_setpoint_int_t, latitude) }, \
-         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_setpoint_int_t, longitude) }, \
-         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_setpoint_int_t, altitude) }, \
-         { "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_global_position_setpoint_int_t, yaw) }, \
-         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_global_position_setpoint_int_t, coordinate_frame) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @param yaw Desired yaw angle in degrees * 100
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_int16_t(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 14, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#else
-	mavlink_global_position_setpoint_int_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a global_position_setpoint_int 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @param yaw Desired yaw angle in degrees * 100
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_int16_t(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 14, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#else
-	mavlink_global_position_setpoint_int_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a global_position_setpoint_int struct
- *
- * @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 global_position_setpoint_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
-{
-	return mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw);
-}
-
-/**
- * @brief Encode a global_position_setpoint_int struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param global_position_setpoint_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_position_setpoint_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
-{
-	return mavlink_msg_global_position_setpoint_int_pack_chan(system_id, component_id, chan, msg, global_position_setpoint_int->coordinate_frame, global_position_setpoint_int->latitude, global_position_setpoint_int->longitude, global_position_setpoint_int->altitude, global_position_setpoint_int->yaw);
-}
-
-/**
- * @brief Send a global_position_setpoint_int message
- * @param chan MAVLink channel to send the message
- *
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @param yaw Desired yaw angle in degrees * 100
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_int16_t(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 14, coordinate_frame);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-#else
-	mavlink_global_position_setpoint_int_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GLOBAL_POSITION_SETPOINT_INT UNPACKING
-
-
-/**
- * @brief Get field coordinate_frame from global_position_setpoint_int message
- *
- * @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- */
-static inline uint8_t mavlink_msg_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Get field latitude from global_position_setpoint_int message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field longitude from global_position_setpoint_int message
- *
- * @return Longitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field altitude from global_position_setpoint_int message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field yaw from global_position_setpoint_int message
- *
- * @return Desired yaw angle in degrees * 100
- */
-static inline int16_t mavlink_msg_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Decode a global_position_setpoint_int message into a struct
- *
- * @param msg The message to decode
- * @param global_position_setpoint_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_global_position_setpoint_int_t* global_position_setpoint_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	global_position_setpoint_int->latitude = mavlink_msg_global_position_setpoint_int_get_latitude(msg);
-	global_position_setpoint_int->longitude = mavlink_msg_global_position_setpoint_int_get_longitude(msg);
-	global_position_setpoint_int->altitude = mavlink_msg_global_position_setpoint_int_get_altitude(msg);
-	global_position_setpoint_int->yaw = mavlink_msg_global_position_setpoint_int_get_yaw(msg);
-	global_position_setpoint_int->coordinate_frame = mavlink_msg_global_position_setpoint_int_get_coordinate_frame(msg);
-#else
-	memcpy(global_position_setpoint_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
deleted file mode 100644
index f7be74c91..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_global_vision_position_estimate.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
-
-#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
-
-typedef struct __mavlink_global_vision_position_estimate_t
-{
- uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float x; ///< Global X position
- float y; ///< Global Y position
- float z; ///< Global Z position
- float roll; ///< Roll angle in rad
- float pitch; ///< Pitch angle in rad
- float yaw; ///< Yaw angle in rad
-} mavlink_global_vision_position_estimate_t;
-
-#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_101_LEN 32
-
-#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
-#define MAVLINK_MSG_ID_101_CRC 102
-
-
-
-#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
-	"GLOBAL_VISION_POSITION_ESTIMATE", \
-	7, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a global_vision_position_estimate 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 usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#else
-	mavlink_global_vision_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a global_vision_position_estimate 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#else
-	mavlink_global_vision_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a global_vision_position_estimate struct
- *
- * @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 global_vision_position_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
-{
-	return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
-}
-
-/**
- * @brief Encode a global_vision_position_estimate struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param global_vision_position_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
-{
-	return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
-}
-
-/**
- * @brief Send a global_vision_position_estimate message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-#else
-	mavlink_global_vision_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
-
-
-/**
- * @brief Get field usec from global_vision_position_estimate message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field x from global_vision_position_estimate message
- *
- * @return Global X position
- */
-static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field y from global_vision_position_estimate message
- *
- * @return Global Y position
- */
-static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field z from global_vision_position_estimate message
- *
- * @return Global Z position
- */
-static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field roll from global_vision_position_estimate message
- *
- * @return Roll angle in rad
- */
-static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitch from global_vision_position_estimate message
- *
- * @return Pitch angle in rad
- */
-static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yaw from global_vision_position_estimate message
- *
- * @return Yaw angle in rad
- */
-static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a global_vision_position_estimate message into a struct
- *
- * @param msg The message to decode
- * @param global_vision_position_estimate C-struct to decode the message contents into
- */
-static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
-	global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
-	global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
-	global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
-	global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
-	global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
-	global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
-#else
-	memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h
deleted file mode 100644
index 17e5bd002..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps2_raw.h
+++ /dev/null
@@ -1,419 +0,0 @@
-// MESSAGE GPS2_RAW PACKING
-
-#define MAVLINK_MSG_ID_GPS2_RAW 124
-
-typedef struct __mavlink_gps2_raw_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
- int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
- int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
- uint32_t dgps_age; ///< Age of DGPS info
- uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
- uint8_t dgps_numch; ///< Number of DGPS satellites
-} mavlink_gps2_raw_t;
-
-#define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
-#define MAVLINK_MSG_ID_124_LEN 35
-
-#define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
-#define MAVLINK_MSG_ID_124_CRC 87
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
-	"GPS2_RAW", \
-	12, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
-         { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
-         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
-         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
-         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
-         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
-         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
-         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
-         { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps2_raw 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @param dgps_numch Number of DGPS satellites
- * @param dgps_age Age of DGPS info
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint32_t(buf, 20, dgps_age);
-	_mav_put_uint16_t(buf, 24, eph);
-	_mav_put_uint16_t(buf, 26, epv);
-	_mav_put_uint16_t(buf, 28, vel);
-	_mav_put_uint16_t(buf, 30, cog);
-	_mav_put_uint8_t(buf, 32, fix_type);
-	_mav_put_uint8_t(buf, 33, satellites_visible);
-	_mav_put_uint8_t(buf, 34, dgps_numch);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#else
-	mavlink_gps2_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.dgps_age = dgps_age;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-	packet.dgps_numch = dgps_numch;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a gps2_raw 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @param dgps_numch Number of DGPS satellites
- * @param dgps_age Age of DGPS info
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible,uint8_t dgps_numch,uint32_t dgps_age)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint32_t(buf, 20, dgps_age);
-	_mav_put_uint16_t(buf, 24, eph);
-	_mav_put_uint16_t(buf, 26, epv);
-	_mav_put_uint16_t(buf, 28, vel);
-	_mav_put_uint16_t(buf, 30, cog);
-	_mav_put_uint8_t(buf, 32, fix_type);
-	_mav_put_uint8_t(buf, 33, satellites_visible);
-	_mav_put_uint8_t(buf, 34, dgps_numch);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#else
-	mavlink_gps2_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.dgps_age = dgps_age;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-	packet.dgps_numch = dgps_numch;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a gps2_raw struct
- *
- * @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 gps2_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
-{
-	return mavlink_msg_gps2_raw_pack(system_id, component_id, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
-}
-
-/**
- * @brief Encode a gps2_raw struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gps2_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
-{
-	return mavlink_msg_gps2_raw_pack_chan(system_id, component_id, chan, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
-}
-
-/**
- * @brief Send a gps2_raw message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @param dgps_numch Number of DGPS satellites
- * @param dgps_age Age of DGPS info
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint32_t(buf, 20, dgps_age);
-	_mav_put_uint16_t(buf, 24, eph);
-	_mav_put_uint16_t(buf, 26, epv);
-	_mav_put_uint16_t(buf, 28, vel);
-	_mav_put_uint16_t(buf, 30, cog);
-	_mav_put_uint8_t(buf, 32, fix_type);
-	_mav_put_uint8_t(buf, 33, satellites_visible);
-	_mav_put_uint8_t(buf, 34, dgps_numch);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-#else
-	mavlink_gps2_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.dgps_age = dgps_age;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-	packet.dgps_numch = dgps_numch;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GPS2_RAW UNPACKING
-
-
-/**
- * @brief Get field time_usec from gps2_raw message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field fix_type from gps2_raw message
- *
- * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- */
-static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field lat from gps2_raw message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field lon from gps2_raw message
- *
- * @return Longitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  12);
-}
-
-/**
- * @brief Get field alt from gps2_raw message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  16);
-}
-
-/**
- * @brief Get field eph from gps2_raw message
- *
- * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field epv from gps2_raw message
- *
- * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  26);
-}
-
-/**
- * @brief Get field vel from gps2_raw message
- *
- * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  28);
-}
-
-/**
- * @brief Get field cog from gps2_raw message
- *
- * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  30);
-}
-
-/**
- * @brief Get field satellites_visible from gps2_raw message
- *
- * @return Number of satellites visible. If unknown, set to 255
- */
-static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  33);
-}
-
-/**
- * @brief Get field dgps_numch from gps2_raw message
- *
- * @return Number of DGPS satellites
- */
-static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  34);
-}
-
-/**
- * @brief Get field dgps_age from gps2_raw message
- *
- * @return Age of DGPS info
- */
-static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  20);
-}
-
-/**
- * @brief Decode a gps2_raw message into a struct
- *
- * @param msg The message to decode
- * @param gps2_raw C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
-	gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
-	gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
-	gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
-	gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
-	gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
-	gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
-	gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
-	gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
-	gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
-	gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
-	gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
-#else
-	memcpy(gps2_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS2_RAW_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h
deleted file mode 100644
index 016e9cb0e..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_global_origin.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE GPS_GLOBAL_ORIGIN PACKING
-
-#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
-
-typedef struct __mavlink_gps_global_origin_t
-{
- int32_t latitude; ///< Latitude (WGS84), in degrees * 1E7
- int32_t longitude; ///< Longitude (WGS84), in degrees * 1E7
- int32_t altitude; ///< Altitude (WGS84), in meters * 1000 (positive for up)
-} mavlink_gps_global_origin_t;
-
-#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
-#define MAVLINK_MSG_ID_49_LEN 12
-
-#define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
-#define MAVLINK_MSG_ID_49_CRC 39
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
-	"GPS_GLOBAL_ORIGIN", \
-	3, \
-	{  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
-         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
-         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_global_origin 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 latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#else
-	mavlink_gps_global_origin_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-}
-
-/**
- * @brief Pack a gps_global_origin 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int32_t latitude,int32_t longitude,int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#else
-	mavlink_gps_global_origin_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-}
-
-/**
- * @brief Encode a gps_global_origin struct
- *
- * @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 gps_global_origin C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
-{
-	return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
-}
-
-/**
- * @brief Encode a gps_global_origin struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gps_global_origin C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
-{
-	return mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, chan, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
-}
-
-/**
- * @brief Send a gps_global_origin message
- * @param chan MAVLink channel to send the message
- *
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-#else
-	mavlink_gps_global_origin_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
-
-
-/**
- * @brief Get field latitude from gps_global_origin message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field longitude from gps_global_origin message
- *
- * @return Longitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field altitude from gps_global_origin message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a gps_global_origin message into a struct
- *
- * @param msg The message to decode
- * @param gps_global_origin C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
-	gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
-	gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
-#else
-	memcpy(gps_global_origin, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h
deleted file mode 100644
index 485d8a4af..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_inject_data.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// MESSAGE GPS_INJECT_DATA PACKING
-
-#define MAVLINK_MSG_ID_GPS_INJECT_DATA 123
-
-typedef struct __mavlink_gps_inject_data_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t len; ///< data length
- uint8_t data[110]; ///< raw data (110 is enough for 12 satellites of RTCMv2)
-} mavlink_gps_inject_data_t;
-
-#define MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN 113
-#define MAVLINK_MSG_ID_123_LEN 113
-
-#define MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC 250
-#define MAVLINK_MSG_ID_123_CRC 250
-
-#define MAVLINK_MSG_GPS_INJECT_DATA_FIELD_DATA_LEN 110
-
-#define MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA { \
-	"GPS_INJECT_DATA", \
-	4, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_inject_data_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_gps_inject_data_t, target_component) }, \
-         { "len", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_gps_inject_data_t, len) }, \
-         { "data", NULL, MAVLINK_TYPE_UINT8_T, 110, 3, offsetof(mavlink_gps_inject_data_t, data) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_inject_data 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 target_system System ID
- * @param target_component Component ID
- * @param len data length
- * @param data raw data (110 is enough for 12 satellites of RTCMv2)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_inject_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t len, const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, len);
-	_mav_put_uint8_t_array(buf, 3, data, 110);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#else
-	mavlink_gps_inject_data_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*110);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_INJECT_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Pack a gps_inject_data 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param len data length
- * @param data raw data (110 is enough for 12 satellites of RTCMv2)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_inject_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t len,const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, len);
-	_mav_put_uint8_t_array(buf, 3, data, 110);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#else
-	mavlink_gps_inject_data_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*110);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_INJECT_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Encode a gps_inject_data struct
- *
- * @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 gps_inject_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_inject_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_inject_data_t* gps_inject_data)
-{
-	return mavlink_msg_gps_inject_data_pack(system_id, component_id, msg, gps_inject_data->target_system, gps_inject_data->target_component, gps_inject_data->len, gps_inject_data->data);
-}
-
-/**
- * @brief Encode a gps_inject_data struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gps_inject_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_inject_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_inject_data_t* gps_inject_data)
-{
-	return mavlink_msg_gps_inject_data_pack_chan(system_id, component_id, chan, msg, gps_inject_data->target_system, gps_inject_data->target_component, gps_inject_data->len, gps_inject_data->data);
-}
-
-/**
- * @brief Send a gps_inject_data message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param len data length
- * @param data raw data (110 is enough for 12 satellites of RTCMv2)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_inject_data_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t len, const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, len);
-	_mav_put_uint8_t_array(buf, 3, data, 110);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, buf, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-#else
-	mavlink_gps_inject_data_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.len = len;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*110);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, (const char *)&packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN, MAVLINK_MSG_ID_GPS_INJECT_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_INJECT_DATA, (const char *)&packet, MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_INJECT_DATA UNPACKING
-
-
-/**
- * @brief Get field target_system from gps_inject_data message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_gps_inject_data_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from gps_inject_data message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_gps_inject_data_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field len from gps_inject_data message
- *
- * @return data length
- */
-static inline uint8_t mavlink_msg_gps_inject_data_get_len(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field data from gps_inject_data message
- *
- * @return raw data (110 is enough for 12 satellites of RTCMv2)
- */
-static inline uint16_t mavlink_msg_gps_inject_data_get_data(const mavlink_message_t* msg, uint8_t *data)
-{
-	return _MAV_RETURN_uint8_t_array(msg, data, 110,  3);
-}
-
-/**
- * @brief Decode a gps_inject_data message into a struct
- *
- * @param msg The message to decode
- * @param gps_inject_data C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_inject_data_decode(const mavlink_message_t* msg, mavlink_gps_inject_data_t* gps_inject_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_inject_data->target_system = mavlink_msg_gps_inject_data_get_target_system(msg);
-	gps_inject_data->target_component = mavlink_msg_gps_inject_data_get_target_component(msg);
-	gps_inject_data->len = mavlink_msg_gps_inject_data_get_len(msg);
-	mavlink_msg_gps_inject_data_get_data(msg, gps_inject_data->data);
-#else
-	memcpy(gps_inject_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_INJECT_DATA_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h
deleted file mode 100644
index a105f8cda..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_raw_int.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE GPS_RAW_INT PACKING
-
-#define MAVLINK_MSG_ID_GPS_RAW_INT 24
-
-typedef struct __mavlink_gps_raw_int_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
- int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
- int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
- uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
-} mavlink_gps_raw_int_t;
-
-#define MAVLINK_MSG_ID_GPS_RAW_INT_LEN 30
-#define MAVLINK_MSG_ID_24_LEN 30
-
-#define MAVLINK_MSG_ID_GPS_RAW_INT_CRC 24
-#define MAVLINK_MSG_ID_24_CRC 24
-
-
-
-#define MAVLINK_MESSAGE_INFO_GPS_RAW_INT { \
-	"GPS_RAW_INT", \
-	10, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_int_t, time_usec) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_raw_int_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_raw_int_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_raw_int_t, alt) }, \
-         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_gps_raw_int_t, eph) }, \
-         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_gps_raw_int_t, epv) }, \
-         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps_raw_int_t, vel) }, \
-         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps_raw_int_t, cog) }, \
-         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_gps_raw_int_t, fix_type) }, \
-         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_gps_raw_int_t, satellites_visible) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_raw_int 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint16_t(buf, 20, eph);
-	_mav_put_uint16_t(buf, 22, epv);
-	_mav_put_uint16_t(buf, 24, vel);
-	_mav_put_uint16_t(buf, 26, cog);
-	_mav_put_uint8_t(buf, 28, fix_type);
-	_mav_put_uint8_t(buf, 29, satellites_visible);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#else
-	mavlink_gps_raw_int_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a gps_raw_int 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_raw_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint16_t(buf, 20, eph);
-	_mav_put_uint16_t(buf, 22, epv);
-	_mav_put_uint16_t(buf, 24, vel);
-	_mav_put_uint16_t(buf, 26, cog);
-	_mav_put_uint8_t(buf, 28, fix_type);
-	_mav_put_uint8_t(buf, 29, satellites_visible);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#else
-	mavlink_gps_raw_int_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_RAW_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a gps_raw_int struct
- *
- * @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 gps_raw_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_raw_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
-{
-	return mavlink_msg_gps_raw_int_pack(system_id, component_id, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
-}
-
-/**
- * @brief Encode a gps_raw_int struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gps_raw_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_raw_int_t* gps_raw_int)
-{
-	return mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, chan, msg, gps_raw_int->time_usec, gps_raw_int->fix_type, gps_raw_int->lat, gps_raw_int->lon, gps_raw_int->alt, gps_raw_int->eph, gps_raw_int->epv, gps_raw_int->vel, gps_raw_int->cog, gps_raw_int->satellites_visible);
-}
-
-/**
- * @brief Send a gps_raw_int message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_raw_int_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_RAW_INT_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint16_t(buf, 20, eph);
-	_mav_put_uint16_t(buf, 22, epv);
-	_mav_put_uint16_t(buf, 24, vel);
-	_mav_put_uint16_t(buf, 26, cog);
-	_mav_put_uint8_t(buf, 28, fix_type);
-	_mav_put_uint8_t(buf, 29, satellites_visible);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, buf, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-#else
-	mavlink_gps_raw_int_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN, MAVLINK_MSG_ID_GPS_RAW_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW_INT, (const char *)&packet, MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_RAW_INT UNPACKING
-
-
-/**
- * @brief Get field time_usec from gps_raw_int message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_gps_raw_int_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field fix_type from gps_raw_int message
- *
- * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- */
-static inline uint8_t mavlink_msg_gps_raw_int_get_fix_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  28);
-}
-
-/**
- * @brief Get field lat from gps_raw_int message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_gps_raw_int_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field lon from gps_raw_int message
- *
- * @return Longitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_gps_raw_int_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  12);
-}
-
-/**
- * @brief Get field alt from gps_raw_int message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_gps_raw_int_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  16);
-}
-
-/**
- * @brief Get field eph from gps_raw_int message
- *
- * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  20);
-}
-
-/**
- * @brief Get field epv from gps_raw_int message
- *
- * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps_raw_int_get_epv(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  22);
-}
-
-/**
- * @brief Get field vel from gps_raw_int message
- *
- * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps_raw_int_get_vel(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field cog from gps_raw_int message
- *
- * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
- */
-static inline uint16_t mavlink_msg_gps_raw_int_get_cog(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  26);
-}
-
-/**
- * @brief Get field satellites_visible from gps_raw_int message
- *
- * @return Number of satellites visible. If unknown, set to 255
- */
-static inline uint8_t mavlink_msg_gps_raw_int_get_satellites_visible(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  29);
-}
-
-/**
- * @brief Decode a gps_raw_int message into a struct
- *
- * @param msg The message to decode
- * @param gps_raw_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_raw_int_decode(const mavlink_message_t* msg, mavlink_gps_raw_int_t* gps_raw_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_raw_int->time_usec = mavlink_msg_gps_raw_int_get_time_usec(msg);
-	gps_raw_int->lat = mavlink_msg_gps_raw_int_get_lat(msg);
-	gps_raw_int->lon = mavlink_msg_gps_raw_int_get_lon(msg);
-	gps_raw_int->alt = mavlink_msg_gps_raw_int_get_alt(msg);
-	gps_raw_int->eph = mavlink_msg_gps_raw_int_get_eph(msg);
-	gps_raw_int->epv = mavlink_msg_gps_raw_int_get_epv(msg);
-	gps_raw_int->vel = mavlink_msg_gps_raw_int_get_vel(msg);
-	gps_raw_int->cog = mavlink_msg_gps_raw_int_get_cog(msg);
-	gps_raw_int->fix_type = mavlink_msg_gps_raw_int_get_fix_type(msg);
-	gps_raw_int->satellites_visible = mavlink_msg_gps_raw_int_get_satellites_visible(msg);
-#else
-	memcpy(gps_raw_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_RAW_INT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h
deleted file mode 100644
index 28d6b57d1..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_gps_status.h
+++ /dev/null
@@ -1,285 +0,0 @@
-// MESSAGE GPS_STATUS PACKING
-
-#define MAVLINK_MSG_ID_GPS_STATUS 25
-
-typedef struct __mavlink_gps_status_t
-{
- uint8_t satellites_visible; ///< Number of satellites visible
- uint8_t satellite_prn[20]; ///< Global satellite ID
- uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
- uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
- uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
-} mavlink_gps_status_t;
-
-#define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
-#define MAVLINK_MSG_ID_25_LEN 101
-
-#define MAVLINK_MSG_ID_GPS_STATUS_CRC 23
-#define MAVLINK_MSG_ID_25_CRC 23
-
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
-#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
-
-#define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
-	"GPS_STATUS", \
-	6, \
-	{  { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
-         { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
-         { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
-         { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
-         { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
-         { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a gps_status 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 satellites_visible Number of satellites visible
- * @param satellite_prn Global satellite ID
- * @param satellite_used 0: Satellite not used, 1: used for localization
- * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
- * @param satellite_snr Signal to noise ratio of satellite
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
-	_mav_put_uint8_t(buf, 0, satellites_visible);
-	_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
-	_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
-	_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
-	_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
-	_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#else
-	mavlink_gps_status_t packet;
-	packet.satellites_visible = satellites_visible;
-	mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a gps_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param satellites_visible Number of satellites visible
- * @param satellite_prn Global satellite ID
- * @param satellite_used 0: Satellite not used, 1: used for localization
- * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
- * @param satellite_snr Signal to noise ratio of satellite
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
-	_mav_put_uint8_t(buf, 0, satellites_visible);
-	_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
-	_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
-	_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
-	_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
-	_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#else
-	mavlink_gps_status_t packet;
-	packet.satellites_visible = satellites_visible;
-	mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a gps_status struct
- *
- * @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 gps_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
-{
-	return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
-}
-
-/**
- * @brief Encode a gps_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gps_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_gps_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
-{
-	return mavlink_msg_gps_status_pack_chan(system_id, component_id, chan, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
-}
-
-/**
- * @brief Send a gps_status message
- * @param chan MAVLink channel to send the message
- *
- * @param satellites_visible Number of satellites visible
- * @param satellite_prn Global satellite ID
- * @param satellite_used 0: Satellite not used, 1: used for localization
- * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
- * @param satellite_snr Signal to noise ratio of satellite
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
-	_mav_put_uint8_t(buf, 0, satellites_visible);
-	_mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
-	_mav_put_uint8_t_array(buf, 21, satellite_used, 20);
-	_mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
-	_mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
-	_mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-#else
-	mavlink_gps_status_t packet;
-	packet.satellites_visible = satellites_visible;
-	mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
-	mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE GPS_STATUS UNPACKING
-
-
-/**
- * @brief Get field satellites_visible from gps_status message
- *
- * @return Number of satellites visible
- */
-static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field satellite_prn from gps_status message
- *
- * @return Global satellite ID
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn)
-{
-	return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20,  1);
-}
-
-/**
- * @brief Get field satellite_used from gps_status message
- *
- * @return 0: Satellite not used, 1: used for localization
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used)
-{
-	return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20,  21);
-}
-
-/**
- * @brief Get field satellite_elevation from gps_status message
- *
- * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation)
-{
-	return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20,  41);
-}
-
-/**
- * @brief Get field satellite_azimuth from gps_status message
- *
- * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth)
-{
-	return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20,  61);
-}
-
-/**
- * @brief Get field satellite_snr from gps_status message
- *
- * @return Signal to noise ratio of satellite
- */
-static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr)
-{
-	return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20,  81);
-}
-
-/**
- * @brief Decode a gps_status message into a struct
- *
- * @param msg The message to decode
- * @param gps_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
-	mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
-	mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
-	mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
-	mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
-	mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
-#else
-	memcpy(gps_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h
deleted file mode 100644
index 826138fad..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_heartbeat.h
+++ /dev/null
@@ -1,284 +0,0 @@
-// MESSAGE HEARTBEAT PACKING
-
-#define MAVLINK_MSG_ID_HEARTBEAT 0
-
-typedef struct __mavlink_heartbeat_t
-{
- uint32_t custom_mode; ///< A bitfield for use for autopilot-specific flags.
- uint8_t type; ///< Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- uint8_t autopilot; ///< Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- uint8_t base_mode; ///< System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
- uint8_t system_status; ///< System status flag, see MAV_STATE ENUM
- uint8_t mavlink_version; ///< MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
-} mavlink_heartbeat_t;
-
-#define MAVLINK_MSG_ID_HEARTBEAT_LEN 9
-#define MAVLINK_MSG_ID_0_LEN 9
-
-#define MAVLINK_MSG_ID_HEARTBEAT_CRC 50
-#define MAVLINK_MSG_ID_0_CRC 50
-
-
-
-#define MAVLINK_MESSAGE_INFO_HEARTBEAT { \
-	"HEARTBEAT", \
-	6, \
-	{  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_heartbeat_t, custom_mode) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_heartbeat_t, type) }, \
-         { "autopilot", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_heartbeat_t, autopilot) }, \
-         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_heartbeat_t, base_mode) }, \
-         { "system_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_heartbeat_t, system_status) }, \
-         { "mavlink_version", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_heartbeat_t, mavlink_version) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a heartbeat 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 Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
- * @param custom_mode A bitfield for use for autopilot-specific flags.
- * @param system_status System status flag, see MAV_STATE ENUM
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
-	_mav_put_uint32_t(buf, 0, custom_mode);
-	_mav_put_uint8_t(buf, 4, type);
-	_mav_put_uint8_t(buf, 5, autopilot);
-	_mav_put_uint8_t(buf, 6, base_mode);
-	_mav_put_uint8_t(buf, 7, system_status);
-	_mav_put_uint8_t(buf, 8, 3);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#else
-	mavlink_heartbeat_t packet;
-	packet.custom_mode = custom_mode;
-	packet.type = type;
-	packet.autopilot = autopilot;
-	packet.base_mode = base_mode;
-	packet.system_status = system_status;
-	packet.mavlink_version = 3;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a heartbeat 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
- * @param custom_mode A bitfield for use for autopilot-specific flags.
- * @param system_status System status flag, see MAV_STATE ENUM
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t type,uint8_t autopilot,uint8_t base_mode,uint32_t custom_mode,uint8_t system_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
-	_mav_put_uint32_t(buf, 0, custom_mode);
-	_mav_put_uint8_t(buf, 4, type);
-	_mav_put_uint8_t(buf, 5, autopilot);
-	_mav_put_uint8_t(buf, 6, base_mode);
-	_mav_put_uint8_t(buf, 7, system_status);
-	_mav_put_uint8_t(buf, 8, 3);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#else
-	mavlink_heartbeat_t packet;
-	packet.custom_mode = custom_mode;
-	packet.type = type;
-	packet.autopilot = autopilot;
-	packet.base_mode = base_mode;
-	packet.system_status = system_status;
-	packet.mavlink_version = 3;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a heartbeat struct
- *
- * @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 heartbeat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
-{
-	return mavlink_msg_heartbeat_pack(system_id, component_id, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
-}
-
-/**
- * @brief Encode a heartbeat struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param heartbeat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_heartbeat_t* heartbeat)
-{
-	return mavlink_msg_heartbeat_pack_chan(system_id, component_id, chan, msg, heartbeat->type, heartbeat->autopilot, heartbeat->base_mode, heartbeat->custom_mode, heartbeat->system_status);
-}
-
-/**
- * @brief Send a heartbeat message
- * @param chan MAVLink channel to send the message
- *
- * @param type Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- * @param autopilot Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- * @param base_mode System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
- * @param custom_mode A bitfield for use for autopilot-specific flags.
- * @param system_status System status flag, see MAV_STATE ENUM
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_heartbeat_send(mavlink_channel_t chan, uint8_t type, uint8_t autopilot, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HEARTBEAT_LEN];
-	_mav_put_uint32_t(buf, 0, custom_mode);
-	_mav_put_uint8_t(buf, 4, type);
-	_mav_put_uint8_t(buf, 5, autopilot);
-	_mav_put_uint8_t(buf, 6, base_mode);
-	_mav_put_uint8_t(buf, 7, system_status);
-	_mav_put_uint8_t(buf, 8, 3);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, buf, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-#else
-	mavlink_heartbeat_t packet;
-	packet.custom_mode = custom_mode;
-	packet.type = type;
-	packet.autopilot = autopilot;
-	packet.base_mode = base_mode;
-	packet.system_status = system_status;
-	packet.mavlink_version = 3;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_LEN, MAVLINK_MSG_ID_HEARTBEAT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HEARTBEAT UNPACKING
-
-
-/**
- * @brief Get field type from heartbeat message
- *
- * @return Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
- */
-static inline uint8_t mavlink_msg_heartbeat_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field autopilot from heartbeat message
- *
- * @return Autopilot type / class. defined in MAV_AUTOPILOT ENUM
- */
-static inline uint8_t mavlink_msg_heartbeat_get_autopilot(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field base_mode from heartbeat message
- *
- * @return System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
- */
-static inline uint8_t mavlink_msg_heartbeat_get_base_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field custom_mode from heartbeat message
- *
- * @return A bitfield for use for autopilot-specific flags.
- */
-static inline uint32_t mavlink_msg_heartbeat_get_custom_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field system_status from heartbeat message
- *
- * @return System status flag, see MAV_STATE ENUM
- */
-static inline uint8_t mavlink_msg_heartbeat_get_system_status(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field mavlink_version from heartbeat message
- *
- * @return MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
- */
-static inline uint8_t mavlink_msg_heartbeat_get_mavlink_version(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Decode a heartbeat message into a struct
- *
- * @param msg The message to decode
- * @param heartbeat C-struct to decode the message contents into
- */
-static inline void mavlink_msg_heartbeat_decode(const mavlink_message_t* msg, mavlink_heartbeat_t* heartbeat)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	heartbeat->custom_mode = mavlink_msg_heartbeat_get_custom_mode(msg);
-	heartbeat->type = mavlink_msg_heartbeat_get_type(msg);
-	heartbeat->autopilot = mavlink_msg_heartbeat_get_autopilot(msg);
-	heartbeat->base_mode = mavlink_msg_heartbeat_get_base_mode(msg);
-	heartbeat->system_status = mavlink_msg_heartbeat_get_system_status(msg);
-	heartbeat->mavlink_version = mavlink_msg_heartbeat_get_mavlink_version(msg);
-#else
-	memcpy(heartbeat, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HEARTBEAT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
deleted file mode 100644
index 0dcd95ed3..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_highres_imu.h
+++ /dev/null
@@ -1,485 +0,0 @@
-// MESSAGE HIGHRES_IMU PACKING
-
-#define MAVLINK_MSG_ID_HIGHRES_IMU 105
-
-typedef struct __mavlink_highres_imu_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float xacc; ///< X acceleration (m/s^2)
- float yacc; ///< Y acceleration (m/s^2)
- float zacc; ///< Z acceleration (m/s^2)
- float xgyro; ///< Angular speed around X axis (rad / sec)
- float ygyro; ///< Angular speed around Y axis (rad / sec)
- float zgyro; ///< Angular speed around Z axis (rad / sec)
- float xmag; ///< X Magnetic field (Gauss)
- float ymag; ///< Y Magnetic field (Gauss)
- float zmag; ///< Z Magnetic field (Gauss)
- float abs_pressure; ///< Absolute pressure in millibar
- float diff_pressure; ///< Differential pressure in millibar
- float pressure_alt; ///< Altitude calculated from pressure
- float temperature; ///< Temperature in degrees celsius
- uint16_t fields_updated; ///< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
-} mavlink_highres_imu_t;
-
-#define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62
-#define MAVLINK_MSG_ID_105_LEN 62
-
-#define MAVLINK_MSG_ID_HIGHRES_IMU_CRC 93
-#define MAVLINK_MSG_ID_105_CRC 93
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
-	"HIGHRES_IMU", \
-	15, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
-         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
-         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
-         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
-         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
-         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
-         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
-         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
-         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
-         { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a highres_imu 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 time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param xacc X acceleration (m/s^2)
- * @param yacc Y acceleration (m/s^2)
- * @param zacc Z acceleration (m/s^2)
- * @param xgyro Angular speed around X axis (rad / sec)
- * @param ygyro Angular speed around Y axis (rad / sec)
- * @param zgyro Angular speed around Z axis (rad / sec)
- * @param xmag X Magnetic field (Gauss)
- * @param ymag Y Magnetic field (Gauss)
- * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in millibar
- * @param diff_pressure Differential pressure in millibar
- * @param pressure_alt Altitude calculated from pressure
- * @param temperature Temperature in degrees celsius
- * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, xacc);
-	_mav_put_float(buf, 12, yacc);
-	_mav_put_float(buf, 16, zacc);
-	_mav_put_float(buf, 20, xgyro);
-	_mav_put_float(buf, 24, ygyro);
-	_mav_put_float(buf, 28, zgyro);
-	_mav_put_float(buf, 32, xmag);
-	_mav_put_float(buf, 36, ymag);
-	_mav_put_float(buf, 40, zmag);
-	_mav_put_float(buf, 44, abs_pressure);
-	_mav_put_float(buf, 48, diff_pressure);
-	_mav_put_float(buf, 52, pressure_alt);
-	_mav_put_float(buf, 56, temperature);
-	_mav_put_uint16_t(buf, 60, fields_updated);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#else
-	mavlink_highres_imu_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-	packet.abs_pressure = abs_pressure;
-	packet.diff_pressure = diff_pressure;
-	packet.pressure_alt = pressure_alt;
-	packet.temperature = temperature;
-	packet.fields_updated = fields_updated;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-}
-
-/**
- * @brief Pack a highres_imu 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param xacc X acceleration (m/s^2)
- * @param yacc Y acceleration (m/s^2)
- * @param zacc Z acceleration (m/s^2)
- * @param xgyro Angular speed around X axis (rad / sec)
- * @param ygyro Angular speed around Y axis (rad / sec)
- * @param zgyro Angular speed around Z axis (rad / sec)
- * @param xmag X Magnetic field (Gauss)
- * @param ymag Y Magnetic field (Gauss)
- * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in millibar
- * @param diff_pressure Differential pressure in millibar
- * @param pressure_alt Altitude calculated from pressure
- * @param temperature Temperature in degrees celsius
- * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, xacc);
-	_mav_put_float(buf, 12, yacc);
-	_mav_put_float(buf, 16, zacc);
-	_mav_put_float(buf, 20, xgyro);
-	_mav_put_float(buf, 24, ygyro);
-	_mav_put_float(buf, 28, zgyro);
-	_mav_put_float(buf, 32, xmag);
-	_mav_put_float(buf, 36, ymag);
-	_mav_put_float(buf, 40, zmag);
-	_mav_put_float(buf, 44, abs_pressure);
-	_mav_put_float(buf, 48, diff_pressure);
-	_mav_put_float(buf, 52, pressure_alt);
-	_mav_put_float(buf, 56, temperature);
-	_mav_put_uint16_t(buf, 60, fields_updated);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#else
-	mavlink_highres_imu_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-	packet.abs_pressure = abs_pressure;
-	packet.diff_pressure = diff_pressure;
-	packet.pressure_alt = pressure_alt;
-	packet.temperature = temperature;
-	packet.fields_updated = fields_updated;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-}
-
-/**
- * @brief Encode a highres_imu struct
- *
- * @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 highres_imu C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
-{
-	return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
-}
-
-/**
- * @brief Encode a highres_imu struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param highres_imu C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_highres_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
-{
-	return mavlink_msg_highres_imu_pack_chan(system_id, component_id, chan, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
-}
-
-/**
- * @brief Send a highres_imu message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param xacc X acceleration (m/s^2)
- * @param yacc Y acceleration (m/s^2)
- * @param zacc Z acceleration (m/s^2)
- * @param xgyro Angular speed around X axis (rad / sec)
- * @param ygyro Angular speed around Y axis (rad / sec)
- * @param zgyro Angular speed around Z axis (rad / sec)
- * @param xmag X Magnetic field (Gauss)
- * @param ymag Y Magnetic field (Gauss)
- * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in millibar
- * @param diff_pressure Differential pressure in millibar
- * @param pressure_alt Altitude calculated from pressure
- * @param temperature Temperature in degrees celsius
- * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, xacc);
-	_mav_put_float(buf, 12, yacc);
-	_mav_put_float(buf, 16, zacc);
-	_mav_put_float(buf, 20, xgyro);
-	_mav_put_float(buf, 24, ygyro);
-	_mav_put_float(buf, 28, zgyro);
-	_mav_put_float(buf, 32, xmag);
-	_mav_put_float(buf, 36, ymag);
-	_mav_put_float(buf, 40, zmag);
-	_mav_put_float(buf, 44, abs_pressure);
-	_mav_put_float(buf, 48, diff_pressure);
-	_mav_put_float(buf, 52, pressure_alt);
-	_mav_put_float(buf, 56, temperature);
-	_mav_put_uint16_t(buf, 60, fields_updated);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-#else
-	mavlink_highres_imu_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-	packet.abs_pressure = abs_pressure;
-	packet.diff_pressure = diff_pressure;
-	packet.pressure_alt = pressure_alt;
-	packet.temperature = temperature;
-	packet.fields_updated = fields_updated;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIGHRES_IMU UNPACKING
-
-
-/**
- * @brief Get field time_usec from highres_imu message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field xacc from highres_imu message
- *
- * @return X acceleration (m/s^2)
- */
-static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yacc from highres_imu message
- *
- * @return Y acceleration (m/s^2)
- */
-static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field zacc from highres_imu message
- *
- * @return Z acceleration (m/s^2)
- */
-static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field xgyro from highres_imu message
- *
- * @return Angular speed around X axis (rad / sec)
- */
-static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field ygyro from highres_imu message
- *
- * @return Angular speed around Y axis (rad / sec)
- */
-static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field zgyro from highres_imu message
- *
- * @return Angular speed around Z axis (rad / sec)
- */
-static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field xmag from highres_imu message
- *
- * @return X Magnetic field (Gauss)
- */
-static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field ymag from highres_imu message
- *
- * @return Y Magnetic field (Gauss)
- */
-static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field zmag from highres_imu message
- *
- * @return Z Magnetic field (Gauss)
- */
-static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field abs_pressure from highres_imu message
- *
- * @return Absolute pressure in millibar
- */
-static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Get field diff_pressure from highres_imu message
- *
- * @return Differential pressure in millibar
- */
-static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  48);
-}
-
-/**
- * @brief Get field pressure_alt from highres_imu message
- *
- * @return Altitude calculated from pressure
- */
-static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  52);
-}
-
-/**
- * @brief Get field temperature from highres_imu message
- *
- * @return Temperature in degrees celsius
- */
-static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  56);
-}
-
-/**
- * @brief Get field fields_updated from highres_imu message
- *
- * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- */
-static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  60);
-}
-
-/**
- * @brief Decode a highres_imu message into a struct
- *
- * @param msg The message to decode
- * @param highres_imu C-struct to decode the message contents into
- */
-static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
-	highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
-	highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
-	highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
-	highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
-	highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
-	highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
-	highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
-	highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
-	highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
-	highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
-	highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
-	highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
-	highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
-	highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg);
-#else
-	memcpy(highres_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h
deleted file mode 100644
index aed5108d0..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_controls.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE HIL_CONTROLS PACKING
-
-#define MAVLINK_MSG_ID_HIL_CONTROLS 91
-
-typedef struct __mavlink_hil_controls_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float roll_ailerons; ///< Control output -1 .. 1
- float pitch_elevator; ///< Control output -1 .. 1
- float yaw_rudder; ///< Control output -1 .. 1
- float throttle; ///< Throttle 0 .. 1
- float aux1; ///< Aux 1, -1 .. 1
- float aux2; ///< Aux 2, -1 .. 1
- float aux3; ///< Aux 3, -1 .. 1
- float aux4; ///< Aux 4, -1 .. 1
- uint8_t mode; ///< System mode (MAV_MODE)
- uint8_t nav_mode; ///< Navigation mode (MAV_NAV_MODE)
-} mavlink_hil_controls_t;
-
-#define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42
-#define MAVLINK_MSG_ID_91_LEN 42
-
-#define MAVLINK_MSG_ID_HIL_CONTROLS_CRC 63
-#define MAVLINK_MSG_ID_91_CRC 63
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_CONTROLS { \
-	"HIL_CONTROLS", \
-	11, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \
-         { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
-         { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
-         { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
-         { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
-         { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \
-         { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \
-         { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \
-         { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \
-         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \
-         { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_controls 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll_ailerons Control output -1 .. 1
- * @param pitch_elevator Control output -1 .. 1
- * @param yaw_rudder Control output -1 .. 1
- * @param throttle Throttle 0 .. 1
- * @param aux1 Aux 1, -1 .. 1
- * @param aux2 Aux 2, -1 .. 1
- * @param aux3 Aux 3, -1 .. 1
- * @param aux4 Aux 4, -1 .. 1
- * @param mode System mode (MAV_MODE)
- * @param nav_mode Navigation mode (MAV_NAV_MODE)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, roll_ailerons);
-	_mav_put_float(buf, 12, pitch_elevator);
-	_mav_put_float(buf, 16, yaw_rudder);
-	_mav_put_float(buf, 20, throttle);
-	_mav_put_float(buf, 24, aux1);
-	_mav_put_float(buf, 28, aux2);
-	_mav_put_float(buf, 32, aux3);
-	_mav_put_float(buf, 36, aux4);
-	_mav_put_uint8_t(buf, 40, mode);
-	_mav_put_uint8_t(buf, 41, nav_mode);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#else
-	mavlink_hil_controls_t packet;
-	packet.time_usec = time_usec;
-	packet.roll_ailerons = roll_ailerons;
-	packet.pitch_elevator = pitch_elevator;
-	packet.yaw_rudder = yaw_rudder;
-	packet.throttle = throttle;
-	packet.aux1 = aux1;
-	packet.aux2 = aux2;
-	packet.aux3 = aux3;
-	packet.aux4 = aux4;
-	packet.mode = mode;
-	packet.nav_mode = nav_mode;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_controls 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll_ailerons Control output -1 .. 1
- * @param pitch_elevator Control output -1 .. 1
- * @param yaw_rudder Control output -1 .. 1
- * @param throttle Throttle 0 .. 1
- * @param aux1 Aux 1, -1 .. 1
- * @param aux2 Aux 2, -1 .. 1
- * @param aux3 Aux 3, -1 .. 1
- * @param aux4 Aux 4, -1 .. 1
- * @param mode System mode (MAV_MODE)
- * @param nav_mode Navigation mode (MAV_NAV_MODE)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,float roll_ailerons,float pitch_elevator,float yaw_rudder,float throttle,float aux1,float aux2,float aux3,float aux4,uint8_t mode,uint8_t nav_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, roll_ailerons);
-	_mav_put_float(buf, 12, pitch_elevator);
-	_mav_put_float(buf, 16, yaw_rudder);
-	_mav_put_float(buf, 20, throttle);
-	_mav_put_float(buf, 24, aux1);
-	_mav_put_float(buf, 28, aux2);
-	_mav_put_float(buf, 32, aux3);
-	_mav_put_float(buf, 36, aux4);
-	_mav_put_uint8_t(buf, 40, mode);
-	_mav_put_uint8_t(buf, 41, nav_mode);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#else
-	mavlink_hil_controls_t packet;
-	packet.time_usec = time_usec;
-	packet.roll_ailerons = roll_ailerons;
-	packet.pitch_elevator = pitch_elevator;
-	packet.yaw_rudder = yaw_rudder;
-	packet.throttle = throttle;
-	packet.aux1 = aux1;
-	packet.aux2 = aux2;
-	packet.aux3 = aux3;
-	packet.aux4 = aux4;
-	packet.mode = mode;
-	packet.nav_mode = nav_mode;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_controls struct
- *
- * @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 hil_controls C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
-{
-	return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
-}
-
-/**
- * @brief Encode a hil_controls struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_controls C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_controls_t* hil_controls)
-{
-	return mavlink_msg_hil_controls_pack_chan(system_id, component_id, chan, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
-}
-
-/**
- * @brief Send a hil_controls message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll_ailerons Control output -1 .. 1
- * @param pitch_elevator Control output -1 .. 1
- * @param yaw_rudder Control output -1 .. 1
- * @param throttle Throttle 0 .. 1
- * @param aux1 Aux 1, -1 .. 1
- * @param aux2 Aux 2, -1 .. 1
- * @param aux3 Aux 3, -1 .. 1
- * @param aux4 Aux 4, -1 .. 1
- * @param mode System mode (MAV_MODE)
- * @param nav_mode Navigation mode (MAV_NAV_MODE)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_CONTROLS_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, roll_ailerons);
-	_mav_put_float(buf, 12, pitch_elevator);
-	_mav_put_float(buf, 16, yaw_rudder);
-	_mav_put_float(buf, 20, throttle);
-	_mav_put_float(buf, 24, aux1);
-	_mav_put_float(buf, 28, aux2);
-	_mav_put_float(buf, 32, aux3);
-	_mav_put_float(buf, 36, aux4);
-	_mav_put_uint8_t(buf, 40, mode);
-	_mav_put_uint8_t(buf, 41, nav_mode);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-#else
-	mavlink_hil_controls_t packet;
-	packet.time_usec = time_usec;
-	packet.roll_ailerons = roll_ailerons;
-	packet.pitch_elevator = pitch_elevator;
-	packet.yaw_rudder = yaw_rudder;
-	packet.throttle = throttle;
-	packet.aux1 = aux1;
-	packet.aux2 = aux2;
-	packet.aux3 = aux3;
-	packet.aux4 = aux4;
-	packet.mode = mode;
-	packet.nav_mode = nav_mode;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_CONTROLS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_CONTROLS UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_controls message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field roll_ailerons from hil_controls message
- *
- * @return Control output -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field pitch_elevator from hil_controls message
- *
- * @return Control output -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yaw_rudder from hil_controls message
- *
- * @return Control output -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field throttle from hil_controls message
- *
- * @return Throttle 0 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field aux1 from hil_controls message
- *
- * @return Aux 1, -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field aux2 from hil_controls message
- *
- * @return Aux 2, -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field aux3 from hil_controls message
- *
- * @return Aux 3, -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field aux4 from hil_controls message
- *
- * @return Aux 4, -1 .. 1
- */
-static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field mode from hil_controls message
- *
- * @return System mode (MAV_MODE)
- */
-static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  40);
-}
-
-/**
- * @brief Get field nav_mode from hil_controls message
- *
- * @return Navigation mode (MAV_NAV_MODE)
- */
-static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  41);
-}
-
-/**
- * @brief Decode a hil_controls message into a struct
- *
- * @param msg The message to decode
- * @param hil_controls C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t* msg, mavlink_hil_controls_t* hil_controls)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_controls->time_usec = mavlink_msg_hil_controls_get_time_usec(msg);
-	hil_controls->roll_ailerons = mavlink_msg_hil_controls_get_roll_ailerons(msg);
-	hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
-	hil_controls->yaw_rudder = mavlink_msg_hil_controls_get_yaw_rudder(msg);
-	hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
-	hil_controls->aux1 = mavlink_msg_hil_controls_get_aux1(msg);
-	hil_controls->aux2 = mavlink_msg_hil_controls_get_aux2(msg);
-	hil_controls->aux3 = mavlink_msg_hil_controls_get_aux3(msg);
-	hil_controls->aux4 = mavlink_msg_hil_controls_get_aux4(msg);
-	hil_controls->mode = mavlink_msg_hil_controls_get_mode(msg);
-	hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
-#else
-	memcpy(hil_controls, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_CONTROLS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h
deleted file mode 100644
index 91aec5b08..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h
+++ /dev/null
@@ -1,441 +0,0 @@
-// MESSAGE HIL_GPS PACKING
-
-#define MAVLINK_MSG_ID_HIL_GPS 113
-
-typedef struct __mavlink_hil_gps_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- int32_t lat; ///< Latitude (WGS84), in degrees * 1E7
- int32_t lon; ///< Longitude (WGS84), in degrees * 1E7
- int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up)
- uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
- uint16_t epv; ///< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
- uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535
- int16_t vn; ///< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
- int16_t ve; ///< GPS velocity in cm/s in EAST direction in earth-fixed NED frame
- int16_t vd; ///< GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
- uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
- uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255
-} mavlink_hil_gps_t;
-
-#define MAVLINK_MSG_ID_HIL_GPS_LEN 36
-#define MAVLINK_MSG_ID_113_LEN 36
-
-#define MAVLINK_MSG_ID_HIL_GPS_CRC 124
-#define MAVLINK_MSG_ID_113_CRC 124
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_GPS { \
-	"HIL_GPS", \
-	13, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \
-         { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \
-         { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \
-         { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \
-         { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \
-         { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \
-         { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \
-         { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \
-         { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \
-         { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_gps 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
- * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
- * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
- * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint16_t(buf, 20, eph);
-	_mav_put_uint16_t(buf, 22, epv);
-	_mav_put_uint16_t(buf, 24, vel);
-	_mav_put_int16_t(buf, 26, vn);
-	_mav_put_int16_t(buf, 28, ve);
-	_mav_put_int16_t(buf, 30, vd);
-	_mav_put_uint16_t(buf, 32, cog);
-	_mav_put_uint8_t(buf, 34, fix_type);
-	_mav_put_uint8_t(buf, 35, satellites_visible);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#else
-	mavlink_hil_gps_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.vn = vn;
-	packet.ve = ve;
-	packet.vd = vd;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_gps 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
- * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
- * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
- * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_gps_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint16_t(buf, 20, eph);
-	_mav_put_uint16_t(buf, 22, epv);
-	_mav_put_uint16_t(buf, 24, vel);
-	_mav_put_int16_t(buf, 26, vn);
-	_mav_put_int16_t(buf, 28, ve);
-	_mav_put_int16_t(buf, 30, vd);
-	_mav_put_uint16_t(buf, 32, cog);
-	_mav_put_uint8_t(buf, 34, fix_type);
-	_mav_put_uint8_t(buf, 35, satellites_visible);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#else
-	mavlink_hil_gps_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.vn = vn;
-	packet.ve = ve;
-	packet.vd = vd;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_GPS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_gps struct
- *
- * @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 hil_gps C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
-{
-	return mavlink_msg_hil_gps_pack(system_id, component_id, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
-}
-
-/**
- * @brief Encode a hil_gps struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_gps C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps)
-{
-	return mavlink_msg_hil_gps_pack_chan(system_id, component_id, chan, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible);
-}
-
-/**
- * @brief Send a hil_gps message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- * @param lat Latitude (WGS84), in degrees * 1E7
- * @param lon Longitude (WGS84), in degrees * 1E7
- * @param alt Altitude (WGS84), in meters * 1000 (positive for up)
- * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
- * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
- * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535
- * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
- * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame
- * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
- * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
- * @param satellites_visible Number of satellites visible. If unknown, set to 255
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_gps_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_GPS_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int32_t(buf, 8, lat);
-	_mav_put_int32_t(buf, 12, lon);
-	_mav_put_int32_t(buf, 16, alt);
-	_mav_put_uint16_t(buf, 20, eph);
-	_mav_put_uint16_t(buf, 22, epv);
-	_mav_put_uint16_t(buf, 24, vel);
-	_mav_put_int16_t(buf, 26, vn);
-	_mav_put_int16_t(buf, 28, ve);
-	_mav_put_int16_t(buf, 30, vd);
-	_mav_put_uint16_t(buf, 32, cog);
-	_mav_put_uint8_t(buf, 34, fix_type);
-	_mav_put_uint8_t(buf, 35, satellites_visible);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-#else
-	mavlink_hil_gps_t packet;
-	packet.time_usec = time_usec;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.eph = eph;
-	packet.epv = epv;
-	packet.vel = vel;
-	packet.vn = vn;
-	packet.ve = ve;
-	packet.vd = vd;
-	packet.cog = cog;
-	packet.fix_type = fix_type;
-	packet.satellites_visible = satellites_visible;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_GPS UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_gps message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field fix_type from hil_gps message
- *
- * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
- */
-static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  34);
-}
-
-/**
- * @brief Get field lat from hil_gps message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field lon from hil_gps message
- *
- * @return Longitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  12);
-}
-
-/**
- * @brief Get field alt from hil_gps message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  16);
-}
-
-/**
- * @brief Get field eph from hil_gps message
- *
- * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
- */
-static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  20);
-}
-
-/**
- * @brief Get field epv from hil_gps message
- *
- * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
- */
-static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  22);
-}
-
-/**
- * @brief Get field vel from hil_gps message
- *
- * @return GPS ground speed (m/s * 100). If unknown, set to: 65535
- */
-static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field vn from hil_gps message
- *
- * @return GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
- */
-static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  26);
-}
-
-/**
- * @brief Get field ve from hil_gps message
- *
- * @return GPS velocity in cm/s in EAST direction in earth-fixed NED frame
- */
-static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  28);
-}
-
-/**
- * @brief Get field vd from hil_gps message
- *
- * @return GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
- */
-static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  30);
-}
-
-/**
- * @brief Get field cog from hil_gps message
- *
- * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
- */
-static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  32);
-}
-
-/**
- * @brief Get field satellites_visible from hil_gps message
- *
- * @return Number of satellites visible. If unknown, set to 255
- */
-static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  35);
-}
-
-/**
- * @brief Decode a hil_gps message into a struct
- *
- * @param msg The message to decode
- * @param hil_gps C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg);
-	hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg);
-	hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg);
-	hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg);
-	hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg);
-	hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg);
-	hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg);
-	hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg);
-	hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg);
-	hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg);
-	hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg);
-	hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg);
-	hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg);
-#else
-	memcpy(hil_gps, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_GPS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h
deleted file mode 100644
index acb1392e1..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h
+++ /dev/null
@@ -1,331 +0,0 @@
-// MESSAGE HIL_OPTICAL_FLOW PACKING
-
-#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114
-
-typedef struct __mavlink_hil_optical_flow_t
-{
- uint64_t time_usec; ///< Timestamp (UNIX)
- float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
- float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
- float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- int16_t flow_x; ///< Flow in pixels in x-sensor direction
- int16_t flow_y; ///< Flow in pixels in y-sensor direction
- uint8_t sensor_id; ///< Sensor ID
- uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
-} mavlink_hil_optical_flow_t;
-
-#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 26
-#define MAVLINK_MSG_ID_114_LEN 26
-
-#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 119
-#define MAVLINK_MSG_ID_114_CRC 119
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \
-	"HIL_OPTICAL_FLOW", \
-	8, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \
-         { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_x) }, \
-         { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_y) }, \
-         { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, ground_distance) }, \
-         { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_hil_optical_flow_t, flow_x) }, \
-         { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_hil_optical_flow_t, flow_y) }, \
-         { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \
-         { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_optical_flow_t, quality) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_optical_flow 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 time_usec Timestamp (UNIX)
- * @param sensor_id Sensor ID
- * @param flow_x Flow in pixels in x-sensor direction
- * @param flow_y Flow in pixels in y-sensor direction
- * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
- * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, flow_comp_m_x);
-	_mav_put_float(buf, 12, flow_comp_m_y);
-	_mav_put_float(buf, 16, ground_distance);
-	_mav_put_int16_t(buf, 20, flow_x);
-	_mav_put_int16_t(buf, 22, flow_y);
-	_mav_put_uint8_t(buf, 24, sensor_id);
-	_mav_put_uint8_t(buf, 25, quality);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#else
-	mavlink_hil_optical_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.flow_comp_m_x = flow_comp_m_x;
-	packet.flow_comp_m_y = flow_comp_m_y;
-	packet.ground_distance = ground_distance;
-	packet.flow_x = flow_x;
-	packet.flow_y = flow_y;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_optical_flow 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (UNIX)
- * @param sensor_id Sensor ID
- * @param flow_x Flow in pixels in x-sensor direction
- * @param flow_y Flow in pixels in y-sensor direction
- * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
- * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, flow_comp_m_x);
-	_mav_put_float(buf, 12, flow_comp_m_y);
-	_mav_put_float(buf, 16, ground_distance);
-	_mav_put_int16_t(buf, 20, flow_x);
-	_mav_put_int16_t(buf, 22, flow_y);
-	_mav_put_uint8_t(buf, 24, sensor_id);
-	_mav_put_uint8_t(buf, 25, quality);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#else
-	mavlink_hil_optical_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.flow_comp_m_x = flow_comp_m_x;
-	packet.flow_comp_m_y = flow_comp_m_y;
-	packet.ground_distance = ground_distance;
-	packet.flow_x = flow_x;
-	packet.flow_y = flow_y;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_optical_flow struct
- *
- * @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 hil_optical_flow C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
-{
-	return mavlink_msg_hil_optical_flow_pack(system_id, component_id, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->flow_x, hil_optical_flow->flow_y, hil_optical_flow->flow_comp_m_x, hil_optical_flow->flow_comp_m_y, hil_optical_flow->quality, hil_optical_flow->ground_distance);
-}
-
-/**
- * @brief Encode a hil_optical_flow struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_optical_flow C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow)
-{
-	return mavlink_msg_hil_optical_flow_pack_chan(system_id, component_id, chan, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->flow_x, hil_optical_flow->flow_y, hil_optical_flow->flow_comp_m_x, hil_optical_flow->flow_comp_m_y, hil_optical_flow->quality, hil_optical_flow->ground_distance);
-}
-
-/**
- * @brief Send a hil_optical_flow message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (UNIX)
- * @param sensor_id Sensor ID
- * @param flow_x Flow in pixels in x-sensor direction
- * @param flow_y Flow in pixels in y-sensor direction
- * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
- * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, flow_comp_m_x);
-	_mav_put_float(buf, 12, flow_comp_m_y);
-	_mav_put_float(buf, 16, ground_distance);
-	_mav_put_int16_t(buf, 20, flow_x);
-	_mav_put_int16_t(buf, 22, flow_y);
-	_mav_put_uint8_t(buf, 24, sensor_id);
-	_mav_put_uint8_t(buf, 25, quality);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-#else
-	mavlink_hil_optical_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.flow_comp_m_x = flow_comp_m_x;
-	packet.flow_comp_m_y = flow_comp_m_y;
-	packet.ground_distance = ground_distance;
-	packet.flow_x = flow_x;
-	packet.flow_y = flow_y;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_OPTICAL_FLOW UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_optical_flow message
- *
- * @return Timestamp (UNIX)
- */
-static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field sensor_id from hil_optical_flow message
- *
- * @return Sensor ID
- */
-static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field flow_x from hil_optical_flow message
- *
- * @return Flow in pixels in x-sensor direction
- */
-static inline int16_t mavlink_msg_hil_optical_flow_get_flow_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field flow_y from hil_optical_flow message
- *
- * @return Flow in pixels in y-sensor direction
- */
-static inline int16_t mavlink_msg_hil_optical_flow_get_flow_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field flow_comp_m_x from hil_optical_flow message
- *
- * @return Flow in meters in x-sensor direction, angular-speed compensated
- */
-static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field flow_comp_m_y from hil_optical_flow message
- *
- * @return Flow in meters in y-sensor direction, angular-speed compensated
- */
-static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field quality from hil_optical_flow message
- *
- * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
- */
-static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  25);
-}
-
-/**
- * @brief Get field ground_distance from hil_optical_flow message
- *
- * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- */
-static inline float mavlink_msg_hil_optical_flow_get_ground_distance(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a hil_optical_flow message into a struct
- *
- * @param msg The message to decode
- * @param hil_optical_flow C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg);
-	hil_optical_flow->flow_comp_m_x = mavlink_msg_hil_optical_flow_get_flow_comp_m_x(msg);
-	hil_optical_flow->flow_comp_m_y = mavlink_msg_hil_optical_flow_get_flow_comp_m_y(msg);
-	hil_optical_flow->ground_distance = mavlink_msg_hil_optical_flow_get_ground_distance(msg);
-	hil_optical_flow->flow_x = mavlink_msg_hil_optical_flow_get_flow_x(msg);
-	hil_optical_flow->flow_y = mavlink_msg_hil_optical_flow_get_flow_y(msg);
-	hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg);
-	hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg);
-#else
-	memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
deleted file mode 100644
index a42bde50b..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_rc_inputs_raw.h
+++ /dev/null
@@ -1,463 +0,0 @@
-// MESSAGE HIL_RC_INPUTS_RAW PACKING
-
-#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW 92
-
-typedef struct __mavlink_hil_rc_inputs_raw_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds 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
- uint16_t chan9_raw; ///< RC channel 9 value, in microseconds
- uint16_t chan10_raw; ///< RC channel 10 value, in microseconds
- uint16_t chan11_raw; ///< RC channel 11 value, in microseconds
- uint16_t chan12_raw; ///< RC channel 12 value, in microseconds
- uint8_t rssi; ///< Receive signal strength indicator, 0: 0%, 255: 100%
-} mavlink_hil_rc_inputs_raw_t;
-
-#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN 33
-#define MAVLINK_MSG_ID_92_LEN 33
-
-#define MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC 54
-#define MAVLINK_MSG_ID_92_CRC 54
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW { \
-	"HIL_RC_INPUTS_RAW", \
-	14, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_rc_inputs_raw_t, time_usec) }, \
-         { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_hil_rc_inputs_raw_t, chan1_raw) }, \
-         { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_hil_rc_inputs_raw_t, chan2_raw) }, \
-         { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_hil_rc_inputs_raw_t, chan3_raw) }, \
-         { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_hil_rc_inputs_raw_t, chan4_raw) }, \
-         { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_hil_rc_inputs_raw_t, chan5_raw) }, \
-         { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_hil_rc_inputs_raw_t, chan6_raw) }, \
-         { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_rc_inputs_raw_t, chan7_raw) }, \
-         { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_rc_inputs_raw_t, chan8_raw) }, \
-         { "chan9_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_rc_inputs_raw_t, chan9_raw) }, \
-         { "chan10_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_hil_rc_inputs_raw_t, chan10_raw) }, \
-         { "chan11_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_hil_rc_inputs_raw_t, chan11_raw) }, \
-         { "chan12_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_hil_rc_inputs_raw_t, chan12_raw) }, \
-         { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_hil_rc_inputs_raw_t, rssi) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_rc_inputs_raw 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @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 chan9_raw RC channel 9 value, in microseconds
- * @param chan10_raw RC channel 10 value, in microseconds
- * @param chan11_raw RC channel 11 value, in microseconds
- * @param chan12_raw RC channel 12 value, in microseconds
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_uint16_t(buf, 8, chan1_raw);
-	_mav_put_uint16_t(buf, 10, chan2_raw);
-	_mav_put_uint16_t(buf, 12, chan3_raw);
-	_mav_put_uint16_t(buf, 14, chan4_raw);
-	_mav_put_uint16_t(buf, 16, chan5_raw);
-	_mav_put_uint16_t(buf, 18, chan6_raw);
-	_mav_put_uint16_t(buf, 20, chan7_raw);
-	_mav_put_uint16_t(buf, 22, chan8_raw);
-	_mav_put_uint16_t(buf, 24, chan9_raw);
-	_mav_put_uint16_t(buf, 26, chan10_raw);
-	_mav_put_uint16_t(buf, 28, chan11_raw);
-	_mav_put_uint16_t(buf, 30, chan12_raw);
-	_mav_put_uint8_t(buf, 32, rssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#else
-	mavlink_hil_rc_inputs_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.chan9_raw = chan9_raw;
-	packet.chan10_raw = chan10_raw;
-	packet.chan11_raw = chan11_raw;
-	packet.chan12_raw = chan12_raw;
-	packet.rssi = rssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_rc_inputs_raw 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @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 chan9_raw RC channel 9 value, in microseconds
- * @param chan10_raw RC channel 10 value, in microseconds
- * @param chan11_raw RC channel 11 value, in microseconds
- * @param chan12_raw RC channel 12 value, in microseconds
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint16_t chan9_raw,uint16_t chan10_raw,uint16_t chan11_raw,uint16_t chan12_raw,uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_uint16_t(buf, 8, chan1_raw);
-	_mav_put_uint16_t(buf, 10, chan2_raw);
-	_mav_put_uint16_t(buf, 12, chan3_raw);
-	_mav_put_uint16_t(buf, 14, chan4_raw);
-	_mav_put_uint16_t(buf, 16, chan5_raw);
-	_mav_put_uint16_t(buf, 18, chan6_raw);
-	_mav_put_uint16_t(buf, 20, chan7_raw);
-	_mav_put_uint16_t(buf, 22, chan8_raw);
-	_mav_put_uint16_t(buf, 24, chan9_raw);
-	_mav_put_uint16_t(buf, 26, chan10_raw);
-	_mav_put_uint16_t(buf, 28, chan11_raw);
-	_mav_put_uint16_t(buf, 30, chan12_raw);
-	_mav_put_uint8_t(buf, 32, rssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#else
-	mavlink_hil_rc_inputs_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.chan9_raw = chan9_raw;
-	packet.chan10_raw = chan10_raw;
-	packet.chan11_raw = chan11_raw;
-	packet.chan12_raw = chan12_raw;
-	packet.rssi = rssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_rc_inputs_raw struct
- *
- * @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 hil_rc_inputs_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw)
-{
-	return mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, msg, hil_rc_inputs_raw->time_usec, hil_rc_inputs_raw->chan1_raw, hil_rc_inputs_raw->chan2_raw, hil_rc_inputs_raw->chan3_raw, hil_rc_inputs_raw->chan4_raw, hil_rc_inputs_raw->chan5_raw, hil_rc_inputs_raw->chan6_raw, hil_rc_inputs_raw->chan7_raw, hil_rc_inputs_raw->chan8_raw, hil_rc_inputs_raw->chan9_raw, hil_rc_inputs_raw->chan10_raw, hil_rc_inputs_raw->chan11_raw, hil_rc_inputs_raw->chan12_raw, hil_rc_inputs_raw->rssi);
-}
-
-/**
- * @brief Encode a hil_rc_inputs_raw struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_rc_inputs_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw)
-{
-	return mavlink_msg_hil_rc_inputs_raw_pack_chan(system_id, component_id, chan, msg, hil_rc_inputs_raw->time_usec, hil_rc_inputs_raw->chan1_raw, hil_rc_inputs_raw->chan2_raw, hil_rc_inputs_raw->chan3_raw, hil_rc_inputs_raw->chan4_raw, hil_rc_inputs_raw->chan5_raw, hil_rc_inputs_raw->chan6_raw, hil_rc_inputs_raw->chan7_raw, hil_rc_inputs_raw->chan8_raw, hil_rc_inputs_raw->chan9_raw, hil_rc_inputs_raw->chan10_raw, hil_rc_inputs_raw->chan11_raw, hil_rc_inputs_raw->chan12_raw, hil_rc_inputs_raw->rssi);
-}
-
-/**
- * @brief Send a hil_rc_inputs_raw message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @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 chan9_raw RC channel 9 value, in microseconds
- * @param chan10_raw RC channel 10 value, in microseconds
- * @param chan11_raw RC channel 11 value, in microseconds
- * @param chan12_raw RC channel 12 value, in microseconds
- * @param rssi Receive signal strength indicator, 0: 0%, 255: 100%
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_rc_inputs_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint16_t chan9_raw, uint16_t chan10_raw, uint16_t chan11_raw, uint16_t chan12_raw, uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_uint16_t(buf, 8, chan1_raw);
-	_mav_put_uint16_t(buf, 10, chan2_raw);
-	_mav_put_uint16_t(buf, 12, chan3_raw);
-	_mav_put_uint16_t(buf, 14, chan4_raw);
-	_mav_put_uint16_t(buf, 16, chan5_raw);
-	_mav_put_uint16_t(buf, 18, chan6_raw);
-	_mav_put_uint16_t(buf, 20, chan7_raw);
-	_mav_put_uint16_t(buf, 22, chan8_raw);
-	_mav_put_uint16_t(buf, 24, chan9_raw);
-	_mav_put_uint16_t(buf, 26, chan10_raw);
-	_mav_put_uint16_t(buf, 28, chan11_raw);
-	_mav_put_uint16_t(buf, 30, chan12_raw);
-	_mav_put_uint8_t(buf, 32, rssi);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, buf, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, buf, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-#else
-	mavlink_hil_rc_inputs_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.chan9_raw = chan9_raw;
-	packet.chan10_raw = chan10_raw;
-	packet.chan11_raw = chan11_raw;
-	packet.chan12_raw = chan12_raw;
-	packet.rssi = rssi;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, (const char *)&packet, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, (const char *)&packet, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_RC_INPUTS_RAW UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_rc_inputs_raw message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_rc_inputs_raw_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field chan1_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 1 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field chan2_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 2 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field chan3_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 3 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field chan4_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 4 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  14);
-}
-
-/**
- * @brief Get field chan5_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 5 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field chan6_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 6 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Get field chan7_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 7 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  20);
-}
-
-/**
- * @brief Get field chan8_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 8 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  22);
-}
-
-/**
- * @brief Get field chan9_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 9 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field chan10_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 10 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  26);
-}
-
-/**
- * @brief Get field chan11_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 11 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  28);
-}
-
-/**
- * @brief Get field chan12_raw from hil_rc_inputs_raw message
- *
- * @return RC channel 12 value, in microseconds
- */
-static inline uint16_t mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  30);
-}
-
-/**
- * @brief Get field rssi from hil_rc_inputs_raw message
- *
- * @return Receive signal strength indicator, 0: 0%, 255: 100%
- */
-static inline uint8_t mavlink_msg_hil_rc_inputs_raw_get_rssi(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Decode a hil_rc_inputs_raw message into a struct
- *
- * @param msg The message to decode
- * @param hil_rc_inputs_raw C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_rc_inputs_raw_decode(const mavlink_message_t* msg, mavlink_hil_rc_inputs_raw_t* hil_rc_inputs_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_rc_inputs_raw->time_usec = mavlink_msg_hil_rc_inputs_raw_get_time_usec(msg);
-	hil_rc_inputs_raw->chan1_raw = mavlink_msg_hil_rc_inputs_raw_get_chan1_raw(msg);
-	hil_rc_inputs_raw->chan2_raw = mavlink_msg_hil_rc_inputs_raw_get_chan2_raw(msg);
-	hil_rc_inputs_raw->chan3_raw = mavlink_msg_hil_rc_inputs_raw_get_chan3_raw(msg);
-	hil_rc_inputs_raw->chan4_raw = mavlink_msg_hil_rc_inputs_raw_get_chan4_raw(msg);
-	hil_rc_inputs_raw->chan5_raw = mavlink_msg_hil_rc_inputs_raw_get_chan5_raw(msg);
-	hil_rc_inputs_raw->chan6_raw = mavlink_msg_hil_rc_inputs_raw_get_chan6_raw(msg);
-	hil_rc_inputs_raw->chan7_raw = mavlink_msg_hil_rc_inputs_raw_get_chan7_raw(msg);
-	hil_rc_inputs_raw->chan8_raw = mavlink_msg_hil_rc_inputs_raw_get_chan8_raw(msg);
-	hil_rc_inputs_raw->chan9_raw = mavlink_msg_hil_rc_inputs_raw_get_chan9_raw(msg);
-	hil_rc_inputs_raw->chan10_raw = mavlink_msg_hil_rc_inputs_raw_get_chan10_raw(msg);
-	hil_rc_inputs_raw->chan11_raw = mavlink_msg_hil_rc_inputs_raw_get_chan11_raw(msg);
-	hil_rc_inputs_raw->chan12_raw = mavlink_msg_hil_rc_inputs_raw_get_chan12_raw(msg);
-	hil_rc_inputs_raw->rssi = mavlink_msg_hil_rc_inputs_raw_get_rssi(msg);
-#else
-	memcpy(hil_rc_inputs_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h
deleted file mode 100644
index 6c2667473..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h
+++ /dev/null
@@ -1,485 +0,0 @@
-// MESSAGE HIL_SENSOR PACKING
-
-#define MAVLINK_MSG_ID_HIL_SENSOR 107
-
-typedef struct __mavlink_hil_sensor_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float xacc; ///< X acceleration (m/s^2)
- float yacc; ///< Y acceleration (m/s^2)
- float zacc; ///< Z acceleration (m/s^2)
- float xgyro; ///< Angular speed around X axis in body frame (rad / sec)
- float ygyro; ///< Angular speed around Y axis in body frame (rad / sec)
- float zgyro; ///< Angular speed around Z axis in body frame (rad / sec)
- float xmag; ///< X Magnetic field (Gauss)
- float ymag; ///< Y Magnetic field (Gauss)
- float zmag; ///< Z Magnetic field (Gauss)
- float abs_pressure; ///< Absolute pressure in millibar
- float diff_pressure; ///< Differential pressure (airspeed) in millibar
- float pressure_alt; ///< Altitude calculated from pressure
- float temperature; ///< Temperature in degrees celsius
- uint32_t fields_updated; ///< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
-} mavlink_hil_sensor_t;
-
-#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64
-#define MAVLINK_MSG_ID_107_LEN 64
-
-#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
-#define MAVLINK_MSG_ID_107_CRC 108
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
-	"HIL_SENSOR", \
-	15, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
-         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
-         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
-         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
-         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
-         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
-         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
-         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
-         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
-         { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_sensor 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 time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param xacc X acceleration (m/s^2)
- * @param yacc Y acceleration (m/s^2)
- * @param zacc Z acceleration (m/s^2)
- * @param xgyro Angular speed around X axis in body frame (rad / sec)
- * @param ygyro Angular speed around Y axis in body frame (rad / sec)
- * @param zgyro Angular speed around Z axis in body frame (rad / sec)
- * @param xmag X Magnetic field (Gauss)
- * @param ymag Y Magnetic field (Gauss)
- * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in millibar
- * @param diff_pressure Differential pressure (airspeed) in millibar
- * @param pressure_alt Altitude calculated from pressure
- * @param temperature Temperature in degrees celsius
- * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, xacc);
-	_mav_put_float(buf, 12, yacc);
-	_mav_put_float(buf, 16, zacc);
-	_mav_put_float(buf, 20, xgyro);
-	_mav_put_float(buf, 24, ygyro);
-	_mav_put_float(buf, 28, zgyro);
-	_mav_put_float(buf, 32, xmag);
-	_mav_put_float(buf, 36, ymag);
-	_mav_put_float(buf, 40, zmag);
-	_mav_put_float(buf, 44, abs_pressure);
-	_mav_put_float(buf, 48, diff_pressure);
-	_mav_put_float(buf, 52, pressure_alt);
-	_mav_put_float(buf, 56, temperature);
-	_mav_put_uint32_t(buf, 60, fields_updated);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#else
-	mavlink_hil_sensor_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-	packet.abs_pressure = abs_pressure;
-	packet.diff_pressure = diff_pressure;
-	packet.pressure_alt = pressure_alt;
-	packet.temperature = temperature;
-	packet.fields_updated = fields_updated;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_sensor 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param xacc X acceleration (m/s^2)
- * @param yacc Y acceleration (m/s^2)
- * @param zacc Z acceleration (m/s^2)
- * @param xgyro Angular speed around X axis in body frame (rad / sec)
- * @param ygyro Angular speed around Y axis in body frame (rad / sec)
- * @param zgyro Angular speed around Z axis in body frame (rad / sec)
- * @param xmag X Magnetic field (Gauss)
- * @param ymag Y Magnetic field (Gauss)
- * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in millibar
- * @param diff_pressure Differential pressure (airspeed) in millibar
- * @param pressure_alt Altitude calculated from pressure
- * @param temperature Temperature in degrees celsius
- * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint32_t fields_updated)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, xacc);
-	_mav_put_float(buf, 12, yacc);
-	_mav_put_float(buf, 16, zacc);
-	_mav_put_float(buf, 20, xgyro);
-	_mav_put_float(buf, 24, ygyro);
-	_mav_put_float(buf, 28, zgyro);
-	_mav_put_float(buf, 32, xmag);
-	_mav_put_float(buf, 36, ymag);
-	_mav_put_float(buf, 40, zmag);
-	_mav_put_float(buf, 44, abs_pressure);
-	_mav_put_float(buf, 48, diff_pressure);
-	_mav_put_float(buf, 52, pressure_alt);
-	_mav_put_float(buf, 56, temperature);
-	_mav_put_uint32_t(buf, 60, fields_updated);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#else
-	mavlink_hil_sensor_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-	packet.abs_pressure = abs_pressure;
-	packet.diff_pressure = diff_pressure;
-	packet.pressure_alt = pressure_alt;
-	packet.temperature = temperature;
-	packet.fields_updated = fields_updated;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_sensor struct
- *
- * @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 hil_sensor C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
-{
-	return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
-}
-
-/**
- * @brief Encode a hil_sensor struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_sensor C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
-{
-	return mavlink_msg_hil_sensor_pack_chan(system_id, component_id, chan, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
-}
-
-/**
- * @brief Send a hil_sensor message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param xacc X acceleration (m/s^2)
- * @param yacc Y acceleration (m/s^2)
- * @param zacc Z acceleration (m/s^2)
- * @param xgyro Angular speed around X axis in body frame (rad / sec)
- * @param ygyro Angular speed around Y axis in body frame (rad / sec)
- * @param zgyro Angular speed around Z axis in body frame (rad / sec)
- * @param xmag X Magnetic field (Gauss)
- * @param ymag Y Magnetic field (Gauss)
- * @param zmag Z Magnetic field (Gauss)
- * @param abs_pressure Absolute pressure in millibar
- * @param diff_pressure Differential pressure (airspeed) in millibar
- * @param pressure_alt Altitude calculated from pressure
- * @param temperature Temperature in degrees celsius
- * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, xacc);
-	_mav_put_float(buf, 12, yacc);
-	_mav_put_float(buf, 16, zacc);
-	_mav_put_float(buf, 20, xgyro);
-	_mav_put_float(buf, 24, ygyro);
-	_mav_put_float(buf, 28, zgyro);
-	_mav_put_float(buf, 32, xmag);
-	_mav_put_float(buf, 36, ymag);
-	_mav_put_float(buf, 40, zmag);
-	_mav_put_float(buf, 44, abs_pressure);
-	_mav_put_float(buf, 48, diff_pressure);
-	_mav_put_float(buf, 52, pressure_alt);
-	_mav_put_float(buf, 56, temperature);
-	_mav_put_uint32_t(buf, 60, fields_updated);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-#else
-	mavlink_hil_sensor_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-	packet.abs_pressure = abs_pressure;
-	packet.diff_pressure = diff_pressure;
-	packet.pressure_alt = pressure_alt;
-	packet.temperature = temperature;
-	packet.fields_updated = fields_updated;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_SENSOR UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_sensor message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field xacc from hil_sensor message
- *
- * @return X acceleration (m/s^2)
- */
-static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yacc from hil_sensor message
- *
- * @return Y acceleration (m/s^2)
- */
-static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field zacc from hil_sensor message
- *
- * @return Z acceleration (m/s^2)
- */
-static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field xgyro from hil_sensor message
- *
- * @return Angular speed around X axis in body frame (rad / sec)
- */
-static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field ygyro from hil_sensor message
- *
- * @return Angular speed around Y axis in body frame (rad / sec)
- */
-static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field zgyro from hil_sensor message
- *
- * @return Angular speed around Z axis in body frame (rad / sec)
- */
-static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field xmag from hil_sensor message
- *
- * @return X Magnetic field (Gauss)
- */
-static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field ymag from hil_sensor message
- *
- * @return Y Magnetic field (Gauss)
- */
-static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field zmag from hil_sensor message
- *
- * @return Z Magnetic field (Gauss)
- */
-static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field abs_pressure from hil_sensor message
- *
- * @return Absolute pressure in millibar
- */
-static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Get field diff_pressure from hil_sensor message
- *
- * @return Differential pressure (airspeed) in millibar
- */
-static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  48);
-}
-
-/**
- * @brief Get field pressure_alt from hil_sensor message
- *
- * @return Altitude calculated from pressure
- */
-static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  52);
-}
-
-/**
- * @brief Get field temperature from hil_sensor message
- *
- * @return Temperature in degrees celsius
- */
-static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  56);
-}
-
-/**
- * @brief Get field fields_updated from hil_sensor message
- *
- * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
- */
-static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  60);
-}
-
-/**
- * @brief Decode a hil_sensor message into a struct
- *
- * @param msg The message to decode
- * @param hil_sensor C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg);
-	hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg);
-	hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg);
-	hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg);
-	hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg);
-	hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg);
-	hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg);
-	hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg);
-	hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg);
-	hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg);
-	hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg);
-	hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg);
-	hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg);
-	hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg);
-	hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg);
-#else
-	memcpy(hil_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_SENSOR_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h
deleted file mode 100644
index bcc857767..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h
+++ /dev/null
@@ -1,507 +0,0 @@
-// MESSAGE HIL_STATE PACKING
-
-#define MAVLINK_MSG_ID_HIL_STATE 90
-
-typedef struct __mavlink_hil_state_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float roll; ///< Roll angle (rad)
- float pitch; ///< Pitch angle (rad)
- float yaw; ///< Yaw angle (rad)
- float rollspeed; ///< Body frame roll / phi angular speed (rad/s)
- float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s)
- float yawspeed; ///< Body frame yaw / psi angular speed (rad/s)
- int32_t lat; ///< Latitude, expressed as * 1E7
- int32_t lon; ///< Longitude, expressed as * 1E7
- int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
- int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
- int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
- int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
- int16_t xacc; ///< X acceleration (mg)
- int16_t yacc; ///< Y acceleration (mg)
- int16_t zacc; ///< Z acceleration (mg)
-} mavlink_hil_state_t;
-
-#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
-#define MAVLINK_MSG_ID_90_LEN 56
-
-#define MAVLINK_MSG_ID_HIL_STATE_CRC 183
-#define MAVLINK_MSG_ID_90_CRC 183
-
-
-
-#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
-	"HIL_STATE", \
-	16, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
-         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
-         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
-         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
-         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
-         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_state 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Body frame roll / phi angular speed (rad/s)
- * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
- * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-	_mav_put_int32_t(buf, 32, lat);
-	_mav_put_int32_t(buf, 36, lon);
-	_mav_put_int32_t(buf, 40, alt);
-	_mav_put_int16_t(buf, 44, vx);
-	_mav_put_int16_t(buf, 46, vy);
-	_mav_put_int16_t(buf, 48, vz);
-	_mav_put_int16_t(buf, 50, xacc);
-	_mav_put_int16_t(buf, 52, yacc);
-	_mav_put_int16_t(buf, 54, zacc);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#else
-	mavlink_hil_state_t packet;
-	packet.time_usec = time_usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_state 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Body frame roll / phi angular speed (rad/s)
- * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
- * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-	_mav_put_int32_t(buf, 32, lat);
-	_mav_put_int32_t(buf, 36, lon);
-	_mav_put_int32_t(buf, 40, alt);
-	_mav_put_int16_t(buf, 44, vx);
-	_mav_put_int16_t(buf, 46, vy);
-	_mav_put_int16_t(buf, 48, vz);
-	_mav_put_int16_t(buf, 50, xacc);
-	_mav_put_int16_t(buf, 52, yacc);
-	_mav_put_int16_t(buf, 54, zacc);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#else
-	mavlink_hil_state_t packet;
-	packet.time_usec = time_usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_state struct
- *
- * @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 hil_state C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
-{
-	return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
-}
-
-/**
- * @brief Encode a hil_state struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_state C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
-{
-	return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
-}
-
-/**
- * @brief Send a hil_state message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param roll Roll angle (rad)
- * @param pitch Pitch angle (rad)
- * @param yaw Yaw angle (rad)
- * @param rollspeed Body frame roll / phi angular speed (rad/s)
- * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
- * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, roll);
-	_mav_put_float(buf, 12, pitch);
-	_mav_put_float(buf, 16, yaw);
-	_mav_put_float(buf, 20, rollspeed);
-	_mav_put_float(buf, 24, pitchspeed);
-	_mav_put_float(buf, 28, yawspeed);
-	_mav_put_int32_t(buf, 32, lat);
-	_mav_put_int32_t(buf, 36, lon);
-	_mav_put_int32_t(buf, 40, alt);
-	_mav_put_int16_t(buf, 44, vx);
-	_mav_put_int16_t(buf, 46, vy);
-	_mav_put_int16_t(buf, 48, vz);
-	_mav_put_int16_t(buf, 50, xacc);
-	_mav_put_int16_t(buf, 52, yacc);
-	_mav_put_int16_t(buf, 54, zacc);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-#else
-	mavlink_hil_state_t packet;
-	packet.time_usec = time_usec;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_STATE UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_state message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field roll from hil_state message
- *
- * @return Roll angle (rad)
- */
-static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field pitch from hil_state message
- *
- * @return Pitch angle (rad)
- */
-static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yaw from hil_state message
- *
- * @return Yaw angle (rad)
- */
-static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field rollspeed from hil_state message
- *
- * @return Body frame roll / phi angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitchspeed from hil_state message
- *
- * @return Body frame pitch / theta angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yawspeed from hil_state message
- *
- * @return Body frame yaw / psi angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field lat from hil_state message
- *
- * @return Latitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  32);
-}
-
-/**
- * @brief Get field lon from hil_state message
- *
- * @return Longitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  36);
-}
-
-/**
- * @brief Get field alt from hil_state message
- *
- * @return Altitude in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  40);
-}
-
-/**
- * @brief Get field vx from hil_state message
- *
- * @return Ground X Speed (Latitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  44);
-}
-
-/**
- * @brief Get field vy from hil_state message
- *
- * @return Ground Y Speed (Longitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  46);
-}
-
-/**
- * @brief Get field vz from hil_state message
- *
- * @return Ground Z Speed (Altitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  48);
-}
-
-/**
- * @brief Get field xacc from hil_state message
- *
- * @return X acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  50);
-}
-
-/**
- * @brief Get field yacc from hil_state message
- *
- * @return Y acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  52);
-}
-
-/**
- * @brief Get field zacc from hil_state message
- *
- * @return Z acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  54);
-}
-
-/**
- * @brief Decode a hil_state message into a struct
- *
- * @param msg The message to decode
- * @param hil_state C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
-	hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
-	hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
-	hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
-	hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
-	hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
-	hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
-	hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
-	hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
-	hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
-	hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
-	hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
-	hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
-	hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
-	hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
-	hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
-#else
-	memcpy(hil_state, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h
deleted file mode 100644
index 732176193..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state_quaternion.h
+++ /dev/null
@@ -1,501 +0,0 @@
-// MESSAGE HIL_STATE_QUATERNION PACKING
-
-#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
-
-typedef struct __mavlink_hil_state_quaternion_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- float attitude_quaternion[4]; ///< Vehicle attitude expressed as normalized quaternion
- float rollspeed; ///< Body frame roll / phi angular speed (rad/s)
- float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s)
- float yawspeed; ///< Body frame yaw / psi angular speed (rad/s)
- int32_t lat; ///< Latitude, expressed as * 1E7
- int32_t lon; ///< Longitude, expressed as * 1E7
- int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
- int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
- int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
- int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
- uint16_t ind_airspeed; ///< Indicated airspeed, expressed as m/s * 100
- uint16_t true_airspeed; ///< True airspeed, expressed as m/s * 100
- int16_t xacc; ///< X acceleration (mg)
- int16_t yacc; ///< Y acceleration (mg)
- int16_t zacc; ///< Z acceleration (mg)
-} mavlink_hil_state_quaternion_t;
-
-#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
-#define MAVLINK_MSG_ID_115_LEN 64
-
-#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
-#define MAVLINK_MSG_ID_115_CRC 4
-
-#define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
-
-#define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
-	"HIL_STATE_QUATERNION", \
-	16, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
-         { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
-         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
-         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
-         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
-         { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
-         { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
-         { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
-         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a hil_state_quaternion 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion
- * @param rollspeed Body frame roll / phi angular speed (rad/s)
- * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
- * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
- * @param true_airspeed True airspeed, expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 24, rollspeed);
-	_mav_put_float(buf, 28, pitchspeed);
-	_mav_put_float(buf, 32, yawspeed);
-	_mav_put_int32_t(buf, 36, lat);
-	_mav_put_int32_t(buf, 40, lon);
-	_mav_put_int32_t(buf, 44, alt);
-	_mav_put_int16_t(buf, 48, vx);
-	_mav_put_int16_t(buf, 50, vy);
-	_mav_put_int16_t(buf, 52, vz);
-	_mav_put_uint16_t(buf, 54, ind_airspeed);
-	_mav_put_uint16_t(buf, 56, true_airspeed);
-	_mav_put_int16_t(buf, 58, xacc);
-	_mav_put_int16_t(buf, 60, yacc);
-	_mav_put_int16_t(buf, 62, zacc);
-	_mav_put_float_array(buf, 8, attitude_quaternion, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#else
-	mavlink_hil_state_quaternion_t packet;
-	packet.time_usec = time_usec;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.ind_airspeed = ind_airspeed;
-	packet.true_airspeed = true_airspeed;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-}
-
-/**
- * @brief Pack a hil_state_quaternion 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion
- * @param rollspeed Body frame roll / phi angular speed (rad/s)
- * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
- * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
- * @param true_airspeed True airspeed, expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 24, rollspeed);
-	_mav_put_float(buf, 28, pitchspeed);
-	_mav_put_float(buf, 32, yawspeed);
-	_mav_put_int32_t(buf, 36, lat);
-	_mav_put_int32_t(buf, 40, lon);
-	_mav_put_int32_t(buf, 44, alt);
-	_mav_put_int16_t(buf, 48, vx);
-	_mav_put_int16_t(buf, 50, vy);
-	_mav_put_int16_t(buf, 52, vz);
-	_mav_put_uint16_t(buf, 54, ind_airspeed);
-	_mav_put_uint16_t(buf, 56, true_airspeed);
-	_mav_put_int16_t(buf, 58, xacc);
-	_mav_put_int16_t(buf, 60, yacc);
-	_mav_put_int16_t(buf, 62, zacc);
-	_mav_put_float_array(buf, 8, attitude_quaternion, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#else
-	mavlink_hil_state_quaternion_t packet;
-	packet.time_usec = time_usec;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.ind_airspeed = ind_airspeed;
-	packet.true_airspeed = true_airspeed;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-}
-
-/**
- * @brief Encode a hil_state_quaternion struct
- *
- * @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 hil_state_quaternion C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
-{
-	return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
-}
-
-/**
- * @brief Encode a hil_state_quaternion struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param hil_state_quaternion C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
-{
-	return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
-}
-
-/**
- * @brief Send a hil_state_quaternion message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion
- * @param rollspeed Body frame roll / phi angular speed (rad/s)
- * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
- * @param yawspeed Body frame yaw / psi angular speed (rad/s)
- * @param lat Latitude, expressed as * 1E7
- * @param lon Longitude, expressed as * 1E7
- * @param alt Altitude in meters, expressed as * 1000 (millimeters)
- * @param vx Ground X Speed (Latitude), expressed as m/s * 100
- * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
- * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
- * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
- * @param true_airspeed True airspeed, expressed as m/s * 100
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 24, rollspeed);
-	_mav_put_float(buf, 28, pitchspeed);
-	_mav_put_float(buf, 32, yawspeed);
-	_mav_put_int32_t(buf, 36, lat);
-	_mav_put_int32_t(buf, 40, lon);
-	_mav_put_int32_t(buf, 44, alt);
-	_mav_put_int16_t(buf, 48, vx);
-	_mav_put_int16_t(buf, 50, vy);
-	_mav_put_int16_t(buf, 52, vz);
-	_mav_put_uint16_t(buf, 54, ind_airspeed);
-	_mav_put_uint16_t(buf, 56, true_airspeed);
-	_mav_put_int16_t(buf, 58, xacc);
-	_mav_put_int16_t(buf, 60, yacc);
-	_mav_put_int16_t(buf, 62, zacc);
-	_mav_put_float_array(buf, 8, attitude_quaternion, 4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-#else
-	mavlink_hil_state_quaternion_t packet;
-	packet.time_usec = time_usec;
-	packet.rollspeed = rollspeed;
-	packet.pitchspeed = pitchspeed;
-	packet.yawspeed = yawspeed;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-	packet.ind_airspeed = ind_airspeed;
-	packet.true_airspeed = true_airspeed;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE HIL_STATE_QUATERNION UNPACKING
-
-
-/**
- * @brief Get field time_usec from hil_state_quaternion message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field attitude_quaternion from hil_state_quaternion message
- *
- * @return Vehicle attitude expressed as normalized quaternion
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
-{
-	return _MAV_RETURN_float_array(msg, attitude_quaternion, 4,  8);
-}
-
-/**
- * @brief Get field rollspeed from hil_state_quaternion message
- *
- * @return Body frame roll / phi angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field pitchspeed from hil_state_quaternion message
- *
- * @return Body frame pitch / theta angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field yawspeed from hil_state_quaternion message
- *
- * @return Body frame yaw / psi angular speed (rad/s)
- */
-static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field lat from hil_state_quaternion message
- *
- * @return Latitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  36);
-}
-
-/**
- * @brief Get field lon from hil_state_quaternion message
- *
- * @return Longitude, expressed as * 1E7
- */
-static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  40);
-}
-
-/**
- * @brief Get field alt from hil_state_quaternion message
- *
- * @return Altitude in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  44);
-}
-
-/**
- * @brief Get field vx from hil_state_quaternion message
- *
- * @return Ground X Speed (Latitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  48);
-}
-
-/**
- * @brief Get field vy from hil_state_quaternion message
- *
- * @return Ground Y Speed (Longitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  50);
-}
-
-/**
- * @brief Get field vz from hil_state_quaternion message
- *
- * @return Ground Z Speed (Altitude), expressed as m/s * 100
- */
-static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  52);
-}
-
-/**
- * @brief Get field ind_airspeed from hil_state_quaternion message
- *
- * @return Indicated airspeed, expressed as m/s * 100
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  54);
-}
-
-/**
- * @brief Get field true_airspeed from hil_state_quaternion message
- *
- * @return True airspeed, expressed as m/s * 100
- */
-static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  56);
-}
-
-/**
- * @brief Get field xacc from hil_state_quaternion message
- *
- * @return X acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  58);
-}
-
-/**
- * @brief Get field yacc from hil_state_quaternion message
- *
- * @return Y acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  60);
-}
-
-/**
- * @brief Get field zacc from hil_state_quaternion message
- *
- * @return Z acceleration (mg)
- */
-static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  62);
-}
-
-/**
- * @brief Decode a hil_state_quaternion message into a struct
- *
- * @param msg The message to decode
- * @param hil_state_quaternion C-struct to decode the message contents into
- */
-static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
-	mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
-	hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
-	hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
-	hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
-	hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
-	hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
-	hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
-	hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
-	hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
-	hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
-	hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
-	hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
-	hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
-	hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
-	hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
-#else
-	memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h
deleted file mode 100644
index a0b72c0e1..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE LOCAL_POSITION_NED PACKING
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
-
-typedef struct __mavlink_local_position_ned_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float x; ///< X Position
- float y; ///< Y Position
- float z; ///< Z Position
- float vx; ///< X Speed
- float vy; ///< Y Speed
- float vz; ///< Z Speed
-} mavlink_local_position_ned_t;
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
-#define MAVLINK_MSG_ID_32_LEN 28
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185
-#define MAVLINK_MSG_ID_32_CRC 185
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
-	"LOCAL_POSITION_NED", \
-	7, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
-         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
-         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
-         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a local_position_ned 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param vx X Speed
- * @param vy Y Speed
- * @param vz Z Speed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, x);
-	_mav_put_float(buf, 8, y);
-	_mav_put_float(buf, 12, z);
-	_mav_put_float(buf, 16, vx);
-	_mav_put_float(buf, 20, vy);
-	_mav_put_float(buf, 24, vz);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#else
-	mavlink_local_position_ned_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-}
-
-/**
- * @brief Pack a local_position_ned 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param vx X Speed
- * @param vy Y Speed
- * @param vz Z Speed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, x);
-	_mav_put_float(buf, 8, y);
-	_mav_put_float(buf, 12, z);
-	_mav_put_float(buf, 16, vx);
-	_mav_put_float(buf, 20, vy);
-	_mav_put_float(buf, 24, vz);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#else
-	mavlink_local_position_ned_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-}
-
-/**
- * @brief Encode a local_position_ned struct
- *
- * @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 local_position_ned C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
-{
-	return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
-}
-
-/**
- * @brief Encode a local_position_ned struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param local_position_ned C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
-{
-	return mavlink_msg_local_position_ned_pack_chan(system_id, component_id, chan, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
-}
-
-/**
- * @brief Send a local_position_ned message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param vx X Speed
- * @param vy Y Speed
- * @param vz Z Speed
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, x);
-	_mav_put_float(buf, 8, y);
-	_mav_put_float(buf, 12, z);
-	_mav_put_float(buf, 16, vx);
-	_mav_put_float(buf, 20, vy);
-	_mav_put_float(buf, 24, vz);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-#else
-	mavlink_local_position_ned_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.vx = vx;
-	packet.vy = vy;
-	packet.vz = vz;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOCAL_POSITION_NED UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from local_position_ned message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field x from local_position_ned message
- *
- * @return X Position
- */
-static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field y from local_position_ned message
- *
- * @return Y Position
- */
-static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field z from local_position_ned message
- *
- * @return Z Position
- */
-static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field vx from local_position_ned message
- *
- * @return X Speed
- */
-static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field vy from local_position_ned message
- *
- * @return Y Speed
- */
-static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field vz from local_position_ned message
- *
- * @return Z Speed
- */
-static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a local_position_ned message into a struct
- *
- * @param msg The message to decode
- * @param local_position_ned C-struct to decode the message contents into
- */
-static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
-	local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg);
-	local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg);
-	local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg);
-	local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
-	local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
-	local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
-#else
-	memcpy(local_position_ned, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h
deleted file mode 100644
index 8c4686202..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_ned_system_global_offset.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET PACKING
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET 89
-
-typedef struct __mavlink_local_position_ned_system_global_offset_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float x; ///< X Position
- float y; ///< Y Position
- float z; ///< Z Position
- float roll; ///< Roll
- float pitch; ///< Pitch
- float yaw; ///< Yaw
-} mavlink_local_position_ned_system_global_offset_t;
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN 28
-#define MAVLINK_MSG_ID_89_LEN 28
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC 231
-#define MAVLINK_MSG_ID_89_CRC 231
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET { \
-	"LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET", \
-	7, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_system_global_offset_t, time_boot_ms) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_system_global_offset_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_system_global_offset_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_system_global_offset_t, z) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_system_global_offset_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_system_global_offset_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_system_global_offset_t, yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a local_position_ned_system_global_offset 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param roll Roll
- * @param pitch Pitch
- * @param yaw Yaw
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, x);
-	_mav_put_float(buf, 8, y);
-	_mav_put_float(buf, 12, z);
-	_mav_put_float(buf, 16, roll);
-	_mav_put_float(buf, 20, pitch);
-	_mav_put_float(buf, 24, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#else
-	mavlink_local_position_ned_system_global_offset_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-}
-
-/**
- * @brief Pack a local_position_ned_system_global_offset 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param roll Roll
- * @param pitch Pitch
- * @param yaw Yaw
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float x,float y,float z,float roll,float pitch,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, x);
-	_mav_put_float(buf, 8, y);
-	_mav_put_float(buf, 12, z);
-	_mav_put_float(buf, 16, roll);
-	_mav_put_float(buf, 20, pitch);
-	_mav_put_float(buf, 24, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#else
-	mavlink_local_position_ned_system_global_offset_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-}
-
-/**
- * @brief Encode a local_position_ned_system_global_offset struct
- *
- * @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 local_position_ned_system_global_offset C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_system_global_offset_t* local_position_ned_system_global_offset)
-{
-	return mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, msg, local_position_ned_system_global_offset->time_boot_ms, local_position_ned_system_global_offset->x, local_position_ned_system_global_offset->y, local_position_ned_system_global_offset->z, local_position_ned_system_global_offset->roll, local_position_ned_system_global_offset->pitch, local_position_ned_system_global_offset->yaw);
-}
-
-/**
- * @brief Encode a local_position_ned_system_global_offset struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param local_position_ned_system_global_offset C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_ned_system_global_offset_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_system_global_offset_t* local_position_ned_system_global_offset)
-{
-	return mavlink_msg_local_position_ned_system_global_offset_pack_chan(system_id, component_id, chan, msg, local_position_ned_system_global_offset->time_boot_ms, local_position_ned_system_global_offset->x, local_position_ned_system_global_offset->y, local_position_ned_system_global_offset->z, local_position_ned_system_global_offset->roll, local_position_ned_system_global_offset->pitch, local_position_ned_system_global_offset->yaw);
-}
-
-/**
- * @brief Send a local_position_ned_system_global_offset message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param roll Roll
- * @param pitch Pitch
- * @param yaw Yaw
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_local_position_ned_system_global_offset_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, x);
-	_mav_put_float(buf, 8, y);
-	_mav_put_float(buf, 12, z);
-	_mav_put_float(buf, 16, roll);
-	_mav_put_float(buf, 20, pitch);
-	_mav_put_float(buf, 24, yaw);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-#else
-	mavlink_local_position_ned_system_global_offset_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from local_position_ned_system_global_offset message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_local_position_ned_system_global_offset_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field x from local_position_ned_system_global_offset message
- *
- * @return X Position
- */
-static inline float mavlink_msg_local_position_ned_system_global_offset_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field y from local_position_ned_system_global_offset message
- *
- * @return Y Position
- */
-static inline float mavlink_msg_local_position_ned_system_global_offset_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field z from local_position_ned_system_global_offset message
- *
- * @return Z Position
- */
-static inline float mavlink_msg_local_position_ned_system_global_offset_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field roll from local_position_ned_system_global_offset message
- *
- * @return Roll
- */
-static inline float mavlink_msg_local_position_ned_system_global_offset_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field pitch from local_position_ned_system_global_offset message
- *
- * @return Pitch
- */
-static inline float mavlink_msg_local_position_ned_system_global_offset_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field yaw from local_position_ned_system_global_offset message
- *
- * @return Yaw
- */
-static inline float mavlink_msg_local_position_ned_system_global_offset_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a local_position_ned_system_global_offset message into a struct
- *
- * @param msg The message to decode
- * @param local_position_ned_system_global_offset C-struct to decode the message contents into
- */
-static inline void mavlink_msg_local_position_ned_system_global_offset_decode(const mavlink_message_t* msg, mavlink_local_position_ned_system_global_offset_t* local_position_ned_system_global_offset)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	local_position_ned_system_global_offset->time_boot_ms = mavlink_msg_local_position_ned_system_global_offset_get_time_boot_ms(msg);
-	local_position_ned_system_global_offset->x = mavlink_msg_local_position_ned_system_global_offset_get_x(msg);
-	local_position_ned_system_global_offset->y = mavlink_msg_local_position_ned_system_global_offset_get_y(msg);
-	local_position_ned_system_global_offset->z = mavlink_msg_local_position_ned_system_global_offset_get_z(msg);
-	local_position_ned_system_global_offset->roll = mavlink_msg_local_position_ned_system_global_offset_get_roll(msg);
-	local_position_ned_system_global_offset->pitch = mavlink_msg_local_position_ned_system_global_offset_get_pitch(msg);
-	local_position_ned_system_global_offset->yaw = mavlink_msg_local_position_ned_system_global_offset_get_yaw(msg);
-#else
-	memcpy(local_position_ned_system_global_offset, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h
deleted file mode 100644
index 1794815f8..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_local_position_setpoint.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE LOCAL_POSITION_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
-
-typedef struct __mavlink_local_position_setpoint_t
-{
- float x; ///< x position
- float y; ///< y position
- float z; ///< z position
- float yaw; ///< Desired yaw angle
- uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
-} mavlink_local_position_setpoint_t;
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 17
-#define MAVLINK_MSG_ID_51_LEN 17
-
-#define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC 223
-#define MAVLINK_MSG_ID_51_CRC 223
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT { \
-	"LOCAL_POSITION_SETPOINT", \
-	5, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
-         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_t, coordinate_frame) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a local_position_setpoint 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t coordinate_frame, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#else
-	mavlink_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a local_position_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t coordinate_frame,float x,float y,float z,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#else
-	mavlink_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a local_position_setpoint struct
- *
- * @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 local_position_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
-{
-	return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
-}
-
-/**
- * @brief Encode a local_position_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param local_position_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_local_position_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_setpoint_t* local_position_setpoint)
-{
-	return mavlink_msg_local_position_setpoint_pack_chan(system_id, component_id, chan, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
-}
-
-/**
- * @brief Send a local_position_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, coordinate_frame);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-#else
-	mavlink_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field coordinate_frame from local_position_setpoint message
- *
- * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- */
-static inline uint8_t mavlink_msg_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field x from local_position_setpoint message
- *
- * @return x position
- */
-static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from local_position_setpoint message
- *
- * @return y position
- */
-static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from local_position_setpoint message
- *
- * @return z position
- */
-static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from local_position_setpoint message
- *
- * @return Desired yaw angle
- */
-static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a local_position_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param local_position_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_local_position_setpoint_t* local_position_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	local_position_setpoint->x = mavlink_msg_local_position_setpoint_get_x(msg);
-	local_position_setpoint->y = mavlink_msg_local_position_setpoint_get_y(msg);
-	local_position_setpoint->z = mavlink_msg_local_position_setpoint_get_z(msg);
-	local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
-	local_position_setpoint->coordinate_frame = mavlink_msg_local_position_setpoint_get_coordinate_frame(msg);
-#else
-	memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h
deleted file mode 100644
index 1cf5d15e4..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_data.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// MESSAGE LOG_DATA PACKING
-
-#define MAVLINK_MSG_ID_LOG_DATA 120
-
-typedef struct __mavlink_log_data_t
-{
- uint32_t ofs; ///< Offset into the log
- uint16_t id; ///< Log id (from LOG_ENTRY reply)
- uint8_t count; ///< Number of bytes (zero for end of log)
- uint8_t data[90]; ///< log data
-} mavlink_log_data_t;
-
-#define MAVLINK_MSG_ID_LOG_DATA_LEN 97
-#define MAVLINK_MSG_ID_120_LEN 97
-
-#define MAVLINK_MSG_ID_LOG_DATA_CRC 134
-#define MAVLINK_MSG_ID_120_CRC 134
-
-#define MAVLINK_MSG_LOG_DATA_FIELD_DATA_LEN 90
-
-#define MAVLINK_MESSAGE_INFO_LOG_DATA { \
-	"LOG_DATA", \
-	4, \
-	{  { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_data_t, ofs) }, \
-         { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_log_data_t, id) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_log_data_t, count) }, \
-         { "data", NULL, MAVLINK_TYPE_UINT8_T, 90, 7, offsetof(mavlink_log_data_t, data) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a log_data 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 id Log id (from LOG_ENTRY reply)
- * @param ofs Offset into the log
- * @param count Number of bytes (zero for end of log)
- * @param data log data
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
-	_mav_put_uint32_t(buf, 0, ofs);
-	_mav_put_uint16_t(buf, 4, id);
-	_mav_put_uint8_t(buf, 6, count);
-	_mav_put_uint8_t_array(buf, 7, data, 90);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#else
-	mavlink_log_data_t packet;
-	packet.ofs = ofs;
-	packet.id = id;
-	packet.count = count;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Pack a log_data 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param id Log id (from LOG_ENTRY reply)
- * @param ofs Offset into the log
- * @param count Number of bytes (zero for end of log)
- * @param data log data
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t id,uint32_t ofs,uint8_t count,const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
-	_mav_put_uint32_t(buf, 0, ofs);
-	_mav_put_uint16_t(buf, 4, id);
-	_mav_put_uint8_t(buf, 6, count);
-	_mav_put_uint8_t_array(buf, 7, data, 90);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#else
-	mavlink_log_data_t packet;
-	packet.ofs = ofs;
-	packet.id = id;
-	packet.count = count;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Encode a log_data struct
- *
- * @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 log_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
-{
-	return mavlink_msg_log_data_pack(system_id, component_id, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
-}
-
-/**
- * @brief Encode a log_data struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param log_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_data_t* log_data)
-{
-	return mavlink_msg_log_data_pack_chan(system_id, component_id, chan, msg, log_data->id, log_data->ofs, log_data->count, log_data->data);
-}
-
-/**
- * @brief Send a log_data message
- * @param chan MAVLink channel to send the message
- *
- * @param id Log id (from LOG_ENTRY reply)
- * @param ofs Offset into the log
- * @param count Number of bytes (zero for end of log)
- * @param data log data
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_log_data_send(mavlink_channel_t chan, uint16_t id, uint32_t ofs, uint8_t count, const uint8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_DATA_LEN];
-	_mav_put_uint32_t(buf, 0, ofs);
-	_mav_put_uint16_t(buf, 4, id);
-	_mav_put_uint8_t(buf, 6, count);
-	_mav_put_uint8_t_array(buf, 7, data, 90);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, buf, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-#else
-	mavlink_log_data_t packet;
-	packet.ofs = ofs;
-	packet.id = id;
-	packet.count = count;
-	mav_array_memcpy(packet.data, data, sizeof(uint8_t)*90);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN, MAVLINK_MSG_ID_LOG_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOG_DATA UNPACKING
-
-
-/**
- * @brief Get field id from log_data message
- *
- * @return Log id (from LOG_ENTRY reply)
- */
-static inline uint16_t mavlink_msg_log_data_get_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field ofs from log_data message
- *
- * @return Offset into the log
- */
-static inline uint32_t mavlink_msg_log_data_get_ofs(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field count from log_data message
- *
- * @return Number of bytes (zero for end of log)
- */
-static inline uint8_t mavlink_msg_log_data_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field data from log_data message
- *
- * @return log data
- */
-static inline uint16_t mavlink_msg_log_data_get_data(const mavlink_message_t* msg, uint8_t *data)
-{
-	return _MAV_RETURN_uint8_t_array(msg, data, 90,  7);
-}
-
-/**
- * @brief Decode a log_data message into a struct
- *
- * @param msg The message to decode
- * @param log_data C-struct to decode the message contents into
- */
-static inline void mavlink_msg_log_data_decode(const mavlink_message_t* msg, mavlink_log_data_t* log_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	log_data->ofs = mavlink_msg_log_data_get_ofs(msg);
-	log_data->id = mavlink_msg_log_data_get_id(msg);
-	log_data->count = mavlink_msg_log_data_get_count(msg);
-	mavlink_msg_log_data_get_data(msg, log_data->data);
-#else
-	memcpy(log_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_DATA_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h
deleted file mode 100644
index 681d8f07c..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_entry.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE LOG_ENTRY PACKING
-
-#define MAVLINK_MSG_ID_LOG_ENTRY 118
-
-typedef struct __mavlink_log_entry_t
-{
- uint32_t time_utc; ///< UTC timestamp of log in seconds since 1970, or 0 if not available
- uint32_t size; ///< Size of the log (may be approximate) in bytes
- uint16_t id; ///< Log id
- uint16_t num_logs; ///< Total number of logs
- uint16_t last_log_num; ///< High log number
-} mavlink_log_entry_t;
-
-#define MAVLINK_MSG_ID_LOG_ENTRY_LEN 14
-#define MAVLINK_MSG_ID_118_LEN 14
-
-#define MAVLINK_MSG_ID_LOG_ENTRY_CRC 56
-#define MAVLINK_MSG_ID_118_CRC 56
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOG_ENTRY { \
-	"LOG_ENTRY", \
-	5, \
-	{  { "time_utc", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_entry_t, time_utc) }, \
-         { "size", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_log_entry_t, size) }, \
-         { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_log_entry_t, id) }, \
-         { "num_logs", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_log_entry_t, num_logs) }, \
-         { "last_log_num", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_log_entry_t, last_log_num) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a log_entry 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 id Log id
- * @param num_logs Total number of logs
- * @param last_log_num High log number
- * @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available
- * @param size Size of the log (may be approximate) in bytes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_entry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN];
-	_mav_put_uint32_t(buf, 0, time_utc);
-	_mav_put_uint32_t(buf, 4, size);
-	_mav_put_uint16_t(buf, 8, id);
-	_mav_put_uint16_t(buf, 10, num_logs);
-	_mav_put_uint16_t(buf, 12, last_log_num);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#else
-	mavlink_log_entry_t packet;
-	packet.time_utc = time_utc;
-	packet.size = size;
-	packet.id = id;
-	packet.num_logs = num_logs;
-	packet.last_log_num = last_log_num;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_ENTRY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-}
-
-/**
- * @brief Pack a log_entry 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param id Log id
- * @param num_logs Total number of logs
- * @param last_log_num High log number
- * @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available
- * @param size Size of the log (may be approximate) in bytes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_entry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t id,uint16_t num_logs,uint16_t last_log_num,uint32_t time_utc,uint32_t size)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN];
-	_mav_put_uint32_t(buf, 0, time_utc);
-	_mav_put_uint32_t(buf, 4, size);
-	_mav_put_uint16_t(buf, 8, id);
-	_mav_put_uint16_t(buf, 10, num_logs);
-	_mav_put_uint16_t(buf, 12, last_log_num);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#else
-	mavlink_log_entry_t packet;
-	packet.time_utc = time_utc;
-	packet.size = size;
-	packet.id = id;
-	packet.num_logs = num_logs;
-	packet.last_log_num = last_log_num;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_ENTRY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-}
-
-/**
- * @brief Encode a log_entry struct
- *
- * @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 log_entry C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_entry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_entry_t* log_entry)
-{
-	return mavlink_msg_log_entry_pack(system_id, component_id, msg, log_entry->id, log_entry->num_logs, log_entry->last_log_num, log_entry->time_utc, log_entry->size);
-}
-
-/**
- * @brief Encode a log_entry struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param log_entry C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_entry_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_entry_t* log_entry)
-{
-	return mavlink_msg_log_entry_pack_chan(system_id, component_id, chan, msg, log_entry->id, log_entry->num_logs, log_entry->last_log_num, log_entry->time_utc, log_entry->size);
-}
-
-/**
- * @brief Send a log_entry message
- * @param chan MAVLink channel to send the message
- *
- * @param id Log id
- * @param num_logs Total number of logs
- * @param last_log_num High log number
- * @param time_utc UTC timestamp of log in seconds since 1970, or 0 if not available
- * @param size Size of the log (may be approximate) in bytes
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_log_entry_send(mavlink_channel_t chan, uint16_t id, uint16_t num_logs, uint16_t last_log_num, uint32_t time_utc, uint32_t size)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_ENTRY_LEN];
-	_mav_put_uint32_t(buf, 0, time_utc);
-	_mav_put_uint32_t(buf, 4, size);
-	_mav_put_uint16_t(buf, 8, id);
-	_mav_put_uint16_t(buf, 10, num_logs);
-	_mav_put_uint16_t(buf, 12, last_log_num);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, buf, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-#else
-	mavlink_log_entry_t packet;
-	packet.time_utc = time_utc;
-	packet.size = size;
-	packet.id = id;
-	packet.num_logs = num_logs;
-	packet.last_log_num = last_log_num;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)&packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN, MAVLINK_MSG_ID_LOG_ENTRY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ENTRY, (const char *)&packet, MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOG_ENTRY UNPACKING
-
-
-/**
- * @brief Get field id from log_entry message
- *
- * @return Log id
- */
-static inline uint16_t mavlink_msg_log_entry_get_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field num_logs from log_entry message
- *
- * @return Total number of logs
- */
-static inline uint16_t mavlink_msg_log_entry_get_num_logs(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field last_log_num from log_entry message
- *
- * @return High log number
- */
-static inline uint16_t mavlink_msg_log_entry_get_last_log_num(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field time_utc from log_entry message
- *
- * @return UTC timestamp of log in seconds since 1970, or 0 if not available
- */
-static inline uint32_t mavlink_msg_log_entry_get_time_utc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field size from log_entry message
- *
- * @return Size of the log (may be approximate) in bytes
- */
-static inline uint32_t mavlink_msg_log_entry_get_size(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  4);
-}
-
-/**
- * @brief Decode a log_entry message into a struct
- *
- * @param msg The message to decode
- * @param log_entry C-struct to decode the message contents into
- */
-static inline void mavlink_msg_log_entry_decode(const mavlink_message_t* msg, mavlink_log_entry_t* log_entry)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	log_entry->time_utc = mavlink_msg_log_entry_get_time_utc(msg);
-	log_entry->size = mavlink_msg_log_entry_get_size(msg);
-	log_entry->id = mavlink_msg_log_entry_get_id(msg);
-	log_entry->num_logs = mavlink_msg_log_entry_get_num_logs(msg);
-	log_entry->last_log_num = mavlink_msg_log_entry_get_last_log_num(msg);
-#else
-	memcpy(log_entry, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_ENTRY_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h
deleted file mode 100644
index feafeaf16..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_erase.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE LOG_ERASE PACKING
-
-#define MAVLINK_MSG_ID_LOG_ERASE 121
-
-typedef struct __mavlink_log_erase_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_log_erase_t;
-
-#define MAVLINK_MSG_ID_LOG_ERASE_LEN 2
-#define MAVLINK_MSG_ID_121_LEN 2
-
-#define MAVLINK_MSG_ID_LOG_ERASE_CRC 237
-#define MAVLINK_MSG_ID_121_CRC 237
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOG_ERASE { \
-	"LOG_ERASE", \
-	2, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_log_erase_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_log_erase_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a log_erase 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 target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_erase_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#else
-	mavlink_log_erase_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_ERASE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a log_erase 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_erase_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#else
-	mavlink_log_erase_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_ERASE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a log_erase struct
- *
- * @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 log_erase C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_erase_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_erase_t* log_erase)
-{
-	return mavlink_msg_log_erase_pack(system_id, component_id, msg, log_erase->target_system, log_erase->target_component);
-}
-
-/**
- * @brief Encode a log_erase struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param log_erase C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_erase_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_erase_t* log_erase)
-{
-	return mavlink_msg_log_erase_pack_chan(system_id, component_id, chan, msg, log_erase->target_system, log_erase->target_component);
-}
-
-/**
- * @brief Send a log_erase message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_log_erase_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_ERASE_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, buf, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-#else
-	mavlink_log_erase_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)&packet, MAVLINK_MSG_ID_LOG_ERASE_LEN, MAVLINK_MSG_ID_LOG_ERASE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_ERASE, (const char *)&packet, MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOG_ERASE UNPACKING
-
-
-/**
- * @brief Get field target_system from log_erase message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_log_erase_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from log_erase message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_log_erase_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a log_erase message into a struct
- *
- * @param msg The message to decode
- * @param log_erase C-struct to decode the message contents into
- */
-static inline void mavlink_msg_log_erase_decode(const mavlink_message_t* msg, mavlink_log_erase_t* log_erase)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	log_erase->target_system = mavlink_msg_log_erase_get_target_system(msg);
-	log_erase->target_component = mavlink_msg_log_erase_get_target_component(msg);
-#else
-	memcpy(log_erase, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_ERASE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h
deleted file mode 100644
index 5be9eea47..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_data.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE LOG_REQUEST_DATA PACKING
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_DATA 119
-
-typedef struct __mavlink_log_request_data_t
-{
- uint32_t ofs; ///< Offset into the log
- uint32_t count; ///< Number of bytes
- uint16_t id; ///< Log id (from LOG_ENTRY reply)
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_log_request_data_t;
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN 12
-#define MAVLINK_MSG_ID_119_LEN 12
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC 116
-#define MAVLINK_MSG_ID_119_CRC 116
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA { \
-	"LOG_REQUEST_DATA", \
-	5, \
-	{  { "ofs", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_log_request_data_t, ofs) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_log_request_data_t, count) }, \
-         { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_log_request_data_t, id) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_log_request_data_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_log_request_data_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a log_request_data 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 target_system System ID
- * @param target_component Component ID
- * @param id Log id (from LOG_ENTRY reply)
- * @param ofs Offset into the log
- * @param count Number of bytes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_request_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN];
-	_mav_put_uint32_t(buf, 0, ofs);
-	_mav_put_uint32_t(buf, 4, count);
-	_mav_put_uint16_t(buf, 8, id);
-	_mav_put_uint8_t(buf, 10, target_system);
-	_mav_put_uint8_t(buf, 11, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#else
-	mavlink_log_request_data_t packet;
-	packet.ofs = ofs;
-	packet.count = count;
-	packet.id = id;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Pack a log_request_data 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param id Log id (from LOG_ENTRY reply)
- * @param ofs Offset into the log
- * @param count Number of bytes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_request_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t id,uint32_t ofs,uint32_t count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN];
-	_mav_put_uint32_t(buf, 0, ofs);
-	_mav_put_uint32_t(buf, 4, count);
-	_mav_put_uint16_t(buf, 8, id);
-	_mav_put_uint8_t(buf, 10, target_system);
-	_mav_put_uint8_t(buf, 11, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#else
-	mavlink_log_request_data_t packet;
-	packet.ofs = ofs;
-	packet.count = count;
-	packet.id = id;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_DATA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-}
-
-/**
- * @brief Encode a log_request_data struct
- *
- * @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 log_request_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_request_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_data_t* log_request_data)
-{
-	return mavlink_msg_log_request_data_pack(system_id, component_id, msg, log_request_data->target_system, log_request_data->target_component, log_request_data->id, log_request_data->ofs, log_request_data->count);
-}
-
-/**
- * @brief Encode a log_request_data struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param log_request_data C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_request_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_data_t* log_request_data)
-{
-	return mavlink_msg_log_request_data_pack_chan(system_id, component_id, chan, msg, log_request_data->target_system, log_request_data->target_component, log_request_data->id, log_request_data->ofs, log_request_data->count);
-}
-
-/**
- * @brief Send a log_request_data message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param id Log id (from LOG_ENTRY reply)
- * @param ofs Offset into the log
- * @param count Number of bytes
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_log_request_data_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t id, uint32_t ofs, uint32_t count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN];
-	_mav_put_uint32_t(buf, 0, ofs);
-	_mav_put_uint32_t(buf, 4, count);
-	_mav_put_uint16_t(buf, 8, id);
-	_mav_put_uint8_t(buf, 10, target_system);
-	_mav_put_uint8_t(buf, 11, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, buf, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-#else
-	mavlink_log_request_data_t packet;
-	packet.ofs = ofs;
-	packet.count = count;
-	packet.id = id;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN, MAVLINK_MSG_ID_LOG_REQUEST_DATA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOG_REQUEST_DATA UNPACKING
-
-
-/**
- * @brief Get field target_system from log_request_data message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_log_request_data_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field target_component from log_request_data message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_log_request_data_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field id from log_request_data message
- *
- * @return Log id (from LOG_ENTRY reply)
- */
-static inline uint16_t mavlink_msg_log_request_data_get_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field ofs from log_request_data message
- *
- * @return Offset into the log
- */
-static inline uint32_t mavlink_msg_log_request_data_get_ofs(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field count from log_request_data message
- *
- * @return Number of bytes
- */
-static inline uint32_t mavlink_msg_log_request_data_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  4);
-}
-
-/**
- * @brief Decode a log_request_data message into a struct
- *
- * @param msg The message to decode
- * @param log_request_data C-struct to decode the message contents into
- */
-static inline void mavlink_msg_log_request_data_decode(const mavlink_message_t* msg, mavlink_log_request_data_t* log_request_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	log_request_data->ofs = mavlink_msg_log_request_data_get_ofs(msg);
-	log_request_data->count = mavlink_msg_log_request_data_get_count(msg);
-	log_request_data->id = mavlink_msg_log_request_data_get_id(msg);
-	log_request_data->target_system = mavlink_msg_log_request_data_get_target_system(msg);
-	log_request_data->target_component = mavlink_msg_log_request_data_get_target_component(msg);
-#else
-	memcpy(log_request_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_DATA_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h
deleted file mode 100644
index 48a5a03b4..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_end.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE LOG_REQUEST_END PACKING
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_END 122
-
-typedef struct __mavlink_log_request_end_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_log_request_end_t;
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_END_LEN 2
-#define MAVLINK_MSG_ID_122_LEN 2
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_END_CRC 203
-#define MAVLINK_MSG_ID_122_CRC 203
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_END { \
-	"LOG_REQUEST_END", \
-	2, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_log_request_end_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_log_request_end_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a log_request_end 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 target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_request_end_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#else
-	mavlink_log_request_end_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_END;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-}
-
-/**
- * @brief Pack a log_request_end 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_request_end_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#else
-	mavlink_log_request_end_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_END;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-}
-
-/**
- * @brief Encode a log_request_end struct
- *
- * @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 log_request_end C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_request_end_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_end_t* log_request_end)
-{
-	return mavlink_msg_log_request_end_pack(system_id, component_id, msg, log_request_end->target_system, log_request_end->target_component);
-}
-
-/**
- * @brief Encode a log_request_end struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param log_request_end C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_request_end_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_end_t* log_request_end)
-{
-	return mavlink_msg_log_request_end_pack_chan(system_id, component_id, chan, msg, log_request_end->target_system, log_request_end->target_component);
-}
-
-/**
- * @brief Send a log_request_end message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_log_request_end_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_END_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, buf, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-#else
-	mavlink_log_request_end_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN, MAVLINK_MSG_ID_LOG_REQUEST_END_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_END, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOG_REQUEST_END UNPACKING
-
-
-/**
- * @brief Get field target_system from log_request_end message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_log_request_end_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from log_request_end message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_log_request_end_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a log_request_end message into a struct
- *
- * @param msg The message to decode
- * @param log_request_end C-struct to decode the message contents into
- */
-static inline void mavlink_msg_log_request_end_decode(const mavlink_message_t* msg, mavlink_log_request_end_t* log_request_end)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	log_request_end->target_system = mavlink_msg_log_request_end_get_target_system(msg);
-	log_request_end->target_component = mavlink_msg_log_request_end_get_target_component(msg);
-#else
-	memcpy(log_request_end, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_END_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h
deleted file mode 100644
index 7a5b25c17..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_log_request_list.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE LOG_REQUEST_LIST PACKING
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_LIST 117
-
-typedef struct __mavlink_log_request_list_t
-{
- uint16_t start; ///< First log id (0 for first available)
- uint16_t end; ///< Last log id (0xffff for last available)
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_log_request_list_t;
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN 6
-#define MAVLINK_MSG_ID_117_LEN 6
-
-#define MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC 128
-#define MAVLINK_MSG_ID_117_CRC 128
-
-
-
-#define MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST { \
-	"LOG_REQUEST_LIST", \
-	4, \
-	{  { "start", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_log_request_list_t, start) }, \
-         { "end", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_log_request_list_t, end) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_log_request_list_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_log_request_list_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a log_request_list 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 target_system System ID
- * @param target_component Component ID
- * @param start First log id (0 for first available)
- * @param end Last log id (0xffff for last available)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN];
-	_mav_put_uint16_t(buf, 0, start);
-	_mav_put_uint16_t(buf, 2, end);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#else
-	mavlink_log_request_list_t packet;
-	packet.start = start;
-	packet.end = end;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a log_request_list 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param start First log id (0 for first available)
- * @param end Last log id (0xffff for last available)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_log_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t start,uint16_t end)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN];
-	_mav_put_uint16_t(buf, 0, start);
-	_mav_put_uint16_t(buf, 2, end);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#else
-	mavlink_log_request_list_t packet;
-	packet.start = start;
-	packet.end = end;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LOG_REQUEST_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a log_request_list struct
- *
- * @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 log_request_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_log_request_list_t* log_request_list)
-{
-	return mavlink_msg_log_request_list_pack(system_id, component_id, msg, log_request_list->target_system, log_request_list->target_component, log_request_list->start, log_request_list->end);
-}
-
-/**
- * @brief Encode a log_request_list struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param log_request_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_log_request_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_log_request_list_t* log_request_list)
-{
-	return mavlink_msg_log_request_list_pack_chan(system_id, component_id, chan, msg, log_request_list->target_system, log_request_list->target_component, log_request_list->start, log_request_list->end);
-}
-
-/**
- * @brief Send a log_request_list message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param start First log id (0 for first available)
- * @param end Last log id (0xffff for last available)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_log_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t start, uint16_t end)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN];
-	_mav_put_uint16_t(buf, 0, start);
-	_mav_put_uint16_t(buf, 2, end);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, buf, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-#else
-	mavlink_log_request_list_t packet;
-	packet.start = start;
-	packet.end = end;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN, MAVLINK_MSG_ID_LOG_REQUEST_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOG_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LOG_REQUEST_LIST UNPACKING
-
-
-/**
- * @brief Get field target_system from log_request_list message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_log_request_list_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from log_request_list message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_log_request_list_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field start from log_request_list message
- *
- * @return First log id (0 for first available)
- */
-static inline uint16_t mavlink_msg_log_request_list_get_start(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field end from log_request_list message
- *
- * @return Last log id (0xffff for last available)
- */
-static inline uint16_t mavlink_msg_log_request_list_get_end(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a log_request_list message into a struct
- *
- * @param msg The message to decode
- * @param log_request_list C-struct to decode the message contents into
- */
-static inline void mavlink_msg_log_request_list_decode(const mavlink_message_t* msg, mavlink_log_request_list_t* log_request_list)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	log_request_list->start = mavlink_msg_log_request_list_get_start(msg);
-	log_request_list->end = mavlink_msg_log_request_list_get_end(msg);
-	log_request_list->target_system = mavlink_msg_log_request_list_get_target_system(msg);
-	log_request_list->target_component = mavlink_msg_log_request_list_get_target_component(msg);
-#else
-	memcpy(log_request_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOG_REQUEST_LIST_LEN);
-#endif
-}
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
deleted file mode 100644
index 6b6e9e148..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_control.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE MANUAL_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_MANUAL_CONTROL 69
-
-typedef struct __mavlink_manual_control_t
-{
- 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 11
-#define MAVLINK_MSG_ID_69_LEN 11
-
-#define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243
-#define MAVLINK_MSG_ID_69_CRC 243
-
-
-
-#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
-	"MANUAL_CONTROL", \
-	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) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a manual_control 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 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, 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[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
-	_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, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#else
-	mavlink_manual_control_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.r = r;
-	packet.buttons = buttons;
-	packet.target = target;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a manual_control 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @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,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[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
-	_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, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#else
-	mavlink_manual_control_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.r = r;
-	packet.buttons = buttons;
-	packet.target = target;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a manual_control struct
- *
- * @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 manual_control C-struct to read the message contents from
- */
-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->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
-}
-
-/**
- * @brief Encode a manual_control struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param manual_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
-{
-	return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, 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 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, 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[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
-	_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);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-#else
-	mavlink_manual_control_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.r = r;
-	packet.buttons = buttons;
-	packet.target = target;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MANUAL_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target from manual_control message
- *
- * @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,  10);
-}
-
-/**
- * @brief Get field x from manual_control message
- *
- * @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 int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Get field y from manual_control message
- *
- * @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 int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Get field z from manual_control message
- *
- * @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 int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field r from manual_control message
- *
- * @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 int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Get field buttons from manual_control message
- *
- * @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 uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Decode a manual_control message into a struct
- *
- * @param msg The message to decode
- * @param manual_control C-struct to decode the message contents into
- */
-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->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);
-#else
-	memcpy(manual_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h
deleted file mode 100644
index a694947c1..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_manual_setpoint.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE MANUAL_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_MANUAL_SETPOINT 81
-
-typedef struct __mavlink_manual_setpoint_t
-{
- uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
- float roll; ///< Desired roll rate in radians per second
- float pitch; ///< Desired pitch rate in radians per second
- float yaw; ///< Desired yaw rate in radians per second
- float thrust; ///< Collective thrust, normalized to 0 .. 1
- uint8_t mode_switch; ///< Flight mode switch position, 0.. 255
- uint8_t manual_override_switch; ///< Override mode switch position, 0.. 255
-} mavlink_manual_setpoint_t;
-
-#define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22
-#define MAVLINK_MSG_ID_81_LEN 22
-
-#define MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC 106
-#define MAVLINK_MSG_ID_81_CRC 106
-
-
-
-#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
-	"MANUAL_SETPOINT", \
-	7, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
-         { "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
-         { "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a manual_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
- * @param roll Desired roll rate in radians per second
- * @param pitch Desired pitch rate in radians per second
- * @param yaw Desired yaw rate in radians per second
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @param mode_switch Flight mode switch position, 0.. 255
- * @param manual_override_switch Override mode switch position, 0.. 255
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, thrust);
-	_mav_put_uint8_t(buf, 20, mode_switch);
-	_mav_put_uint8_t(buf, 21, manual_override_switch);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#else
-	mavlink_manual_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.mode_switch = mode_switch;
-	packet.manual_override_switch = manual_override_switch;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a manual_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll Desired roll rate in radians per second
- * @param pitch Desired pitch rate in radians per second
- * @param yaw Desired yaw rate in radians per second
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @param mode_switch Flight mode switch position, 0.. 255
- * @param manual_override_switch Override mode switch position, 0.. 255
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_manual_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, thrust);
-	_mav_put_uint8_t(buf, 20, mode_switch);
-	_mav_put_uint8_t(buf, 21, manual_override_switch);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#else
-	mavlink_manual_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.mode_switch = mode_switch;
-	packet.manual_override_switch = manual_override_switch;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a manual_setpoint struct
- *
- * @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 manual_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
-{
-	return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
-}
-
-/**
- * @brief Encode a manual_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param manual_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_manual_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
-{
-	return mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, chan, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
-}
-
-/**
- * @brief Send a manual_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll Desired roll rate in radians per second
- * @param pitch Desired pitch rate in radians per second
- * @param yaw Desired yaw rate in radians per second
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @param mode_switch Flight mode switch position, 0.. 255
- * @param manual_override_switch Override mode switch position, 0.. 255
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, thrust);
-	_mav_put_uint8_t(buf, 20, mode_switch);
-	_mav_put_uint8_t(buf, 21, manual_override_switch);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-#else
-	mavlink_manual_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.mode_switch = mode_switch;
-	packet.manual_override_switch = manual_override_switch;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN, MAVLINK_MSG_ID_MANUAL_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MANUAL_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from manual_setpoint message
- *
- * @return Timestamp in milliseconds since system boot
- */
-static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field roll from manual_setpoint message
- *
- * @return Desired roll rate in radians per second
- */
-static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field pitch from manual_setpoint message
- *
- * @return Desired pitch rate in radians per second
- */
-static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from manual_setpoint message
- *
- * @return Desired yaw rate in radians per second
- */
-static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field thrust from manual_setpoint message
- *
- * @return Collective thrust, normalized to 0 .. 1
- */
-static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field mode_switch from manual_setpoint message
- *
- * @return Flight mode switch position, 0.. 255
- */
-static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Get field manual_override_switch from manual_setpoint message
- *
- * @return Override mode switch position, 0.. 255
- */
-static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  21);
-}
-
-/**
- * @brief Decode a manual_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param manual_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg);
-	manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg);
-	manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg);
-	manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg);
-	manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg);
-	manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg);
-	manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg);
-#else
-	memcpy(manual_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h
deleted file mode 100644
index 5f79329c2..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_memory_vect.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// MESSAGE MEMORY_VECT PACKING
-
-#define MAVLINK_MSG_ID_MEMORY_VECT 249
-
-typedef struct __mavlink_memory_vect_t
-{
- uint16_t address; ///< Starting address of the debug variables
- uint8_t ver; ///< Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
- uint8_t type; ///< Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
- int8_t value[32]; ///< Memory contents at specified address
-} mavlink_memory_vect_t;
-
-#define MAVLINK_MSG_ID_MEMORY_VECT_LEN 36
-#define MAVLINK_MSG_ID_249_LEN 36
-
-#define MAVLINK_MSG_ID_MEMORY_VECT_CRC 204
-#define MAVLINK_MSG_ID_249_CRC 204
-
-#define MAVLINK_MSG_MEMORY_VECT_FIELD_VALUE_LEN 32
-
-#define MAVLINK_MESSAGE_INFO_MEMORY_VECT { \
-	"MEMORY_VECT", \
-	4, \
-	{  { "address", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_memory_vect_t, address) }, \
-         { "ver", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_memory_vect_t, ver) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_memory_vect_t, type) }, \
-         { "value", NULL, MAVLINK_TYPE_INT8_T, 32, 4, offsetof(mavlink_memory_vect_t, value) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a memory_vect 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 address Starting address of the debug variables
- * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
- * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
- * @param value Memory contents at specified address
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_memory_vect_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t address, uint8_t ver, uint8_t type, const int8_t *value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MEMORY_VECT_LEN];
-	_mav_put_uint16_t(buf, 0, address);
-	_mav_put_uint8_t(buf, 2, ver);
-	_mav_put_uint8_t(buf, 3, type);
-	_mav_put_int8_t_array(buf, 4, value, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#else
-	mavlink_memory_vect_t packet;
-	packet.address = address;
-	packet.ver = ver;
-	packet.type = type;
-	mav_array_memcpy(packet.value, value, sizeof(int8_t)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MEMORY_VECT_LEN, MAVLINK_MSG_ID_MEMORY_VECT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a memory_vect 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param address Starting address of the debug variables
- * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
- * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
- * @param value Memory contents at specified address
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_memory_vect_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t address,uint8_t ver,uint8_t type,const int8_t *value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MEMORY_VECT_LEN];
-	_mav_put_uint16_t(buf, 0, address);
-	_mav_put_uint8_t(buf, 2, ver);
-	_mav_put_uint8_t(buf, 3, type);
-	_mav_put_int8_t_array(buf, 4, value, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#else
-	mavlink_memory_vect_t packet;
-	packet.address = address;
-	packet.ver = ver;
-	packet.type = type;
-	mav_array_memcpy(packet.value, value, sizeof(int8_t)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MEMORY_VECT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MEMORY_VECT_LEN, MAVLINK_MSG_ID_MEMORY_VECT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a memory_vect struct
- *
- * @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 memory_vect C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_memory_vect_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_memory_vect_t* memory_vect)
-{
-	return mavlink_msg_memory_vect_pack(system_id, component_id, msg, memory_vect->address, memory_vect->ver, memory_vect->type, memory_vect->value);
-}
-
-/**
- * @brief Encode a memory_vect struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param memory_vect C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_memory_vect_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_memory_vect_t* memory_vect)
-{
-	return mavlink_msg_memory_vect_pack_chan(system_id, component_id, chan, msg, memory_vect->address, memory_vect->ver, memory_vect->type, memory_vect->value);
-}
-
-/**
- * @brief Send a memory_vect message
- * @param chan MAVLink channel to send the message
- *
- * @param address Starting address of the debug variables
- * @param ver Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
- * @param type Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
- * @param value Memory contents at specified address
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_memory_vect_send(mavlink_channel_t chan, uint16_t address, uint8_t ver, uint8_t type, const int8_t *value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MEMORY_VECT_LEN];
-	_mav_put_uint16_t(buf, 0, address);
-	_mav_put_uint8_t(buf, 2, ver);
-	_mav_put_uint8_t(buf, 3, type);
-	_mav_put_int8_t_array(buf, 4, value, 32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, buf, MAVLINK_MSG_ID_MEMORY_VECT_LEN, MAVLINK_MSG_ID_MEMORY_VECT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, buf, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-#else
-	mavlink_memory_vect_t packet;
-	packet.address = address;
-	packet.ver = ver;
-	packet.type = type;
-	mav_array_memcpy(packet.value, value, sizeof(int8_t)*32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, (const char *)&packet, MAVLINK_MSG_ID_MEMORY_VECT_LEN, MAVLINK_MSG_ID_MEMORY_VECT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMORY_VECT, (const char *)&packet, MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MEMORY_VECT UNPACKING
-
-
-/**
- * @brief Get field address from memory_vect message
- *
- * @return Starting address of the debug variables
- */
-static inline uint16_t mavlink_msg_memory_vect_get_address(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field ver from memory_vect message
- *
- * @return Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
- */
-static inline uint8_t mavlink_msg_memory_vect_get_ver(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field type from memory_vect message
- *
- * @return Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
- */
-static inline uint8_t mavlink_msg_memory_vect_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field value from memory_vect message
- *
- * @return Memory contents at specified address
- */
-static inline uint16_t mavlink_msg_memory_vect_get_value(const mavlink_message_t* msg, int8_t *value)
-{
-	return _MAV_RETURN_int8_t_array(msg, value, 32,  4);
-}
-
-/**
- * @brief Decode a memory_vect message into a struct
- *
- * @param msg The message to decode
- * @param memory_vect C-struct to decode the message contents into
- */
-static inline void mavlink_msg_memory_vect_decode(const mavlink_message_t* msg, mavlink_memory_vect_t* memory_vect)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	memory_vect->address = mavlink_msg_memory_vect_get_address(msg);
-	memory_vect->ver = mavlink_msg_memory_vect_get_ver(msg);
-	memory_vect->type = mavlink_msg_memory_vect_get_type(msg);
-	mavlink_msg_memory_vect_get_value(msg, memory_vect->value);
-#else
-	memcpy(memory_vect, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MEMORY_VECT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h
deleted file mode 100644
index 7421d8394..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_ack.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE MISSION_ACK PACKING
-
-#define MAVLINK_MSG_ID_MISSION_ACK 47
-
-typedef struct __mavlink_mission_ack_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t type; ///< See MAV_MISSION_RESULT enum
-} mavlink_mission_ack_t;
-
-#define MAVLINK_MSG_ID_MISSION_ACK_LEN 3
-#define MAVLINK_MSG_ID_47_LEN 3
-
-#define MAVLINK_MSG_ID_MISSION_ACK_CRC 153
-#define MAVLINK_MSG_ID_47_CRC 153
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_ACK { \
-	"MISSION_ACK", \
-	3, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_ack_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_ack_t, target_component) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_ack_t, type) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_ack 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 target_system System ID
- * @param target_component Component ID
- * @param type See MAV_MISSION_RESULT enum
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ACK_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, type);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#else
-	mavlink_mission_ack_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.type = type;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ACK_LEN, MAVLINK_MSG_ID_MISSION_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param type See MAV_MISSION_RESULT enum
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ACK_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, type);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#else
-	mavlink_mission_ack_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.type = type;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ACK_LEN, MAVLINK_MSG_ID_MISSION_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_ack struct
- *
- * @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 mission_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_ack_t* mission_ack)
-{
-	return mavlink_msg_mission_ack_pack(system_id, component_id, msg, mission_ack->target_system, mission_ack->target_component, mission_ack->type);
-}
-
-/**
- * @brief Encode a mission_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_ack_t* mission_ack)
-{
-	return mavlink_msg_mission_ack_pack_chan(system_id, component_id, chan, msg, mission_ack->target_system, mission_ack->target_component, mission_ack->type);
-}
-
-/**
- * @brief Send a mission_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param type See MAV_MISSION_RESULT enum
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ACK_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, type);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, MAVLINK_MSG_ID_MISSION_ACK_LEN, MAVLINK_MSG_ID_MISSION_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, buf, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-#else
-	mavlink_mission_ack_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.type = type;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ACK_LEN, MAVLINK_MSG_ID_MISSION_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ACK, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_ACK UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_ack message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_ack_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mission_ack message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_ack_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field type from mission_ack message
- *
- * @return See MAV_MISSION_RESULT enum
- */
-static inline uint8_t mavlink_msg_mission_ack_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a mission_ack message into a struct
- *
- * @param msg The message to decode
- * @param mission_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_ack_decode(const mavlink_message_t* msg, mavlink_mission_ack_t* mission_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_ack->target_system = mavlink_msg_mission_ack_get_target_system(msg);
-	mission_ack->target_component = mavlink_msg_mission_ack_get_target_component(msg);
-	mission_ack->type = mavlink_msg_mission_ack_get_type(msg);
-#else
-	memcpy(mission_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h
deleted file mode 100644
index 8f441c8e5..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_clear_all.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE MISSION_CLEAR_ALL PACKING
-
-#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL 45
-
-typedef struct __mavlink_mission_clear_all_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_clear_all_t;
-
-#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN 2
-#define MAVLINK_MSG_ID_45_LEN 2
-
-#define MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC 232
-#define MAVLINK_MSG_ID_45_CRC 232
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL { \
-	"MISSION_CLEAR_ALL", \
-	2, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_clear_all_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_clear_all_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_clear_all 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 target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_clear_all_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#else
-	mavlink_mission_clear_all_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_clear_all 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_clear_all_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#else
-	mavlink_mission_clear_all_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_CLEAR_ALL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_clear_all struct
- *
- * @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 mission_clear_all C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_clear_all_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_clear_all_t* mission_clear_all)
-{
-	return mavlink_msg_mission_clear_all_pack(system_id, component_id, msg, mission_clear_all->target_system, mission_clear_all->target_component);
-}
-
-/**
- * @brief Encode a mission_clear_all struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_clear_all C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_clear_all_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_clear_all_t* mission_clear_all)
-{
-	return mavlink_msg_mission_clear_all_pack_chan(system_id, component_id, chan, msg, mission_clear_all->target_system, mission_clear_all->target_component);
-}
-
-/**
- * @brief Send a mission_clear_all message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_clear_all_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, buf, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-#else
-	mavlink_mission_clear_all_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)&packet, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, (const char *)&packet, MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_CLEAR_ALL UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_clear_all message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_clear_all_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mission_clear_all message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_clear_all_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a mission_clear_all message into a struct
- *
- * @param msg The message to decode
- * @param mission_clear_all C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_clear_all_decode(const mavlink_message_t* msg, mavlink_mission_clear_all_t* mission_clear_all)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_clear_all->target_system = mavlink_msg_mission_clear_all_get_target_system(msg);
-	mission_clear_all->target_component = mavlink_msg_mission_clear_all_get_target_component(msg);
-#else
-	memcpy(mission_clear_all, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_CLEAR_ALL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h
deleted file mode 100644
index eac779306..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_count.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE MISSION_COUNT PACKING
-
-#define MAVLINK_MSG_ID_MISSION_COUNT 44
-
-typedef struct __mavlink_mission_count_t
-{
- uint16_t count; ///< Number of mission items in the sequence
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_count_t;
-
-#define MAVLINK_MSG_ID_MISSION_COUNT_LEN 4
-#define MAVLINK_MSG_ID_44_LEN 4
-
-#define MAVLINK_MSG_ID_MISSION_COUNT_CRC 221
-#define MAVLINK_MSG_ID_44_CRC 221
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_COUNT { \
-	"MISSION_COUNT", \
-	3, \
-	{  { "count", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_count_t, count) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_count_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_count_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_count 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 target_system System ID
- * @param target_component Component ID
- * @param count Number of mission items in the sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_count_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_COUNT_LEN];
-	_mav_put_uint16_t(buf, 0, count);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#else
-	mavlink_mission_count_t packet;
-	packet.count = count;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_COUNT_LEN, MAVLINK_MSG_ID_MISSION_COUNT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_count 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param count Number of mission items in the sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_count_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_COUNT_LEN];
-	_mav_put_uint16_t(buf, 0, count);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#else
-	mavlink_mission_count_t packet;
-	packet.count = count;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_COUNT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_COUNT_LEN, MAVLINK_MSG_ID_MISSION_COUNT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_count struct
- *
- * @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 mission_count C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_count_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_count_t* mission_count)
-{
-	return mavlink_msg_mission_count_pack(system_id, component_id, msg, mission_count->target_system, mission_count->target_component, mission_count->count);
-}
-
-/**
- * @brief Encode a mission_count struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_count C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_count_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_count_t* mission_count)
-{
-	return mavlink_msg_mission_count_pack_chan(system_id, component_id, chan, msg, mission_count->target_system, mission_count->target_component, mission_count->count);
-}
-
-/**
- * @brief Send a mission_count message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param count Number of mission items in the sequence
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_count_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_COUNT_LEN];
-	_mav_put_uint16_t(buf, 0, count);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, buf, MAVLINK_MSG_ID_MISSION_COUNT_LEN, MAVLINK_MSG_ID_MISSION_COUNT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, buf, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-#else
-	mavlink_mission_count_t packet;
-	packet.count = count;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_COUNT_LEN, MAVLINK_MSG_ID_MISSION_COUNT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_COUNT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_COUNT UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_count message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_count_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field target_component from mission_count message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_count_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field count from mission_count message
- *
- * @return Number of mission items in the sequence
- */
-static inline uint16_t mavlink_msg_mission_count_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Decode a mission_count message into a struct
- *
- * @param msg The message to decode
- * @param mission_count C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_count_decode(const mavlink_message_t* msg, mavlink_mission_count_t* mission_count)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_count->count = mavlink_msg_mission_count_get_count(msg);
-	mission_count->target_system = mavlink_msg_mission_count_get_target_system(msg);
-	mission_count->target_component = mavlink_msg_mission_count_get_target_component(msg);
-#else
-	memcpy(mission_count, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_COUNT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h
deleted file mode 100644
index dbcdbd3f9..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_current.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// MESSAGE MISSION_CURRENT PACKING
-
-#define MAVLINK_MSG_ID_MISSION_CURRENT 42
-
-typedef struct __mavlink_mission_current_t
-{
- uint16_t seq; ///< Sequence
-} mavlink_mission_current_t;
-
-#define MAVLINK_MSG_ID_MISSION_CURRENT_LEN 2
-#define MAVLINK_MSG_ID_42_LEN 2
-
-#define MAVLINK_MSG_ID_MISSION_CURRENT_CRC 28
-#define MAVLINK_MSG_ID_42_CRC 28
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_CURRENT { \
-	"MISSION_CURRENT", \
-	1, \
-	{  { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_current_t, seq) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_current 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 seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_CURRENT_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#else
-	mavlink_mission_current_t packet;
-	packet.seq = seq;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_current 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_CURRENT_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#else
-	mavlink_mission_current_t packet;
-	packet.seq = seq;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_CURRENT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_current struct
- *
- * @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 mission_current C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current)
-{
-	return mavlink_msg_mission_current_pack(system_id, component_id, msg, mission_current->seq);
-}
-
-/**
- * @brief Encode a mission_current struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_current C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_current_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_current_t* mission_current)
-{
-	return mavlink_msg_mission_current_pack_chan(system_id, component_id, chan, msg, mission_current->seq);
-}
-
-/**
- * @brief Send a mission_current message
- * @param chan MAVLink channel to send the message
- *
- * @param seq Sequence
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_current_send(mavlink_channel_t chan, uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_CURRENT_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, buf, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-#else
-	mavlink_mission_current_t packet;
-	packet.seq = seq;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_CURRENT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_CURRENT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_CURRENT UNPACKING
-
-
-/**
- * @brief Get field seq from mission_current message
- *
- * @return Sequence
- */
-static inline uint16_t mavlink_msg_mission_current_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Decode a mission_current message into a struct
- *
- * @param msg The message to decode
- * @param mission_current C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_current_decode(const mavlink_message_t* msg, mavlink_mission_current_t* mission_current)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_current->seq = mavlink_msg_mission_current_get_seq(msg);
-#else
-	memcpy(mission_current, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_CURRENT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h
deleted file mode 100644
index a8d60eca7..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item.h
+++ /dev/null
@@ -1,463 +0,0 @@
-// MESSAGE MISSION_ITEM PACKING
-
-#define MAVLINK_MSG_ID_MISSION_ITEM 39
-
-typedef struct __mavlink_mission_item_t
-{
- float param1; ///< PARAM1, see MAV_CMD enum
- float param2; ///< PARAM2, see MAV_CMD enum
- float param3; ///< PARAM3, see MAV_CMD enum
- float param4; ///< PARAM4, see MAV_CMD enum
- float x; ///< PARAM5 / local: x position, global: latitude
- float y; ///< PARAM6 / y position: global: longitude
- float z; ///< PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
- uint16_t seq; ///< Sequence
- uint16_t command; ///< The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t frame; ///< The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
- uint8_t current; ///< false:0, true:1
- uint8_t autocontinue; ///< autocontinue to next wp
-} mavlink_mission_item_t;
-
-#define MAVLINK_MSG_ID_MISSION_ITEM_LEN 37
-#define MAVLINK_MSG_ID_39_LEN 37
-
-#define MAVLINK_MSG_ID_MISSION_ITEM_CRC 254
-#define MAVLINK_MSG_ID_39_CRC 254
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_ITEM { \
-	"MISSION_ITEM", \
-	14, \
-	{  { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mission_item_t, param1) }, \
-         { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mission_item_t, param2) }, \
-         { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mission_item_t, param3) }, \
-         { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mission_item_t, param4) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mission_item_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mission_item_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mission_item_t, z) }, \
-         { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_mission_item_t, seq) }, \
-         { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_mission_item_t, command) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_mission_item_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_mission_item_t, target_component) }, \
-         { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_mission_item_t, frame) }, \
-         { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_mission_item_t, current) }, \
-         { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_mission_item_t, autocontinue) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_item 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 target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
- * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
- * @param current false:0, true:1
- * @param autocontinue autocontinue to next wp
- * @param param1 PARAM1, see MAV_CMD enum
- * @param param2 PARAM2, see MAV_CMD enum
- * @param param3 PARAM3, see MAV_CMD enum
- * @param param4 PARAM4, see MAV_CMD enum
- * @param x PARAM5 / local: x position, global: latitude
- * @param y PARAM6 / y position: global: longitude
- * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ITEM_LEN];
-	_mav_put_float(buf, 0, param1);
-	_mav_put_float(buf, 4, param2);
-	_mav_put_float(buf, 8, param3);
-	_mav_put_float(buf, 12, param4);
-	_mav_put_float(buf, 16, x);
-	_mav_put_float(buf, 20, y);
-	_mav_put_float(buf, 24, z);
-	_mav_put_uint16_t(buf, 28, seq);
-	_mav_put_uint16_t(buf, 30, command);
-	_mav_put_uint8_t(buf, 32, target_system);
-	_mav_put_uint8_t(buf, 33, target_component);
-	_mav_put_uint8_t(buf, 34, frame);
-	_mav_put_uint8_t(buf, 35, current);
-	_mav_put_uint8_t(buf, 36, autocontinue);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#else
-	mavlink_mission_item_t packet;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.seq = seq;
-	packet.command = command;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.frame = frame;
-	packet.current = current;
-	packet.autocontinue = autocontinue;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_item 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
- * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
- * @param current false:0, true:1
- * @param autocontinue autocontinue to next wp
- * @param param1 PARAM1, see MAV_CMD enum
- * @param param2 PARAM2, see MAV_CMD enum
- * @param param3 PARAM3, see MAV_CMD enum
- * @param param4 PARAM4, see MAV_CMD enum
- * @param x PARAM5 / local: x position, global: latitude
- * @param y PARAM6 / y position: global: longitude
- * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_item_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t seq,uint8_t frame,uint16_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,float x,float y,float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ITEM_LEN];
-	_mav_put_float(buf, 0, param1);
-	_mav_put_float(buf, 4, param2);
-	_mav_put_float(buf, 8, param3);
-	_mav_put_float(buf, 12, param4);
-	_mav_put_float(buf, 16, x);
-	_mav_put_float(buf, 20, y);
-	_mav_put_float(buf, 24, z);
-	_mav_put_uint16_t(buf, 28, seq);
-	_mav_put_uint16_t(buf, 30, command);
-	_mav_put_uint8_t(buf, 32, target_system);
-	_mav_put_uint8_t(buf, 33, target_component);
-	_mav_put_uint8_t(buf, 34, frame);
-	_mav_put_uint8_t(buf, 35, current);
-	_mav_put_uint8_t(buf, 36, autocontinue);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#else
-	mavlink_mission_item_t packet;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.seq = seq;
-	packet.command = command;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.frame = frame;
-	packet.current = current;
-	packet.autocontinue = autocontinue;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_item struct
- *
- * @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 mission_item C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_item_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_t* mission_item)
-{
-	return mavlink_msg_mission_item_pack(system_id, component_id, msg, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z);
-}
-
-/**
- * @brief Encode a mission_item struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_item C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_item_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_item_t* mission_item)
-{
-	return mavlink_msg_mission_item_pack_chan(system_id, component_id, chan, msg, mission_item->target_system, mission_item->target_component, mission_item->seq, mission_item->frame, mission_item->command, mission_item->current, mission_item->autocontinue, mission_item->param1, mission_item->param2, mission_item->param3, mission_item->param4, mission_item->x, mission_item->y, mission_item->z);
-}
-
-/**
- * @brief Send a mission_item message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @param frame The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
- * @param command The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
- * @param current false:0, true:1
- * @param autocontinue autocontinue to next wp
- * @param param1 PARAM1, see MAV_CMD enum
- * @param param2 PARAM2, see MAV_CMD enum
- * @param param3 PARAM3, see MAV_CMD enum
- * @param param4 PARAM4, see MAV_CMD enum
- * @param x PARAM5 / local: x position, global: latitude
- * @param y PARAM6 / y position: global: longitude
- * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_item_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ITEM_LEN];
-	_mav_put_float(buf, 0, param1);
-	_mav_put_float(buf, 4, param2);
-	_mav_put_float(buf, 8, param3);
-	_mav_put_float(buf, 12, param4);
-	_mav_put_float(buf, 16, x);
-	_mav_put_float(buf, 20, y);
-	_mav_put_float(buf, 24, z);
-	_mav_put_uint16_t(buf, 28, seq);
-	_mav_put_uint16_t(buf, 30, command);
-	_mav_put_uint8_t(buf, 32, target_system);
-	_mav_put_uint8_t(buf, 33, target_component);
-	_mav_put_uint8_t(buf, 34, frame);
-	_mav_put_uint8_t(buf, 35, current);
-	_mav_put_uint8_t(buf, 36, autocontinue);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, buf, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-#else
-	mavlink_mission_item_t packet;
-	packet.param1 = param1;
-	packet.param2 = param2;
-	packet.param3 = param3;
-	packet.param4 = param4;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.seq = seq;
-	packet.command = command;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.frame = frame;
-	packet.current = current;
-	packet.autocontinue = autocontinue;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN, MAVLINK_MSG_ID_MISSION_ITEM_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_ITEM UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_item message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_item_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field target_component from mission_item message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_item_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  33);
-}
-
-/**
- * @brief Get field seq from mission_item message
- *
- * @return Sequence
- */
-static inline uint16_t mavlink_msg_mission_item_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  28);
-}
-
-/**
- * @brief Get field frame from mission_item message
- *
- * @return The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
- */
-static inline uint8_t mavlink_msg_mission_item_get_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  34);
-}
-
-/**
- * @brief Get field command from mission_item message
- *
- * @return The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
- */
-static inline uint16_t mavlink_msg_mission_item_get_command(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  30);
-}
-
-/**
- * @brief Get field current from mission_item message
- *
- * @return false:0, true:1
- */
-static inline uint8_t mavlink_msg_mission_item_get_current(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  35);
-}
-
-/**
- * @brief Get field autocontinue from mission_item message
- *
- * @return autocontinue to next wp
- */
-static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  36);
-}
-
-/**
- * @brief Get field param1 from mission_item message
- *
- * @return PARAM1, see MAV_CMD enum
- */
-static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field param2 from mission_item message
- *
- * @return PARAM2, see MAV_CMD enum
- */
-static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field param3 from mission_item message
- *
- * @return PARAM3, see MAV_CMD enum
- */
-static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field param4 from mission_item message
- *
- * @return PARAM4, see MAV_CMD enum
- */
-static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field x from mission_item message
- *
- * @return PARAM5 / local: x position, global: latitude
- */
-static inline float mavlink_msg_mission_item_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field y from mission_item message
- *
- * @return PARAM6 / y position: global: longitude
- */
-static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field z from mission_item message
- *
- * @return PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
- */
-static inline float mavlink_msg_mission_item_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a mission_item message into a struct
- *
- * @param msg The message to decode
- * @param mission_item C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_item_decode(const mavlink_message_t* msg, mavlink_mission_item_t* mission_item)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_item->param1 = mavlink_msg_mission_item_get_param1(msg);
-	mission_item->param2 = mavlink_msg_mission_item_get_param2(msg);
-	mission_item->param3 = mavlink_msg_mission_item_get_param3(msg);
-	mission_item->param4 = mavlink_msg_mission_item_get_param4(msg);
-	mission_item->x = mavlink_msg_mission_item_get_x(msg);
-	mission_item->y = mavlink_msg_mission_item_get_y(msg);
-	mission_item->z = mavlink_msg_mission_item_get_z(msg);
-	mission_item->seq = mavlink_msg_mission_item_get_seq(msg);
-	mission_item->command = mavlink_msg_mission_item_get_command(msg);
-	mission_item->target_system = mavlink_msg_mission_item_get_target_system(msg);
-	mission_item->target_component = mavlink_msg_mission_item_get_target_component(msg);
-	mission_item->frame = mavlink_msg_mission_item_get_frame(msg);
-	mission_item->current = mavlink_msg_mission_item_get_current(msg);
-	mission_item->autocontinue = mavlink_msg_mission_item_get_autocontinue(msg);
-#else
-	memcpy(mission_item, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_ITEM_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h
deleted file mode 100644
index f3744fde6..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_item_reached.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// MESSAGE MISSION_ITEM_REACHED PACKING
-
-#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED 46
-
-typedef struct __mavlink_mission_item_reached_t
-{
- uint16_t seq; ///< Sequence
-} mavlink_mission_item_reached_t;
-
-#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN 2
-#define MAVLINK_MSG_ID_46_LEN 2
-
-#define MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC 11
-#define MAVLINK_MSG_ID_46_CRC 11
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED { \
-	"MISSION_ITEM_REACHED", \
-	1, \
-	{  { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_item_reached_t, seq) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_item_reached 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 seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_item_reached_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#else
-	mavlink_mission_item_reached_t packet;
-	packet.seq = seq;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_item_reached 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_item_reached_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#else
-	mavlink_mission_item_reached_t packet;
-	packet.seq = seq;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_ITEM_REACHED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_item_reached struct
- *
- * @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 mission_item_reached C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_item_reached_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_item_reached_t* mission_item_reached)
-{
-	return mavlink_msg_mission_item_reached_pack(system_id, component_id, msg, mission_item_reached->seq);
-}
-
-/**
- * @brief Encode a mission_item_reached struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_item_reached C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_item_reached_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_item_reached_t* mission_item_reached)
-{
-	return mavlink_msg_mission_item_reached_pack_chan(system_id, component_id, chan, msg, mission_item_reached->seq);
-}
-
-/**
- * @brief Send a mission_item_reached message
- * @param chan MAVLink channel to send the message
- *
- * @param seq Sequence
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_item_reached_send(mavlink_channel_t chan, uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, buf, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-#else
-	mavlink_mission_item_reached_t packet;
-	packet.seq = seq;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, (const char *)&packet, MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_ITEM_REACHED UNPACKING
-
-
-/**
- * @brief Get field seq from mission_item_reached message
- *
- * @return Sequence
- */
-static inline uint16_t mavlink_msg_mission_item_reached_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Decode a mission_item_reached message into a struct
- *
- * @param msg The message to decode
- * @param mission_item_reached C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_item_reached_decode(const mavlink_message_t* msg, mavlink_mission_item_reached_t* mission_item_reached)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_item_reached->seq = mavlink_msg_mission_item_reached_get_seq(msg);
-#else
-	memcpy(mission_item_reached, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_ITEM_REACHED_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h
deleted file mode 100644
index ac84e3554..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE MISSION_REQUEST PACKING
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST 40
-
-typedef struct __mavlink_mission_request_t
-{
- uint16_t seq; ///< Sequence
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_request_t;
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_LEN 4
-#define MAVLINK_MSG_ID_40_LEN 4
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_CRC 230
-#define MAVLINK_MSG_ID_40_CRC 230
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST { \
-	"MISSION_REQUEST", \
-	3, \
-	{  { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_request_t, seq) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_request_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_request_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_request 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 target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_request_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#else
-	mavlink_mission_request_t packet;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_REQUEST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_request 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_request_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#else
-	mavlink_mission_request_t packet;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_REQUEST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_request struct
- *
- * @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 mission_request C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_request_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_t* mission_request)
-{
-	return mavlink_msg_mission_request_pack(system_id, component_id, msg, mission_request->target_system, mission_request->target_component, mission_request->seq);
-}
-
-/**
- * @brief Encode a mission_request struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_request C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_request_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_request_t* mission_request)
-{
-	return mavlink_msg_mission_request_pack_chan(system_id, component_id, chan, msg, mission_request->target_system, mission_request->target_component, mission_request->seq);
-}
-
-/**
- * @brief Send a mission_request message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_request_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-#else
-	mavlink_mission_request_t packet;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_REQUEST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_REQUEST UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_request message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_request_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field target_component from mission_request message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_request_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field seq from mission_request message
- *
- * @return Sequence
- */
-static inline uint16_t mavlink_msg_mission_request_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Decode a mission_request message into a struct
- *
- * @param msg The message to decode
- * @param mission_request C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_request_decode(const mavlink_message_t* msg, mavlink_mission_request_t* mission_request)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_request->seq = mavlink_msg_mission_request_get_seq(msg);
-	mission_request->target_system = mavlink_msg_mission_request_get_target_system(msg);
-	mission_request->target_component = mavlink_msg_mission_request_get_target_component(msg);
-#else
-	memcpy(mission_request, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_REQUEST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h
deleted file mode 100644
index d999babdb..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_list.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE MISSION_REQUEST_LIST PACKING
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST 43
-
-typedef struct __mavlink_mission_request_list_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_request_list_t;
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN 2
-#define MAVLINK_MSG_ID_43_LEN 2
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC 132
-#define MAVLINK_MSG_ID_43_CRC 132
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST { \
-	"MISSION_REQUEST_LIST", \
-	2, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_mission_request_list_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_mission_request_list_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_request_list 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 target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#else
-	mavlink_mission_request_list_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_request_list 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#else
-	mavlink_mission_request_list_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_request_list struct
- *
- * @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 mission_request_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_list_t* mission_request_list)
-{
-	return mavlink_msg_mission_request_list_pack(system_id, component_id, msg, mission_request_list->target_system, mission_request_list->target_component);
-}
-
-/**
- * @brief Encode a mission_request_list struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_request_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_request_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_request_list_t* mission_request_list)
-{
-	return mavlink_msg_mission_request_list_pack_chan(system_id, component_id, chan, msg, mission_request_list->target_system, mission_request_list->target_component);
-}
-
-/**
- * @brief Send a mission_request_list message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-#else
-	mavlink_mission_request_list_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_REQUEST_LIST UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_request_list message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_request_list_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from mission_request_list message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_request_list_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a mission_request_list message into a struct
- *
- * @param msg The message to decode
- * @param mission_request_list C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_request_list_decode(const mavlink_message_t* msg, mavlink_mission_request_list_t* mission_request_list)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_request_list->target_system = mavlink_msg_mission_request_list_get_target_system(msg);
-	mission_request_list->target_component = mavlink_msg_mission_request_list_get_target_component(msg);
-#else
-	memcpy(mission_request_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_REQUEST_LIST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h
deleted file mode 100644
index 35c7e1285..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_request_partial_list.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE MISSION_REQUEST_PARTIAL_LIST PACKING
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST 37
-
-typedef struct __mavlink_mission_request_partial_list_t
-{
- int16_t start_index; ///< Start index, 0 by default
- int16_t end_index; ///< End index, -1 by default (-1: send list to end). Else a valid index of the list
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_request_partial_list_t;
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN 6
-#define MAVLINK_MSG_ID_37_LEN 6
-
-#define MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC 212
-#define MAVLINK_MSG_ID_37_CRC 212
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST { \
-	"MISSION_REQUEST_PARTIAL_LIST", \
-	4, \
-	{  { "start_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_mission_request_partial_list_t, start_index) }, \
-         { "end_index", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_mission_request_partial_list_t, end_index) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mission_request_partial_list_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mission_request_partial_list_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_request_partial_list 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 target_system System ID
- * @param target_component Component ID
- * @param start_index Start index, 0 by default
- * @param end_index End index, -1 by default (-1: send list to end). Else a valid index of the list
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_request_partial_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN];
-	_mav_put_int16_t(buf, 0, start_index);
-	_mav_put_int16_t(buf, 2, end_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#else
-	mavlink_mission_request_partial_list_t packet;
-	packet.start_index = start_index;
-	packet.end_index = end_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_request_partial_list 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param start_index Start index, 0 by default
- * @param end_index End index, -1 by default (-1: send list to end). Else a valid index of the list
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_request_partial_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int16_t start_index,int16_t end_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN];
-	_mav_put_int16_t(buf, 0, start_index);
-	_mav_put_int16_t(buf, 2, end_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#else
-	mavlink_mission_request_partial_list_t packet;
-	packet.start_index = start_index;
-	packet.end_index = end_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_request_partial_list struct
- *
- * @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 mission_request_partial_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_request_partial_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_request_partial_list_t* mission_request_partial_list)
-{
-	return mavlink_msg_mission_request_partial_list_pack(system_id, component_id, msg, mission_request_partial_list->target_system, mission_request_partial_list->target_component, mission_request_partial_list->start_index, mission_request_partial_list->end_index);
-}
-
-/**
- * @brief Encode a mission_request_partial_list struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_request_partial_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_request_partial_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_request_partial_list_t* mission_request_partial_list)
-{
-	return mavlink_msg_mission_request_partial_list_pack_chan(system_id, component_id, chan, msg, mission_request_partial_list->target_system, mission_request_partial_list->target_component, mission_request_partial_list->start_index, mission_request_partial_list->end_index);
-}
-
-/**
- * @brief Send a mission_request_partial_list message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param start_index Start index, 0 by default
- * @param end_index End index, -1 by default (-1: send list to end). Else a valid index of the list
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_request_partial_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN];
-	_mav_put_int16_t(buf, 0, start_index);
-	_mav_put_int16_t(buf, 2, end_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-#else
-	mavlink_mission_request_partial_list_t packet;
-	packet.start_index = start_index;
-	packet.end_index = end_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_REQUEST_PARTIAL_LIST UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_request_partial_list message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_request_partial_list_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from mission_request_partial_list message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_request_partial_list_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field start_index from mission_request_partial_list message
- *
- * @return Start index, 0 by default
- */
-static inline int16_t mavlink_msg_mission_request_partial_list_get_start_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Get field end_index from mission_request_partial_list message
- *
- * @return End index, -1 by default (-1: send list to end). Else a valid index of the list
- */
-static inline int16_t mavlink_msg_mission_request_partial_list_get_end_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Decode a mission_request_partial_list message into a struct
- *
- * @param msg The message to decode
- * @param mission_request_partial_list C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_request_partial_list_decode(const mavlink_message_t* msg, mavlink_mission_request_partial_list_t* mission_request_partial_list)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_request_partial_list->start_index = mavlink_msg_mission_request_partial_list_get_start_index(msg);
-	mission_request_partial_list->end_index = mavlink_msg_mission_request_partial_list_get_end_index(msg);
-	mission_request_partial_list->target_system = mavlink_msg_mission_request_partial_list_get_target_system(msg);
-	mission_request_partial_list->target_component = mavlink_msg_mission_request_partial_list_get_target_component(msg);
-#else
-	memcpy(mission_request_partial_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h
deleted file mode 100644
index 63b37cf8c..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_set_current.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE MISSION_SET_CURRENT PACKING
-
-#define MAVLINK_MSG_ID_MISSION_SET_CURRENT 41
-
-typedef struct __mavlink_mission_set_current_t
-{
- uint16_t seq; ///< Sequence
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_set_current_t;
-
-#define MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN 4
-#define MAVLINK_MSG_ID_41_LEN 4
-
-#define MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC 28
-#define MAVLINK_MSG_ID_41_CRC 28
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT { \
-	"MISSION_SET_CURRENT", \
-	3, \
-	{  { "seq", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_mission_set_current_t, seq) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_mission_set_current_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_mission_set_current_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_set_current 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 target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_set_current_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#else
-	mavlink_mission_set_current_t packet;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_set_current 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_set_current_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#else
-	mavlink_mission_set_current_t packet;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_SET_CURRENT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_set_current struct
- *
- * @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 mission_set_current C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_set_current_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_set_current_t* mission_set_current)
-{
-	return mavlink_msg_mission_set_current_pack(system_id, component_id, msg, mission_set_current->target_system, mission_set_current->target_component, mission_set_current->seq);
-}
-
-/**
- * @brief Encode a mission_set_current struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_set_current C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_set_current_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_set_current_t* mission_set_current)
-{
-	return mavlink_msg_mission_set_current_pack_chan(system_id, component_id, chan, msg, mission_set_current->target_system, mission_set_current->target_component, mission_set_current->seq);
-}
-
-/**
- * @brief Send a mission_set_current message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param seq Sequence
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_set_current_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN];
-	_mav_put_uint16_t(buf, 0, seq);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, buf, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, buf, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-#else
-	mavlink_mission_set_current_t packet;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN, MAVLINK_MSG_ID_MISSION_SET_CURRENT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_SET_CURRENT, (const char *)&packet, MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_SET_CURRENT UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_set_current message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_set_current_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field target_component from mission_set_current message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_set_current_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field seq from mission_set_current message
- *
- * @return Sequence
- */
-static inline uint16_t mavlink_msg_mission_set_current_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Decode a mission_set_current message into a struct
- *
- * @param msg The message to decode
- * @param mission_set_current C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_set_current_decode(const mavlink_message_t* msg, mavlink_mission_set_current_t* mission_set_current)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_set_current->seq = mavlink_msg_mission_set_current_get_seq(msg);
-	mission_set_current->target_system = mavlink_msg_mission_set_current_get_target_system(msg);
-	mission_set_current->target_component = mavlink_msg_mission_set_current_get_target_component(msg);
-#else
-	memcpy(mission_set_current, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_SET_CURRENT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h
deleted file mode 100644
index 7de38bd7b..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_mission_write_partial_list.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE MISSION_WRITE_PARTIAL_LIST PACKING
-
-#define MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST 38
-
-typedef struct __mavlink_mission_write_partial_list_t
-{
- int16_t start_index; ///< Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
- int16_t end_index; ///< End index, equal or greater than start index.
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_mission_write_partial_list_t;
-
-#define MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN 6
-#define MAVLINK_MSG_ID_38_LEN 6
-
-#define MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC 9
-#define MAVLINK_MSG_ID_38_CRC 9
-
-
-
-#define MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST { \
-	"MISSION_WRITE_PARTIAL_LIST", \
-	4, \
-	{  { "start_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_mission_write_partial_list_t, start_index) }, \
-         { "end_index", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_mission_write_partial_list_t, end_index) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_mission_write_partial_list_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_mission_write_partial_list_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a mission_write_partial_list 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 target_system System ID
- * @param target_component Component ID
- * @param start_index Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
- * @param end_index End index, equal or greater than start index.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_write_partial_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN];
-	_mav_put_int16_t(buf, 0, start_index);
-	_mav_put_int16_t(buf, 2, end_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#else
-	mavlink_mission_write_partial_list_t packet;
-	packet.start_index = start_index;
-	packet.end_index = end_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a mission_write_partial_list 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param start_index Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
- * @param end_index End index, equal or greater than start index.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_mission_write_partial_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int16_t start_index,int16_t end_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN];
-	_mav_put_int16_t(buf, 0, start_index);
-	_mav_put_int16_t(buf, 2, end_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#else
-	mavlink_mission_write_partial_list_t packet;
-	packet.start_index = start_index;
-	packet.end_index = end_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a mission_write_partial_list struct
- *
- * @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 mission_write_partial_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_write_partial_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mission_write_partial_list_t* mission_write_partial_list)
-{
-	return mavlink_msg_mission_write_partial_list_pack(system_id, component_id, msg, mission_write_partial_list->target_system, mission_write_partial_list->target_component, mission_write_partial_list->start_index, mission_write_partial_list->end_index);
-}
-
-/**
- * @brief Encode a mission_write_partial_list struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param mission_write_partial_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_mission_write_partial_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mission_write_partial_list_t* mission_write_partial_list)
-{
-	return mavlink_msg_mission_write_partial_list_pack_chan(system_id, component_id, chan, msg, mission_write_partial_list->target_system, mission_write_partial_list->target_component, mission_write_partial_list->start_index, mission_write_partial_list->end_index);
-}
-
-/**
- * @brief Send a mission_write_partial_list message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param start_index Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
- * @param end_index End index, equal or greater than start index.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_mission_write_partial_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t start_index, int16_t end_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN];
-	_mav_put_int16_t(buf, 0, start_index);
-	_mav_put_int16_t(buf, 2, end_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, buf, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-#else
-	mavlink_mission_write_partial_list_t packet;
-	packet.start_index = start_index;
-	packet.end_index = end_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, (const char *)&packet, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MISSION_WRITE_PARTIAL_LIST UNPACKING
-
-
-/**
- * @brief Get field target_system from mission_write_partial_list message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_mission_write_partial_list_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from mission_write_partial_list message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_mission_write_partial_list_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field start_index from mission_write_partial_list message
- *
- * @return Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
- */
-static inline int16_t mavlink_msg_mission_write_partial_list_get_start_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Get field end_index from mission_write_partial_list message
- *
- * @return End index, equal or greater than start index.
- */
-static inline int16_t mavlink_msg_mission_write_partial_list_get_end_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Decode a mission_write_partial_list message into a struct
- *
- * @param msg The message to decode
- * @param mission_write_partial_list C-struct to decode the message contents into
- */
-static inline void mavlink_msg_mission_write_partial_list_decode(const mavlink_message_t* msg, mavlink_mission_write_partial_list_t* mission_write_partial_list)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mission_write_partial_list->start_index = mavlink_msg_mission_write_partial_list_get_start_index(msg);
-	mission_write_partial_list->end_index = mavlink_msg_mission_write_partial_list_get_end_index(msg);
-	mission_write_partial_list->target_system = mavlink_msg_mission_write_partial_list_get_target_system(msg);
-	mission_write_partial_list->target_component = mavlink_msg_mission_write_partial_list_get_target_component(msg);
-#else
-	memcpy(mission_write_partial_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h
deleted file mode 100644
index fbf4f75c9..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_float.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// MESSAGE NAMED_VALUE_FLOAT PACKING
-
-#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT 251
-
-typedef struct __mavlink_named_value_float_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float value; ///< Floating point value
- char name[10]; ///< Name of the debug variable
-} mavlink_named_value_float_t;
-
-#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN 18
-#define MAVLINK_MSG_ID_251_LEN 18
-
-#define MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC 170
-#define MAVLINK_MSG_ID_251_CRC 170
-
-#define MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN 10
-
-#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT { \
-	"NAMED_VALUE_FLOAT", \
-	3, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_named_value_float_t, time_boot_ms) }, \
-         { "value", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_named_value_float_t, value) }, \
-         { "name", NULL, MAVLINK_TYPE_CHAR, 10, 8, offsetof(mavlink_named_value_float_t, name) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a named_value_float 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param name Name of the debug variable
- * @param value Floating point value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_named_value_float_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, const char *name, float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, value);
-	_mav_put_char_array(buf, 8, name, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#else
-	mavlink_named_value_float_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a named_value_float 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param name Name of the debug variable
- * @param value Floating point value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_named_value_float_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,const char *name,float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, value);
-	_mav_put_char_array(buf, 8, name, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#else
-	mavlink_named_value_float_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a named_value_float struct
- *
- * @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 named_value_float C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_named_value_float_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float)
-{
-	return mavlink_msg_named_value_float_pack(system_id, component_id, msg, named_value_float->time_boot_ms, named_value_float->name, named_value_float->value);
-}
-
-/**
- * @brief Encode a named_value_float struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param named_value_float C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_named_value_float_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_named_value_float_t* named_value_float)
-{
-	return mavlink_msg_named_value_float_pack_chan(system_id, component_id, chan, msg, named_value_float->time_boot_ms, named_value_float->name, named_value_float->value);
-}
-
-/**
- * @brief Send a named_value_float message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param name Name of the debug variable
- * @param value Floating point value
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_named_value_float_send(mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, float value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, value);
-	_mav_put_char_array(buf, 8, name, 10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, buf, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-#else
-	mavlink_named_value_float_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, (const char *)&packet, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE NAMED_VALUE_FLOAT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from named_value_float message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_named_value_float_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field name from named_value_float message
- *
- * @return Name of the debug variable
- */
-static inline uint16_t mavlink_msg_named_value_float_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 10,  8);
-}
-
-/**
- * @brief Get field value from named_value_float message
- *
- * @return Floating point value
- */
-static inline float mavlink_msg_named_value_float_get_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Decode a named_value_float message into a struct
- *
- * @param msg The message to decode
- * @param named_value_float C-struct to decode the message contents into
- */
-static inline void mavlink_msg_named_value_float_decode(const mavlink_message_t* msg, mavlink_named_value_float_t* named_value_float)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	named_value_float->time_boot_ms = mavlink_msg_named_value_float_get_time_boot_ms(msg);
-	named_value_float->value = mavlink_msg_named_value_float_get_value(msg);
-	mavlink_msg_named_value_float_get_name(msg, named_value_float->name);
-#else
-	memcpy(named_value_float, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h
deleted file mode 100644
index 052f24793..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_named_value_int.h
+++ /dev/null
@@ -1,215 +0,0 @@
-// MESSAGE NAMED_VALUE_INT PACKING
-
-#define MAVLINK_MSG_ID_NAMED_VALUE_INT 252
-
-typedef struct __mavlink_named_value_int_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int32_t value; ///< Signed integer value
- char name[10]; ///< Name of the debug variable
-} mavlink_named_value_int_t;
-
-#define MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN 18
-#define MAVLINK_MSG_ID_252_LEN 18
-
-#define MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC 44
-#define MAVLINK_MSG_ID_252_CRC 44
-
-#define MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN 10
-
-#define MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT { \
-	"NAMED_VALUE_INT", \
-	3, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_named_value_int_t, time_boot_ms) }, \
-         { "value", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_named_value_int_t, value) }, \
-         { "name", NULL, MAVLINK_TYPE_CHAR, 10, 8, offsetof(mavlink_named_value_int_t, name) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a named_value_int 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param name Name of the debug variable
- * @param value Signed integer value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_named_value_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, const char *name, int32_t value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, value);
-	_mav_put_char_array(buf, 8, name, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#else
-	mavlink_named_value_int_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a named_value_int 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param name Name of the debug variable
- * @param value Signed integer value
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_named_value_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,const char *name,int32_t value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, value);
-	_mav_put_char_array(buf, 8, name, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#else
-	mavlink_named_value_int_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_NAMED_VALUE_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a named_value_int struct
- *
- * @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 named_value_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_named_value_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int)
-{
-	return mavlink_msg_named_value_int_pack(system_id, component_id, msg, named_value_int->time_boot_ms, named_value_int->name, named_value_int->value);
-}
-
-/**
- * @brief Encode a named_value_int struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param named_value_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_named_value_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_named_value_int_t* named_value_int)
-{
-	return mavlink_msg_named_value_int_pack_chan(system_id, component_id, chan, msg, named_value_int->time_boot_ms, named_value_int->name, named_value_int->value);
-}
-
-/**
- * @brief Send a named_value_int message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param name Name of the debug variable
- * @param value Signed integer value
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_named_value_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, const char *name, int32_t value)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, value);
-	_mav_put_char_array(buf, 8, name, 10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, buf, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-#else
-	mavlink_named_value_int_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.value = value;
-	mav_array_memcpy(packet.name, name, sizeof(char)*10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN, MAVLINK_MSG_ID_NAMED_VALUE_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAMED_VALUE_INT, (const char *)&packet, MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE NAMED_VALUE_INT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from named_value_int message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_named_value_int_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field name from named_value_int message
- *
- * @return Name of the debug variable
- */
-static inline uint16_t mavlink_msg_named_value_int_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 10,  8);
-}
-
-/**
- * @brief Get field value from named_value_int message
- *
- * @return Signed integer value
- */
-static inline int32_t mavlink_msg_named_value_int_get_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Decode a named_value_int message into a struct
- *
- * @param msg The message to decode
- * @param named_value_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_named_value_int_decode(const mavlink_message_t* msg, mavlink_named_value_int_t* named_value_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	named_value_int->time_boot_ms = mavlink_msg_named_value_int_get_time_boot_ms(msg);
-	named_value_int->value = mavlink_msg_named_value_int_get_value(msg);
-	mavlink_msg_named_value_int_get_name(msg, named_value_int->name);
-#else
-	memcpy(named_value_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_NAMED_VALUE_INT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h
deleted file mode 100644
index e95c144de..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_nav_controller_output.h
+++ /dev/null
@@ -1,331 +0,0 @@
-// MESSAGE NAV_CONTROLLER_OUTPUT PACKING
-
-#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
-
-typedef struct __mavlink_nav_controller_output_t
-{
- float nav_roll; ///< Current desired roll in degrees
- float nav_pitch; ///< Current desired pitch in degrees
- float alt_error; ///< Current altitude error in meters
- float aspd_error; ///< Current airspeed error in meters/second
- float xtrack_error; ///< Current crosstrack error on x-y plane in meters
- int16_t nav_bearing; ///< Current desired heading in degrees
- int16_t target_bearing; ///< Bearing to current MISSION/target in degrees
- uint16_t wp_dist; ///< Distance to active MISSION in meters
-} mavlink_nav_controller_output_t;
-
-#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
-#define MAVLINK_MSG_ID_62_LEN 26
-
-#define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC 183
-#define MAVLINK_MSG_ID_62_CRC 183
-
-
-
-#define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT { \
-	"NAV_CONTROLLER_OUTPUT", \
-	8, \
-	{  { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
-         { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
-         { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
-         { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
-         { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
-         { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
-         { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
-         { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a nav_controller_output 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 nav_roll Current desired roll in degrees
- * @param nav_pitch Current desired pitch in degrees
- * @param nav_bearing Current desired heading in degrees
- * @param target_bearing Bearing to current MISSION/target in degrees
- * @param wp_dist Distance to active MISSION in meters
- * @param alt_error Current altitude error in meters
- * @param aspd_error Current airspeed error in meters/second
- * @param xtrack_error Current crosstrack error on x-y plane in meters
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
-	_mav_put_float(buf, 0, nav_roll);
-	_mav_put_float(buf, 4, nav_pitch);
-	_mav_put_float(buf, 8, alt_error);
-	_mav_put_float(buf, 12, aspd_error);
-	_mav_put_float(buf, 16, xtrack_error);
-	_mav_put_int16_t(buf, 20, nav_bearing);
-	_mav_put_int16_t(buf, 22, target_bearing);
-	_mav_put_uint16_t(buf, 24, wp_dist);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#else
-	mavlink_nav_controller_output_t packet;
-	packet.nav_roll = nav_roll;
-	packet.nav_pitch = nav_pitch;
-	packet.alt_error = alt_error;
-	packet.aspd_error = aspd_error;
-	packet.xtrack_error = xtrack_error;
-	packet.nav_bearing = nav_bearing;
-	packet.target_bearing = target_bearing;
-	packet.wp_dist = wp_dist;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a nav_controller_output 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param nav_roll Current desired roll in degrees
- * @param nav_pitch Current desired pitch in degrees
- * @param nav_bearing Current desired heading in degrees
- * @param target_bearing Bearing to current MISSION/target in degrees
- * @param wp_dist Distance to active MISSION in meters
- * @param alt_error Current altitude error in meters
- * @param aspd_error Current airspeed error in meters/second
- * @param xtrack_error Current crosstrack error on x-y plane in meters
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float nav_roll,float nav_pitch,int16_t nav_bearing,int16_t target_bearing,uint16_t wp_dist,float alt_error,float aspd_error,float xtrack_error)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
-	_mav_put_float(buf, 0, nav_roll);
-	_mav_put_float(buf, 4, nav_pitch);
-	_mav_put_float(buf, 8, alt_error);
-	_mav_put_float(buf, 12, aspd_error);
-	_mav_put_float(buf, 16, xtrack_error);
-	_mav_put_int16_t(buf, 20, nav_bearing);
-	_mav_put_int16_t(buf, 22, target_bearing);
-	_mav_put_uint16_t(buf, 24, wp_dist);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#else
-	mavlink_nav_controller_output_t packet;
-	packet.nav_roll = nav_roll;
-	packet.nav_pitch = nav_pitch;
-	packet.alt_error = alt_error;
-	packet.aspd_error = aspd_error;
-	packet.xtrack_error = xtrack_error;
-	packet.nav_bearing = nav_bearing;
-	packet.target_bearing = target_bearing;
-	packet.wp_dist = wp_dist;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a nav_controller_output struct
- *
- * @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 nav_controller_output C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
-{
-	return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
-}
-
-/**
- * @brief Encode a nav_controller_output struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param nav_controller_output C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_nav_controller_output_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_nav_controller_output_t* nav_controller_output)
-{
-	return mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, chan, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
-}
-
-/**
- * @brief Send a nav_controller_output message
- * @param chan MAVLink channel to send the message
- *
- * @param nav_roll Current desired roll in degrees
- * @param nav_pitch Current desired pitch in degrees
- * @param nav_bearing Current desired heading in degrees
- * @param target_bearing Bearing to current MISSION/target in degrees
- * @param wp_dist Distance to active MISSION in meters
- * @param alt_error Current altitude error in meters
- * @param aspd_error Current airspeed error in meters/second
- * @param xtrack_error Current crosstrack error on x-y plane in meters
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN];
-	_mav_put_float(buf, 0, nav_roll);
-	_mav_put_float(buf, 4, nav_pitch);
-	_mav_put_float(buf, 8, alt_error);
-	_mav_put_float(buf, 12, aspd_error);
-	_mav_put_float(buf, 16, xtrack_error);
-	_mav_put_int16_t(buf, 20, nav_bearing);
-	_mav_put_int16_t(buf, 22, target_bearing);
-	_mav_put_uint16_t(buf, 24, wp_dist);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-#else
-	mavlink_nav_controller_output_t packet;
-	packet.nav_roll = nav_roll;
-	packet.nav_pitch = nav_pitch;
-	packet.alt_error = alt_error;
-	packet.aspd_error = aspd_error;
-	packet.xtrack_error = xtrack_error;
-	packet.nav_bearing = nav_bearing;
-	packet.target_bearing = target_bearing;
-	packet.wp_dist = wp_dist;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
-
-
-/**
- * @brief Get field nav_roll from nav_controller_output message
- *
- * @return Current desired roll in degrees
- */
-static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field nav_pitch from nav_controller_output message
- *
- * @return Current desired pitch in degrees
- */
-static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field nav_bearing from nav_controller_output message
- *
- * @return Current desired heading in degrees
- */
-static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field target_bearing from nav_controller_output message
- *
- * @return Bearing to current MISSION/target in degrees
- */
-static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field wp_dist from nav_controller_output message
- *
- * @return Distance to active MISSION in meters
- */
-static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field alt_error from nav_controller_output message
- *
- * @return Current altitude error in meters
- */
-static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field aspd_error from nav_controller_output message
- *
- * @return Current airspeed error in meters/second
- */
-static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field xtrack_error from nav_controller_output message
- *
- * @return Current crosstrack error on x-y plane in meters
- */
-static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a nav_controller_output message into a struct
- *
- * @param msg The message to decode
- * @param nav_controller_output C-struct to decode the message contents into
- */
-static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t* msg, mavlink_nav_controller_output_t* nav_controller_output)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	nav_controller_output->nav_roll = mavlink_msg_nav_controller_output_get_nav_roll(msg);
-	nav_controller_output->nav_pitch = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
-	nav_controller_output->alt_error = mavlink_msg_nav_controller_output_get_alt_error(msg);
-	nav_controller_output->aspd_error = mavlink_msg_nav_controller_output_get_aspd_error(msg);
-	nav_controller_output->xtrack_error = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
-	nav_controller_output->nav_bearing = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
-	nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
-	nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
-#else
-	memcpy(nav_controller_output, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h
deleted file mode 100644
index 4debb6e66..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_omnidirectional_flow.h
+++ /dev/null
@@ -1,282 +0,0 @@
-// MESSAGE OMNIDIRECTIONAL_FLOW PACKING
-
-#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW 106
-
-typedef struct __mavlink_omnidirectional_flow_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float front_distance_m; ///< Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
- int16_t left[10]; ///< Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
- int16_t right[10]; ///< Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
- uint8_t sensor_id; ///< Sensor ID
- uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
-} mavlink_omnidirectional_flow_t;
-
-#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN 54
-#define MAVLINK_MSG_ID_106_LEN 54
-
-#define MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC 211
-#define MAVLINK_MSG_ID_106_CRC 211
-
-#define MAVLINK_MSG_OMNIDIRECTIONAL_FLOW_FIELD_LEFT_LEN 10
-#define MAVLINK_MSG_OMNIDIRECTIONAL_FLOW_FIELD_RIGHT_LEN 10
-
-#define MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW { \
-	"OMNIDIRECTIONAL_FLOW", \
-	6, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_omnidirectional_flow_t, time_usec) }, \
-         { "front_distance_m", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_omnidirectional_flow_t, front_distance_m) }, \
-         { "left", NULL, MAVLINK_TYPE_INT16_T, 10, 12, offsetof(mavlink_omnidirectional_flow_t, left) }, \
-         { "right", NULL, MAVLINK_TYPE_INT16_T, 10, 32, offsetof(mavlink_omnidirectional_flow_t, right) }, \
-         { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_omnidirectional_flow_t, sensor_id) }, \
-         { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 53, offsetof(mavlink_omnidirectional_flow_t, quality) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a omnidirectional_flow 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 time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param sensor_id Sensor ID
- * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
- * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_omnidirectional_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, front_distance_m);
-	_mav_put_uint8_t(buf, 52, sensor_id);
-	_mav_put_uint8_t(buf, 53, quality);
-	_mav_put_int16_t_array(buf, 12, left, 10);
-	_mav_put_int16_t_array(buf, 32, right, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#else
-	mavlink_omnidirectional_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.front_distance_m = front_distance_m;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-	mav_array_memcpy(packet.left, left, sizeof(int16_t)*10);
-	mav_array_memcpy(packet.right, right, sizeof(int16_t)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a omnidirectional_flow 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param sensor_id Sensor ID
- * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
- * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_omnidirectional_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t sensor_id,const int16_t *left,const int16_t *right,uint8_t quality,float front_distance_m)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, front_distance_m);
-	_mav_put_uint8_t(buf, 52, sensor_id);
-	_mav_put_uint8_t(buf, 53, quality);
-	_mav_put_int16_t_array(buf, 12, left, 10);
-	_mav_put_int16_t_array(buf, 32, right, 10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#else
-	mavlink_omnidirectional_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.front_distance_m = front_distance_m;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-	mav_array_memcpy(packet.left, left, sizeof(int16_t)*10);
-	mav_array_memcpy(packet.right, right, sizeof(int16_t)*10);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a omnidirectional_flow struct
- *
- * @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 omnidirectional_flow C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_omnidirectional_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_omnidirectional_flow_t* omnidirectional_flow)
-{
-	return mavlink_msg_omnidirectional_flow_pack(system_id, component_id, msg, omnidirectional_flow->time_usec, omnidirectional_flow->sensor_id, omnidirectional_flow->left, omnidirectional_flow->right, omnidirectional_flow->quality, omnidirectional_flow->front_distance_m);
-}
-
-/**
- * @brief Encode a omnidirectional_flow struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param omnidirectional_flow C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_omnidirectional_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_omnidirectional_flow_t* omnidirectional_flow)
-{
-	return mavlink_msg_omnidirectional_flow_pack_chan(system_id, component_id, chan, msg, omnidirectional_flow->time_usec, omnidirectional_flow->sensor_id, omnidirectional_flow->left, omnidirectional_flow->right, omnidirectional_flow->quality, omnidirectional_flow->front_distance_m);
-}
-
-/**
- * @brief Send a omnidirectional_flow message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param sensor_id Sensor ID
- * @param left Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
- * @param right Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param front_distance_m Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_omnidirectional_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, const int16_t *left, const int16_t *right, uint8_t quality, float front_distance_m)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, front_distance_m);
-	_mav_put_uint8_t(buf, 52, sensor_id);
-	_mav_put_uint8_t(buf, 53, quality);
-	_mav_put_int16_t_array(buf, 12, left, 10);
-	_mav_put_int16_t_array(buf, 32, right, 10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, buf, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-#else
-	mavlink_omnidirectional_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.front_distance_m = front_distance_m;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-	mav_array_memcpy(packet.left, left, sizeof(int16_t)*10);
-	mav_array_memcpy(packet.right, right, sizeof(int16_t)*10);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OMNIDIRECTIONAL_FLOW UNPACKING
-
-
-/**
- * @brief Get field time_usec from omnidirectional_flow message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_omnidirectional_flow_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field sensor_id from omnidirectional_flow message
- *
- * @return Sensor ID
- */
-static inline uint8_t mavlink_msg_omnidirectional_flow_get_sensor_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  52);
-}
-
-/**
- * @brief Get field left from omnidirectional_flow message
- *
- * @return Flow in deci pixels (1 = 0.1 pixel) on left hemisphere
- */
-static inline uint16_t mavlink_msg_omnidirectional_flow_get_left(const mavlink_message_t* msg, int16_t *left)
-{
-	return _MAV_RETURN_int16_t_array(msg, left, 10,  12);
-}
-
-/**
- * @brief Get field right from omnidirectional_flow message
- *
- * @return Flow in deci pixels (1 = 0.1 pixel) on right hemisphere
- */
-static inline uint16_t mavlink_msg_omnidirectional_flow_get_right(const mavlink_message_t* msg, int16_t *right)
-{
-	return _MAV_RETURN_int16_t_array(msg, right, 10,  32);
-}
-
-/**
- * @brief Get field quality from omnidirectional_flow message
- *
- * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
- */
-static inline uint8_t mavlink_msg_omnidirectional_flow_get_quality(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  53);
-}
-
-/**
- * @brief Get field front_distance_m from omnidirectional_flow message
- *
- * @return Front distance in meters. Positive value (including zero): distance known. Negative value: Unknown distance
- */
-static inline float mavlink_msg_omnidirectional_flow_get_front_distance_m(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Decode a omnidirectional_flow message into a struct
- *
- * @param msg The message to decode
- * @param omnidirectional_flow C-struct to decode the message contents into
- */
-static inline void mavlink_msg_omnidirectional_flow_decode(const mavlink_message_t* msg, mavlink_omnidirectional_flow_t* omnidirectional_flow)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	omnidirectional_flow->time_usec = mavlink_msg_omnidirectional_flow_get_time_usec(msg);
-	omnidirectional_flow->front_distance_m = mavlink_msg_omnidirectional_flow_get_front_distance_m(msg);
-	mavlink_msg_omnidirectional_flow_get_left(msg, omnidirectional_flow->left);
-	mavlink_msg_omnidirectional_flow_get_right(msg, omnidirectional_flow->right);
-	omnidirectional_flow->sensor_id = mavlink_msg_omnidirectional_flow_get_sensor_id(msg);
-	omnidirectional_flow->quality = mavlink_msg_omnidirectional_flow_get_quality(msg);
-#else
-	memcpy(omnidirectional_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OMNIDIRECTIONAL_FLOW_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h
deleted file mode 100644
index cf6db9147..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_optical_flow.h
+++ /dev/null
@@ -1,331 +0,0 @@
-// MESSAGE OPTICAL_FLOW PACKING
-
-#define MAVLINK_MSG_ID_OPTICAL_FLOW 100
-
-typedef struct __mavlink_optical_flow_t
-{
- uint64_t time_usec; ///< Timestamp (UNIX)
- float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated
- float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated
- float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- int16_t flow_x; ///< Flow in pixels * 10 in x-sensor direction (dezi-pixels)
- int16_t flow_y; ///< Flow in pixels * 10 in y-sensor direction (dezi-pixels)
- uint8_t sensor_id; ///< Sensor ID
- uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality
-} mavlink_optical_flow_t;
-
-#define MAVLINK_MSG_ID_OPTICAL_FLOW_LEN 26
-#define MAVLINK_MSG_ID_100_LEN 26
-
-#define MAVLINK_MSG_ID_OPTICAL_FLOW_CRC 175
-#define MAVLINK_MSG_ID_100_CRC 175
-
-
-
-#define MAVLINK_MESSAGE_INFO_OPTICAL_FLOW { \
-	"OPTICAL_FLOW", \
-	8, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_optical_flow_t, time_usec) }, \
-         { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_optical_flow_t, flow_comp_m_x) }, \
-         { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_optical_flow_t, flow_comp_m_y) }, \
-         { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_optical_flow_t, ground_distance) }, \
-         { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_optical_flow_t, flow_x) }, \
-         { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_optical_flow_t, flow_y) }, \
-         { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_optical_flow_t, sensor_id) }, \
-         { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_optical_flow_t, quality) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a optical_flow 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 time_usec Timestamp (UNIX)
- * @param sensor_id Sensor ID
- * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
- * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
- * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
- * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, flow_comp_m_x);
-	_mav_put_float(buf, 12, flow_comp_m_y);
-	_mav_put_float(buf, 16, ground_distance);
-	_mav_put_int16_t(buf, 20, flow_x);
-	_mav_put_int16_t(buf, 22, flow_y);
-	_mav_put_uint8_t(buf, 24, sensor_id);
-	_mav_put_uint8_t(buf, 25, quality);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#else
-	mavlink_optical_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.flow_comp_m_x = flow_comp_m_x;
-	packet.flow_comp_m_y = flow_comp_m_y;
-	packet.ground_distance = ground_distance;
-	packet.flow_x = flow_x;
-	packet.flow_y = flow_y;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a optical_flow 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (UNIX)
- * @param sensor_id Sensor ID
- * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
- * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
- * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
- * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, flow_comp_m_x);
-	_mav_put_float(buf, 12, flow_comp_m_y);
-	_mav_put_float(buf, 16, ground_distance);
-	_mav_put_int16_t(buf, 20, flow_x);
-	_mav_put_int16_t(buf, 22, flow_y);
-	_mav_put_uint8_t(buf, 24, sensor_id);
-	_mav_put_uint8_t(buf, 25, quality);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#else
-	mavlink_optical_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.flow_comp_m_x = flow_comp_m_x;
-	packet.flow_comp_m_y = flow_comp_m_y;
-	packet.ground_distance = ground_distance;
-	packet.flow_x = flow_x;
-	packet.flow_y = flow_y;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OPTICAL_FLOW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a optical_flow struct
- *
- * @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 optical_flow C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
-{
-	return mavlink_msg_optical_flow_pack(system_id, component_id, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance);
-}
-
-/**
- * @brief Encode a optical_flow struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param optical_flow C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_optical_flow_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_optical_flow_t* optical_flow)
-{
-	return mavlink_msg_optical_flow_pack_chan(system_id, component_id, chan, msg, optical_flow->time_usec, optical_flow->sensor_id, optical_flow->flow_x, optical_flow->flow_y, optical_flow->flow_comp_m_x, optical_flow->flow_comp_m_y, optical_flow->quality, optical_flow->ground_distance);
-}
-
-/**
- * @brief Send a optical_flow message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (UNIX)
- * @param sensor_id Sensor ID
- * @param flow_x Flow in pixels * 10 in x-sensor direction (dezi-pixels)
- * @param flow_y Flow in pixels * 10 in y-sensor direction (dezi-pixels)
- * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated
- * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated
- * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality
- * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OPTICAL_FLOW_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_float(buf, 8, flow_comp_m_x);
-	_mav_put_float(buf, 12, flow_comp_m_y);
-	_mav_put_float(buf, 16, ground_distance);
-	_mav_put_int16_t(buf, 20, flow_x);
-	_mav_put_int16_t(buf, 22, flow_y);
-	_mav_put_uint8_t(buf, 24, sensor_id);
-	_mav_put_uint8_t(buf, 25, quality);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-#else
-	mavlink_optical_flow_t packet;
-	packet.time_usec = time_usec;
-	packet.flow_comp_m_x = flow_comp_m_x;
-	packet.flow_comp_m_y = flow_comp_m_y;
-	packet.ground_distance = ground_distance;
-	packet.flow_x = flow_x;
-	packet.flow_y = flow_y;
-	packet.sensor_id = sensor_id;
-	packet.quality = quality;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_OPTICAL_FLOW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OPTICAL_FLOW UNPACKING
-
-
-/**
- * @brief Get field time_usec from optical_flow message
- *
- * @return Timestamp (UNIX)
- */
-static inline uint64_t mavlink_msg_optical_flow_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field sensor_id from optical_flow message
- *
- * @return Sensor ID
- */
-static inline uint8_t mavlink_msg_optical_flow_get_sensor_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field flow_x from optical_flow message
- *
- * @return Flow in pixels * 10 in x-sensor direction (dezi-pixels)
- */
-static inline int16_t mavlink_msg_optical_flow_get_flow_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field flow_y from optical_flow message
- *
- * @return Flow in pixels * 10 in y-sensor direction (dezi-pixels)
- */
-static inline int16_t mavlink_msg_optical_flow_get_flow_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field flow_comp_m_x from optical_flow message
- *
- * @return Flow in meters in x-sensor direction, angular-speed compensated
- */
-static inline float mavlink_msg_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field flow_comp_m_y from optical_flow message
- *
- * @return Flow in meters in y-sensor direction, angular-speed compensated
- */
-static inline float mavlink_msg_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field quality from optical_flow message
- *
- * @return Optical flow quality / confidence. 0: bad, 255: maximum quality
- */
-static inline uint8_t mavlink_msg_optical_flow_get_quality(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  25);
-}
-
-/**
- * @brief Get field ground_distance from optical_flow message
- *
- * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
- */
-static inline float mavlink_msg_optical_flow_get_ground_distance(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a optical_flow message into a struct
- *
- * @param msg The message to decode
- * @param optical_flow C-struct to decode the message contents into
- */
-static inline void mavlink_msg_optical_flow_decode(const mavlink_message_t* msg, mavlink_optical_flow_t* optical_flow)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	optical_flow->time_usec = mavlink_msg_optical_flow_get_time_usec(msg);
-	optical_flow->flow_comp_m_x = mavlink_msg_optical_flow_get_flow_comp_m_x(msg);
-	optical_flow->flow_comp_m_y = mavlink_msg_optical_flow_get_flow_comp_m_y(msg);
-	optical_flow->ground_distance = mavlink_msg_optical_flow_get_ground_distance(msg);
-	optical_flow->flow_x = mavlink_msg_optical_flow_get_flow_x(msg);
-	optical_flow->flow_y = mavlink_msg_optical_flow_get_flow_y(msg);
-	optical_flow->sensor_id = mavlink_msg_optical_flow_get_sensor_id(msg);
-	optical_flow->quality = mavlink_msg_optical_flow_get_quality(msg);
-#else
-	memcpy(optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OPTICAL_FLOW_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h
deleted file mode 100644
index 39e007274..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_list.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE PARAM_REQUEST_LIST PACKING
-
-#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST 21
-
-typedef struct __mavlink_param_request_list_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_param_request_list_t;
-
-#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN 2
-#define MAVLINK_MSG_ID_21_LEN 2
-
-#define MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC 159
-#define MAVLINK_MSG_ID_21_CRC 159
-
-
-
-#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST { \
-	"PARAM_REQUEST_LIST", \
-	2, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_param_request_list_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_param_request_list_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a param_request_list 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 target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_request_list_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#else
-	mavlink_param_request_list_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a param_request_list 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_request_list_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#else
-	mavlink_param_request_list_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_LIST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a param_request_list struct
- *
- * @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 param_request_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_request_list_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list)
-{
-	return mavlink_msg_param_request_list_pack(system_id, component_id, msg, param_request_list->target_system, param_request_list->target_component);
-}
-
-/**
- * @brief Encode a param_request_list struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param param_request_list C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_request_list_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_request_list_t* param_request_list)
-{
-	return mavlink_msg_param_request_list_pack_chan(system_id, component_id, chan, msg, param_request_list->target_system, param_request_list->target_component);
-}
-
-/**
- * @brief Send a param_request_list message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_param_request_list_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, buf, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-#else
-	mavlink_param_request_list_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, (const char *)&packet, MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PARAM_REQUEST_LIST UNPACKING
-
-
-/**
- * @brief Get field target_system from param_request_list message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_param_request_list_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from param_request_list message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_param_request_list_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a param_request_list message into a struct
- *
- * @param msg The message to decode
- * @param param_request_list C-struct to decode the message contents into
- */
-static inline void mavlink_msg_param_request_list_decode(const mavlink_message_t* msg, mavlink_param_request_list_t* param_request_list)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	param_request_list->target_system = mavlink_msg_param_request_list_get_target_system(msg);
-	param_request_list->target_component = mavlink_msg_param_request_list_get_target_component(msg);
-#else
-	memcpy(param_request_list, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_REQUEST_LIST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h
deleted file mode 100644
index 5d9113114..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_request_read.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// MESSAGE PARAM_REQUEST_READ PACKING
-
-#define MAVLINK_MSG_ID_PARAM_REQUEST_READ 20
-
-typedef struct __mavlink_param_request_read_t
-{
- int16_t param_index; ///< Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
-} mavlink_param_request_read_t;
-
-#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN 20
-#define MAVLINK_MSG_ID_20_LEN 20
-
-#define MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC 214
-#define MAVLINK_MSG_ID_20_CRC 214
-
-#define MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN 16
-
-#define MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ { \
-	"PARAM_REQUEST_READ", \
-	4, \
-	{  { "param_index", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_param_request_read_t, param_index) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_param_request_read_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_param_request_read_t, target_component) }, \
-         { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 4, offsetof(mavlink_param_request_read_t, param_id) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a param_request_read 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 target_system System ID
- * @param target_component Component ID
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_request_read_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN];
-	_mav_put_int16_t(buf, 0, param_index);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_char_array(buf, 4, param_id, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#else
-	mavlink_param_request_read_t packet;
-	packet.param_index = param_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-}
-
-/**
- * @brief Pack a param_request_read 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_request_read_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,const char *param_id,int16_t param_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN];
-	_mav_put_int16_t(buf, 0, param_index);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_char_array(buf, 4, param_id, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#else
-	mavlink_param_request_read_t packet;
-	packet.param_index = param_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_REQUEST_READ;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-}
-
-/**
- * @brief Encode a param_request_read struct
- *
- * @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 param_request_read C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_request_read_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_request_read_t* param_request_read)
-{
-	return mavlink_msg_param_request_read_pack(system_id, component_id, msg, param_request_read->target_system, param_request_read->target_component, param_request_read->param_id, param_request_read->param_index);
-}
-
-/**
- * @brief Encode a param_request_read struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param param_request_read C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_request_read_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_request_read_t* param_request_read)
-{
-	return mavlink_msg_param_request_read_pack_chan(system_id, component_id, chan, msg, param_request_read->target_system, param_request_read->target_component, param_request_read->param_id, param_request_read->param_index);
-}
-
-/**
- * @brief Send a param_request_read message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_index Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_param_request_read_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, int16_t param_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN];
-	_mav_put_int16_t(buf, 0, param_index);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_char_array(buf, 4, param_id, 16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, buf, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-#else
-	mavlink_param_request_read_t packet;
-	packet.param_index = param_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN, MAVLINK_MSG_ID_PARAM_REQUEST_READ_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_REQUEST_READ, (const char *)&packet, MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PARAM_REQUEST_READ UNPACKING
-
-
-/**
- * @brief Get field target_system from param_request_read message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_param_request_read_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field target_component from param_request_read message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_param_request_read_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field param_id from param_request_read message
- *
- * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- */
-static inline uint16_t mavlink_msg_param_request_read_get_param_id(const mavlink_message_t* msg, char *param_id)
-{
-	return _MAV_RETURN_char_array(msg, param_id, 16,  4);
-}
-
-/**
- * @brief Get field param_index from param_request_read message
- *
- * @return Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
- */
-static inline int16_t mavlink_msg_param_request_read_get_param_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Decode a param_request_read message into a struct
- *
- * @param msg The message to decode
- * @param param_request_read C-struct to decode the message contents into
- */
-static inline void mavlink_msg_param_request_read_decode(const mavlink_message_t* msg, mavlink_param_request_read_t* param_request_read)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	param_request_read->param_index = mavlink_msg_param_request_read_get_param_index(msg);
-	param_request_read->target_system = mavlink_msg_param_request_read_get_target_system(msg);
-	param_request_read->target_component = mavlink_msg_param_request_read_get_target_component(msg);
-	mavlink_msg_param_request_read_get_param_id(msg, param_request_read->param_id);
-#else
-	memcpy(param_request_read, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_REQUEST_READ_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h
deleted file mode 100644
index 1bd1f0059..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_set.h
+++ /dev/null
@@ -1,259 +0,0 @@
-// MESSAGE PARAM_SET PACKING
-
-#define MAVLINK_MSG_ID_PARAM_SET 23
-
-typedef struct __mavlink_param_set_t
-{
- float param_value; ///< Onboard parameter value
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- uint8_t param_type; ///< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
-} mavlink_param_set_t;
-
-#define MAVLINK_MSG_ID_PARAM_SET_LEN 23
-#define MAVLINK_MSG_ID_23_LEN 23
-
-#define MAVLINK_MSG_ID_PARAM_SET_CRC 168
-#define MAVLINK_MSG_ID_23_CRC 168
-
-#define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 16
-
-#define MAVLINK_MESSAGE_INFO_PARAM_SET { \
-	"PARAM_SET", \
-	5, \
-	{  { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_set_t, param_value) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_param_set_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_param_set_t, target_component) }, \
-         { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 6, offsetof(mavlink_param_set_t, param_id) }, \
-         { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 22, offsetof(mavlink_param_set_t, param_type) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a param_set 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 target_system System ID
- * @param target_component Component ID
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_value Onboard parameter value
- * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_SET_LEN];
-	_mav_put_float(buf, 0, param_value);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-	_mav_put_uint8_t(buf, 22, param_type);
-	_mav_put_char_array(buf, 6, param_id, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#else
-	mavlink_param_set_t packet;
-	packet.param_value = param_value;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.param_type = param_type;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_SET_LEN, MAVLINK_MSG_ID_PARAM_SET_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-}
-
-/**
- * @brief Pack a param_set 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_value Onboard parameter value
- * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,const char *param_id,float param_value,uint8_t param_type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_SET_LEN];
-	_mav_put_float(buf, 0, param_value);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-	_mav_put_uint8_t(buf, 22, param_type);
-	_mav_put_char_array(buf, 6, param_id, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#else
-	mavlink_param_set_t packet;
-	packet.param_value = param_value;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.param_type = param_type;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_SET_LEN, MAVLINK_MSG_ID_PARAM_SET_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-}
-
-/**
- * @brief Encode a param_set struct
- *
- * @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 param_set C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
-{
-	return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value, param_set->param_type);
-}
-
-/**
- * @brief Encode a param_set struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param param_set C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_set_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
-{
-	return mavlink_msg_param_set_pack_chan(system_id, component_id, chan, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value, param_set->param_type);
-}
-
-/**
- * @brief Send a param_set message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_value Onboard parameter value
- * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const char *param_id, float param_value, uint8_t param_type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_SET_LEN];
-	_mav_put_float(buf, 0, param_value);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-	_mav_put_uint8_t(buf, 22, param_type);
-	_mav_put_char_array(buf, 6, param_id, 16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, MAVLINK_MSG_ID_PARAM_SET_LEN, MAVLINK_MSG_ID_PARAM_SET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, buf, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-#else
-	mavlink_param_set_t packet;
-	packet.param_value = param_value;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.param_type = param_type;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, MAVLINK_MSG_ID_PARAM_SET_LEN, MAVLINK_MSG_ID_PARAM_SET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_SET, (const char *)&packet, MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PARAM_SET UNPACKING
-
-
-/**
- * @brief Get field target_system from param_set message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from param_set message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field param_id from param_set message
- *
- * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- */
-static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, char *param_id)
-{
-	return _MAV_RETURN_char_array(msg, param_id, 16,  6);
-}
-
-/**
- * @brief Get field param_value from param_set message
- *
- * @return Onboard parameter value
- */
-static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field param_type from param_set message
- *
- * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- */
-static inline uint8_t mavlink_msg_param_set_get_param_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  22);
-}
-
-/**
- * @brief Decode a param_set message into a struct
- *
- * @param msg The message to decode
- * @param param_set C-struct to decode the message contents into
- */
-static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
-	param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
-	param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
-	mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
-	param_set->param_type = mavlink_msg_param_set_get_param_type(msg);
-#else
-	memcpy(param_set, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_SET_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h
deleted file mode 100644
index 17c759811..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_param_value.h
+++ /dev/null
@@ -1,259 +0,0 @@
-// MESSAGE PARAM_VALUE PACKING
-
-#define MAVLINK_MSG_ID_PARAM_VALUE 22
-
-typedef struct __mavlink_param_value_t
-{
- float param_value; ///< Onboard parameter value
- uint16_t param_count; ///< Total number of onboard parameters
- uint16_t param_index; ///< Index of this onboard parameter
- char param_id[16]; ///< Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- uint8_t param_type; ///< Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
-} mavlink_param_value_t;
-
-#define MAVLINK_MSG_ID_PARAM_VALUE_LEN 25
-#define MAVLINK_MSG_ID_22_LEN 25
-
-#define MAVLINK_MSG_ID_PARAM_VALUE_CRC 220
-#define MAVLINK_MSG_ID_22_CRC 220
-
-#define MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
-
-#define MAVLINK_MESSAGE_INFO_PARAM_VALUE { \
-	"PARAM_VALUE", \
-	5, \
-	{  { "param_value", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_param_value_t, param_value) }, \
-         { "param_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_param_value_t, param_count) }, \
-         { "param_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_param_value_t, param_index) }, \
-         { "param_id", NULL, MAVLINK_TYPE_CHAR, 16, 8, offsetof(mavlink_param_value_t, param_id) }, \
-         { "param_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_param_value_t, param_type) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a param_value 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 param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_value Onboard parameter value
- * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- * @param param_count Total number of onboard parameters
- * @param param_index Index of this onboard parameter
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_value_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
-	_mav_put_float(buf, 0, param_value);
-	_mav_put_uint16_t(buf, 4, param_count);
-	_mav_put_uint16_t(buf, 6, param_index);
-	_mav_put_uint8_t(buf, 24, param_type);
-	_mav_put_char_array(buf, 8, param_id, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#else
-	mavlink_param_value_t packet;
-	packet.param_value = param_value;
-	packet.param_count = param_count;
-	packet.param_index = param_index;
-	packet.param_type = param_type;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a param_value 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_value Onboard parameter value
- * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- * @param param_count Total number of onboard parameters
- * @param param_index Index of this onboard parameter
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_param_value_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const char *param_id,float param_value,uint8_t param_type,uint16_t param_count,uint16_t param_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
-	_mav_put_float(buf, 0, param_value);
-	_mav_put_uint16_t(buf, 4, param_count);
-	_mav_put_uint16_t(buf, 6, param_index);
-	_mav_put_uint8_t(buf, 24, param_type);
-	_mav_put_char_array(buf, 8, param_id, 16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#else
-	mavlink_param_value_t packet;
-	packet.param_value = param_value;
-	packet.param_count = param_count;
-	packet.param_index = param_index;
-	packet.param_type = param_type;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PARAM_VALUE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a param_value struct
- *
- * @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 param_value C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_value_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
-{
-	return mavlink_msg_param_value_pack(system_id, component_id, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
-}
-
-/**
- * @brief Encode a param_value struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param param_value C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_param_value_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_param_value_t* param_value)
-{
-	return mavlink_msg_param_value_pack_chan(system_id, component_id, chan, msg, param_value->param_id, param_value->param_value, param_value->param_type, param_value->param_count, param_value->param_index);
-}
-
-/**
- * @brief Send a param_value message
- * @param chan MAVLink channel to send the message
- *
- * @param param_id Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- * @param param_value Onboard parameter value
- * @param param_type Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- * @param param_count Total number of onboard parameters
- * @param param_index Index of this onboard parameter
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_param_value_send(mavlink_channel_t chan, const char *param_id, float param_value, uint8_t param_type, uint16_t param_count, uint16_t param_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PARAM_VALUE_LEN];
-	_mav_put_float(buf, 0, param_value);
-	_mav_put_uint16_t(buf, 4, param_count);
-	_mav_put_uint16_t(buf, 6, param_index);
-	_mav_put_uint8_t(buf, 24, param_type);
-	_mav_put_char_array(buf, 8, param_id, 16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, buf, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-#else
-	mavlink_param_value_t packet;
-	packet.param_value = param_value;
-	packet.param_count = param_count;
-	packet.param_index = param_index;
-	packet.param_type = param_type;
-	mav_array_memcpy(packet.param_id, param_id, sizeof(char)*16);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN, MAVLINK_MSG_ID_PARAM_VALUE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PARAM_VALUE, (const char *)&packet, MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PARAM_VALUE UNPACKING
-
-
-/**
- * @brief Get field param_id from param_value message
- *
- * @return Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
- */
-static inline uint16_t mavlink_msg_param_value_get_param_id(const mavlink_message_t* msg, char *param_id)
-{
-	return _MAV_RETURN_char_array(msg, param_id, 16,  8);
-}
-
-/**
- * @brief Get field param_value from param_value message
- *
- * @return Onboard parameter value
- */
-static inline float mavlink_msg_param_value_get_param_value(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field param_type from param_value message
- *
- * @return Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
- */
-static inline uint8_t mavlink_msg_param_value_get_param_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field param_count from param_value message
- *
- * @return Total number of onboard parameters
- */
-static inline uint16_t mavlink_msg_param_value_get_param_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field param_index from param_value message
- *
- * @return Index of this onboard parameter
- */
-static inline uint16_t mavlink_msg_param_value_get_param_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Decode a param_value message into a struct
- *
- * @param msg The message to decode
- * @param param_value C-struct to decode the message contents into
- */
-static inline void mavlink_msg_param_value_decode(const mavlink_message_t* msg, mavlink_param_value_t* param_value)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	param_value->param_value = mavlink_msg_param_value_get_param_value(msg);
-	param_value->param_count = mavlink_msg_param_value_get_param_count(msg);
-	param_value->param_index = mavlink_msg_param_value_get_param_index(msg);
-	mavlink_msg_param_value_get_param_id(msg, param_value->param_id);
-	param_value->param_type = mavlink_msg_param_value_get_param_type(msg);
-#else
-	memcpy(param_value, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PARAM_VALUE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h
deleted file mode 100644
index 0c68ca176..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_ping.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE PING PACKING
-
-#define MAVLINK_MSG_ID_PING 4
-
-typedef struct __mavlink_ping_t
-{
- uint64_t time_usec; ///< Unix timestamp in microseconds
- uint32_t seq; ///< PING sequence
- uint8_t target_system; ///< 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
- uint8_t target_component; ///< 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
-} mavlink_ping_t;
-
-#define MAVLINK_MSG_ID_PING_LEN 14
-#define MAVLINK_MSG_ID_4_LEN 14
-
-#define MAVLINK_MSG_ID_PING_CRC 237
-#define MAVLINK_MSG_ID_4_CRC 237
-
-
-
-#define MAVLINK_MESSAGE_INFO_PING { \
-	"PING", \
-	4, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ping_t, time_usec) }, \
-         { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ping_t, seq) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_ping_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_ping_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a ping 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 time_usec Unix timestamp in microseconds
- * @param seq PING sequence
- * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
- * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ping_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PING_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_uint32_t(buf, 8, seq);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
-#else
-	mavlink_ping_t packet;
-	packet.time_usec = time_usec;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PING;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PING_LEN);
-#endif
-}
-
-/**
- * @brief Pack a ping 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Unix timestamp in microseconds
- * @param seq PING sequence
- * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
- * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_ping_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,uint32_t seq,uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PING_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_uint32_t(buf, 8, seq);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PING_LEN);
-#else
-	mavlink_ping_t packet;
-	packet.time_usec = time_usec;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PING_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PING;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PING_LEN);
-#endif
-}
-
-/**
- * @brief Encode a ping struct
- *
- * @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 ping C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ping_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ping_t* ping)
-{
-	return mavlink_msg_ping_pack(system_id, component_id, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
-}
-
-/**
- * @brief Encode a ping struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param ping C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_ping_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ping_t* ping)
-{
-	return mavlink_msg_ping_pack_chan(system_id, component_id, chan, msg, ping->time_usec, ping->seq, ping->target_system, ping->target_component);
-}
-
-/**
- * @brief Send a ping message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Unix timestamp in microseconds
- * @param seq PING sequence
- * @param target_system 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
- * @param target_component 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_ping_send(mavlink_channel_t chan, uint64_t time_usec, uint32_t seq, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PING_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_uint32_t(buf, 8, seq);
-	_mav_put_uint8_t(buf, 12, target_system);
-	_mav_put_uint8_t(buf, 13, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, buf, MAVLINK_MSG_ID_PING_LEN);
-#endif
-#else
-	mavlink_ping_t packet;
-	packet.time_usec = time_usec;
-	packet.seq = seq;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_LEN, MAVLINK_MSG_ID_PING_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PING, (const char *)&packet, MAVLINK_MSG_ID_PING_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PING UNPACKING
-
-
-/**
- * @brief Get field time_usec from ping message
- *
- * @return Unix timestamp in microseconds
- */
-static inline uint64_t mavlink_msg_ping_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field seq from ping message
- *
- * @return PING sequence
- */
-static inline uint32_t mavlink_msg_ping_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  8);
-}
-
-/**
- * @brief Get field target_system from ping message
- *
- * @return 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
- */
-static inline uint8_t mavlink_msg_ping_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field target_component from ping message
- *
- * @return 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
- */
-static inline uint8_t mavlink_msg_ping_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  13);
-}
-
-/**
- * @brief Decode a ping message into a struct
- *
- * @param msg The message to decode
- * @param ping C-struct to decode the message contents into
- */
-static inline void mavlink_msg_ping_decode(const mavlink_message_t* msg, mavlink_ping_t* ping)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	ping->time_usec = mavlink_msg_ping_get_time_usec(msg);
-	ping->seq = mavlink_msg_ping_get_seq(msg);
-	ping->target_system = mavlink_msg_ping_get_target_system(msg);
-	ping->target_component = mavlink_msg_ping_get_target_component(msg);
-#else
-	memcpy(ping, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PING_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h
deleted file mode 100644
index fceb7d168..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_radio_status.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE RADIO_STATUS PACKING
-
-#define MAVLINK_MSG_ID_RADIO_STATUS 109
-
-typedef struct __mavlink_radio_status_t
-{
- uint16_t rxerrors; ///< receive errors
- uint16_t fixed; ///< count of error corrected packets
- uint8_t rssi; ///< local signal strength
- uint8_t remrssi; ///< remote signal strength
- uint8_t txbuf; ///< how full the tx buffer is as a percentage
- uint8_t noise; ///< background noise level
- uint8_t remnoise; ///< remote background noise level
-} mavlink_radio_status_t;
-
-#define MAVLINK_MSG_ID_RADIO_STATUS_LEN 9
-#define MAVLINK_MSG_ID_109_LEN 9
-
-#define MAVLINK_MSG_ID_RADIO_STATUS_CRC 185
-#define MAVLINK_MSG_ID_109_CRC 185
-
-
-
-#define MAVLINK_MESSAGE_INFO_RADIO_STATUS { \
-	"RADIO_STATUS", \
-	7, \
-	{  { "rxerrors", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_radio_status_t, rxerrors) }, \
-         { "fixed", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_radio_status_t, fixed) }, \
-         { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_radio_status_t, rssi) }, \
-         { "remrssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_radio_status_t, remrssi) }, \
-         { "txbuf", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_radio_status_t, txbuf) }, \
-         { "noise", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_radio_status_t, noise) }, \
-         { "remnoise", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_radio_status_t, remnoise) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a radio_status 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 rssi local signal strength
- * @param remrssi remote signal strength
- * @param txbuf how full the tx buffer is as a percentage
- * @param noise background noise level
- * @param remnoise remote background noise level
- * @param rxerrors receive errors
- * @param fixed count of error corrected packets
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_radio_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RADIO_STATUS_LEN];
-	_mav_put_uint16_t(buf, 0, rxerrors);
-	_mav_put_uint16_t(buf, 2, fixed);
-	_mav_put_uint8_t(buf, 4, rssi);
-	_mav_put_uint8_t(buf, 5, remrssi);
-	_mav_put_uint8_t(buf, 6, txbuf);
-	_mav_put_uint8_t(buf, 7, noise);
-	_mav_put_uint8_t(buf, 8, remnoise);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#else
-	mavlink_radio_status_t packet;
-	packet.rxerrors = rxerrors;
-	packet.fixed = fixed;
-	packet.rssi = rssi;
-	packet.remrssi = remrssi;
-	packet.txbuf = txbuf;
-	packet.noise = noise;
-	packet.remnoise = remnoise;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RADIO_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a radio_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rssi local signal strength
- * @param remrssi remote signal strength
- * @param txbuf how full the tx buffer is as a percentage
- * @param noise background noise level
- * @param remnoise remote background noise level
- * @param rxerrors receive errors
- * @param fixed count of error corrected packets
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_radio_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t rssi,uint8_t remrssi,uint8_t txbuf,uint8_t noise,uint8_t remnoise,uint16_t rxerrors,uint16_t fixed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RADIO_STATUS_LEN];
-	_mav_put_uint16_t(buf, 0, rxerrors);
-	_mav_put_uint16_t(buf, 2, fixed);
-	_mav_put_uint8_t(buf, 4, rssi);
-	_mav_put_uint8_t(buf, 5, remrssi);
-	_mav_put_uint8_t(buf, 6, txbuf);
-	_mav_put_uint8_t(buf, 7, noise);
-	_mav_put_uint8_t(buf, 8, remnoise);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#else
-	mavlink_radio_status_t packet;
-	packet.rxerrors = rxerrors;
-	packet.fixed = fixed;
-	packet.rssi = rssi;
-	packet.remrssi = remrssi;
-	packet.txbuf = txbuf;
-	packet.noise = noise;
-	packet.remnoise = remnoise;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RADIO_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a radio_status struct
- *
- * @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 radio_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_radio_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_status_t* radio_status)
-{
-	return mavlink_msg_radio_status_pack(system_id, component_id, msg, radio_status->rssi, radio_status->remrssi, radio_status->txbuf, radio_status->noise, radio_status->remnoise, radio_status->rxerrors, radio_status->fixed);
-}
-
-/**
- * @brief Encode a radio_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param radio_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_radio_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_radio_status_t* radio_status)
-{
-	return mavlink_msg_radio_status_pack_chan(system_id, component_id, chan, msg, radio_status->rssi, radio_status->remrssi, radio_status->txbuf, radio_status->noise, radio_status->remnoise, radio_status->rxerrors, radio_status->fixed);
-}
-
-/**
- * @brief Send a radio_status message
- * @param chan MAVLink channel to send the message
- *
- * @param rssi local signal strength
- * @param remrssi remote signal strength
- * @param txbuf how full the tx buffer is as a percentage
- * @param noise background noise level
- * @param remnoise remote background noise level
- * @param rxerrors receive errors
- * @param fixed count of error corrected packets
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_radio_status_send(mavlink_channel_t chan, uint8_t rssi, uint8_t remrssi, uint8_t txbuf, uint8_t noise, uint8_t remnoise, uint16_t rxerrors, uint16_t fixed)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RADIO_STATUS_LEN];
-	_mav_put_uint16_t(buf, 0, rxerrors);
-	_mav_put_uint16_t(buf, 2, fixed);
-	_mav_put_uint8_t(buf, 4, rssi);
-	_mav_put_uint8_t(buf, 5, remrssi);
-	_mav_put_uint8_t(buf, 6, txbuf);
-	_mav_put_uint8_t(buf, 7, noise);
-	_mav_put_uint8_t(buf, 8, remnoise);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, buf, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-#else
-	mavlink_radio_status_t packet;
-	packet.rxerrors = rxerrors;
-	packet.fixed = fixed;
-	packet.rssi = rssi;
-	packet.remrssi = remrssi;
-	packet.txbuf = txbuf;
-	packet.noise = noise;
-	packet.remnoise = remnoise;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, (const char *)&packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN, MAVLINK_MSG_ID_RADIO_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RADIO_STATUS, (const char *)&packet, MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RADIO_STATUS UNPACKING
-
-
-/**
- * @brief Get field rssi from radio_status message
- *
- * @return local signal strength
- */
-static inline uint8_t mavlink_msg_radio_status_get_rssi(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field remrssi from radio_status message
- *
- * @return remote signal strength
- */
-static inline uint8_t mavlink_msg_radio_status_get_remrssi(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field txbuf from radio_status message
- *
- * @return how full the tx buffer is as a percentage
- */
-static inline uint8_t mavlink_msg_radio_status_get_txbuf(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field noise from radio_status message
- *
- * @return background noise level
- */
-static inline uint8_t mavlink_msg_radio_status_get_noise(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field remnoise from radio_status message
- *
- * @return remote background noise level
- */
-static inline uint8_t mavlink_msg_radio_status_get_remnoise(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field rxerrors from radio_status message
- *
- * @return receive errors
- */
-static inline uint16_t mavlink_msg_radio_status_get_rxerrors(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field fixed from radio_status message
- *
- * @return count of error corrected packets
- */
-static inline uint16_t mavlink_msg_radio_status_get_fixed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a radio_status message into a struct
- *
- * @param msg The message to decode
- * @param radio_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_radio_status_decode(const mavlink_message_t* msg, mavlink_radio_status_t* radio_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	radio_status->rxerrors = mavlink_msg_radio_status_get_rxerrors(msg);
-	radio_status->fixed = mavlink_msg_radio_status_get_fixed(msg);
-	radio_status->rssi = mavlink_msg_radio_status_get_rssi(msg);
-	radio_status->remrssi = mavlink_msg_radio_status_get_remrssi(msg);
-	radio_status->txbuf = mavlink_msg_radio_status_get_txbuf(msg);
-	radio_status->noise = mavlink_msg_radio_status_get_noise(msg);
-	radio_status->remnoise = mavlink_msg_radio_status_get_remnoise(msg);
-#else
-	memcpy(radio_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RADIO_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h
deleted file mode 100644
index 62a9b6eea..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_imu.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE RAW_IMU PACKING
-
-#define MAVLINK_MSG_ID_RAW_IMU 27
-
-typedef struct __mavlink_raw_imu_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- int16_t xacc; ///< X acceleration (raw)
- int16_t yacc; ///< Y acceleration (raw)
- int16_t zacc; ///< Z acceleration (raw)
- int16_t xgyro; ///< Angular speed around X axis (raw)
- int16_t ygyro; ///< Angular speed around Y axis (raw)
- int16_t zgyro; ///< Angular speed around Z axis (raw)
- int16_t xmag; ///< X Magnetic field (raw)
- int16_t ymag; ///< Y Magnetic field (raw)
- int16_t zmag; ///< Z Magnetic field (raw)
-} mavlink_raw_imu_t;
-
-#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
-#define MAVLINK_MSG_ID_27_LEN 26
-
-#define MAVLINK_MSG_ID_RAW_IMU_CRC 144
-#define MAVLINK_MSG_ID_27_CRC 144
-
-
-
-#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
-	"RAW_IMU", \
-	10, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
-         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
-         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
-         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
-         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a raw_imu 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param xacc X acceleration (raw)
- * @param yacc Y acceleration (raw)
- * @param zacc Z acceleration (raw)
- * @param xgyro Angular speed around X axis (raw)
- * @param ygyro Angular speed around Y axis (raw)
- * @param zgyro Angular speed around Z axis (raw)
- * @param xmag X Magnetic field (raw)
- * @param ymag Y Magnetic field (raw)
- * @param zmag Z Magnetic field (raw)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int16_t(buf, 8, xacc);
-	_mav_put_int16_t(buf, 10, yacc);
-	_mav_put_int16_t(buf, 12, zacc);
-	_mav_put_int16_t(buf, 14, xgyro);
-	_mav_put_int16_t(buf, 16, ygyro);
-	_mav_put_int16_t(buf, 18, zgyro);
-	_mav_put_int16_t(buf, 20, xmag);
-	_mav_put_int16_t(buf, 22, ymag);
-	_mav_put_int16_t(buf, 24, zmag);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#else
-	mavlink_raw_imu_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-}
-
-/**
- * @brief Pack a raw_imu 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param xacc X acceleration (raw)
- * @param yacc Y acceleration (raw)
- * @param zacc Z acceleration (raw)
- * @param xgyro Angular speed around X axis (raw)
- * @param ygyro Angular speed around Y axis (raw)
- * @param zgyro Angular speed around Z axis (raw)
- * @param xmag X Magnetic field (raw)
- * @param ymag Y Magnetic field (raw)
- * @param zmag Z Magnetic field (raw)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int16_t(buf, 8, xacc);
-	_mav_put_int16_t(buf, 10, yacc);
-	_mav_put_int16_t(buf, 12, zacc);
-	_mav_put_int16_t(buf, 14, xgyro);
-	_mav_put_int16_t(buf, 16, ygyro);
-	_mav_put_int16_t(buf, 18, zgyro);
-	_mav_put_int16_t(buf, 20, xmag);
-	_mav_put_int16_t(buf, 22, ymag);
-	_mav_put_int16_t(buf, 24, zmag);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#else
-	mavlink_raw_imu_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-}
-
-/**
- * @brief Encode a raw_imu struct
- *
- * @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 raw_imu C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
-{
-	return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
-}
-
-/**
- * @brief Encode a raw_imu struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param raw_imu C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
-{
-	return mavlink_msg_raw_imu_pack_chan(system_id, component_id, chan, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
-}
-
-/**
- * @brief Send a raw_imu message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param xacc X acceleration (raw)
- * @param yacc Y acceleration (raw)
- * @param zacc Z acceleration (raw)
- * @param xgyro Angular speed around X axis (raw)
- * @param ygyro Angular speed around Y axis (raw)
- * @param zgyro Angular speed around Z axis (raw)
- * @param xmag X Magnetic field (raw)
- * @param ymag Y Magnetic field (raw)
- * @param zmag Z Magnetic field (raw)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int16_t(buf, 8, xacc);
-	_mav_put_int16_t(buf, 10, yacc);
-	_mav_put_int16_t(buf, 12, zacc);
-	_mav_put_int16_t(buf, 14, xgyro);
-	_mav_put_int16_t(buf, 16, ygyro);
-	_mav_put_int16_t(buf, 18, zgyro);
-	_mav_put_int16_t(buf, 20, xmag);
-	_mav_put_int16_t(buf, 22, ymag);
-	_mav_put_int16_t(buf, 24, zmag);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-#else
-	mavlink_raw_imu_t packet;
-	packet.time_usec = time_usec;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RAW_IMU UNPACKING
-
-
-/**
- * @brief Get field time_usec from raw_imu message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field xacc from raw_imu message
- *
- * @return X acceleration (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field yacc from raw_imu message
- *
- * @return Y acceleration (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field zacc from raw_imu message
- *
- * @return Z acceleration (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field xgyro from raw_imu message
- *
- * @return Angular speed around X axis (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field ygyro from raw_imu message
- *
- * @return Angular speed around Y axis (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field zgyro from raw_imu message
- *
- * @return Angular speed around Z axis (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  18);
-}
-
-/**
- * @brief Get field xmag from raw_imu message
- *
- * @return X Magnetic field (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field ymag from raw_imu message
- *
- * @return Y Magnetic field (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field zmag from raw_imu message
- *
- * @return Z Magnetic field (raw)
- */
-static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  24);
-}
-
-/**
- * @brief Decode a raw_imu message into a struct
- *
- * @param msg The message to decode
- * @param raw_imu C-struct to decode the message contents into
- */
-static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
-	raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
-	raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
-	raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
-	raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
-	raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
-	raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
-	raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
-	raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
-	raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
-#else
-	memcpy(raw_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RAW_IMU_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h
deleted file mode 100644
index 82c5fad4a..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_raw_pressure.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE RAW_PRESSURE PACKING
-
-#define MAVLINK_MSG_ID_RAW_PRESSURE 28
-
-typedef struct __mavlink_raw_pressure_t
-{
- uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- int16_t press_abs; ///< Absolute pressure (raw)
- int16_t press_diff1; ///< Differential pressure 1 (raw)
- int16_t press_diff2; ///< Differential pressure 2 (raw)
- int16_t temperature; ///< Raw Temperature measurement (raw)
-} mavlink_raw_pressure_t;
-
-#define MAVLINK_MSG_ID_RAW_PRESSURE_LEN 16
-#define MAVLINK_MSG_ID_28_LEN 16
-
-#define MAVLINK_MSG_ID_RAW_PRESSURE_CRC 67
-#define MAVLINK_MSG_ID_28_CRC 67
-
-
-
-#define MAVLINK_MESSAGE_INFO_RAW_PRESSURE { \
-	"RAW_PRESSURE", \
-	5, \
-	{  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_pressure_t, time_usec) }, \
-         { "press_abs", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_pressure_t, press_abs) }, \
-         { "press_diff1", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_pressure_t, press_diff1) }, \
-         { "press_diff2", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_pressure_t, press_diff2) }, \
-         { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_pressure_t, temperature) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a raw_pressure 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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param press_abs Absolute pressure (raw)
- * @param press_diff1 Differential pressure 1 (raw)
- * @param press_diff2 Differential pressure 2 (raw)
- * @param temperature Raw Temperature measurement (raw)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_raw_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_PRESSURE_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int16_t(buf, 8, press_abs);
-	_mav_put_int16_t(buf, 10, press_diff1);
-	_mav_put_int16_t(buf, 12, press_diff2);
-	_mav_put_int16_t(buf, 14, temperature);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#else
-	mavlink_raw_pressure_t packet;
-	packet.time_usec = time_usec;
-	packet.press_abs = press_abs;
-	packet.press_diff1 = press_diff1;
-	packet.press_diff2 = press_diff2;
-	packet.temperature = temperature;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_PRESSURE_LEN, MAVLINK_MSG_ID_RAW_PRESSURE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a raw_pressure 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param press_abs Absolute pressure (raw)
- * @param press_diff1 Differential pressure 1 (raw)
- * @param press_diff2 Differential pressure 2 (raw)
- * @param temperature Raw Temperature measurement (raw)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_raw_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_usec,int16_t press_abs,int16_t press_diff1,int16_t press_diff2,int16_t temperature)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_PRESSURE_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int16_t(buf, 8, press_abs);
-	_mav_put_int16_t(buf, 10, press_diff1);
-	_mav_put_int16_t(buf, 12, press_diff2);
-	_mav_put_int16_t(buf, 14, temperature);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#else
-	mavlink_raw_pressure_t packet;
-	packet.time_usec = time_usec;
-	packet.press_abs = press_abs;
-	packet.press_diff1 = press_diff1;
-	packet.press_diff2 = press_diff2;
-	packet.temperature = temperature;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RAW_PRESSURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_PRESSURE_LEN, MAVLINK_MSG_ID_RAW_PRESSURE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a raw_pressure struct
- *
- * @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 raw_pressure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_raw_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure)
-{
-	return mavlink_msg_raw_pressure_pack(system_id, component_id, msg, raw_pressure->time_usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature);
-}
-
-/**
- * @brief Encode a raw_pressure struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param raw_pressure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_raw_pressure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_pressure_t* raw_pressure)
-{
-	return mavlink_msg_raw_pressure_pack_chan(system_id, component_id, chan, msg, raw_pressure->time_usec, raw_pressure->press_abs, raw_pressure->press_diff1, raw_pressure->press_diff2, raw_pressure->temperature);
-}
-
-/**
- * @brief Send a raw_pressure message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- * @param press_abs Absolute pressure (raw)
- * @param press_diff1 Differential pressure 1 (raw)
- * @param press_diff2 Differential pressure 2 (raw)
- * @param temperature Raw Temperature measurement (raw)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_raw_pressure_send(mavlink_channel_t chan, uint64_t time_usec, int16_t press_abs, int16_t press_diff1, int16_t press_diff2, int16_t temperature)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_PRESSURE_LEN];
-	_mav_put_uint64_t(buf, 0, time_usec);
-	_mav_put_int16_t(buf, 8, press_abs);
-	_mav_put_int16_t(buf, 10, press_diff1);
-	_mav_put_int16_t(buf, 12, press_diff2);
-	_mav_put_int16_t(buf, 14, temperature);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, MAVLINK_MSG_ID_RAW_PRESSURE_LEN, MAVLINK_MSG_ID_RAW_PRESSURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, buf, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-#else
-	mavlink_raw_pressure_t packet;
-	packet.time_usec = time_usec;
-	packet.press_abs = press_abs;
-	packet.press_diff1 = press_diff1;
-	packet.press_diff2 = press_diff2;
-	packet.temperature = temperature;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, MAVLINK_MSG_ID_RAW_PRESSURE_LEN, MAVLINK_MSG_ID_RAW_PRESSURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_PRESSURE, (const char *)&packet, MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RAW_PRESSURE UNPACKING
-
-
-/**
- * @brief Get field time_usec from raw_pressure message
- *
- * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
- */
-static inline uint64_t mavlink_msg_raw_pressure_get_time_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field press_abs from raw_pressure message
- *
- * @return Absolute pressure (raw)
- */
-static inline int16_t mavlink_msg_raw_pressure_get_press_abs(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field press_diff1 from raw_pressure message
- *
- * @return Differential pressure 1 (raw)
- */
-static inline int16_t mavlink_msg_raw_pressure_get_press_diff1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field press_diff2 from raw_pressure message
- *
- * @return Differential pressure 2 (raw)
- */
-static inline int16_t mavlink_msg_raw_pressure_get_press_diff2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field temperature from raw_pressure message
- *
- * @return Raw Temperature measurement (raw)
- */
-static inline int16_t mavlink_msg_raw_pressure_get_temperature(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Decode a raw_pressure message into a struct
- *
- * @param msg The message to decode
- * @param raw_pressure C-struct to decode the message contents into
- */
-static inline void mavlink_msg_raw_pressure_decode(const mavlink_message_t* msg, mavlink_raw_pressure_t* raw_pressure)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	raw_pressure->time_usec = mavlink_msg_raw_pressure_get_time_usec(msg);
-	raw_pressure->press_abs = mavlink_msg_raw_pressure_get_press_abs(msg);
-	raw_pressure->press_diff1 = mavlink_msg_raw_pressure_get_press_diff1(msg);
-	raw_pressure->press_diff2 = mavlink_msg_raw_pressure_get_press_diff2(msg);
-	raw_pressure->temperature = mavlink_msg_raw_pressure_get_temperature(msg);
-#else
-	memcpy(raw_pressure, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RAW_PRESSURE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h
deleted file mode 100644
index 0d8a1514b..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_override.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE RC_CHANNELS_OVERRIDE PACKING
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE 70
-
-typedef struct __mavlink_rc_channels_override_t
-{
- uint16_t chan1_raw; ///< RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan2_raw; ///< RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan3_raw; ///< RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan4_raw; ///< RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan5_raw; ///< RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan6_raw; ///< RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan7_raw; ///< RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint16_t chan8_raw; ///< RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_rc_channels_override_t;
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN 18
-#define MAVLINK_MSG_ID_70_LEN 18
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC 124
-#define MAVLINK_MSG_ID_70_CRC 124
-
-
-
-#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE { \
-	"RC_CHANNELS_OVERRIDE", \
-	10, \
-	{  { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_rc_channels_override_t, chan1_raw) }, \
-         { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_rc_channels_override_t, chan2_raw) }, \
-         { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_override_t, chan3_raw) }, \
-         { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_override_t, chan4_raw) }, \
-         { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_override_t, chan5_raw) }, \
-         { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_override_t, chan6_raw) }, \
-         { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_override_t, chan7_raw) }, \
-         { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_override_t, chan8_raw) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_rc_channels_override_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_rc_channels_override_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a rc_channels_override 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 target_system System ID
- * @param target_component Component ID
- * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rc_channels_override_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN];
-	_mav_put_uint16_t(buf, 0, chan1_raw);
-	_mav_put_uint16_t(buf, 2, chan2_raw);
-	_mav_put_uint16_t(buf, 4, chan3_raw);
-	_mav_put_uint16_t(buf, 6, chan4_raw);
-	_mav_put_uint16_t(buf, 8, chan5_raw);
-	_mav_put_uint16_t(buf, 10, chan6_raw);
-	_mav_put_uint16_t(buf, 12, chan7_raw);
-	_mav_put_uint16_t(buf, 14, chan8_raw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#else
-	mavlink_rc_channels_override_t packet;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a rc_channels_override 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_rc_channels_override_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN];
-	_mav_put_uint16_t(buf, 0, chan1_raw);
-	_mav_put_uint16_t(buf, 2, chan2_raw);
-	_mav_put_uint16_t(buf, 4, chan3_raw);
-	_mav_put_uint16_t(buf, 6, chan4_raw);
-	_mav_put_uint16_t(buf, 8, chan5_raw);
-	_mav_put_uint16_t(buf, 10, chan6_raw);
-	_mav_put_uint16_t(buf, 12, chan7_raw);
-	_mav_put_uint16_t(buf, 14, chan8_raw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#else
-	mavlink_rc_channels_override_t packet;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a rc_channels_override struct
- *
- * @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 rc_channels_override C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rc_channels_override_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override)
-{
-	return mavlink_msg_rc_channels_override_pack(system_id, component_id, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw);
-}
-
-/**
- * @brief Encode a rc_channels_override struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rc_channels_override C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rc_channels_override_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rc_channels_override_t* rc_channels_override)
-{
-	return mavlink_msg_rc_channels_override_pack_chan(system_id, component_id, chan, msg, rc_channels_override->target_system, rc_channels_override->target_component, rc_channels_override->chan1_raw, rc_channels_override->chan2_raw, rc_channels_override->chan3_raw, rc_channels_override->chan4_raw, rc_channels_override->chan5_raw, rc_channels_override->chan6_raw, rc_channels_override->chan7_raw, rc_channels_override->chan8_raw);
-}
-
-/**
- * @brief Send a rc_channels_override message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_rc_channels_override_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN];
-	_mav_put_uint16_t(buf, 0, chan1_raw);
-	_mav_put_uint16_t(buf, 2, chan2_raw);
-	_mav_put_uint16_t(buf, 4, chan3_raw);
-	_mav_put_uint16_t(buf, 6, chan4_raw);
-	_mav_put_uint16_t(buf, 8, chan5_raw);
-	_mav_put_uint16_t(buf, 10, chan6_raw);
-	_mav_put_uint16_t(buf, 12, chan7_raw);
-	_mav_put_uint16_t(buf, 14, chan8_raw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, buf, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#endif
-#else
-	mavlink_rc_channels_override_t packet;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RC_CHANNELS_OVERRIDE UNPACKING
-
-
-/**
- * @brief Get field target_system from rc_channels_override message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_rc_channels_override_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field target_component from rc_channels_override message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_rc_channels_override_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field chan1_raw from rc_channels_override message
- *
- * @return RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan1_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field chan2_raw from rc_channels_override message
- *
- * @return RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan2_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Get field chan3_raw from rc_channels_override message
- *
- * @return RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan3_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field chan4_raw from rc_channels_override message
- *
- * @return RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan4_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field chan5_raw from rc_channels_override message
- *
- * @return RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan5_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field chan6_raw from rc_channels_override message
- *
- * @return RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan6_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field chan7_raw from rc_channels_override message
- *
- * @return RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan7_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field chan8_raw from rc_channels_override message
- *
- * @return RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
- */
-static inline uint16_t mavlink_msg_rc_channels_override_get_chan8_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  14);
-}
-
-/**
- * @brief Decode a rc_channels_override message into a struct
- *
- * @param msg The message to decode
- * @param rc_channels_override C-struct to decode the message contents into
- */
-static inline void mavlink_msg_rc_channels_override_decode(const mavlink_message_t* msg, mavlink_rc_channels_override_t* rc_channels_override)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	rc_channels_override->chan1_raw = mavlink_msg_rc_channels_override_get_chan1_raw(msg);
-	rc_channels_override->chan2_raw = mavlink_msg_rc_channels_override_get_chan2_raw(msg);
-	rc_channels_override->chan3_raw = mavlink_msg_rc_channels_override_get_chan3_raw(msg);
-	rc_channels_override->chan4_raw = mavlink_msg_rc_channels_override_get_chan4_raw(msg);
-	rc_channels_override->chan5_raw = mavlink_msg_rc_channels_override_get_chan5_raw(msg);
-	rc_channels_override->chan6_raw = mavlink_msg_rc_channels_override_get_chan6_raw(msg);
-	rc_channels_override->chan7_raw = mavlink_msg_rc_channels_override_get_chan7_raw(msg);
-	rc_channels_override->chan8_raw = mavlink_msg_rc_channels_override_get_chan8_raw(msg);
-	rc_channels_override->target_system = mavlink_msg_rc_channels_override_get_target_system(msg);
-	rc_channels_override->target_component = mavlink_msg_rc_channels_override_get_target_component(msg);
-#else
-	memcpy(rc_channels_override, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE_LEN);
-#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
deleted file mode 100644
index 3c0aed020..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_raw.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE RC_CHANNELS_RAW PACKING
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_RAW 35
-
-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. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan2_raw; ///< RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan3_raw; ///< RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan4_raw; ///< RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan5_raw; ///< RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan6_raw; ///< RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan7_raw; ///< RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- uint16_t chan8_raw; ///< RC channel 8 value, in microseconds. A value of UINT16_MAX 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
-#define MAVLINK_MSG_ID_35_LEN 22
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC 244
-#define MAVLINK_MSG_ID_35_CRC 244
-
-
-
-#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW { \
-	"RC_CHANNELS_RAW", \
-	11, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_raw_t, time_boot_ms) }, \
-         { "chan1_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_rc_channels_raw_t, chan1_raw) }, \
-         { "chan2_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_rc_channels_raw_t, chan2_raw) }, \
-         { "chan3_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_rc_channels_raw_t, chan3_raw) }, \
-         { "chan4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_rc_channels_raw_t, chan4_raw) }, \
-         { "chan5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_rc_channels_raw_t, chan5_raw) }, \
-         { "chan6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_rc_channels_raw_t, chan6_raw) }, \
-         { "chan7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_rc_channels_raw_t, chan7_raw) }, \
-         { "chan8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_rc_channels_raw_t, chan8_raw) }, \
-         { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_raw_t, port) }, \
-         { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_raw_t, rssi) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a rc_channels_raw 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 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 for more than 8 servos.
- * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX 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,
-						       uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_uint16_t(buf, 4, chan1_raw);
-	_mav_put_uint16_t(buf, 6, chan2_raw);
-	_mav_put_uint16_t(buf, 8, chan3_raw);
-	_mav_put_uint16_t(buf, 10, chan4_raw);
-	_mav_put_uint16_t(buf, 12, chan5_raw);
-	_mav_put_uint16_t(buf, 14, chan6_raw);
-	_mav_put_uint16_t(buf, 16, chan7_raw);
-	_mav_put_uint16_t(buf, 18, chan8_raw);
-	_mav_put_uint8_t(buf, 20, port);
-	_mav_put_uint8_t(buf, 21, rssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#else
-	mavlink_rc_channels_raw_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.port = port;
-	packet.rssi = rssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a rc_channels_raw 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 will be 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 for more than 8 servos.
- * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX 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,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,uint8_t port,uint16_t chan1_raw,uint16_t chan2_raw,uint16_t chan3_raw,uint16_t chan4_raw,uint16_t chan5_raw,uint16_t chan6_raw,uint16_t chan7_raw,uint16_t chan8_raw,uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_uint16_t(buf, 4, chan1_raw);
-	_mav_put_uint16_t(buf, 6, chan2_raw);
-	_mav_put_uint16_t(buf, 8, chan3_raw);
-	_mav_put_uint16_t(buf, 10, chan4_raw);
-	_mav_put_uint16_t(buf, 12, chan5_raw);
-	_mav_put_uint16_t(buf, 14, chan6_raw);
-	_mav_put_uint16_t(buf, 16, chan7_raw);
-	_mav_put_uint16_t(buf, 18, chan8_raw);
-	_mav_put_uint8_t(buf, 20, port);
-	_mav_put_uint8_t(buf, 21, rssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#else
-	mavlink_rc_channels_raw_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.port = port;
-	packet.rssi = rssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a rc_channels_raw struct
- *
- * @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 rc_channels_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
-{
-	return mavlink_msg_rc_channels_raw_pack(system_id, component_id, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
-}
-
-/**
- * @brief Encode a rc_channels_raw struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rc_channels_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rc_channels_raw_t* rc_channels_raw)
-{
-	return mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, chan, msg, rc_channels_raw->time_boot_ms, rc_channels_raw->port, rc_channels_raw->chan1_raw, rc_channels_raw->chan2_raw, rc_channels_raw->chan3_raw, rc_channels_raw->chan4_raw, rc_channels_raw->chan5_raw, rc_channels_raw->chan6_raw, rc_channels_raw->chan7_raw, rc_channels_raw->chan8_raw, rc_channels_raw->rssi);
-}
-
-/**
- * @brief Send a rc_channels_raw message
- * @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 for more than 8 servos.
- * @param chan1_raw RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan2_raw RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan3_raw RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan4_raw RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan5_raw RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan6_raw RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan7_raw RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param chan8_raw RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_rc_channels_raw_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, uint16_t chan1_raw, uint16_t chan2_raw, uint16_t chan3_raw, uint16_t chan4_raw, uint16_t chan5_raw, uint16_t chan6_raw, uint16_t chan7_raw, uint16_t chan8_raw, uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_uint16_t(buf, 4, chan1_raw);
-	_mav_put_uint16_t(buf, 6, chan2_raw);
-	_mav_put_uint16_t(buf, 8, chan3_raw);
-	_mav_put_uint16_t(buf, 10, chan4_raw);
-	_mav_put_uint16_t(buf, 12, chan5_raw);
-	_mav_put_uint16_t(buf, 14, chan6_raw);
-	_mav_put_uint16_t(buf, 16, chan7_raw);
-	_mav_put_uint16_t(buf, 18, chan8_raw);
-	_mav_put_uint8_t(buf, 20, port);
-	_mav_put_uint8_t(buf, 21, rssi);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, buf, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-#else
-	mavlink_rc_channels_raw_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.chan1_raw = chan1_raw;
-	packet.chan2_raw = chan2_raw;
-	packet.chan3_raw = chan3_raw;
-	packet.chan4_raw = chan4_raw;
-	packet.chan5_raw = chan5_raw;
-	packet.chan6_raw = chan6_raw;
-	packet.chan7_raw = chan7_raw;
-	packet.chan8_raw = chan8_raw;
-	packet.port = port;
-	packet.rssi = rssi;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN, MAVLINK_MSG_ID_RC_CHANNELS_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_RAW, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RC_CHANNELS_RAW UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from rc_channels_raw message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_rc_channels_raw_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @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 for more than 8 servos.
- */
-static inline uint8_t mavlink_msg_rc_channels_raw_get_port(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Get field chan1_raw from rc_channels_raw message
- *
- * @return RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan1_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field chan2_raw from rc_channels_raw message
- *
- * @return RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan2_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field chan3_raw from rc_channels_raw message
- *
- * @return RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan3_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field chan4_raw from rc_channels_raw message
- *
- * @return RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan4_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field chan5_raw from rc_channels_raw message
- *
- * @return RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan5_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field chan6_raw from rc_channels_raw message
- *
- * @return RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan6_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  14);
-}
-
-/**
- * @brief Get field chan7_raw from rc_channels_raw message
- *
- * @return RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan7_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field chan8_raw from rc_channels_raw message
- *
- * @return RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
- */
-static inline uint16_t mavlink_msg_rc_channels_raw_get_chan8_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Get field rssi from rc_channels_raw message
- *
- * @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)
-{
-	return _MAV_RETURN_uint8_t(msg,  21);
-}
-
-/**
- * @brief Decode a rc_channels_raw message into a struct
- *
- * @param msg The message to decode
- * @param rc_channels_raw C-struct to decode the message contents into
- */
-static inline void mavlink_msg_rc_channels_raw_decode(const mavlink_message_t* msg, mavlink_rc_channels_raw_t* rc_channels_raw)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	rc_channels_raw->time_boot_ms = mavlink_msg_rc_channels_raw_get_time_boot_ms(msg);
-	rc_channels_raw->chan1_raw = mavlink_msg_rc_channels_raw_get_chan1_raw(msg);
-	rc_channels_raw->chan2_raw = mavlink_msg_rc_channels_raw_get_chan2_raw(msg);
-	rc_channels_raw->chan3_raw = mavlink_msg_rc_channels_raw_get_chan3_raw(msg);
-	rc_channels_raw->chan4_raw = mavlink_msg_rc_channels_raw_get_chan4_raw(msg);
-	rc_channels_raw->chan5_raw = mavlink_msg_rc_channels_raw_get_chan5_raw(msg);
-	rc_channels_raw->chan6_raw = mavlink_msg_rc_channels_raw_get_chan6_raw(msg);
-	rc_channels_raw->chan7_raw = mavlink_msg_rc_channels_raw_get_chan7_raw(msg);
-	rc_channels_raw->chan8_raw = mavlink_msg_rc_channels_raw_get_chan8_raw(msg);
-	rc_channels_raw->port = mavlink_msg_rc_channels_raw_get_port(msg);
-	rc_channels_raw->rssi = mavlink_msg_rc_channels_raw_get_rssi(msg);
-#else
-	memcpy(rc_channels_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN);
-#endif
-}
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
deleted file mode 100644
index 2153ab392..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_rc_channels_scaled.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE RC_CHANNELS_SCALED PACKING
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED 34
-
-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, (invalid) INT16_MAX.
- int16_t chan2_scaled; ///< RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- int16_t chan3_scaled; ///< RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- int16_t chan4_scaled; ///< RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- int16_t chan5_scaled; ///< RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- int16_t chan6_scaled; ///< RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- int16_t chan7_scaled; ///< RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- int16_t chan8_scaled; ///< RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- 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
-#define MAVLINK_MSG_ID_34_LEN 22
-
-#define MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC 237
-#define MAVLINK_MSG_ID_34_CRC 237
-
-
-
-#define MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED { \
-	"RC_CHANNELS_SCALED", \
-	11, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_rc_channels_scaled_t, time_boot_ms) }, \
-         { "chan1_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_rc_channels_scaled_t, chan1_scaled) }, \
-         { "chan2_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_rc_channels_scaled_t, chan2_scaled) }, \
-         { "chan3_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_rc_channels_scaled_t, chan3_scaled) }, \
-         { "chan4_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_rc_channels_scaled_t, chan4_scaled) }, \
-         { "chan5_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_rc_channels_scaled_t, chan5_scaled) }, \
-         { "chan6_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_rc_channels_scaled_t, chan6_scaled) }, \
-         { "chan7_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_rc_channels_scaled_t, chan7_scaled) }, \
-         { "chan8_scaled", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_rc_channels_scaled_t, chan8_scaled) }, \
-         { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_rc_channels_scaled_t, port) }, \
-         { "rssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_rc_channels_scaled_t, rssi) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a rc_channels_scaled 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 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 for more than 8 servos.
- * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @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,
-						       uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, chan1_scaled);
-	_mav_put_int16_t(buf, 6, chan2_scaled);
-	_mav_put_int16_t(buf, 8, chan3_scaled);
-	_mav_put_int16_t(buf, 10, chan4_scaled);
-	_mav_put_int16_t(buf, 12, chan5_scaled);
-	_mav_put_int16_t(buf, 14, chan6_scaled);
-	_mav_put_int16_t(buf, 16, chan7_scaled);
-	_mav_put_int16_t(buf, 18, chan8_scaled);
-	_mav_put_uint8_t(buf, 20, port);
-	_mav_put_uint8_t(buf, 21, rssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#else
-	mavlink_rc_channels_scaled_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.chan1_scaled = chan1_scaled;
-	packet.chan2_scaled = chan2_scaled;
-	packet.chan3_scaled = chan3_scaled;
-	packet.chan4_scaled = chan4_scaled;
-	packet.chan5_scaled = chan5_scaled;
-	packet.chan6_scaled = chan6_scaled;
-	packet.chan7_scaled = chan7_scaled;
-	packet.chan8_scaled = chan8_scaled;
-	packet.port = port;
-	packet.rssi = rssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-}
-
-/**
- * @brief Pack a rc_channels_scaled 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 will be 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 for more than 8 servos.
- * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @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,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,uint8_t port,int16_t chan1_scaled,int16_t chan2_scaled,int16_t chan3_scaled,int16_t chan4_scaled,int16_t chan5_scaled,int16_t chan6_scaled,int16_t chan7_scaled,int16_t chan8_scaled,uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, chan1_scaled);
-	_mav_put_int16_t(buf, 6, chan2_scaled);
-	_mav_put_int16_t(buf, 8, chan3_scaled);
-	_mav_put_int16_t(buf, 10, chan4_scaled);
-	_mav_put_int16_t(buf, 12, chan5_scaled);
-	_mav_put_int16_t(buf, 14, chan6_scaled);
-	_mav_put_int16_t(buf, 16, chan7_scaled);
-	_mav_put_int16_t(buf, 18, chan8_scaled);
-	_mav_put_uint8_t(buf, 20, port);
-	_mav_put_uint8_t(buf, 21, rssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#else
-	mavlink_rc_channels_scaled_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.chan1_scaled = chan1_scaled;
-	packet.chan2_scaled = chan2_scaled;
-	packet.chan3_scaled = chan3_scaled;
-	packet.chan4_scaled = chan4_scaled;
-	packet.chan5_scaled = chan5_scaled;
-	packet.chan6_scaled = chan6_scaled;
-	packet.chan7_scaled = chan7_scaled;
-	packet.chan8_scaled = chan8_scaled;
-	packet.port = port;
-	packet.rssi = rssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RC_CHANNELS_SCALED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-}
-
-/**
- * @brief Encode a rc_channels_scaled struct
- *
- * @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 rc_channels_scaled C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rc_channels_scaled_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled)
-{
-	return mavlink_msg_rc_channels_scaled_pack(system_id, component_id, msg, rc_channels_scaled->time_boot_ms, rc_channels_scaled->port, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi);
-}
-
-/**
- * @brief Encode a rc_channels_scaled struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rc_channels_scaled C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_rc_channels_scaled_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_rc_channels_scaled_t* rc_channels_scaled)
-{
-	return mavlink_msg_rc_channels_scaled_pack_chan(system_id, component_id, chan, msg, rc_channels_scaled->time_boot_ms, rc_channels_scaled->port, rc_channels_scaled->chan1_scaled, rc_channels_scaled->chan2_scaled, rc_channels_scaled->chan3_scaled, rc_channels_scaled->chan4_scaled, rc_channels_scaled->chan5_scaled, rc_channels_scaled->chan6_scaled, rc_channels_scaled->chan7_scaled, rc_channels_scaled->chan8_scaled, rc_channels_scaled->rssi);
-}
-
-/**
- * @brief Send a rc_channels_scaled message
- * @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 for more than 8 servos.
- * @param chan1_scaled RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan2_scaled RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan3_scaled RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan4_scaled RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan5_scaled RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan6_scaled RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan7_scaled RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param chan8_scaled RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- * @param rssi Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_rc_channels_scaled_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t port, int16_t chan1_scaled, int16_t chan2_scaled, int16_t chan3_scaled, int16_t chan4_scaled, int16_t chan5_scaled, int16_t chan6_scaled, int16_t chan7_scaled, int16_t chan8_scaled, uint8_t rssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, chan1_scaled);
-	_mav_put_int16_t(buf, 6, chan2_scaled);
-	_mav_put_int16_t(buf, 8, chan3_scaled);
-	_mav_put_int16_t(buf, 10, chan4_scaled);
-	_mav_put_int16_t(buf, 12, chan5_scaled);
-	_mav_put_int16_t(buf, 14, chan6_scaled);
-	_mav_put_int16_t(buf, 16, chan7_scaled);
-	_mav_put_int16_t(buf, 18, chan8_scaled);
-	_mav_put_uint8_t(buf, 20, port);
-	_mav_put_uint8_t(buf, 21, rssi);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, buf, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-#else
-	mavlink_rc_channels_scaled_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.chan1_scaled = chan1_scaled;
-	packet.chan2_scaled = chan2_scaled;
-	packet.chan3_scaled = chan3_scaled;
-	packet.chan4_scaled = chan4_scaled;
-	packet.chan5_scaled = chan5_scaled;
-	packet.chan6_scaled = chan6_scaled;
-	packet.chan7_scaled = chan7_scaled;
-	packet.chan8_scaled = chan8_scaled;
-	packet.port = port;
-	packet.rssi = rssi;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, (const char *)&packet, MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RC_CHANNELS_SCALED UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from rc_channels_scaled message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_rc_channels_scaled_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @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 for more than 8 servos.
- */
-static inline uint8_t mavlink_msg_rc_channels_scaled_get_port(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Get field chan1_scaled from rc_channels_scaled message
- *
- * @return RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan1_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field chan2_scaled from rc_channels_scaled message
- *
- * @return RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan2_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Get field chan3_scaled from rc_channels_scaled message
- *
- * @return RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan3_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field chan4_scaled from rc_channels_scaled message
- *
- * @return RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan4_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field chan5_scaled from rc_channels_scaled message
- *
- * @return RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan5_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field chan6_scaled from rc_channels_scaled message
- *
- * @return RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan6_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field chan7_scaled from rc_channels_scaled message
- *
- * @return RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan7_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field chan8_scaled from rc_channels_scaled message
- *
- * @return RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
- */
-static inline int16_t mavlink_msg_rc_channels_scaled_get_chan8_scaled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  18);
-}
-
-/**
- * @brief Get field rssi from rc_channels_scaled message
- *
- * @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)
-{
-	return _MAV_RETURN_uint8_t(msg,  21);
-}
-
-/**
- * @brief Decode a rc_channels_scaled message into a struct
- *
- * @param msg The message to decode
- * @param rc_channels_scaled C-struct to decode the message contents into
- */
-static inline void mavlink_msg_rc_channels_scaled_decode(const mavlink_message_t* msg, mavlink_rc_channels_scaled_t* rc_channels_scaled)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	rc_channels_scaled->time_boot_ms = mavlink_msg_rc_channels_scaled_get_time_boot_ms(msg);
-	rc_channels_scaled->chan1_scaled = mavlink_msg_rc_channels_scaled_get_chan1_scaled(msg);
-	rc_channels_scaled->chan2_scaled = mavlink_msg_rc_channels_scaled_get_chan2_scaled(msg);
-	rc_channels_scaled->chan3_scaled = mavlink_msg_rc_channels_scaled_get_chan3_scaled(msg);
-	rc_channels_scaled->chan4_scaled = mavlink_msg_rc_channels_scaled_get_chan4_scaled(msg);
-	rc_channels_scaled->chan5_scaled = mavlink_msg_rc_channels_scaled_get_chan5_scaled(msg);
-	rc_channels_scaled->chan6_scaled = mavlink_msg_rc_channels_scaled_get_chan6_scaled(msg);
-	rc_channels_scaled->chan7_scaled = mavlink_msg_rc_channels_scaled_get_chan7_scaled(msg);
-	rc_channels_scaled->chan8_scaled = mavlink_msg_rc_channels_scaled_get_chan8_scaled(msg);
-	rc_channels_scaled->port = mavlink_msg_rc_channels_scaled_get_port(msg);
-	rc_channels_scaled->rssi = mavlink_msg_rc_channels_scaled_get_rssi(msg);
-#else
-	memcpy(rc_channels_scaled, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h
deleted file mode 100644
index c754ad876..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_request_data_stream.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE REQUEST_DATA_STREAM PACKING
-
-#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM 66
-
-typedef struct __mavlink_request_data_stream_t
-{
- uint16_t req_message_rate; ///< The requested interval between two messages of this type
- uint8_t target_system; ///< The target requested to send the message stream.
- uint8_t target_component; ///< The target requested to send the message stream.
- uint8_t req_stream_id; ///< The ID of the requested data stream
- uint8_t start_stop; ///< 1 to start sending, 0 to stop sending.
-} mavlink_request_data_stream_t;
-
-#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN 6
-#define MAVLINK_MSG_ID_66_LEN 6
-
-#define MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC 148
-#define MAVLINK_MSG_ID_66_CRC 148
-
-
-
-#define MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM { \
-	"REQUEST_DATA_STREAM", \
-	5, \
-	{  { "req_message_rate", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_request_data_stream_t, req_message_rate) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_request_data_stream_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_request_data_stream_t, target_component) }, \
-         { "req_stream_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_request_data_stream_t, req_stream_id) }, \
-         { "start_stop", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_request_data_stream_t, start_stop) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a request_data_stream 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 target_system The target requested to send the message stream.
- * @param target_component The target requested to send the message stream.
- * @param req_stream_id The ID of the requested data stream
- * @param req_message_rate The requested interval between two messages of this type
- * @param start_stop 1 to start sending, 0 to stop sending.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_request_data_stream_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN];
-	_mav_put_uint16_t(buf, 0, req_message_rate);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_uint8_t(buf, 4, req_stream_id);
-	_mav_put_uint8_t(buf, 5, start_stop);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#else
-	mavlink_request_data_stream_t packet;
-	packet.req_message_rate = req_message_rate;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.req_stream_id = req_stream_id;
-	packet.start_stop = start_stop;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-}
-
-/**
- * @brief Pack a request_data_stream 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system The target requested to send the message stream.
- * @param target_component The target requested to send the message stream.
- * @param req_stream_id The ID of the requested data stream
- * @param req_message_rate The requested interval between two messages of this type
- * @param start_stop 1 to start sending, 0 to stop sending.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_request_data_stream_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t req_stream_id,uint16_t req_message_rate,uint8_t start_stop)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN];
-	_mav_put_uint16_t(buf, 0, req_message_rate);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_uint8_t(buf, 4, req_stream_id);
-	_mav_put_uint8_t(buf, 5, start_stop);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#else
-	mavlink_request_data_stream_t packet;
-	packet.req_message_rate = req_message_rate;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.req_stream_id = req_stream_id;
-	packet.start_stop = start_stop;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_REQUEST_DATA_STREAM;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-}
-
-/**
- * @brief Encode a request_data_stream struct
- *
- * @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 request_data_stream C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_request_data_stream_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream)
-{
-	return mavlink_msg_request_data_stream_pack(system_id, component_id, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop);
-}
-
-/**
- * @brief Encode a request_data_stream struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param request_data_stream C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_request_data_stream_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_request_data_stream_t* request_data_stream)
-{
-	return mavlink_msg_request_data_stream_pack_chan(system_id, component_id, chan, msg, request_data_stream->target_system, request_data_stream->target_component, request_data_stream->req_stream_id, request_data_stream->req_message_rate, request_data_stream->start_stop);
-}
-
-/**
- * @brief Send a request_data_stream message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system The target requested to send the message stream.
- * @param target_component The target requested to send the message stream.
- * @param req_stream_id The ID of the requested data stream
- * @param req_message_rate The requested interval between two messages of this type
- * @param start_stop 1 to start sending, 0 to stop sending.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_request_data_stream_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t req_stream_id, uint16_t req_message_rate, uint8_t start_stop)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN];
-	_mav_put_uint16_t(buf, 0, req_message_rate);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_uint8_t(buf, 4, req_stream_id);
-	_mav_put_uint8_t(buf, 5, start_stop);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, buf, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-#else
-	mavlink_request_data_stream_t packet;
-	packet.req_message_rate = req_message_rate;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.req_stream_id = req_stream_id;
-	packet.start_stop = start_stop;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, (const char *)&packet, MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE REQUEST_DATA_STREAM UNPACKING
-
-
-/**
- * @brief Get field target_system from request_data_stream message
- *
- * @return The target requested to send the message stream.
- */
-static inline uint8_t mavlink_msg_request_data_stream_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field target_component from request_data_stream message
- *
- * @return The target requested to send the message stream.
- */
-static inline uint8_t mavlink_msg_request_data_stream_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field req_stream_id from request_data_stream message
- *
- * @return The ID of the requested data stream
- */
-static inline uint8_t mavlink_msg_request_data_stream_get_req_stream_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field req_message_rate from request_data_stream message
- *
- * @return The requested interval between two messages of this type
- */
-static inline uint16_t mavlink_msg_request_data_stream_get_req_message_rate(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field start_stop from request_data_stream message
- *
- * @return 1 to start sending, 0 to stop sending.
- */
-static inline uint8_t mavlink_msg_request_data_stream_get_start_stop(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Decode a request_data_stream message into a struct
- *
- * @param msg The message to decode
- * @param request_data_stream C-struct to decode the message contents into
- */
-static inline void mavlink_msg_request_data_stream_decode(const mavlink_message_t* msg, mavlink_request_data_stream_t* request_data_stream)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	request_data_stream->req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(msg);
-	request_data_stream->target_system = mavlink_msg_request_data_stream_get_target_system(msg);
-	request_data_stream->target_component = mavlink_msg_request_data_stream_get_target_component(msg);
-	request_data_stream->req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(msg);
-	request_data_stream->start_stop = mavlink_msg_request_data_stream_get_start_stop(msg);
-#else
-	memcpy(request_data_stream, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_REQUEST_DATA_STREAM_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h
deleted file mode 100644
index ac3ef4fa9..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT 80
-
-typedef struct __mavlink_roll_pitch_yaw_rates_thrust_setpoint_t
-{
- uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
- float roll_rate; ///< Desired roll rate in radians per second
- float pitch_rate; ///< Desired pitch rate in radians per second
- float yaw_rate; ///< Desired yaw rate in radians per second
- float thrust; ///< Collective thrust, normalized to 0 .. 1
-} mavlink_roll_pitch_yaw_rates_thrust_setpoint_t;
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN 20
-#define MAVLINK_MSG_ID_80_LEN 20
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC 127
-#define MAVLINK_MSG_ID_80_CRC 127
-
-
-
-#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT { \
-	"ROLL_PITCH_YAW_RATES_THRUST_SETPOINT", \
-	5, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, time_boot_ms) }, \
-         { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, roll_rate) }, \
-         { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, pitch_rate) }, \
-         { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, yaw_rate) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, thrust) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a roll_pitch_yaw_rates_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
- * @param roll_rate Desired roll rate in radians per second
- * @param pitch_rate Desired pitch rate in radians per second
- * @param yaw_rate Desired yaw rate in radians per second
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll_rate);
-	_mav_put_float(buf, 8, pitch_rate);
-	_mav_put_float(buf, 12, yaw_rate);
-	_mav_put_float(buf, 16, thrust);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#else
-	mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll_rate = roll_rate;
-	packet.pitch_rate = pitch_rate;
-	packet.yaw_rate = yaw_rate;
-	packet.thrust = thrust;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a roll_pitch_yaw_rates_thrust_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll_rate Desired roll rate in radians per second
- * @param pitch_rate Desired pitch rate in radians per second
- * @param yaw_rate Desired yaw rate in radians per second
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float roll_rate,float pitch_rate,float yaw_rate,float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll_rate);
-	_mav_put_float(buf, 8, pitch_rate);
-	_mav_put_float(buf, 12, yaw_rate);
-	_mav_put_float(buf, 16, thrust);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#else
-	mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll_rate = roll_rate;
-	packet.pitch_rate = pitch_rate;
-	packet.yaw_rate = yaw_rate;
-	packet.thrust = thrust;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a roll_pitch_yaw_rates_thrust_setpoint struct
- *
- * @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 roll_pitch_yaw_rates_thrust_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
-{
-	return mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms, roll_pitch_yaw_rates_thrust_setpoint->roll_rate, roll_pitch_yaw_rates_thrust_setpoint->pitch_rate, roll_pitch_yaw_rates_thrust_setpoint->yaw_rate, roll_pitch_yaw_rates_thrust_setpoint->thrust);
-}
-
-/**
- * @brief Encode a roll_pitch_yaw_rates_thrust_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param roll_pitch_yaw_rates_thrust_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
-{
-	return mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(system_id, component_id, chan, msg, roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms, roll_pitch_yaw_rates_thrust_setpoint->roll_rate, roll_pitch_yaw_rates_thrust_setpoint->pitch_rate, roll_pitch_yaw_rates_thrust_setpoint->yaw_rate, roll_pitch_yaw_rates_thrust_setpoint->thrust);
-}
-
-/**
- * @brief Send a roll_pitch_yaw_rates_thrust_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll_rate Desired roll rate in radians per second
- * @param pitch_rate Desired pitch rate in radians per second
- * @param yaw_rate Desired yaw rate in radians per second
- * @param thrust Collective thrust, normalized to 0 .. 1
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll_rate);
-	_mav_put_float(buf, 8, pitch_rate);
-	_mav_put_float(buf, 12, yaw_rate);
-	_mav_put_float(buf, 16, thrust);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-#else
-	mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll_rate = roll_rate;
-	packet.pitch_rate = pitch_rate;
-	packet.yaw_rate = yaw_rate;
-	packet.thrust = thrust;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from roll_pitch_yaw_rates_thrust_setpoint message
- *
- * @return Timestamp in milliseconds since system boot
- */
-static inline uint32_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field roll_rate from roll_pitch_yaw_rates_thrust_setpoint message
- *
- * @return Desired roll rate in radians per second
- */
-static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_roll_rate(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field pitch_rate from roll_pitch_yaw_rates_thrust_setpoint message
- *
- * @return Desired pitch rate in radians per second
- */
-static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_pitch_rate(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw_rate from roll_pitch_yaw_rates_thrust_setpoint message
- *
- * @return Desired yaw rate in radians per second
- */
-static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_yaw_rate(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field thrust from roll_pitch_yaw_rates_thrust_setpoint message
- *
- * @return Collective thrust, normalized to 0 .. 1
- */
-static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a roll_pitch_yaw_rates_thrust_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param roll_pitch_yaw_rates_thrust_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_time_boot_ms(msg);
-	roll_pitch_yaw_rates_thrust_setpoint->roll_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_roll_rate(msg);
-	roll_pitch_yaw_rates_thrust_setpoint->pitch_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_pitch_rate(msg);
-	roll_pitch_yaw_rates_thrust_setpoint->yaw_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_yaw_rate(msg);
-	roll_pitch_yaw_rates_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_thrust(msg);
-#else
-	memcpy(roll_pitch_yaw_rates_thrust_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
deleted file mode 100644
index 626477322..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT 59
-
-typedef struct __mavlink_roll_pitch_yaw_speed_thrust_setpoint_t
-{
- uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
- float roll_speed; ///< Desired roll angular speed in rad/s
- float pitch_speed; ///< Desired pitch angular speed in rad/s
- float yaw_speed; ///< Desired yaw angular speed in rad/s
- float thrust; ///< Collective thrust, normalized to 0 .. 1
-} mavlink_roll_pitch_yaw_speed_thrust_setpoint_t;
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN 20
-#define MAVLINK_MSG_ID_59_LEN 20
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC 238
-#define MAVLINK_MSG_ID_59_CRC 238
-
-
-
-#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT { \
-	"ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT", \
-	5, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, time_boot_ms) }, \
-         { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, roll_speed) }, \
-         { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, pitch_speed) }, \
-         { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, yaw_speed) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_speed_thrust_setpoint_t, thrust) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
- * @param roll_speed Desired roll angular speed in rad/s
- * @param pitch_speed Desired pitch angular speed in rad/s
- * @param yaw_speed Desired yaw angular speed in rad/s
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll_speed);
-	_mav_put_float(buf, 8, pitch_speed);
-	_mav_put_float(buf, 12, yaw_speed);
-	_mav_put_float(buf, 16, thrust);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#else
-	mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll_speed = roll_speed;
-	packet.pitch_speed = pitch_speed;
-	packet.yaw_speed = yaw_speed;
-	packet.thrust = thrust;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a roll_pitch_yaw_speed_thrust_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll_speed Desired roll angular speed in rad/s
- * @param pitch_speed Desired pitch angular speed in rad/s
- * @param yaw_speed Desired yaw angular speed in rad/s
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll_speed);
-	_mav_put_float(buf, 8, pitch_speed);
-	_mav_put_float(buf, 12, yaw_speed);
-	_mav_put_float(buf, 16, thrust);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#else
-	mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll_speed = roll_speed;
-	packet.pitch_speed = pitch_speed;
-	packet.yaw_speed = yaw_speed;
-	packet.thrust = thrust;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a roll_pitch_yaw_speed_thrust_setpoint struct
- *
- * @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 roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
-{
-	return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
-}
-
-/**
- * @brief Encode a roll_pitch_yaw_speed_thrust_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
-{
-	return mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(system_id, component_id, chan, msg, roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms, roll_pitch_yaw_speed_thrust_setpoint->roll_speed, roll_pitch_yaw_speed_thrust_setpoint->pitch_speed, roll_pitch_yaw_speed_thrust_setpoint->yaw_speed, roll_pitch_yaw_speed_thrust_setpoint->thrust);
-}
-
-/**
- * @brief Send a roll_pitch_yaw_speed_thrust_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll_speed Desired roll angular speed in rad/s
- * @param pitch_speed Desired pitch angular speed in rad/s
- * @param yaw_speed Desired yaw angular speed in rad/s
- * @param thrust Collective thrust, normalized to 0 .. 1
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll_speed);
-	_mav_put_float(buf, 8, pitch_speed);
-	_mav_put_float(buf, 12, yaw_speed);
-	_mav_put_float(buf, 16, thrust);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-#else
-	mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll_speed = roll_speed;
-	packet.pitch_speed = pitch_speed;
-	packet.yaw_speed = yaw_speed;
-	packet.thrust = thrust;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from roll_pitch_yaw_speed_thrust_setpoint message
- *
- * @return Timestamp in milliseconds since system boot
- */
-static inline uint32_t mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field roll_speed from roll_pitch_yaw_speed_thrust_setpoint message
- *
- * @return Desired roll angular speed in rad/s
- */
-static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field pitch_speed from roll_pitch_yaw_speed_thrust_setpoint message
- *
- * @return Desired pitch angular speed in rad/s
- */
-static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw_speed from roll_pitch_yaw_speed_thrust_setpoint message
- *
- * @return Desired yaw angular speed in rad/s
- */
-static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field thrust from roll_pitch_yaw_speed_thrust_setpoint message
- *
- * @return Collective thrust, normalized to 0 .. 1
- */
-static inline float mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a roll_pitch_yaw_speed_thrust_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param roll_pitch_yaw_speed_thrust_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_speed_thrust_setpoint_t* roll_pitch_yaw_speed_thrust_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	roll_pitch_yaw_speed_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_time_boot_ms(msg);
-	roll_pitch_yaw_speed_thrust_setpoint->roll_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_roll_speed(msg);
-	roll_pitch_yaw_speed_thrust_setpoint->pitch_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_pitch_speed(msg);
-	roll_pitch_yaw_speed_thrust_setpoint->yaw_speed = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_yaw_speed(msg);
-	roll_pitch_yaw_speed_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_get_thrust(msg);
-#else
-	memcpy(roll_pitch_yaw_speed_thrust_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
deleted file mode 100644
index ffcdc547b..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_roll_pitch_yaw_thrust_setpoint.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT 58
-
-typedef struct __mavlink_roll_pitch_yaw_thrust_setpoint_t
-{
- uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
- float roll; ///< Desired roll angle in radians
- float pitch; ///< Desired pitch angle in radians
- float yaw; ///< Desired yaw angle in radians
- float thrust; ///< Collective thrust, normalized to 0 .. 1
-} mavlink_roll_pitch_yaw_thrust_setpoint_t;
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN 20
-#define MAVLINK_MSG_ID_58_LEN 20
-
-#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC 239
-#define MAVLINK_MSG_ID_58_CRC 239
-
-
-
-#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT { \
-	"ROLL_PITCH_YAW_THRUST_SETPOINT", \
-	5, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, time_boot_ms) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_thrust_setpoint_t, thrust) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a roll_pitch_yaw_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
- * @param roll Desired roll angle in radians
- * @param pitch Desired pitch angle in radians
- * @param yaw Desired yaw angle in radians
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, thrust);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#else
-	mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a roll_pitch_yaw_thrust_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll Desired roll angle in radians
- * @param pitch Desired pitch angle in radians
- * @param yaw Desired yaw angle in radians
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, thrust);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#else
-	mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a roll_pitch_yaw_thrust_setpoint struct
- *
- * @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 roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
-{
-	return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_thrust_setpoint->time_boot_ms, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
-}
-
-/**
- * @brief Encode a roll_pitch_yaw_thrust_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param roll_pitch_yaw_thrust_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
-{
-	return mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(system_id, component_id, chan, msg, roll_pitch_yaw_thrust_setpoint->time_boot_ms, roll_pitch_yaw_thrust_setpoint->roll, roll_pitch_yaw_thrust_setpoint->pitch, roll_pitch_yaw_thrust_setpoint->yaw, roll_pitch_yaw_thrust_setpoint->thrust);
-}
-
-/**
- * @brief Send a roll_pitch_yaw_thrust_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp in milliseconds since system boot
- * @param roll Desired roll angle in radians
- * @param pitch Desired pitch angle in radians
- * @param yaw Desired yaw angle in radians
- * @param thrust Collective thrust, normalized to 0 .. 1
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, roll);
-	_mav_put_float(buf, 8, pitch);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_float(buf, 16, thrust);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, buf, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-#else
-	mavlink_roll_pitch_yaw_thrust_setpoint_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ROLL_PITCH_YAW_THRUST_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from roll_pitch_yaw_thrust_setpoint message
- *
- * @return Timestamp in milliseconds since system boot
- */
-static inline uint32_t mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field roll from roll_pitch_yaw_thrust_setpoint message
- *
- * @return Desired roll angle in radians
- */
-static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field pitch from roll_pitch_yaw_thrust_setpoint message
- *
- * @return Desired pitch angle in radians
- */
-static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from roll_pitch_yaw_thrust_setpoint message
- *
- * @return Desired yaw angle in radians
- */
-static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field thrust from roll_pitch_yaw_thrust_setpoint message
- *
- * @return Collective thrust, normalized to 0 .. 1
- */
-static inline float mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a roll_pitch_yaw_thrust_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param roll_pitch_yaw_thrust_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_thrust_setpoint_t* roll_pitch_yaw_thrust_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	roll_pitch_yaw_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_time_boot_ms(msg);
-	roll_pitch_yaw_thrust_setpoint->roll = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_roll(msg);
-	roll_pitch_yaw_thrust_setpoint->pitch = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_pitch(msg);
-	roll_pitch_yaw_thrust_setpoint->yaw = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_yaw(msg);
-	roll_pitch_yaw_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_thrust_setpoint_get_thrust(msg);
-#else
-	memcpy(roll_pitch_yaw_thrust_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h
deleted file mode 100644
index fcd54cbb7..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_allowed_area.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE SAFETY_ALLOWED_AREA PACKING
-
-#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA 55
-
-typedef struct __mavlink_safety_allowed_area_t
-{
- float p1x; ///< x position 1 / Latitude 1
- float p1y; ///< y position 1 / Longitude 1
- float p1z; ///< z position 1 / Altitude 1
- float p2x; ///< x position 2 / Latitude 2
- float p2y; ///< y position 2 / Longitude 2
- float p2z; ///< z position 2 / Altitude 2
- uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
-} mavlink_safety_allowed_area_t;
-
-#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN 25
-#define MAVLINK_MSG_ID_55_LEN 25
-
-#define MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC 3
-#define MAVLINK_MSG_ID_55_CRC 3
-
-
-
-#define MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA { \
-	"SAFETY_ALLOWED_AREA", \
-	7, \
-	{  { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_safety_allowed_area_t, p1x) }, \
-         { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_safety_allowed_area_t, p1y) }, \
-         { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_safety_allowed_area_t, p1z) }, \
-         { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_safety_allowed_area_t, p2x) }, \
-         { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_safety_allowed_area_t, p2y) }, \
-         { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_safety_allowed_area_t, p2z) }, \
-         { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_safety_allowed_area_t, frame) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a safety_allowed_area 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 frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- * @param p1x x position 1 / Latitude 1
- * @param p1y y position 1 / Longitude 1
- * @param p1z z position 1 / Altitude 1
- * @param p2x x position 2 / Latitude 2
- * @param p2y y position 2 / Longitude 2
- * @param p2z z position 2 / Altitude 2
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_safety_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN];
-	_mav_put_float(buf, 0, p1x);
-	_mav_put_float(buf, 4, p1y);
-	_mav_put_float(buf, 8, p1z);
-	_mav_put_float(buf, 12, p2x);
-	_mav_put_float(buf, 16, p2y);
-	_mav_put_float(buf, 20, p2z);
-	_mav_put_uint8_t(buf, 24, frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#else
-	mavlink_safety_allowed_area_t packet;
-	packet.p1x = p1x;
-	packet.p1y = p1y;
-	packet.p1z = p1z;
-	packet.p2x = p2x;
-	packet.p2y = p2y;
-	packet.p2z = p2z;
-	packet.frame = frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-}
-
-/**
- * @brief Pack a safety_allowed_area 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- * @param p1x x position 1 / Latitude 1
- * @param p1y y position 1 / Longitude 1
- * @param p1z z position 1 / Altitude 1
- * @param p2x x position 2 / Latitude 2
- * @param p2y y position 2 / Longitude 2
- * @param p2z z position 2 / Altitude 2
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_safety_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN];
-	_mav_put_float(buf, 0, p1x);
-	_mav_put_float(buf, 4, p1y);
-	_mav_put_float(buf, 8, p1z);
-	_mav_put_float(buf, 12, p2x);
-	_mav_put_float(buf, 16, p2y);
-	_mav_put_float(buf, 20, p2z);
-	_mav_put_uint8_t(buf, 24, frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#else
-	mavlink_safety_allowed_area_t packet;
-	packet.p1x = p1x;
-	packet.p1y = p1y;
-	packet.p1z = p1z;
-	packet.p2x = p2x;
-	packet.p2y = p2y;
-	packet.p2z = p2z;
-	packet.frame = frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-}
-
-/**
- * @brief Encode a safety_allowed_area struct
- *
- * @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 safety_allowed_area C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_safety_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area)
-{
-	return mavlink_msg_safety_allowed_area_pack(system_id, component_id, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z);
-}
-
-/**
- * @brief Encode a safety_allowed_area struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param safety_allowed_area C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_safety_allowed_area_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_safety_allowed_area_t* safety_allowed_area)
-{
-	return mavlink_msg_safety_allowed_area_pack_chan(system_id, component_id, chan, msg, safety_allowed_area->frame, safety_allowed_area->p1x, safety_allowed_area->p1y, safety_allowed_area->p1z, safety_allowed_area->p2x, safety_allowed_area->p2y, safety_allowed_area->p2z);
-}
-
-/**
- * @brief Send a safety_allowed_area message
- * @param chan MAVLink channel to send the message
- *
- * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- * @param p1x x position 1 / Latitude 1
- * @param p1y y position 1 / Longitude 1
- * @param p1z z position 1 / Altitude 1
- * @param p2x x position 2 / Latitude 2
- * @param p2y y position 2 / Longitude 2
- * @param p2z z position 2 / Altitude 2
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_safety_allowed_area_send(mavlink_channel_t chan, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN];
-	_mav_put_float(buf, 0, p1x);
-	_mav_put_float(buf, 4, p1y);
-	_mav_put_float(buf, 8, p1z);
-	_mav_put_float(buf, 12, p2x);
-	_mav_put_float(buf, 16, p2y);
-	_mav_put_float(buf, 20, p2z);
-	_mav_put_uint8_t(buf, 24, frame);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-#else
-	mavlink_safety_allowed_area_t packet;
-	packet.p1x = p1x;
-	packet.p1y = p1y;
-	packet.p1z = p1z;
-	packet.p2x = p2x;
-	packet.p2y = p2y;
-	packet.p2z = p2z;
-	packet.frame = frame;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, (const char *)&packet, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SAFETY_ALLOWED_AREA UNPACKING
-
-
-/**
- * @brief Get field frame from safety_allowed_area message
- *
- * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- */
-static inline uint8_t mavlink_msg_safety_allowed_area_get_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field p1x from safety_allowed_area message
- *
- * @return x position 1 / Latitude 1
- */
-static inline float mavlink_msg_safety_allowed_area_get_p1x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field p1y from safety_allowed_area message
- *
- * @return y position 1 / Longitude 1
- */
-static inline float mavlink_msg_safety_allowed_area_get_p1y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field p1z from safety_allowed_area message
- *
- * @return z position 1 / Altitude 1
- */
-static inline float mavlink_msg_safety_allowed_area_get_p1z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field p2x from safety_allowed_area message
- *
- * @return x position 2 / Latitude 2
- */
-static inline float mavlink_msg_safety_allowed_area_get_p2x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field p2y from safety_allowed_area message
- *
- * @return y position 2 / Longitude 2
- */
-static inline float mavlink_msg_safety_allowed_area_get_p2y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field p2z from safety_allowed_area message
- *
- * @return z position 2 / Altitude 2
- */
-static inline float mavlink_msg_safety_allowed_area_get_p2z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a safety_allowed_area message into a struct
- *
- * @param msg The message to decode
- * @param safety_allowed_area C-struct to decode the message contents into
- */
-static inline void mavlink_msg_safety_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_allowed_area_t* safety_allowed_area)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	safety_allowed_area->p1x = mavlink_msg_safety_allowed_area_get_p1x(msg);
-	safety_allowed_area->p1y = mavlink_msg_safety_allowed_area_get_p1y(msg);
-	safety_allowed_area->p1z = mavlink_msg_safety_allowed_area_get_p1z(msg);
-	safety_allowed_area->p2x = mavlink_msg_safety_allowed_area_get_p2x(msg);
-	safety_allowed_area->p2y = mavlink_msg_safety_allowed_area_get_p2y(msg);
-	safety_allowed_area->p2z = mavlink_msg_safety_allowed_area_get_p2z(msg);
-	safety_allowed_area->frame = mavlink_msg_safety_allowed_area_get_frame(msg);
-#else
-	memcpy(safety_allowed_area, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h
deleted file mode 100644
index 61f6af155..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_safety_set_allowed_area.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE SAFETY_SET_ALLOWED_AREA PACKING
-
-#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA 54
-
-typedef struct __mavlink_safety_set_allowed_area_t
-{
- float p1x; ///< x position 1 / Latitude 1
- float p1y; ///< y position 1 / Longitude 1
- float p1z; ///< z position 1 / Altitude 1
- float p2x; ///< x position 2 / Latitude 2
- float p2y; ///< y position 2 / Longitude 2
- float p2z; ///< z position 2 / Altitude 2
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t frame; ///< Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
-} mavlink_safety_set_allowed_area_t;
-
-#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN 27
-#define MAVLINK_MSG_ID_54_LEN 27
-
-#define MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC 15
-#define MAVLINK_MSG_ID_54_CRC 15
-
-
-
-#define MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA { \
-	"SAFETY_SET_ALLOWED_AREA", \
-	9, \
-	{  { "p1x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_safety_set_allowed_area_t, p1x) }, \
-         { "p1y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_safety_set_allowed_area_t, p1y) }, \
-         { "p1z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_safety_set_allowed_area_t, p1z) }, \
-         { "p2x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_safety_set_allowed_area_t, p2x) }, \
-         { "p2y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_safety_set_allowed_area_t, p2y) }, \
-         { "p2z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_safety_set_allowed_area_t, p2z) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_safety_set_allowed_area_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_safety_set_allowed_area_t, target_component) }, \
-         { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_safety_set_allowed_area_t, frame) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a safety_set_allowed_area 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 target_system System ID
- * @param target_component Component ID
- * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- * @param p1x x position 1 / Latitude 1
- * @param p1y y position 1 / Longitude 1
- * @param p1z z position 1 / Altitude 1
- * @param p2x x position 2 / Latitude 2
- * @param p2y y position 2 / Longitude 2
- * @param p2z z position 2 / Altitude 2
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_safety_set_allowed_area_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN];
-	_mav_put_float(buf, 0, p1x);
-	_mav_put_float(buf, 4, p1y);
-	_mav_put_float(buf, 8, p1z);
-	_mav_put_float(buf, 12, p2x);
-	_mav_put_float(buf, 16, p2y);
-	_mav_put_float(buf, 20, p2z);
-	_mav_put_uint8_t(buf, 24, target_system);
-	_mav_put_uint8_t(buf, 25, target_component);
-	_mav_put_uint8_t(buf, 26, frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#else
-	mavlink_safety_set_allowed_area_t packet;
-	packet.p1x = p1x;
-	packet.p1y = p1y;
-	packet.p1z = p1z;
-	packet.p2x = p2x;
-	packet.p2y = p2y;
-	packet.p2z = p2z;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.frame = frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-}
-
-/**
- * @brief Pack a safety_set_allowed_area 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- * @param p1x x position 1 / Latitude 1
- * @param p1y y position 1 / Longitude 1
- * @param p1z z position 1 / Altitude 1
- * @param p2x x position 2 / Latitude 2
- * @param p2y y position 2 / Longitude 2
- * @param p2z z position 2 / Altitude 2
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_safety_set_allowed_area_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t frame,float p1x,float p1y,float p1z,float p2x,float p2y,float p2z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN];
-	_mav_put_float(buf, 0, p1x);
-	_mav_put_float(buf, 4, p1y);
-	_mav_put_float(buf, 8, p1z);
-	_mav_put_float(buf, 12, p2x);
-	_mav_put_float(buf, 16, p2y);
-	_mav_put_float(buf, 20, p2z);
-	_mav_put_uint8_t(buf, 24, target_system);
-	_mav_put_uint8_t(buf, 25, target_component);
-	_mav_put_uint8_t(buf, 26, frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#else
-	mavlink_safety_set_allowed_area_t packet;
-	packet.p1x = p1x;
-	packet.p1y = p1y;
-	packet.p1z = p1z;
-	packet.p2x = p2x;
-	packet.p2y = p2y;
-	packet.p2z = p2z;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.frame = frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-}
-
-/**
- * @brief Encode a safety_set_allowed_area struct
- *
- * @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 safety_set_allowed_area C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_safety_set_allowed_area_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
-{
-	return mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, msg, safety_set_allowed_area->target_system, safety_set_allowed_area->target_component, safety_set_allowed_area->frame, safety_set_allowed_area->p1x, safety_set_allowed_area->p1y, safety_set_allowed_area->p1z, safety_set_allowed_area->p2x, safety_set_allowed_area->p2y, safety_set_allowed_area->p2z);
-}
-
-/**
- * @brief Encode a safety_set_allowed_area struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param safety_set_allowed_area C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_safety_set_allowed_area_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
-{
-	return mavlink_msg_safety_set_allowed_area_pack_chan(system_id, component_id, chan, msg, safety_set_allowed_area->target_system, safety_set_allowed_area->target_component, safety_set_allowed_area->frame, safety_set_allowed_area->p1x, safety_set_allowed_area->p1y, safety_set_allowed_area->p1z, safety_set_allowed_area->p2x, safety_set_allowed_area->p2y, safety_set_allowed_area->p2z);
-}
-
-/**
- * @brief Send a safety_set_allowed_area message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param frame Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- * @param p1x x position 1 / Latitude 1
- * @param p1y y position 1 / Longitude 1
- * @param p1z z position 1 / Altitude 1
- * @param p2x x position 2 / Latitude 2
- * @param p2y y position 2 / Longitude 2
- * @param p2z z position 2 / Altitude 2
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_safety_set_allowed_area_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, float p1x, float p1y, float p1z, float p2x, float p2y, float p2z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN];
-	_mav_put_float(buf, 0, p1x);
-	_mav_put_float(buf, 4, p1y);
-	_mav_put_float(buf, 8, p1z);
-	_mav_put_float(buf, 12, p2x);
-	_mav_put_float(buf, 16, p2y);
-	_mav_put_float(buf, 20, p2z);
-	_mav_put_uint8_t(buf, 24, target_system);
-	_mav_put_uint8_t(buf, 25, target_component);
-	_mav_put_uint8_t(buf, 26, frame);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, buf, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-#else
-	mavlink_safety_set_allowed_area_t packet;
-	packet.p1x = p1x;
-	packet.p1y = p1y;
-	packet.p1z = p1z;
-	packet.p2x = p2x;
-	packet.p2y = p2y;
-	packet.p2z = p2z;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.frame = frame;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, (const char *)&packet, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SAFETY_SET_ALLOWED_AREA UNPACKING
-
-
-/**
- * @brief Get field target_system from safety_set_allowed_area message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field target_component from safety_set_allowed_area message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_safety_set_allowed_area_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  25);
-}
-
-/**
- * @brief Get field frame from safety_set_allowed_area message
- *
- * @return Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
- */
-static inline uint8_t mavlink_msg_safety_set_allowed_area_get_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  26);
-}
-
-/**
- * @brief Get field p1x from safety_set_allowed_area message
- *
- * @return x position 1 / Latitude 1
- */
-static inline float mavlink_msg_safety_set_allowed_area_get_p1x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field p1y from safety_set_allowed_area message
- *
- * @return y position 1 / Longitude 1
- */
-static inline float mavlink_msg_safety_set_allowed_area_get_p1y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field p1z from safety_set_allowed_area message
- *
- * @return z position 1 / Altitude 1
- */
-static inline float mavlink_msg_safety_set_allowed_area_get_p1z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field p2x from safety_set_allowed_area message
- *
- * @return x position 2 / Latitude 2
- */
-static inline float mavlink_msg_safety_set_allowed_area_get_p2x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field p2y from safety_set_allowed_area message
- *
- * @return y position 2 / Longitude 2
- */
-static inline float mavlink_msg_safety_set_allowed_area_get_p2y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field p2z from safety_set_allowed_area message
- *
- * @return z position 2 / Altitude 2
- */
-static inline float mavlink_msg_safety_set_allowed_area_get_p2z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a safety_set_allowed_area message into a struct
- *
- * @param msg The message to decode
- * @param safety_set_allowed_area C-struct to decode the message contents into
- */
-static inline void mavlink_msg_safety_set_allowed_area_decode(const mavlink_message_t* msg, mavlink_safety_set_allowed_area_t* safety_set_allowed_area)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	safety_set_allowed_area->p1x = mavlink_msg_safety_set_allowed_area_get_p1x(msg);
-	safety_set_allowed_area->p1y = mavlink_msg_safety_set_allowed_area_get_p1y(msg);
-	safety_set_allowed_area->p1z = mavlink_msg_safety_set_allowed_area_get_p1z(msg);
-	safety_set_allowed_area->p2x = mavlink_msg_safety_set_allowed_area_get_p2x(msg);
-	safety_set_allowed_area->p2y = mavlink_msg_safety_set_allowed_area_get_p2y(msg);
-	safety_set_allowed_area->p2z = mavlink_msg_safety_set_allowed_area_get_p2z(msg);
-	safety_set_allowed_area->target_system = mavlink_msg_safety_set_allowed_area_get_target_system(msg);
-	safety_set_allowed_area->target_component = mavlink_msg_safety_set_allowed_area_get_target_component(msg);
-	safety_set_allowed_area->frame = mavlink_msg_safety_set_allowed_area_get_frame(msg);
-#else
-	memcpy(safety_set_allowed_area, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h
deleted file mode 100644
index 3010d051a..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE SCALED_IMU PACKING
-
-#define MAVLINK_MSG_ID_SCALED_IMU 26
-
-typedef struct __mavlink_scaled_imu_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int16_t xacc; ///< X acceleration (mg)
- int16_t yacc; ///< Y acceleration (mg)
- int16_t zacc; ///< Z acceleration (mg)
- int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
- int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
- int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
- int16_t xmag; ///< X Magnetic field (milli tesla)
- int16_t ymag; ///< Y Magnetic field (milli tesla)
- int16_t zmag; ///< Z Magnetic field (milli tesla)
-} mavlink_scaled_imu_t;
-
-#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
-#define MAVLINK_MSG_ID_26_LEN 22
-
-#define MAVLINK_MSG_ID_SCALED_IMU_CRC 170
-#define MAVLINK_MSG_ID_26_CRC 170
-
-
-
-#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
-	"SCALED_IMU", \
-	10, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
-         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
-         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
-         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
-         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a scaled_imu 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @param xgyro Angular speed around X axis (millirad /sec)
- * @param ygyro Angular speed around Y axis (millirad /sec)
- * @param zgyro Angular speed around Z axis (millirad /sec)
- * @param xmag X Magnetic field (milli tesla)
- * @param ymag Y Magnetic field (milli tesla)
- * @param zmag Z Magnetic field (milli tesla)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, xacc);
-	_mav_put_int16_t(buf, 6, yacc);
-	_mav_put_int16_t(buf, 8, zacc);
-	_mav_put_int16_t(buf, 10, xgyro);
-	_mav_put_int16_t(buf, 12, ygyro);
-	_mav_put_int16_t(buf, 14, zgyro);
-	_mav_put_int16_t(buf, 16, xmag);
-	_mav_put_int16_t(buf, 18, ymag);
-	_mav_put_int16_t(buf, 20, zmag);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#else
-	mavlink_scaled_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-}
-
-/**
- * @brief Pack a scaled_imu 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @param xgyro Angular speed around X axis (millirad /sec)
- * @param ygyro Angular speed around Y axis (millirad /sec)
- * @param zgyro Angular speed around Z axis (millirad /sec)
- * @param xmag X Magnetic field (milli tesla)
- * @param ymag Y Magnetic field (milli tesla)
- * @param zmag Z Magnetic field (milli tesla)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, xacc);
-	_mav_put_int16_t(buf, 6, yacc);
-	_mav_put_int16_t(buf, 8, zacc);
-	_mav_put_int16_t(buf, 10, xgyro);
-	_mav_put_int16_t(buf, 12, ygyro);
-	_mav_put_int16_t(buf, 14, zgyro);
-	_mav_put_int16_t(buf, 16, xmag);
-	_mav_put_int16_t(buf, 18, ymag);
-	_mav_put_int16_t(buf, 20, zmag);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#else
-	mavlink_scaled_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-}
-
-/**
- * @brief Encode a scaled_imu struct
- *
- * @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 scaled_imu C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
-{
-	return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
-}
-
-/**
- * @brief Encode a scaled_imu struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param scaled_imu C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_scaled_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
-{
-	return mavlink_msg_scaled_imu_pack_chan(system_id, component_id, chan, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
-}
-
-/**
- * @brief Send a scaled_imu message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @param xgyro Angular speed around X axis (millirad /sec)
- * @param ygyro Angular speed around Y axis (millirad /sec)
- * @param zgyro Angular speed around Z axis (millirad /sec)
- * @param xmag X Magnetic field (milli tesla)
- * @param ymag Y Magnetic field (milli tesla)
- * @param zmag Z Magnetic field (milli tesla)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, xacc);
-	_mav_put_int16_t(buf, 6, yacc);
-	_mav_put_int16_t(buf, 8, zacc);
-	_mav_put_int16_t(buf, 10, xgyro);
-	_mav_put_int16_t(buf, 12, ygyro);
-	_mav_put_int16_t(buf, 14, zgyro);
-	_mav_put_int16_t(buf, 16, xmag);
-	_mav_put_int16_t(buf, 18, ymag);
-	_mav_put_int16_t(buf, 20, zmag);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-#else
-	mavlink_scaled_imu_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SCALED_IMU UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from scaled_imu message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field xacc from scaled_imu message
- *
- * @return X acceleration (mg)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field yacc from scaled_imu message
- *
- * @return Y acceleration (mg)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Get field zacc from scaled_imu message
- *
- * @return Z acceleration (mg)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field xgyro from scaled_imu message
- *
- * @return Angular speed around X axis (millirad /sec)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field ygyro from scaled_imu message
- *
- * @return Angular speed around Y axis (millirad /sec)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field zgyro from scaled_imu message
- *
- * @return Angular speed around Z axis (millirad /sec)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field xmag from scaled_imu message
- *
- * @return X Magnetic field (milli tesla)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field ymag from scaled_imu message
- *
- * @return Y Magnetic field (milli tesla)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  18);
-}
-
-/**
- * @brief Get field zmag from scaled_imu message
- *
- * @return Z Magnetic field (milli tesla)
- */
-static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Decode a scaled_imu message into a struct
- *
- * @param msg The message to decode
- * @param scaled_imu C-struct to decode the message contents into
- */
-static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
-	scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
-	scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
-	scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
-	scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
-	scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
-	scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
-	scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
-	scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
-	scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
-#else
-	memcpy(scaled_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h
deleted file mode 100644
index ea4dbbf81..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE SCALED_IMU2 PACKING
-
-#define MAVLINK_MSG_ID_SCALED_IMU2 116
-
-typedef struct __mavlink_scaled_imu2_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int16_t xacc; ///< X acceleration (mg)
- int16_t yacc; ///< Y acceleration (mg)
- int16_t zacc; ///< Z acceleration (mg)
- int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
- int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
- int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
- int16_t xmag; ///< X Magnetic field (milli tesla)
- int16_t ymag; ///< Y Magnetic field (milli tesla)
- int16_t zmag; ///< Z Magnetic field (milli tesla)
-} mavlink_scaled_imu2_t;
-
-#define MAVLINK_MSG_ID_SCALED_IMU2_LEN 22
-#define MAVLINK_MSG_ID_116_LEN 22
-
-#define MAVLINK_MSG_ID_SCALED_IMU2_CRC 76
-#define MAVLINK_MSG_ID_116_CRC 76
-
-
-
-#define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \
-	"SCALED_IMU2", \
-	10, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \
-         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \
-         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \
-         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \
-         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a scaled_imu2 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @param xgyro Angular speed around X axis (millirad /sec)
- * @param ygyro Angular speed around Y axis (millirad /sec)
- * @param zgyro Angular speed around Z axis (millirad /sec)
- * @param xmag X Magnetic field (milli tesla)
- * @param ymag Y Magnetic field (milli tesla)
- * @param zmag Z Magnetic field (milli tesla)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_scaled_imu2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, xacc);
-	_mav_put_int16_t(buf, 6, yacc);
-	_mav_put_int16_t(buf, 8, zacc);
-	_mav_put_int16_t(buf, 10, xgyro);
-	_mav_put_int16_t(buf, 12, ygyro);
-	_mav_put_int16_t(buf, 14, zgyro);
-	_mav_put_int16_t(buf, 16, xmag);
-	_mav_put_int16_t(buf, 18, ymag);
-	_mav_put_int16_t(buf, 20, zmag);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#else
-	mavlink_scaled_imu2_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-}
-
-/**
- * @brief Pack a scaled_imu2 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @param xgyro Angular speed around X axis (millirad /sec)
- * @param ygyro Angular speed around Y axis (millirad /sec)
- * @param zgyro Angular speed around Z axis (millirad /sec)
- * @param xmag X Magnetic field (milli tesla)
- * @param ymag Y Magnetic field (milli tesla)
- * @param zmag Z Magnetic field (milli tesla)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_scaled_imu2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, xacc);
-	_mav_put_int16_t(buf, 6, yacc);
-	_mav_put_int16_t(buf, 8, zacc);
-	_mav_put_int16_t(buf, 10, xgyro);
-	_mav_put_int16_t(buf, 12, ygyro);
-	_mav_put_int16_t(buf, 14, zgyro);
-	_mav_put_int16_t(buf, 16, xmag);
-	_mav_put_int16_t(buf, 18, ymag);
-	_mav_put_int16_t(buf, 20, zmag);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#else
-	mavlink_scaled_imu2_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-}
-
-/**
- * @brief Encode a scaled_imu2 struct
- *
- * @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 scaled_imu2 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_scaled_imu2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2)
-{
-	return mavlink_msg_scaled_imu2_pack(system_id, component_id, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag);
-}
-
-/**
- * @brief Encode a scaled_imu2 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param scaled_imu2 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_scaled_imu2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2)
-{
-	return mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, chan, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag);
-}
-
-/**
- * @brief Send a scaled_imu2 message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param xacc X acceleration (mg)
- * @param yacc Y acceleration (mg)
- * @param zacc Z acceleration (mg)
- * @param xgyro Angular speed around X axis (millirad /sec)
- * @param ygyro Angular speed around Y axis (millirad /sec)
- * @param zgyro Angular speed around Z axis (millirad /sec)
- * @param xmag X Magnetic field (milli tesla)
- * @param ymag Y Magnetic field (milli tesla)
- * @param zmag Z Magnetic field (milli tesla)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_scaled_imu2_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, xacc);
-	_mav_put_int16_t(buf, 6, yacc);
-	_mav_put_int16_t(buf, 8, zacc);
-	_mav_put_int16_t(buf, 10, xgyro);
-	_mav_put_int16_t(buf, 12, ygyro);
-	_mav_put_int16_t(buf, 14, zgyro);
-	_mav_put_int16_t(buf, 16, xmag);
-	_mav_put_int16_t(buf, 18, ymag);
-	_mav_put_int16_t(buf, 20, zmag);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-#else
-	mavlink_scaled_imu2_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.xmag = xmag;
-	packet.ymag = ymag;
-	packet.zmag = zmag;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SCALED_IMU2 UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from scaled_imu2 message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_scaled_imu2_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field xacc from scaled_imu2 message
- *
- * @return X acceleration (mg)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field yacc from scaled_imu2 message
- *
- * @return Y acceleration (mg)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Get field zacc from scaled_imu2 message
- *
- * @return Z acceleration (mg)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field xgyro from scaled_imu2 message
- *
- * @return Angular speed around X axis (millirad /sec)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field ygyro from scaled_imu2 message
- *
- * @return Angular speed around Y axis (millirad /sec)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field zgyro from scaled_imu2 message
- *
- * @return Angular speed around Z axis (millirad /sec)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field xmag from scaled_imu2 message
- *
- * @return X Magnetic field (milli tesla)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_xmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field ymag from scaled_imu2 message
- *
- * @return Y Magnetic field (milli tesla)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_ymag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  18);
-}
-
-/**
- * @brief Get field zmag from scaled_imu2 message
- *
- * @return Z Magnetic field (milli tesla)
- */
-static inline int16_t mavlink_msg_scaled_imu2_get_zmag(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Decode a scaled_imu2 message into a struct
- *
- * @param msg The message to decode
- * @param scaled_imu2 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_scaled_imu2_decode(const mavlink_message_t* msg, mavlink_scaled_imu2_t* scaled_imu2)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	scaled_imu2->time_boot_ms = mavlink_msg_scaled_imu2_get_time_boot_ms(msg);
-	scaled_imu2->xacc = mavlink_msg_scaled_imu2_get_xacc(msg);
-	scaled_imu2->yacc = mavlink_msg_scaled_imu2_get_yacc(msg);
-	scaled_imu2->zacc = mavlink_msg_scaled_imu2_get_zacc(msg);
-	scaled_imu2->xgyro = mavlink_msg_scaled_imu2_get_xgyro(msg);
-	scaled_imu2->ygyro = mavlink_msg_scaled_imu2_get_ygyro(msg);
-	scaled_imu2->zgyro = mavlink_msg_scaled_imu2_get_zgyro(msg);
-	scaled_imu2->xmag = mavlink_msg_scaled_imu2_get_xmag(msg);
-	scaled_imu2->ymag = mavlink_msg_scaled_imu2_get_ymag(msg);
-	scaled_imu2->zmag = mavlink_msg_scaled_imu2_get_zmag(msg);
-#else
-	memcpy(scaled_imu2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU2_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h
deleted file mode 100644
index 10324bc94..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_pressure.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE SCALED_PRESSURE PACKING
-
-#define MAVLINK_MSG_ID_SCALED_PRESSURE 29
-
-typedef struct __mavlink_scaled_pressure_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- float press_abs; ///< Absolute pressure (hectopascal)
- float press_diff; ///< Differential pressure 1 (hectopascal)
- int16_t temperature; ///< Temperature measurement (0.01 degrees celsius)
-} mavlink_scaled_pressure_t;
-
-#define MAVLINK_MSG_ID_SCALED_PRESSURE_LEN 14
-#define MAVLINK_MSG_ID_29_LEN 14
-
-#define MAVLINK_MSG_ID_SCALED_PRESSURE_CRC 115
-#define MAVLINK_MSG_ID_29_CRC 115
-
-
-
-#define MAVLINK_MESSAGE_INFO_SCALED_PRESSURE { \
-	"SCALED_PRESSURE", \
-	4, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_pressure_t, time_boot_ms) }, \
-         { "press_abs", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_scaled_pressure_t, press_abs) }, \
-         { "press_diff", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_scaled_pressure_t, press_diff) }, \
-         { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_pressure_t, temperature) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a scaled_pressure 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param press_abs Absolute pressure (hectopascal)
- * @param press_diff Differential pressure 1 (hectopascal)
- * @param temperature Temperature measurement (0.01 degrees celsius)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_scaled_pressure_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_PRESSURE_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, press_abs);
-	_mav_put_float(buf, 8, press_diff);
-	_mav_put_int16_t(buf, 12, temperature);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#else
-	mavlink_scaled_pressure_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.press_abs = press_abs;
-	packet.press_diff = press_diff;
-	packet.temperature = temperature;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN, MAVLINK_MSG_ID_SCALED_PRESSURE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a scaled_pressure 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param press_abs Absolute pressure (hectopascal)
- * @param press_diff Differential pressure 1 (hectopascal)
- * @param temperature Temperature measurement (0.01 degrees celsius)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_scaled_pressure_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,float press_abs,float press_diff,int16_t temperature)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_PRESSURE_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, press_abs);
-	_mav_put_float(buf, 8, press_diff);
-	_mav_put_int16_t(buf, 12, temperature);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#else
-	mavlink_scaled_pressure_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.press_abs = press_abs;
-	packet.press_diff = press_diff;
-	packet.temperature = temperature;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SCALED_PRESSURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN, MAVLINK_MSG_ID_SCALED_PRESSURE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a scaled_pressure struct
- *
- * @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 scaled_pressure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_scaled_pressure_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_pressure_t* scaled_pressure)
-{
-	return mavlink_msg_scaled_pressure_pack(system_id, component_id, msg, scaled_pressure->time_boot_ms, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature);
-}
-
-/**
- * @brief Encode a scaled_pressure struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param scaled_pressure C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_scaled_pressure_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_pressure_t* scaled_pressure)
-{
-	return mavlink_msg_scaled_pressure_pack_chan(system_id, component_id, chan, msg, scaled_pressure->time_boot_ms, scaled_pressure->press_abs, scaled_pressure->press_diff, scaled_pressure->temperature);
-}
-
-/**
- * @brief Send a scaled_pressure message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param press_abs Absolute pressure (hectopascal)
- * @param press_diff Differential pressure 1 (hectopascal)
- * @param temperature Temperature measurement (0.01 degrees celsius)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_scaled_pressure_send(mavlink_channel_t chan, uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SCALED_PRESSURE_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_float(buf, 4, press_abs);
-	_mav_put_float(buf, 8, press_diff);
-	_mav_put_int16_t(buf, 12, temperature);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN, MAVLINK_MSG_ID_SCALED_PRESSURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, buf, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-#else
-	mavlink_scaled_pressure_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.press_abs = press_abs;
-	packet.press_diff = press_diff;
-	packet.temperature = temperature;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN, MAVLINK_MSG_ID_SCALED_PRESSURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_PRESSURE, (const char *)&packet, MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SCALED_PRESSURE UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from scaled_pressure message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_scaled_pressure_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field press_abs from scaled_pressure message
- *
- * @return Absolute pressure (hectopascal)
- */
-static inline float mavlink_msg_scaled_pressure_get_press_abs(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field press_diff from scaled_pressure message
- *
- * @return Differential pressure 1 (hectopascal)
- */
-static inline float mavlink_msg_scaled_pressure_get_press_diff(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field temperature from scaled_pressure message
- *
- * @return Temperature measurement (0.01 degrees celsius)
- */
-static inline int16_t mavlink_msg_scaled_pressure_get_temperature(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Decode a scaled_pressure message into a struct
- *
- * @param msg The message to decode
- * @param scaled_pressure C-struct to decode the message contents into
- */
-static inline void mavlink_msg_scaled_pressure_decode(const mavlink_message_t* msg, mavlink_scaled_pressure_t* scaled_pressure)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	scaled_pressure->time_boot_ms = mavlink_msg_scaled_pressure_get_time_boot_ms(msg);
-	scaled_pressure->press_abs = mavlink_msg_scaled_pressure_get_press_abs(msg);
-	scaled_pressure->press_diff = mavlink_msg_scaled_pressure_get_press_diff(msg);
-	scaled_pressure->temperature = mavlink_msg_scaled_pressure_get_temperature(msg);
-#else
-	memcpy(scaled_pressure, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_PRESSURE_LEN);
-#endif
-}
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
deleted file mode 100644
index 6a14e93ed..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_servo_output_raw.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE SERVO_OUTPUT_RAW PACKING
-
-#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW 36
-
-typedef struct __mavlink_servo_output_raw_t
-{
- uint32_t time_usec; ///< 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
- uint16_t servo4_raw; ///< Servo output 4 value, in microseconds
- uint16_t servo5_raw; ///< Servo output 5 value, in microseconds
- uint16_t servo6_raw; ///< Servo output 6 value, in microseconds
- uint16_t servo7_raw; ///< Servo output 7 value, in microseconds
- uint16_t servo8_raw; ///< Servo output 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.
-} mavlink_servo_output_raw_t;
-
-#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN 21
-#define MAVLINK_MSG_ID_36_LEN 21
-
-#define MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC 222
-#define MAVLINK_MSG_ID_36_CRC 222
-
-
-
-#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) }, \
-         { "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) }, \
-         { "servo4_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_servo_output_raw_t, servo4_raw) }, \
-         { "servo5_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_servo_output_raw_t, servo5_raw) }, \
-         { "servo6_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_servo_output_raw_t, servo6_raw) }, \
-         { "servo7_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_servo_output_raw_t, servo7_raw) }, \
-         { "servo8_raw", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_servo_output_raw_t, servo8_raw) }, \
-         { "port", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_servo_output_raw_t, port) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a servo_output_raw 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 time_usec 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
- * @param servo3_raw Servo output 3 value, in microseconds
- * @param servo4_raw Servo output 4 value, in microseconds
- * @param servo5_raw Servo output 5 value, in microseconds
- * @param servo6_raw Servo output 6 value, in microseconds
- * @param servo7_raw Servo output 7 value, in microseconds
- * @param servo8_raw Servo output 8 value, in microseconds
- * @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)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN];
-	_mav_put_uint32_t(buf, 0, time_usec);
-	_mav_put_uint16_t(buf, 4, servo1_raw);
-	_mav_put_uint16_t(buf, 6, servo2_raw);
-	_mav_put_uint16_t(buf, 8, servo3_raw);
-	_mav_put_uint16_t(buf, 10, servo4_raw);
-	_mav_put_uint16_t(buf, 12, servo5_raw);
-	_mav_put_uint16_t(buf, 14, servo6_raw);
-	_mav_put_uint16_t(buf, 16, servo7_raw);
-	_mav_put_uint16_t(buf, 18, servo8_raw);
-	_mav_put_uint8_t(buf, 20, port);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#else
-	mavlink_servo_output_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.servo1_raw = servo1_raw;
-	packet.servo2_raw = servo2_raw;
-	packet.servo3_raw = servo3_raw;
-	packet.servo4_raw = servo4_raw;
-	packet.servo5_raw = servo5_raw;
-	packet.servo6_raw = servo6_raw;
-	packet.servo7_raw = servo7_raw;
-	packet.servo8_raw = servo8_raw;
-	packet.port = port;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Pack a servo_output_raw 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_usec 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
- * @param servo3_raw Servo output 3 value, in microseconds
- * @param servo4_raw Servo output 4 value, in microseconds
- * @param servo5_raw Servo output 5 value, in microseconds
- * @param servo6_raw Servo output 6 value, in microseconds
- * @param servo7_raw Servo output 7 value, in microseconds
- * @param servo8_raw Servo output 8 value, in microseconds
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-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)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN];
-	_mav_put_uint32_t(buf, 0, time_usec);
-	_mav_put_uint16_t(buf, 4, servo1_raw);
-	_mav_put_uint16_t(buf, 6, servo2_raw);
-	_mav_put_uint16_t(buf, 8, servo3_raw);
-	_mav_put_uint16_t(buf, 10, servo4_raw);
-	_mav_put_uint16_t(buf, 12, servo5_raw);
-	_mav_put_uint16_t(buf, 14, servo6_raw);
-	_mav_put_uint16_t(buf, 16, servo7_raw);
-	_mav_put_uint16_t(buf, 18, servo8_raw);
-	_mav_put_uint8_t(buf, 20, port);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#else
-	mavlink_servo_output_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.servo1_raw = servo1_raw;
-	packet.servo2_raw = servo2_raw;
-	packet.servo3_raw = servo3_raw;
-	packet.servo4_raw = servo4_raw;
-	packet.servo5_raw = servo5_raw;
-	packet.servo6_raw = servo6_raw;
-	packet.servo7_raw = servo7_raw;
-	packet.servo8_raw = servo8_raw;
-	packet.port = port;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-}
-
-/**
- * @brief Encode a servo_output_raw struct
- *
- * @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 servo_output_raw C-struct to read the message contents from
- */
-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);
-}
-
-/**
- * @brief Encode a servo_output_raw struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param servo_output_raw C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_servo_output_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_servo_output_raw_t* servo_output_raw)
-{
-	return mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, chan, 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);
-}
-
-/**
- * @brief Send a servo_output_raw message
- * @param chan MAVLink channel to send the message
- *
- * @param time_usec 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
- * @param servo3_raw Servo output 3 value, in microseconds
- * @param servo4_raw Servo output 4 value, in microseconds
- * @param servo5_raw Servo output 5 value, in microseconds
- * @param servo6_raw Servo output 6 value, in microseconds
- * @param servo7_raw Servo output 7 value, in microseconds
- * @param servo8_raw Servo output 8 value, in microseconds
- */
-#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)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN];
-	_mav_put_uint32_t(buf, 0, time_usec);
-	_mav_put_uint16_t(buf, 4, servo1_raw);
-	_mav_put_uint16_t(buf, 6, servo2_raw);
-	_mav_put_uint16_t(buf, 8, servo3_raw);
-	_mav_put_uint16_t(buf, 10, servo4_raw);
-	_mav_put_uint16_t(buf, 12, servo5_raw);
-	_mav_put_uint16_t(buf, 14, servo6_raw);
-	_mav_put_uint16_t(buf, 16, servo7_raw);
-	_mav_put_uint16_t(buf, 18, servo8_raw);
-	_mav_put_uint8_t(buf, 20, port);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, buf, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-#else
-	mavlink_servo_output_raw_t packet;
-	packet.time_usec = time_usec;
-	packet.servo1_raw = servo1_raw;
-	packet.servo2_raw = servo2_raw;
-	packet.servo3_raw = servo3_raw;
-	packet.servo4_raw = servo4_raw;
-	packet.servo5_raw = servo5_raw;
-	packet.servo6_raw = servo6_raw;
-	packet.servo7_raw = servo7_raw;
-	packet.servo8_raw = servo8_raw;
-	packet.port = port;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, (const char *)&packet, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERVO_OUTPUT_RAW UNPACKING
-
-
-/**
- * @brief Get field time_usec 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)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field port from servo_output_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.
- */
-static inline uint8_t mavlink_msg_servo_output_raw_get_port(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Get field servo1_raw from servo_output_raw message
- *
- * @return Servo output 1 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo1_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field servo2_raw from servo_output_raw message
- *
- * @return Servo output 2 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo2_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field servo3_raw from servo_output_raw message
- *
- * @return Servo output 3 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo3_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field servo4_raw from servo_output_raw message
- *
- * @return Servo output 4 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo4_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field servo5_raw from servo_output_raw message
- *
- * @return Servo output 5 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo5_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field servo6_raw from servo_output_raw message
- *
- * @return Servo output 6 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo6_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  14);
-}
-
-/**
- * @brief Get field servo7_raw from servo_output_raw message
- *
- * @return Servo output 7 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo7_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field servo8_raw from servo_output_raw message
- *
- * @return Servo output 8 value, in microseconds
- */
-static inline uint16_t mavlink_msg_servo_output_raw_get_servo8_raw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Decode a servo_output_raw message into a struct
- *
- * @param msg The message to decode
- * @param servo_output_raw C-struct to decode the message contents into
- */
-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->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);
-	servo_output_raw->servo4_raw = mavlink_msg_servo_output_raw_get_servo4_raw(msg);
-	servo_output_raw->servo5_raw = mavlink_msg_servo_output_raw_get_servo5_raw(msg);
-	servo_output_raw->servo6_raw = mavlink_msg_servo_output_raw_get_servo6_raw(msg);
-	servo_output_raw->servo7_raw = mavlink_msg_servo_output_raw_get_servo7_raw(msg);
-	servo_output_raw->servo8_raw = mavlink_msg_servo_output_raw_get_servo8_raw(msg);
-	servo_output_raw->port = mavlink_msg_servo_output_raw_get_port(msg);
-#else
-	memcpy(servo_output_raw, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
deleted file mode 100644
index 6f0d7a69d..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_global_position_setpoint_int.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT PACKING
-
-#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT 53
-
-typedef struct __mavlink_set_global_position_setpoint_int_t
-{
- int32_t latitude; ///< Latitude (WGS84), in degrees * 1E7
- int32_t longitude; ///< Longitude (WGS84), in degrees * 1E7
- int32_t altitude; ///< Altitude (WGS84), in meters * 1000 (positive for up)
- int16_t yaw; ///< Desired yaw angle in degrees * 100
- uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
-} mavlink_set_global_position_setpoint_int_t;
-
-#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN 15
-#define MAVLINK_MSG_ID_53_LEN 15
-
-#define MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC 33
-#define MAVLINK_MSG_ID_53_CRC 33
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT { \
-	"SET_GLOBAL_POSITION_SETPOINT_INT", \
-	5, \
-	{  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_global_position_setpoint_int_t, latitude) }, \
-         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_global_position_setpoint_int_t, longitude) }, \
-         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_global_position_setpoint_int_t, altitude) }, \
-         { "yaw", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_set_global_position_setpoint_int_t, yaw) }, \
-         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_set_global_position_setpoint_int_t, coordinate_frame) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_global_position_setpoint_int 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 coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @param yaw Desired yaw angle in degrees * 100
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_int16_t(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 14, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#else
-	mavlink_set_global_position_setpoint_int_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_global_position_setpoint_int 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @param yaw Desired yaw angle in degrees * 100
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_global_position_setpoint_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t coordinate_frame,int32_t latitude,int32_t longitude,int32_t altitude,int16_t yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_int16_t(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 14, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#else
-	mavlink_set_global_position_setpoint_int_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_global_position_setpoint_int struct
- *
- * @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 set_global_position_setpoint_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_global_position_setpoint_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
-{
-	return mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, msg, set_global_position_setpoint_int->coordinate_frame, set_global_position_setpoint_int->latitude, set_global_position_setpoint_int->longitude, set_global_position_setpoint_int->altitude, set_global_position_setpoint_int->yaw);
-}
-
-/**
- * @brief Encode a set_global_position_setpoint_int struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_global_position_setpoint_int C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_global_position_setpoint_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
-{
-	return mavlink_msg_set_global_position_setpoint_int_pack_chan(system_id, component_id, chan, msg, set_global_position_setpoint_int->coordinate_frame, set_global_position_setpoint_int->latitude, set_global_position_setpoint_int->longitude, set_global_position_setpoint_int->altitude, set_global_position_setpoint_int->yaw);
-}
-
-/**
- * @brief Send a set_global_position_setpoint_int message
- * @param chan MAVLink channel to send the message
- *
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84), in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @param yaw Desired yaw angle in degrees * 100
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_global_position_setpoint_int_send(mavlink_channel_t chan, uint8_t coordinate_frame, int32_t latitude, int32_t longitude, int32_t altitude, int16_t yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_int16_t(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 14, coordinate_frame);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, buf, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-#else
-	mavlink_set_global_position_setpoint_int_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.yaw = yaw;
-	packet.coordinate_frame = coordinate_frame;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, (const char *)&packet, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_GLOBAL_POSITION_SETPOINT_INT UNPACKING
-
-
-/**
- * @brief Get field coordinate_frame from set_global_position_setpoint_int message
- *
- * @return Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT
- */
-static inline uint8_t mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Get field latitude from set_global_position_setpoint_int message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field longitude from set_global_position_setpoint_int message
- *
- * @return Longitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field altitude from set_global_position_setpoint_int message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_set_global_position_setpoint_int_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field yaw from set_global_position_setpoint_int message
- *
- * @return Desired yaw angle in degrees * 100
- */
-static inline int16_t mavlink_msg_set_global_position_setpoint_int_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Decode a set_global_position_setpoint_int message into a struct
- *
- * @param msg The message to decode
- * @param set_global_position_setpoint_int C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_global_position_setpoint_int_decode(const mavlink_message_t* msg, mavlink_set_global_position_setpoint_int_t* set_global_position_setpoint_int)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_global_position_setpoint_int->latitude = mavlink_msg_set_global_position_setpoint_int_get_latitude(msg);
-	set_global_position_setpoint_int->longitude = mavlink_msg_set_global_position_setpoint_int_get_longitude(msg);
-	set_global_position_setpoint_int->altitude = mavlink_msg_set_global_position_setpoint_int_get_altitude(msg);
-	set_global_position_setpoint_int->yaw = mavlink_msg_set_global_position_setpoint_int_get_yaw(msg);
-	set_global_position_setpoint_int->coordinate_frame = mavlink_msg_set_global_position_setpoint_int_get_coordinate_frame(msg);
-#else
-	memcpy(set_global_position_setpoint_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h
deleted file mode 100644
index c444d8d52..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_gps_global_origin.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE SET_GPS_GLOBAL_ORIGIN PACKING
-
-#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN 48
-
-typedef struct __mavlink_set_gps_global_origin_t
-{
- int32_t latitude; ///< Latitude (WGS84), in degrees * 1E7
- int32_t longitude; ///< Longitude (WGS84, in degrees * 1E7
- int32_t altitude; ///< Altitude (WGS84), in meters * 1000 (positive for up)
- uint8_t target_system; ///< System ID
-} mavlink_set_gps_global_origin_t;
-
-#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN 13
-#define MAVLINK_MSG_ID_48_LEN 13
-
-#define MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC 41
-#define MAVLINK_MSG_ID_48_CRC 41
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN { \
-	"SET_GPS_GLOBAL_ORIGIN", \
-	4, \
-	{  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_gps_global_origin_t, latitude) }, \
-         { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_gps_global_origin_t, longitude) }, \
-         { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_gps_global_origin_t, altitude) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_gps_global_origin_t, target_system) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_gps_global_origin 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 target_system System ID
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84, in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_uint8_t(buf, 12, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#else
-	mavlink_set_gps_global_origin_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_gps_global_origin 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84, in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_uint8_t(buf, 12, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#else
-	mavlink_set_gps_global_origin_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_gps_global_origin struct
- *
- * @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 set_gps_global_origin C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_gps_global_origin_t* set_gps_global_origin)
-{
-	return mavlink_msg_set_gps_global_origin_pack(system_id, component_id, msg, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude);
-}
-
-/**
- * @brief Encode a set_gps_global_origin struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_gps_global_origin C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_gps_global_origin_t* set_gps_global_origin)
-{
-	return mavlink_msg_set_gps_global_origin_pack_chan(system_id, component_id, chan, msg, set_gps_global_origin->target_system, set_gps_global_origin->latitude, set_gps_global_origin->longitude, set_gps_global_origin->altitude);
-}
-
-/**
- * @brief Send a set_gps_global_origin message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param latitude Latitude (WGS84), in degrees * 1E7
- * @param longitude Longitude (WGS84, in degrees * 1E7
- * @param altitude Altitude (WGS84), in meters * 1000 (positive for up)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_gps_global_origin_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN];
-	_mav_put_int32_t(buf, 0, latitude);
-	_mav_put_int32_t(buf, 4, longitude);
-	_mav_put_int32_t(buf, 8, altitude);
-	_mav_put_uint8_t(buf, 12, target_system);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-#else
-	mavlink_set_gps_global_origin_t packet;
-	packet.latitude = latitude;
-	packet.longitude = longitude;
-	packet.altitude = altitude;
-	packet.target_system = target_system;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_GPS_GLOBAL_ORIGIN UNPACKING
-
-
-/**
- * @brief Get field target_system from set_gps_global_origin message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_gps_global_origin_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field latitude from set_gps_global_origin message
- *
- * @return Latitude (WGS84), in degrees * 1E7
- */
-static inline int32_t mavlink_msg_set_gps_global_origin_get_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field longitude from set_gps_global_origin message
- *
- * @return Longitude (WGS84, in degrees * 1E7
- */
-static inline int32_t mavlink_msg_set_gps_global_origin_get_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field altitude from set_gps_global_origin message
- *
- * @return Altitude (WGS84), in meters * 1000 (positive for up)
- */
-static inline int32_t mavlink_msg_set_gps_global_origin_get_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a set_gps_global_origin message into a struct
- *
- * @param msg The message to decode
- * @param set_gps_global_origin C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_set_gps_global_origin_t* set_gps_global_origin)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_gps_global_origin->latitude = mavlink_msg_set_gps_global_origin_get_latitude(msg);
-	set_gps_global_origin->longitude = mavlink_msg_set_gps_global_origin_get_longitude(msg);
-	set_gps_global_origin->altitude = mavlink_msg_set_gps_global_origin_get_altitude(msg);
-	set_gps_global_origin->target_system = mavlink_msg_set_gps_global_origin_get_target_system(msg);
-#else
-	memcpy(set_gps_global_origin, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h
deleted file mode 100644
index 6f2835e03..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_local_position_setpoint.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE SET_LOCAL_POSITION_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT 50
-
-typedef struct __mavlink_set_local_position_setpoint_t
-{
- float x; ///< x position
- float y; ///< y position
- float z; ///< z position
- float yaw; ///< Desired yaw angle
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
-} mavlink_set_local_position_setpoint_t;
-
-#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN 19
-#define MAVLINK_MSG_ID_50_LEN 19
-
-#define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC 214
-#define MAVLINK_MSG_ID_50_CRC 214
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT { \
-	"SET_LOCAL_POSITION_SETPOINT", \
-	7, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_local_position_setpoint_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_local_position_setpoint_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_local_position_setpoint_t, z) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_local_position_setpoint_t, yaw) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_local_position_setpoint_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_local_position_setpoint_t, target_component) }, \
-         { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_set_local_position_setpoint_t, coordinate_frame) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_local_position_setpoint 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 target_system System ID
- * @param target_component Component ID
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-	_mav_put_uint8_t(buf, 18, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#else
-	mavlink_set_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_local_position_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t coordinate_frame,float x,float y,float z,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-	_mav_put_uint8_t(buf, 18, coordinate_frame);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#else
-	mavlink_set_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.coordinate_frame = coordinate_frame;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_local_position_setpoint struct
- *
- * @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 set_local_position_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_local_position_setpoint_t* set_local_position_setpoint)
-{
-	return mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, msg, set_local_position_setpoint->target_system, set_local_position_setpoint->target_component, set_local_position_setpoint->coordinate_frame, set_local_position_setpoint->x, set_local_position_setpoint->y, set_local_position_setpoint->z, set_local_position_setpoint->yaw);
-}
-
-/**
- * @brief Encode a set_local_position_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_local_position_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_local_position_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_local_position_setpoint_t* set_local_position_setpoint)
-{
-	return mavlink_msg_set_local_position_setpoint_pack_chan(system_id, component_id, chan, msg, set_local_position_setpoint->target_system, set_local_position_setpoint->target_component, set_local_position_setpoint->coordinate_frame, set_local_position_setpoint->x, set_local_position_setpoint->y, set_local_position_setpoint->z, set_local_position_setpoint->yaw);
-}
-
-/**
- * @brief Send a set_local_position_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw Desired yaw angle
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_local_position_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-	_mav_put_uint8_t(buf, 18, coordinate_frame);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-#else
-	mavlink_set_local_position_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.coordinate_frame = coordinate_frame;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_LOCAL_POSITION_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field target_system from set_local_position_setpoint message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field target_component from set_local_position_setpoint message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field coordinate_frame from set_local_position_setpoint message
- *
- * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
- */
-static inline uint8_t mavlink_msg_set_local_position_setpoint_get_coordinate_frame(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  18);
-}
-
-/**
- * @brief Get field x from set_local_position_setpoint message
- *
- * @return x position
- */
-static inline float mavlink_msg_set_local_position_setpoint_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from set_local_position_setpoint message
- *
- * @return y position
- */
-static inline float mavlink_msg_set_local_position_setpoint_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from set_local_position_setpoint message
- *
- * @return z position
- */
-static inline float mavlink_msg_set_local_position_setpoint_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from set_local_position_setpoint message
- *
- * @return Desired yaw angle
- */
-static inline float mavlink_msg_set_local_position_setpoint_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a set_local_position_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param set_local_position_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_local_position_setpoint_decode(const mavlink_message_t* msg, mavlink_set_local_position_setpoint_t* set_local_position_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_local_position_setpoint->x = mavlink_msg_set_local_position_setpoint_get_x(msg);
-	set_local_position_setpoint->y = mavlink_msg_set_local_position_setpoint_get_y(msg);
-	set_local_position_setpoint->z = mavlink_msg_set_local_position_setpoint_get_z(msg);
-	set_local_position_setpoint->yaw = mavlink_msg_set_local_position_setpoint_get_yaw(msg);
-	set_local_position_setpoint->target_system = mavlink_msg_set_local_position_setpoint_get_target_system(msg);
-	set_local_position_setpoint->target_component = mavlink_msg_set_local_position_setpoint_get_target_component(msg);
-	set_local_position_setpoint->coordinate_frame = mavlink_msg_set_local_position_setpoint_get_coordinate_frame(msg);
-#else
-	memcpy(set_local_position_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h
deleted file mode 100644
index 1aff42cce..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_mode.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE SET_MODE PACKING
-
-#define MAVLINK_MSG_ID_SET_MODE 11
-
-typedef struct __mavlink_set_mode_t
-{
- uint32_t custom_mode; ///< The new autopilot-specific mode. This field can be ignored by an autopilot.
- uint8_t target_system; ///< The system setting the mode
- uint8_t base_mode; ///< The new base mode
-} mavlink_set_mode_t;
-
-#define MAVLINK_MSG_ID_SET_MODE_LEN 6
-#define MAVLINK_MSG_ID_11_LEN 6
-
-#define MAVLINK_MSG_ID_SET_MODE_CRC 89
-#define MAVLINK_MSG_ID_11_CRC 89
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_MODE { \
-	"SET_MODE", \
-	3, \
-	{  { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_mode_t, target_system) }, \
-         { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_set_mode_t, base_mode) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_mode 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 target_system The system setting the mode
- * @param base_mode The new base mode
- * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
-	_mav_put_uint32_t(buf, 0, custom_mode);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, base_mode);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MODE_LEN);
-#else
-	mavlink_set_mode_t packet;
-	packet.custom_mode = custom_mode;
-	packet.target_system = target_system;
-	packet.base_mode = base_mode;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_MODE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_mode 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system The system setting the mode
- * @param base_mode The new base mode
- * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t base_mode,uint32_t custom_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
-	_mav_put_uint32_t(buf, 0, custom_mode);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, base_mode);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MODE_LEN);
-#else
-	mavlink_set_mode_t packet;
-	packet.custom_mode = custom_mode;
-	packet.target_system = target_system;
-	packet.base_mode = base_mode;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_MODE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_mode struct
- *
- * @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 set_mode C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
-{
-	return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
-}
-
-/**
- * @brief Encode a set_mode struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_mode C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_mode_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
-{
-	return mavlink_msg_set_mode_pack_chan(system_id, component_id, chan, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
-}
-
-/**
- * @brief Send a set_mode message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system The system setting the mode
- * @param base_mode The new base mode
- * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
-	_mav_put_uint32_t(buf, 0, custom_mode);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, base_mode);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-#else
-	mavlink_set_mode_t packet;
-	packet.custom_mode = custom_mode;
-	packet.target_system = target_system;
-	packet.base_mode = base_mode;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_MODE UNPACKING
-
-
-/**
- * @brief Get field target_system from set_mode message
- *
- * @return The system setting the mode
- */
-static inline uint8_t mavlink_msg_set_mode_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field base_mode from set_mode message
- *
- * @return The new base mode
- */
-static inline uint8_t mavlink_msg_set_mode_get_base_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field custom_mode from set_mode message
- *
- * @return The new autopilot-specific mode. This field can be ignored by an autopilot.
- */
-static inline uint32_t mavlink_msg_set_mode_get_custom_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Decode a set_mode message into a struct
- *
- * @param msg The message to decode
- * @param set_mode C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_mode->custom_mode = mavlink_msg_set_mode_get_custom_mode(msg);
-	set_mode->target_system = mavlink_msg_set_mode_get_target_system(msg);
-	set_mode->base_mode = mavlink_msg_set_mode_get_base_mode(msg);
-#else
-	memcpy(set_mode, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_MODE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h
deleted file mode 100644
index 8ceb8888f..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_motors_setpoint.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE SET_QUAD_MOTORS_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT 60
-
-typedef struct __mavlink_set_quad_motors_setpoint_t
-{
- uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
- uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
- uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
- uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration
- uint8_t target_system; ///< System ID of the system that should set these motor commands
-} mavlink_set_quad_motors_setpoint_t;
-
-#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN 9
-#define MAVLINK_MSG_ID_60_LEN 9
-
-#define MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC 30
-#define MAVLINK_MSG_ID_60_CRC 30
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT { \
-	"SET_QUAD_MOTORS_SETPOINT", \
-	5, \
-	{  { "motor_front_nw", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_set_quad_motors_setpoint_t, motor_front_nw) }, \
-         { "motor_right_ne", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_set_quad_motors_setpoint_t, motor_right_ne) }, \
-         { "motor_back_se", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_quad_motors_setpoint_t, motor_back_se) }, \
-         { "motor_left_sw", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_quad_motors_setpoint_t, motor_left_sw) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_quad_motors_setpoint_t, target_system) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_quad_motors_setpoint 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 target_system System ID of the system that should set these motor commands
- * @param motor_front_nw Front motor in + configuration, front left motor in x configuration
- * @param motor_right_ne Right motor in + configuration, front right motor in x configuration
- * @param motor_back_se Back motor in + configuration, back right motor in x configuration
- * @param motor_left_sw Left motor in + configuration, back left motor in x configuration
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN];
-	_mav_put_uint16_t(buf, 0, motor_front_nw);
-	_mav_put_uint16_t(buf, 2, motor_right_ne);
-	_mav_put_uint16_t(buf, 4, motor_back_se);
-	_mav_put_uint16_t(buf, 6, motor_left_sw);
-	_mav_put_uint8_t(buf, 8, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#else
-	mavlink_set_quad_motors_setpoint_t packet;
-	packet.motor_front_nw = motor_front_nw;
-	packet.motor_right_ne = motor_right_ne;
-	packet.motor_back_se = motor_back_se;
-	packet.motor_left_sw = motor_left_sw;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_quad_motors_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID of the system that should set these motor commands
- * @param motor_front_nw Front motor in + configuration, front left motor in x configuration
- * @param motor_right_ne Right motor in + configuration, front right motor in x configuration
- * @param motor_back_se Back motor in + configuration, back right motor in x configuration
- * @param motor_left_sw Left motor in + configuration, back left motor in x configuration
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint16_t motor_front_nw,uint16_t motor_right_ne,uint16_t motor_back_se,uint16_t motor_left_sw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN];
-	_mav_put_uint16_t(buf, 0, motor_front_nw);
-	_mav_put_uint16_t(buf, 2, motor_right_ne);
-	_mav_put_uint16_t(buf, 4, motor_back_se);
-	_mav_put_uint16_t(buf, 6, motor_left_sw);
-	_mav_put_uint8_t(buf, 8, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#else
-	mavlink_set_quad_motors_setpoint_t packet;
-	packet.motor_front_nw = motor_front_nw;
-	packet.motor_right_ne = motor_right_ne;
-	packet.motor_back_se = motor_back_se;
-	packet.motor_left_sw = motor_left_sw;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_quad_motors_setpoint struct
- *
- * @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 set_quad_motors_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
-{
-	return mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, msg, set_quad_motors_setpoint->target_system, set_quad_motors_setpoint->motor_front_nw, set_quad_motors_setpoint->motor_right_ne, set_quad_motors_setpoint->motor_back_se, set_quad_motors_setpoint->motor_left_sw);
-}
-
-/**
- * @brief Encode a set_quad_motors_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_quad_motors_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
-{
-	return mavlink_msg_set_quad_motors_setpoint_pack_chan(system_id, component_id, chan, msg, set_quad_motors_setpoint->target_system, set_quad_motors_setpoint->motor_front_nw, set_quad_motors_setpoint->motor_right_ne, set_quad_motors_setpoint->motor_back_se, set_quad_motors_setpoint->motor_left_sw);
-}
-
-/**
- * @brief Send a set_quad_motors_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID of the system that should set these motor commands
- * @param motor_front_nw Front motor in + configuration, front left motor in x configuration
- * @param motor_right_ne Right motor in + configuration, front right motor in x configuration
- * @param motor_back_se Back motor in + configuration, back right motor in x configuration
- * @param motor_left_sw Left motor in + configuration, back left motor in x configuration
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_quad_motors_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint16_t motor_front_nw, uint16_t motor_right_ne, uint16_t motor_back_se, uint16_t motor_left_sw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN];
-	_mav_put_uint16_t(buf, 0, motor_front_nw);
-	_mav_put_uint16_t(buf, 2, motor_right_ne);
-	_mav_put_uint16_t(buf, 4, motor_back_se);
-	_mav_put_uint16_t(buf, 6, motor_left_sw);
-	_mav_put_uint8_t(buf, 8, target_system);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, buf, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-#else
-	mavlink_set_quad_motors_setpoint_t packet;
-	packet.motor_front_nw = motor_front_nw;
-	packet.motor_right_ne = motor_right_ne;
-	packet.motor_back_se = motor_back_se;
-	packet.motor_left_sw = motor_left_sw;
-	packet.target_system = target_system;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_QUAD_MOTORS_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field target_system from set_quad_motors_setpoint message
- *
- * @return System ID of the system that should set these motor commands
- */
-static inline uint8_t mavlink_msg_set_quad_motors_setpoint_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field motor_front_nw from set_quad_motors_setpoint message
- *
- * @return Front motor in + configuration, front left motor in x configuration
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field motor_right_ne from set_quad_motors_setpoint message
- *
- * @return Right motor in + configuration, front right motor in x configuration
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Get field motor_back_se from set_quad_motors_setpoint message
- *
- * @return Back motor in + configuration, back right motor in x configuration
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field motor_left_sw from set_quad_motors_setpoint message
- *
- * @return Left motor in + configuration, back left motor in x configuration
- */
-static inline uint16_t mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Decode a set_quad_motors_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param set_quad_motors_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_quad_motors_setpoint_decode(const mavlink_message_t* msg, mavlink_set_quad_motors_setpoint_t* set_quad_motors_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_quad_motors_setpoint->motor_front_nw = mavlink_msg_set_quad_motors_setpoint_get_motor_front_nw(msg);
-	set_quad_motors_setpoint->motor_right_ne = mavlink_msg_set_quad_motors_setpoint_get_motor_right_ne(msg);
-	set_quad_motors_setpoint->motor_back_se = mavlink_msg_set_quad_motors_setpoint_get_motor_back_se(msg);
-	set_quad_motors_setpoint->motor_left_sw = mavlink_msg_set_quad_motors_setpoint_get_motor_left_sw(msg);
-	set_quad_motors_setpoint->target_system = mavlink_msg_set_quad_motors_setpoint_get_target_system(msg);
-#else
-	memcpy(set_quad_motors_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h
deleted file mode 100644
index 9ef294cc9..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST PACKING
-
-#define MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST 63
-
-typedef struct __mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t
-{
- int16_t roll[4]; ///< Desired roll angle in radians +-PI (+-INT16_MAX)
- int16_t pitch[4]; ///< Desired pitch angle in radians +-PI (+-INT16_MAX)
- int16_t yaw[4]; ///< Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- uint16_t thrust[4]; ///< Collective thrust, scaled to uint16 (0..UINT16_MAX)
- uint8_t group; ///< ID of the quadrotor group (0 - 255, up to 256 groups supported)
- uint8_t mode; ///< ID of the flight mode (0 - 255, up to 256 modes supported)
- uint8_t led_red[4]; ///< RGB red channel (0-255)
- uint8_t led_blue[4]; ///< RGB green channel (0-255)
- uint8_t led_green[4]; ///< RGB blue channel (0-255)
-} mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t;
-
-#define MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN 46
-#define MAVLINK_MSG_ID_63_LEN 46
-
-#define MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC 130
-#define MAVLINK_MSG_ID_63_CRC 130
-
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_LED_RED_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_LED_BLUE_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_FIELD_LED_GREEN_LEN 4
-
-#define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST { \
-	"SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST", \
-	9, \
-	{  { "roll", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_INT16_T, 4, 8, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_INT16_T, 4, 16, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 4, 24, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, thrust) }, \
-         { "group", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, group) }, \
-         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, mode) }, \
-         { "led_red", NULL, MAVLINK_TYPE_UINT8_T, 4, 34, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, led_red) }, \
-         { "led_blue", NULL, MAVLINK_TYPE_UINT8_T, 4, 38, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, led_blue) }, \
-         { "led_green", NULL, MAVLINK_TYPE_UINT8_T, 4, 42, offsetof(mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t, led_green) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_quad_swarm_led_roll_pitch_yaw_thrust 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 group ID of the quadrotor group (0 - 255, up to 256 groups supported)
- * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
- * @param led_red RGB red channel (0-255)
- * @param led_blue RGB green channel (0-255)
- * @param led_green RGB blue channel (0-255)
- * @param roll Desired roll angle in radians +-PI (+-INT16_MAX)
- * @param pitch Desired pitch angle in radians +-PI (+-INT16_MAX)
- * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- * @param thrust Collective thrust, scaled to uint16 (0..UINT16_MAX)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t group, uint8_t mode, const uint8_t *led_red, const uint8_t *led_blue, const uint8_t *led_green, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN];
-	_mav_put_uint8_t(buf, 32, group);
-	_mav_put_uint8_t(buf, 33, mode);
-	_mav_put_int16_t_array(buf, 0, roll, 4);
-	_mav_put_int16_t_array(buf, 8, pitch, 4);
-	_mav_put_int16_t_array(buf, 16, yaw, 4);
-	_mav_put_uint16_t_array(buf, 24, thrust, 4);
-	_mav_put_uint8_t_array(buf, 34, led_red, 4);
-	_mav_put_uint8_t_array(buf, 38, led_blue, 4);
-	_mav_put_uint8_t_array(buf, 42, led_green, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#else
-	mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet;
-	packet.group = group;
-	packet.mode = mode;
-	mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
-	mav_array_memcpy(packet.led_red, led_red, sizeof(uint8_t)*4);
-	mav_array_memcpy(packet.led_blue, led_blue, sizeof(uint8_t)*4);
-	mav_array_memcpy(packet.led_green, led_green, sizeof(uint8_t)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_quad_swarm_led_roll_pitch_yaw_thrust 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
- * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
- * @param led_red RGB red channel (0-255)
- * @param led_blue RGB green channel (0-255)
- * @param led_green RGB blue channel (0-255)
- * @param roll Desired roll angle in radians +-PI (+-INT16_MAX)
- * @param pitch Desired pitch angle in radians +-PI (+-INT16_MAX)
- * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- * @param thrust Collective thrust, scaled to uint16 (0..UINT16_MAX)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t group,uint8_t mode,const uint8_t *led_red,const uint8_t *led_blue,const uint8_t *led_green,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN];
-	_mav_put_uint8_t(buf, 32, group);
-	_mav_put_uint8_t(buf, 33, mode);
-	_mav_put_int16_t_array(buf, 0, roll, 4);
-	_mav_put_int16_t_array(buf, 8, pitch, 4);
-	_mav_put_int16_t_array(buf, 16, yaw, 4);
-	_mav_put_uint16_t_array(buf, 24, thrust, 4);
-	_mav_put_uint8_t_array(buf, 34, led_red, 4);
-	_mav_put_uint8_t_array(buf, 38, led_blue, 4);
-	_mav_put_uint8_t_array(buf, 42, led_green, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#else
-	mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet;
-	packet.group = group;
-	packet.mode = mode;
-	mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
-	mav_array_memcpy(packet.led_red, led_red, sizeof(uint8_t)*4);
-	mav_array_memcpy(packet.led_blue, led_blue, sizeof(uint8_t)*4);
-	mav_array_memcpy(packet.led_green, led_green, sizeof(uint8_t)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_quad_swarm_led_roll_pitch_yaw_thrust struct
- *
- * @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 set_quad_swarm_led_roll_pitch_yaw_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t* set_quad_swarm_led_roll_pitch_yaw_thrust)
-{
-	return mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_led_roll_pitch_yaw_thrust->group, set_quad_swarm_led_roll_pitch_yaw_thrust->mode, set_quad_swarm_led_roll_pitch_yaw_thrust->led_red, set_quad_swarm_led_roll_pitch_yaw_thrust->led_blue, set_quad_swarm_led_roll_pitch_yaw_thrust->led_green, set_quad_swarm_led_roll_pitch_yaw_thrust->roll, set_quad_swarm_led_roll_pitch_yaw_thrust->pitch, set_quad_swarm_led_roll_pitch_yaw_thrust->yaw, set_quad_swarm_led_roll_pitch_yaw_thrust->thrust);
-}
-
-/**
- * @brief Encode a set_quad_swarm_led_roll_pitch_yaw_thrust struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_quad_swarm_led_roll_pitch_yaw_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t* set_quad_swarm_led_roll_pitch_yaw_thrust)
-{
-	return mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, chan, msg, set_quad_swarm_led_roll_pitch_yaw_thrust->group, set_quad_swarm_led_roll_pitch_yaw_thrust->mode, set_quad_swarm_led_roll_pitch_yaw_thrust->led_red, set_quad_swarm_led_roll_pitch_yaw_thrust->led_blue, set_quad_swarm_led_roll_pitch_yaw_thrust->led_green, set_quad_swarm_led_roll_pitch_yaw_thrust->roll, set_quad_swarm_led_roll_pitch_yaw_thrust->pitch, set_quad_swarm_led_roll_pitch_yaw_thrust->yaw, set_quad_swarm_led_roll_pitch_yaw_thrust->thrust);
-}
-
-/**
- * @brief Send a set_quad_swarm_led_roll_pitch_yaw_thrust message
- * @param chan MAVLink channel to send the message
- *
- * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
- * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
- * @param led_red RGB red channel (0-255)
- * @param led_blue RGB green channel (0-255)
- * @param led_green RGB blue channel (0-255)
- * @param roll Desired roll angle in radians +-PI (+-INT16_MAX)
- * @param pitch Desired pitch angle in radians +-PI (+-INT16_MAX)
- * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- * @param thrust Collective thrust, scaled to uint16 (0..UINT16_MAX)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t group, uint8_t mode, const uint8_t *led_red, const uint8_t *led_blue, const uint8_t *led_green, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN];
-	_mav_put_uint8_t(buf, 32, group);
-	_mav_put_uint8_t(buf, 33, mode);
-	_mav_put_int16_t_array(buf, 0, roll, 4);
-	_mav_put_int16_t_array(buf, 8, pitch, 4);
-	_mav_put_int16_t_array(buf, 16, yaw, 4);
-	_mav_put_uint16_t_array(buf, 24, thrust, 4);
-	_mav_put_uint8_t_array(buf, 34, led_red, 4);
-	_mav_put_uint8_t_array(buf, 38, led_blue, 4);
-	_mav_put_uint8_t_array(buf, 42, led_green, 4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-#else
-	mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet;
-	packet.group = group;
-	packet.mode = mode;
-	mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
-	mav_array_memcpy(packet.led_red, led_red, sizeof(uint8_t)*4);
-	mav_array_memcpy(packet.led_blue, led_blue, sizeof(uint8_t)*4);
-	mav_array_memcpy(packet.led_green, led_green, sizeof(uint8_t)*4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST UNPACKING
-
-
-/**
- * @brief Get field group from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return ID of the quadrotor group (0 - 255, up to 256 groups supported)
- */
-static inline uint8_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_group(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field mode from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return ID of the flight mode (0 - 255, up to 256 modes supported)
- */
-static inline uint8_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  33);
-}
-
-/**
- * @brief Get field led_red from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return RGB red channel (0-255)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_red(const mavlink_message_t* msg, uint8_t *led_red)
-{
-	return _MAV_RETURN_uint8_t_array(msg, led_red, 4,  34);
-}
-
-/**
- * @brief Get field led_blue from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return RGB green channel (0-255)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_blue(const mavlink_message_t* msg, uint8_t *led_blue)
-{
-	return _MAV_RETURN_uint8_t_array(msg, led_blue, 4,  38);
-}
-
-/**
- * @brief Get field led_green from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return RGB blue channel (0-255)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_green(const mavlink_message_t* msg, uint8_t *led_green)
-{
-	return _MAV_RETURN_uint8_t_array(msg, led_green, 4,  42);
-}
-
-/**
- * @brief Get field roll from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return Desired roll angle in radians +-PI (+-INT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll)
-{
-	return _MAV_RETURN_int16_t_array(msg, roll, 4,  0);
-}
-
-/**
- * @brief Get field pitch from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return Desired pitch angle in radians +-PI (+-INT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch)
-{
-	return _MAV_RETURN_int16_t_array(msg, pitch, 4,  8);
-}
-
-/**
- * @brief Get field yaw from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw)
-{
-	return _MAV_RETURN_int16_t_array(msg, yaw, 4,  16);
-}
-
-/**
- * @brief Get field thrust from set_quad_swarm_led_roll_pitch_yaw_thrust message
- *
- * @return Collective thrust, scaled to uint16 (0..UINT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust)
-{
-	return _MAV_RETURN_uint16_t_array(msg, thrust, 4,  24);
-}
-
-/**
- * @brief Decode a set_quad_swarm_led_roll_pitch_yaw_thrust message into a struct
- *
- * @param msg The message to decode
- * @param set_quad_swarm_led_roll_pitch_yaw_thrust C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t* set_quad_swarm_led_roll_pitch_yaw_thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_roll(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->roll);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->pitch);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->yaw);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->thrust);
-	set_quad_swarm_led_roll_pitch_yaw_thrust->group = mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_group(msg);
-	set_quad_swarm_led_roll_pitch_yaw_thrust->mode = mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_mode(msg);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_red(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->led_red);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_blue(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->led_blue);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_get_led_green(msg, set_quad_swarm_led_roll_pitch_yaw_thrust->led_green);
-#else
-	memcpy(set_quad_swarm_led_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
deleted file mode 100644
index 7d8d526f8..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust.h
+++ /dev/null
@@ -1,284 +0,0 @@
-// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST PACKING
-
-#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST 61
-
-typedef struct __mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t
-{
- int16_t roll[4]; ///< Desired roll angle in radians +-PI (+-INT16_MAX)
- int16_t pitch[4]; ///< Desired pitch angle in radians +-PI (+-INT16_MAX)
- int16_t yaw[4]; ///< Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- uint16_t thrust[4]; ///< Collective thrust, scaled to uint16 (0..UINT16_MAX)
- uint8_t group; ///< ID of the quadrotor group (0 - 255, up to 256 groups supported)
- uint8_t mode; ///< ID of the flight mode (0 - 255, up to 256 modes supported)
-} mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t;
-
-#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN 34
-#define MAVLINK_MSG_ID_61_LEN 34
-
-#define MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC 240
-#define MAVLINK_MSG_ID_61_CRC 240
-
-#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_ROLL_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_PITCH_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_YAW_LEN 4
-#define MAVLINK_MSG_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_FIELD_THRUST_LEN 4
-
-#define MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST { \
-	"SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST", \
-	6, \
-	{  { "roll", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_INT16_T, 4, 8, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_INT16_T, 4, 16, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_UINT16_T, 4, 24, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, thrust) }, \
-         { "group", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, group) }, \
-         { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t, mode) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust 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 group ID of the quadrotor group (0 - 255, up to 256 groups supported)
- * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
- * @param roll Desired roll angle in radians +-PI (+-INT16_MAX)
- * @param pitch Desired pitch angle in radians +-PI (+-INT16_MAX)
- * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- * @param thrust Collective thrust, scaled to uint16 (0..UINT16_MAX)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN];
-	_mav_put_uint8_t(buf, 32, group);
-	_mav_put_uint8_t(buf, 33, mode);
-	_mav_put_int16_t_array(buf, 0, roll, 4);
-	_mav_put_int16_t_array(buf, 8, pitch, 4);
-	_mav_put_int16_t_array(buf, 16, yaw, 4);
-	_mav_put_uint16_t_array(buf, 24, thrust, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#else
-	mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
-	packet.group = group;
-	packet.mode = mode;
-	mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_quad_swarm_roll_pitch_yaw_thrust 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
- * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
- * @param roll Desired roll angle in radians +-PI (+-INT16_MAX)
- * @param pitch Desired pitch angle in radians +-PI (+-INT16_MAX)
- * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- * @param thrust Collective thrust, scaled to uint16 (0..UINT16_MAX)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t group,uint8_t mode,const int16_t *roll,const int16_t *pitch,const int16_t *yaw,const uint16_t *thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN];
-	_mav_put_uint8_t(buf, 32, group);
-	_mav_put_uint8_t(buf, 33, mode);
-	_mav_put_int16_t_array(buf, 0, roll, 4);
-	_mav_put_int16_t_array(buf, 8, pitch, 4);
-	_mav_put_int16_t_array(buf, 16, yaw, 4);
-	_mav_put_uint16_t_array(buf, 24, thrust, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#else
-	mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
-	packet.group = group;
-	packet.mode = mode;
-	mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_quad_swarm_roll_pitch_yaw_thrust struct
- *
- * @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 set_quad_swarm_roll_pitch_yaw_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
-{
-	return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_quad_swarm_roll_pitch_yaw_thrust->group, set_quad_swarm_roll_pitch_yaw_thrust->mode, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
-}
-
-/**
- * @brief Encode a set_quad_swarm_roll_pitch_yaw_thrust struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_quad_swarm_roll_pitch_yaw_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
-{
-	return mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, chan, msg, set_quad_swarm_roll_pitch_yaw_thrust->group, set_quad_swarm_roll_pitch_yaw_thrust->mode, set_quad_swarm_roll_pitch_yaw_thrust->roll, set_quad_swarm_roll_pitch_yaw_thrust->pitch, set_quad_swarm_roll_pitch_yaw_thrust->yaw, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
-}
-
-/**
- * @brief Send a set_quad_swarm_roll_pitch_yaw_thrust message
- * @param chan MAVLink channel to send the message
- *
- * @param group ID of the quadrotor group (0 - 255, up to 256 groups supported)
- * @param mode ID of the flight mode (0 - 255, up to 256 modes supported)
- * @param roll Desired roll angle in radians +-PI (+-INT16_MAX)
- * @param pitch Desired pitch angle in radians +-PI (+-INT16_MAX)
- * @param yaw Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- * @param thrust Collective thrust, scaled to uint16 (0..UINT16_MAX)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t group, uint8_t mode, const int16_t *roll, const int16_t *pitch, const int16_t *yaw, const uint16_t *thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN];
-	_mav_put_uint8_t(buf, 32, group);
-	_mav_put_uint8_t(buf, 33, mode);
-	_mav_put_int16_t_array(buf, 0, roll, 4);
-	_mav_put_int16_t_array(buf, 8, pitch, 4);
-	_mav_put_int16_t_array(buf, 16, yaw, 4);
-	_mav_put_uint16_t_array(buf, 24, thrust, 4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-#else
-	mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet;
-	packet.group = group;
-	packet.mode = mode;
-	mav_array_memcpy(packet.roll, roll, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.pitch, pitch, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.yaw, yaw, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.thrust, thrust, sizeof(uint16_t)*4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST UNPACKING
-
-
-/**
- * @brief Get field group from set_quad_swarm_roll_pitch_yaw_thrust message
- *
- * @return ID of the quadrotor group (0 - 255, up to 256 groups supported)
- */
-static inline uint8_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_group(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field mode from set_quad_swarm_roll_pitch_yaw_thrust message
- *
- * @return ID of the flight mode (0 - 255, up to 256 modes supported)
- */
-static inline uint8_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  33);
-}
-
-/**
- * @brief Get field roll from set_quad_swarm_roll_pitch_yaw_thrust message
- *
- * @return Desired roll angle in radians +-PI (+-INT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg, int16_t *roll)
-{
-	return _MAV_RETURN_int16_t_array(msg, roll, 4,  0);
-}
-
-/**
- * @brief Get field pitch from set_quad_swarm_roll_pitch_yaw_thrust message
- *
- * @return Desired pitch angle in radians +-PI (+-INT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg, int16_t *pitch)
-{
-	return _MAV_RETURN_int16_t_array(msg, pitch, 4,  8);
-}
-
-/**
- * @brief Get field yaw from set_quad_swarm_roll_pitch_yaw_thrust message
- *
- * @return Desired yaw angle in radians, scaled to int16 +-PI (+-INT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg, int16_t *yaw)
-{
-	return _MAV_RETURN_int16_t_array(msg, yaw, 4,  16);
-}
-
-/**
- * @brief Get field thrust from set_quad_swarm_roll_pitch_yaw_thrust message
- *
- * @return Collective thrust, scaled to uint16 (0..UINT16_MAX)
- */
-static inline uint16_t mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg, uint16_t *thrust)
-{
-	return _MAV_RETURN_uint16_t_array(msg, thrust, 4,  24);
-}
-
-/**
- * @brief Decode a set_quad_swarm_roll_pitch_yaw_thrust message into a struct
- *
- * @param msg The message to decode
- * @param set_quad_swarm_roll_pitch_yaw_thrust C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t* set_quad_swarm_roll_pitch_yaw_thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_roll(msg, set_quad_swarm_roll_pitch_yaw_thrust->roll);
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_pitch(msg, set_quad_swarm_roll_pitch_yaw_thrust->pitch);
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_yaw(msg, set_quad_swarm_roll_pitch_yaw_thrust->yaw);
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_thrust(msg, set_quad_swarm_roll_pitch_yaw_thrust->thrust);
-	set_quad_swarm_roll_pitch_yaw_thrust->group = mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_group(msg);
-	set_quad_swarm_roll_pitch_yaw_thrust->mode = mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_get_mode(msg);
-#else
-	memcpy(set_quad_swarm_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
deleted file mode 100644
index 5846ba41f..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_speed_thrust.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST PACKING
-
-#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST 57
-
-typedef struct __mavlink_set_roll_pitch_yaw_speed_thrust_t
-{
- float roll_speed; ///< Desired roll angular speed in rad/s
- float pitch_speed; ///< Desired pitch angular speed in rad/s
- float yaw_speed; ///< Desired yaw angular speed in rad/s
- float thrust; ///< Collective thrust, normalized to 0 .. 1
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_set_roll_pitch_yaw_speed_thrust_t;
-
-#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN 18
-#define MAVLINK_MSG_ID_57_LEN 18
-
-#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC 24
-#define MAVLINK_MSG_ID_57_CRC 24
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST { \
-	"SET_ROLL_PITCH_YAW_SPEED_THRUST", \
-	6, \
-	{  { "roll_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, roll_speed) }, \
-         { "pitch_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, pitch_speed) }, \
-         { "yaw_speed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, yaw_speed) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, thrust) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_roll_pitch_yaw_speed_thrust_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_roll_pitch_yaw_speed_thrust 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 target_system System ID
- * @param target_component Component ID
- * @param roll_speed Desired roll angular speed in rad/s
- * @param pitch_speed Desired pitch angular speed in rad/s
- * @param yaw_speed Desired yaw angular speed in rad/s
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN];
-	_mav_put_float(buf, 0, roll_speed);
-	_mav_put_float(buf, 4, pitch_speed);
-	_mav_put_float(buf, 8, yaw_speed);
-	_mav_put_float(buf, 12, thrust);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#else
-	mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
-	packet.roll_speed = roll_speed;
-	packet.pitch_speed = pitch_speed;
-	packet.yaw_speed = yaw_speed;
-	packet.thrust = thrust;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_roll_pitch_yaw_speed_thrust 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param roll_speed Desired roll angular speed in rad/s
- * @param pitch_speed Desired pitch angular speed in rad/s
- * @param yaw_speed Desired yaw angular speed in rad/s
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,float roll_speed,float pitch_speed,float yaw_speed,float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN];
-	_mav_put_float(buf, 0, roll_speed);
-	_mav_put_float(buf, 4, pitch_speed);
-	_mav_put_float(buf, 8, yaw_speed);
-	_mav_put_float(buf, 12, thrust);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#else
-	mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
-	packet.roll_speed = roll_speed;
-	packet.pitch_speed = pitch_speed;
-	packet.yaw_speed = yaw_speed;
-	packet.thrust = thrust;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_roll_pitch_yaw_speed_thrust struct
- *
- * @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 set_roll_pitch_yaw_speed_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
-{
-	return mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_speed_thrust->target_system, set_roll_pitch_yaw_speed_thrust->target_component, set_roll_pitch_yaw_speed_thrust->roll_speed, set_roll_pitch_yaw_speed_thrust->pitch_speed, set_roll_pitch_yaw_speed_thrust->yaw_speed, set_roll_pitch_yaw_speed_thrust->thrust);
-}
-
-/**
- * @brief Encode a set_roll_pitch_yaw_speed_thrust struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_roll_pitch_yaw_speed_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
-{
-	return mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(system_id, component_id, chan, msg, set_roll_pitch_yaw_speed_thrust->target_system, set_roll_pitch_yaw_speed_thrust->target_component, set_roll_pitch_yaw_speed_thrust->roll_speed, set_roll_pitch_yaw_speed_thrust->pitch_speed, set_roll_pitch_yaw_speed_thrust->yaw_speed, set_roll_pitch_yaw_speed_thrust->thrust);
-}
-
-/**
- * @brief Send a set_roll_pitch_yaw_speed_thrust message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param roll_speed Desired roll angular speed in rad/s
- * @param pitch_speed Desired pitch angular speed in rad/s
- * @param yaw_speed Desired yaw angular speed in rad/s
- * @param thrust Collective thrust, normalized to 0 .. 1
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll_speed, float pitch_speed, float yaw_speed, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN];
-	_mav_put_float(buf, 0, roll_speed);
-	_mav_put_float(buf, 4, pitch_speed);
-	_mav_put_float(buf, 8, yaw_speed);
-	_mav_put_float(buf, 12, thrust);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-#else
-	mavlink_set_roll_pitch_yaw_speed_thrust_t packet;
-	packet.roll_speed = roll_speed;
-	packet.pitch_speed = pitch_speed;
-	packet.yaw_speed = yaw_speed;
-	packet.thrust = thrust;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_ROLL_PITCH_YAW_SPEED_THRUST UNPACKING
-
-
-/**
- * @brief Get field target_system from set_roll_pitch_yaw_speed_thrust message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field target_component from set_roll_pitch_yaw_speed_thrust message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field roll_speed from set_roll_pitch_yaw_speed_thrust message
- *
- * @return Desired roll angular speed in rad/s
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field pitch_speed from set_roll_pitch_yaw_speed_thrust message
- *
- * @return Desired pitch angular speed in rad/s
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field yaw_speed from set_roll_pitch_yaw_speed_thrust message
- *
- * @return Desired yaw angular speed in rad/s
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field thrust from set_roll_pitch_yaw_speed_thrust message
- *
- * @return Collective thrust, normalized to 0 .. 1
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a set_roll_pitch_yaw_speed_thrust message into a struct
- *
- * @param msg The message to decode
- * @param set_roll_pitch_yaw_speed_thrust C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_speed_thrust_t* set_roll_pitch_yaw_speed_thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_roll_pitch_yaw_speed_thrust->roll_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_roll_speed(msg);
-	set_roll_pitch_yaw_speed_thrust->pitch_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_pitch_speed(msg);
-	set_roll_pitch_yaw_speed_thrust->yaw_speed = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_yaw_speed(msg);
-	set_roll_pitch_yaw_speed_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_thrust(msg);
-	set_roll_pitch_yaw_speed_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_system(msg);
-	set_roll_pitch_yaw_speed_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_speed_thrust_get_target_component(msg);
-#else
-	memcpy(set_roll_pitch_yaw_speed_thrust, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
deleted file mode 100644
index 334fd39e3..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_set_roll_pitch_yaw_thrust.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE SET_ROLL_PITCH_YAW_THRUST PACKING
-
-#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST 56
-
-typedef struct __mavlink_set_roll_pitch_yaw_thrust_t
-{
- float roll; ///< Desired roll angle in radians
- float pitch; ///< Desired pitch angle in radians
- float yaw; ///< Desired yaw angle in radians
- float thrust; ///< Collective thrust, normalized to 0 .. 1
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_set_roll_pitch_yaw_thrust_t;
-
-#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN 18
-#define MAVLINK_MSG_ID_56_LEN 18
-
-#define MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC 100
-#define MAVLINK_MSG_ID_56_CRC 100
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST { \
-	"SET_ROLL_PITCH_YAW_THRUST", \
-	6, \
-	{  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, thrust) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_roll_pitch_yaw_thrust_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_roll_pitch_yaw_thrust 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 target_system System ID
- * @param target_component Component ID
- * @param roll Desired roll angle in radians
- * @param pitch Desired pitch angle in radians
- * @param yaw Desired yaw angle in radians
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN];
-	_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_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#else
-	mavlink_set_roll_pitch_yaw_thrust_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_roll_pitch_yaw_thrust 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param roll Desired roll angle in radians
- * @param pitch Desired pitch angle in radians
- * @param yaw Desired yaw angle in radians
- * @param thrust Collective thrust, normalized to 0 .. 1
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,float roll,float pitch,float yaw,float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN];
-	_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_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#else
-	mavlink_set_roll_pitch_yaw_thrust_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_roll_pitch_yaw_thrust struct
- *
- * @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 set_roll_pitch_yaw_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
-{
-	return mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, msg, set_roll_pitch_yaw_thrust->target_system, set_roll_pitch_yaw_thrust->target_component, set_roll_pitch_yaw_thrust->roll, set_roll_pitch_yaw_thrust->pitch, set_roll_pitch_yaw_thrust->yaw, set_roll_pitch_yaw_thrust->thrust);
-}
-
-/**
- * @brief Encode a set_roll_pitch_yaw_thrust struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_roll_pitch_yaw_thrust C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_roll_pitch_yaw_thrust_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
-{
-	return mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, chan, msg, set_roll_pitch_yaw_thrust->target_system, set_roll_pitch_yaw_thrust->target_component, set_roll_pitch_yaw_thrust->roll, set_roll_pitch_yaw_thrust->pitch, set_roll_pitch_yaw_thrust->yaw, set_roll_pitch_yaw_thrust->thrust);
-}
-
-/**
- * @brief Send a set_roll_pitch_yaw_thrust message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param roll Desired roll angle in radians
- * @param pitch Desired pitch angle in radians
- * @param yaw Desired yaw angle in radians
- * @param thrust Collective thrust, normalized to 0 .. 1
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_roll_pitch_yaw_thrust_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float roll, float pitch, float yaw, float thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN];
-	_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_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, buf, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-#else
-	mavlink_set_roll_pitch_yaw_thrust_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, (const char *)&packet, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_ROLL_PITCH_YAW_THRUST UNPACKING
-
-
-/**
- * @brief Get field target_system from set_roll_pitch_yaw_thrust message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field target_component from set_roll_pitch_yaw_thrust message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field roll from set_roll_pitch_yaw_thrust message
- *
- * @return Desired roll angle in radians
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field pitch from set_roll_pitch_yaw_thrust message
- *
- * @return Desired pitch angle in radians
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field yaw from set_roll_pitch_yaw_thrust message
- *
- * @return Desired yaw angle in radians
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field thrust from set_roll_pitch_yaw_thrust message
- *
- * @return Collective thrust, normalized to 0 .. 1
- */
-static inline float mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a set_roll_pitch_yaw_thrust message into a struct
- *
- * @param msg The message to decode
- * @param set_roll_pitch_yaw_thrust C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_roll_pitch_yaw_thrust_decode(const mavlink_message_t* msg, mavlink_set_roll_pitch_yaw_thrust_t* set_roll_pitch_yaw_thrust)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_roll_pitch_yaw_thrust->roll = mavlink_msg_set_roll_pitch_yaw_thrust_get_roll(msg);
-	set_roll_pitch_yaw_thrust->pitch = mavlink_msg_set_roll_pitch_yaw_thrust_get_pitch(msg);
-	set_roll_pitch_yaw_thrust->yaw = mavlink_msg_set_roll_pitch_yaw_thrust_get_yaw(msg);
-	set_roll_pitch_yaw_thrust->thrust = mavlink_msg_set_roll_pitch_yaw_thrust_get_thrust(msg);
-	set_roll_pitch_yaw_thrust->target_system = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_system(msg);
-	set_roll_pitch_yaw_thrust->target_component = mavlink_msg_set_roll_pitch_yaw_thrust_get_target_component(msg);
-#else
-	memcpy(set_roll_pitch_yaw_thrust, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h
deleted file mode 100644
index 93ce345b6..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_6dof.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE SETPOINT_6DOF PACKING
-
-#define MAVLINK_MSG_ID_SETPOINT_6DOF 149
-
-typedef struct __mavlink_setpoint_6dof_t
-{
- float trans_x; ///< Translational Component in x
- float trans_y; ///< Translational Component in y
- float trans_z; ///< Translational Component in z
- float rot_x; ///< Rotational Component in x
- float rot_y; ///< Rotational Component in y
- float rot_z; ///< Rotational Component in z
- uint8_t target_system; ///< System ID
-} mavlink_setpoint_6dof_t;
-
-#define MAVLINK_MSG_ID_SETPOINT_6DOF_LEN 25
-#define MAVLINK_MSG_ID_149_LEN 25
-
-#define MAVLINK_MSG_ID_SETPOINT_6DOF_CRC 15
-#define MAVLINK_MSG_ID_149_CRC 15
-
-
-
-#define MAVLINK_MESSAGE_INFO_SETPOINT_6DOF { \
-	"SETPOINT_6DOF", \
-	7, \
-	{  { "trans_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_6dof_t, trans_x) }, \
-         { "trans_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_6dof_t, trans_y) }, \
-         { "trans_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_6dof_t, trans_z) }, \
-         { "rot_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_6dof_t, rot_x) }, \
-         { "rot_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_6dof_t, rot_y) }, \
-         { "rot_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_6dof_t, rot_z) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_setpoint_6dof_t, target_system) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a setpoint_6dof 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 target_system System ID
- * @param trans_x Translational Component in x
- * @param trans_y Translational Component in y
- * @param trans_z Translational Component in z
- * @param rot_x Rotational Component in x
- * @param rot_y Rotational Component in y
- * @param rot_z Rotational Component in z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_setpoint_6dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SETPOINT_6DOF_LEN];
-	_mav_put_float(buf, 0, trans_x);
-	_mav_put_float(buf, 4, trans_y);
-	_mav_put_float(buf, 8, trans_z);
-	_mav_put_float(buf, 12, rot_x);
-	_mav_put_float(buf, 16, rot_y);
-	_mav_put_float(buf, 20, rot_z);
-	_mav_put_uint8_t(buf, 24, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#else
-	mavlink_setpoint_6dof_t packet;
-	packet.trans_x = trans_x;
-	packet.trans_y = trans_y;
-	packet.trans_z = trans_z;
-	packet.rot_x = rot_x;
-	packet.rot_y = rot_y;
-	packet.rot_z = rot_z;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-}
-
-/**
- * @brief Pack a setpoint_6dof 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param trans_x Translational Component in x
- * @param trans_y Translational Component in y
- * @param trans_z Translational Component in z
- * @param rot_x Rotational Component in x
- * @param rot_y Rotational Component in y
- * @param rot_z Rotational Component in z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_setpoint_6dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,float trans_x,float trans_y,float trans_z,float rot_x,float rot_y,float rot_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SETPOINT_6DOF_LEN];
-	_mav_put_float(buf, 0, trans_x);
-	_mav_put_float(buf, 4, trans_y);
-	_mav_put_float(buf, 8, trans_z);
-	_mav_put_float(buf, 12, rot_x);
-	_mav_put_float(buf, 16, rot_y);
-	_mav_put_float(buf, 20, rot_z);
-	_mav_put_uint8_t(buf, 24, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#else
-	mavlink_setpoint_6dof_t packet;
-	packet.trans_x = trans_x;
-	packet.trans_y = trans_y;
-	packet.trans_z = trans_z;
-	packet.rot_x = rot_x;
-	packet.rot_y = rot_y;
-	packet.rot_z = rot_z;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SETPOINT_6DOF;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-}
-
-/**
- * @brief Encode a setpoint_6dof struct
- *
- * @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 setpoint_6dof C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_setpoint_6dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof)
-{
-	return mavlink_msg_setpoint_6dof_pack(system_id, component_id, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z);
-}
-
-/**
- * @brief Encode a setpoint_6dof struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param setpoint_6dof C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_setpoint_6dof_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_setpoint_6dof_t* setpoint_6dof)
-{
-	return mavlink_msg_setpoint_6dof_pack_chan(system_id, component_id, chan, msg, setpoint_6dof->target_system, setpoint_6dof->trans_x, setpoint_6dof->trans_y, setpoint_6dof->trans_z, setpoint_6dof->rot_x, setpoint_6dof->rot_y, setpoint_6dof->rot_z);
-}
-
-/**
- * @brief Send a setpoint_6dof message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param trans_x Translational Component in x
- * @param trans_y Translational Component in y
- * @param trans_z Translational Component in z
- * @param rot_x Rotational Component in x
- * @param rot_y Rotational Component in y
- * @param rot_z Rotational Component in z
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_setpoint_6dof_send(mavlink_channel_t chan, uint8_t target_system, float trans_x, float trans_y, float trans_z, float rot_x, float rot_y, float rot_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SETPOINT_6DOF_LEN];
-	_mav_put_float(buf, 0, trans_x);
-	_mav_put_float(buf, 4, trans_y);
-	_mav_put_float(buf, 8, trans_z);
-	_mav_put_float(buf, 12, rot_x);
-	_mav_put_float(buf, 16, rot_y);
-	_mav_put_float(buf, 20, rot_z);
-	_mav_put_uint8_t(buf, 24, target_system);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, buf, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-#else
-	mavlink_setpoint_6dof_t packet;
-	packet.trans_x = trans_x;
-	packet.trans_y = trans_y;
-	packet.trans_z = trans_z;
-	packet.rot_x = rot_x;
-	packet.rot_y = rot_y;
-	packet.rot_z = rot_z;
-	packet.target_system = target_system;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN, MAVLINK_MSG_ID_SETPOINT_6DOF_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_6DOF, (const char *)&packet, MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SETPOINT_6DOF UNPACKING
-
-
-/**
- * @brief Get field target_system from setpoint_6dof message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_setpoint_6dof_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  24);
-}
-
-/**
- * @brief Get field trans_x from setpoint_6dof message
- *
- * @return Translational Component in x
- */
-static inline float mavlink_msg_setpoint_6dof_get_trans_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field trans_y from setpoint_6dof message
- *
- * @return Translational Component in y
- */
-static inline float mavlink_msg_setpoint_6dof_get_trans_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field trans_z from setpoint_6dof message
- *
- * @return Translational Component in z
- */
-static inline float mavlink_msg_setpoint_6dof_get_trans_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field rot_x from setpoint_6dof message
- *
- * @return Rotational Component in x
- */
-static inline float mavlink_msg_setpoint_6dof_get_rot_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field rot_y from setpoint_6dof message
- *
- * @return Rotational Component in y
- */
-static inline float mavlink_msg_setpoint_6dof_get_rot_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field rot_z from setpoint_6dof message
- *
- * @return Rotational Component in z
- */
-static inline float mavlink_msg_setpoint_6dof_get_rot_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a setpoint_6dof message into a struct
- *
- * @param msg The message to decode
- * @param setpoint_6dof C-struct to decode the message contents into
- */
-static inline void mavlink_msg_setpoint_6dof_decode(const mavlink_message_t* msg, mavlink_setpoint_6dof_t* setpoint_6dof)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	setpoint_6dof->trans_x = mavlink_msg_setpoint_6dof_get_trans_x(msg);
-	setpoint_6dof->trans_y = mavlink_msg_setpoint_6dof_get_trans_y(msg);
-	setpoint_6dof->trans_z = mavlink_msg_setpoint_6dof_get_trans_z(msg);
-	setpoint_6dof->rot_x = mavlink_msg_setpoint_6dof_get_rot_x(msg);
-	setpoint_6dof->rot_y = mavlink_msg_setpoint_6dof_get_rot_y(msg);
-	setpoint_6dof->rot_z = mavlink_msg_setpoint_6dof_get_rot_z(msg);
-	setpoint_6dof->target_system = mavlink_msg_setpoint_6dof_get_target_system(msg);
-#else
-	memcpy(setpoint_6dof, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SETPOINT_6DOF_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h
deleted file mode 100644
index de80e4645..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_setpoint_8dof.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE SETPOINT_8DOF PACKING
-
-#define MAVLINK_MSG_ID_SETPOINT_8DOF 148
-
-typedef struct __mavlink_setpoint_8dof_t
-{
- float val1; ///< Value 1
- float val2; ///< Value 2
- float val3; ///< Value 3
- float val4; ///< Value 4
- float val5; ///< Value 5
- float val6; ///< Value 6
- float val7; ///< Value 7
- float val8; ///< Value 8
- uint8_t target_system; ///< System ID
-} mavlink_setpoint_8dof_t;
-
-#define MAVLINK_MSG_ID_SETPOINT_8DOF_LEN 33
-#define MAVLINK_MSG_ID_148_LEN 33
-
-#define MAVLINK_MSG_ID_SETPOINT_8DOF_CRC 241
-#define MAVLINK_MSG_ID_148_CRC 241
-
-
-
-#define MAVLINK_MESSAGE_INFO_SETPOINT_8DOF { \
-	"SETPOINT_8DOF", \
-	9, \
-	{  { "val1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_setpoint_8dof_t, val1) }, \
-         { "val2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_setpoint_8dof_t, val2) }, \
-         { "val3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_setpoint_8dof_t, val3) }, \
-         { "val4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_setpoint_8dof_t, val4) }, \
-         { "val5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_setpoint_8dof_t, val5) }, \
-         { "val6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_setpoint_8dof_t, val6) }, \
-         { "val7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_setpoint_8dof_t, val7) }, \
-         { "val8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_setpoint_8dof_t, val8) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_setpoint_8dof_t, target_system) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a setpoint_8dof 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 target_system System ID
- * @param val1 Value 1
- * @param val2 Value 2
- * @param val3 Value 3
- * @param val4 Value 4
- * @param val5 Value 5
- * @param val6 Value 6
- * @param val7 Value 7
- * @param val8 Value 8
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_setpoint_8dof_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SETPOINT_8DOF_LEN];
-	_mav_put_float(buf, 0, val1);
-	_mav_put_float(buf, 4, val2);
-	_mav_put_float(buf, 8, val3);
-	_mav_put_float(buf, 12, val4);
-	_mav_put_float(buf, 16, val5);
-	_mav_put_float(buf, 20, val6);
-	_mav_put_float(buf, 24, val7);
-	_mav_put_float(buf, 28, val8);
-	_mav_put_uint8_t(buf, 32, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#else
-	mavlink_setpoint_8dof_t packet;
-	packet.val1 = val1;
-	packet.val2 = val2;
-	packet.val3 = val3;
-	packet.val4 = val4;
-	packet.val5 = val5;
-	packet.val6 = val6;
-	packet.val7 = val7;
-	packet.val8 = val8;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN, MAVLINK_MSG_ID_SETPOINT_8DOF_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-}
-
-/**
- * @brief Pack a setpoint_8dof 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param val1 Value 1
- * @param val2 Value 2
- * @param val3 Value 3
- * @param val4 Value 4
- * @param val5 Value 5
- * @param val6 Value 6
- * @param val7 Value 7
- * @param val8 Value 8
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_setpoint_8dof_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,float val1,float val2,float val3,float val4,float val5,float val6,float val7,float val8)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SETPOINT_8DOF_LEN];
-	_mav_put_float(buf, 0, val1);
-	_mav_put_float(buf, 4, val2);
-	_mav_put_float(buf, 8, val3);
-	_mav_put_float(buf, 12, val4);
-	_mav_put_float(buf, 16, val5);
-	_mav_put_float(buf, 20, val6);
-	_mav_put_float(buf, 24, val7);
-	_mav_put_float(buf, 28, val8);
-	_mav_put_uint8_t(buf, 32, target_system);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#else
-	mavlink_setpoint_8dof_t packet;
-	packet.val1 = val1;
-	packet.val2 = val2;
-	packet.val3 = val3;
-	packet.val4 = val4;
-	packet.val5 = val5;
-	packet.val6 = val6;
-	packet.val7 = val7;
-	packet.val8 = val8;
-	packet.target_system = target_system;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SETPOINT_8DOF;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN, MAVLINK_MSG_ID_SETPOINT_8DOF_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-}
-
-/**
- * @brief Encode a setpoint_8dof struct
- *
- * @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 setpoint_8dof C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_setpoint_8dof_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_setpoint_8dof_t* setpoint_8dof)
-{
-	return mavlink_msg_setpoint_8dof_pack(system_id, component_id, msg, setpoint_8dof->target_system, setpoint_8dof->val1, setpoint_8dof->val2, setpoint_8dof->val3, setpoint_8dof->val4, setpoint_8dof->val5, setpoint_8dof->val6, setpoint_8dof->val7, setpoint_8dof->val8);
-}
-
-/**
- * @brief Encode a setpoint_8dof struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param setpoint_8dof C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_setpoint_8dof_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_setpoint_8dof_t* setpoint_8dof)
-{
-	return mavlink_msg_setpoint_8dof_pack_chan(system_id, component_id, chan, msg, setpoint_8dof->target_system, setpoint_8dof->val1, setpoint_8dof->val2, setpoint_8dof->val3, setpoint_8dof->val4, setpoint_8dof->val5, setpoint_8dof->val6, setpoint_8dof->val7, setpoint_8dof->val8);
-}
-
-/**
- * @brief Send a setpoint_8dof message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param val1 Value 1
- * @param val2 Value 2
- * @param val3 Value 3
- * @param val4 Value 4
- * @param val5 Value 5
- * @param val6 Value 6
- * @param val7 Value 7
- * @param val8 Value 8
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_setpoint_8dof_send(mavlink_channel_t chan, uint8_t target_system, float val1, float val2, float val3, float val4, float val5, float val6, float val7, float val8)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SETPOINT_8DOF_LEN];
-	_mav_put_float(buf, 0, val1);
-	_mav_put_float(buf, 4, val2);
-	_mav_put_float(buf, 8, val3);
-	_mav_put_float(buf, 12, val4);
-	_mav_put_float(buf, 16, val5);
-	_mav_put_float(buf, 20, val6);
-	_mav_put_float(buf, 24, val7);
-	_mav_put_float(buf, 28, val8);
-	_mav_put_uint8_t(buf, 32, target_system);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN, MAVLINK_MSG_ID_SETPOINT_8DOF_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, buf, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-#else
-	mavlink_setpoint_8dof_t packet;
-	packet.val1 = val1;
-	packet.val2 = val2;
-	packet.val3 = val3;
-	packet.val4 = val4;
-	packet.val5 = val5;
-	packet.val6 = val6;
-	packet.val7 = val7;
-	packet.val8 = val8;
-	packet.target_system = target_system;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)&packet, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN, MAVLINK_MSG_ID_SETPOINT_8DOF_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SETPOINT_8DOF, (const char *)&packet, MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SETPOINT_8DOF UNPACKING
-
-
-/**
- * @brief Get field target_system from setpoint_8dof message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_setpoint_8dof_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  32);
-}
-
-/**
- * @brief Get field val1 from setpoint_8dof message
- *
- * @return Value 1
- */
-static inline float mavlink_msg_setpoint_8dof_get_val1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field val2 from setpoint_8dof message
- *
- * @return Value 2
- */
-static inline float mavlink_msg_setpoint_8dof_get_val2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field val3 from setpoint_8dof message
- *
- * @return Value 3
- */
-static inline float mavlink_msg_setpoint_8dof_get_val3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field val4 from setpoint_8dof message
- *
- * @return Value 4
- */
-static inline float mavlink_msg_setpoint_8dof_get_val4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field val5 from setpoint_8dof message
- *
- * @return Value 5
- */
-static inline float mavlink_msg_setpoint_8dof_get_val5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field val6 from setpoint_8dof message
- *
- * @return Value 6
- */
-static inline float mavlink_msg_setpoint_8dof_get_val6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field val7 from setpoint_8dof message
- *
- * @return Value 7
- */
-static inline float mavlink_msg_setpoint_8dof_get_val7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field val8 from setpoint_8dof message
- *
- * @return Value 8
- */
-static inline float mavlink_msg_setpoint_8dof_get_val8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a setpoint_8dof message into a struct
- *
- * @param msg The message to decode
- * @param setpoint_8dof C-struct to decode the message contents into
- */
-static inline void mavlink_msg_setpoint_8dof_decode(const mavlink_message_t* msg, mavlink_setpoint_8dof_t* setpoint_8dof)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	setpoint_8dof->val1 = mavlink_msg_setpoint_8dof_get_val1(msg);
-	setpoint_8dof->val2 = mavlink_msg_setpoint_8dof_get_val2(msg);
-	setpoint_8dof->val3 = mavlink_msg_setpoint_8dof_get_val3(msg);
-	setpoint_8dof->val4 = mavlink_msg_setpoint_8dof_get_val4(msg);
-	setpoint_8dof->val5 = mavlink_msg_setpoint_8dof_get_val5(msg);
-	setpoint_8dof->val6 = mavlink_msg_setpoint_8dof_get_val6(msg);
-	setpoint_8dof->val7 = mavlink_msg_setpoint_8dof_get_val7(msg);
-	setpoint_8dof->val8 = mavlink_msg_setpoint_8dof_get_val8(msg);
-	setpoint_8dof->target_system = mavlink_msg_setpoint_8dof_get_target_system(msg);
-#else
-	memcpy(setpoint_8dof, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SETPOINT_8DOF_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h
deleted file mode 100644
index ebd657cf3..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h
+++ /dev/null
@@ -1,617 +0,0 @@
-// MESSAGE SIM_STATE PACKING
-
-#define MAVLINK_MSG_ID_SIM_STATE 108
-
-typedef struct __mavlink_sim_state_t
-{
- float q1; ///< True attitude quaternion component 1
- float q2; ///< True attitude quaternion component 2
- float q3; ///< True attitude quaternion component 3
- float q4; ///< True attitude quaternion component 4
- float roll; ///< Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
- float pitch; ///< Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
- float yaw; ///< Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
- float xacc; ///< X acceleration m/s/s
- float yacc; ///< Y acceleration m/s/s
- float zacc; ///< Z acceleration m/s/s
- float xgyro; ///< Angular speed around X axis rad/s
- float ygyro; ///< Angular speed around Y axis rad/s
- float zgyro; ///< Angular speed around Z axis rad/s
- float lat; ///< Latitude in degrees
- float lon; ///< Longitude in degrees
- float alt; ///< Altitude in meters
- float std_dev_horz; ///< Horizontal position standard deviation
- float std_dev_vert; ///< Vertical position standard deviation
- float vn; ///< True velocity in m/s in NORTH direction in earth-fixed NED frame
- float ve; ///< True velocity in m/s in EAST direction in earth-fixed NED frame
- float vd; ///< True velocity in m/s in DOWN direction in earth-fixed NED frame
-} mavlink_sim_state_t;
-
-#define MAVLINK_MSG_ID_SIM_STATE_LEN 84
-#define MAVLINK_MSG_ID_108_LEN 84
-
-#define MAVLINK_MSG_ID_SIM_STATE_CRC 32
-#define MAVLINK_MSG_ID_108_CRC 32
-
-
-
-#define MAVLINK_MESSAGE_INFO_SIM_STATE { \
-	"SIM_STATE", \
-	21, \
-	{  { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sim_state_t, q1) }, \
-         { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sim_state_t, q2) }, \
-         { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sim_state_t, q3) }, \
-         { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sim_state_t, q4) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sim_state_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sim_state_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sim_state_t, yaw) }, \
-         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sim_state_t, xacc) }, \
-         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sim_state_t, yacc) }, \
-         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_sim_state_t, zacc) }, \
-         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_sim_state_t, xgyro) }, \
-         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_sim_state_t, ygyro) }, \
-         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_sim_state_t, zgyro) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_sim_state_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_sim_state_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_sim_state_t, alt) }, \
-         { "std_dev_horz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_sim_state_t, std_dev_horz) }, \
-         { "std_dev_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_sim_state_t, std_dev_vert) }, \
-         { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_sim_state_t, vn) }, \
-         { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_sim_state_t, ve) }, \
-         { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_sim_state_t, vd) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a sim_state 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 q1 True attitude quaternion component 1
- * @param q2 True attitude quaternion component 2
- * @param q3 True attitude quaternion component 3
- * @param q4 True attitude quaternion component 4
- * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
- * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
- * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
- * @param xacc X acceleration m/s/s
- * @param yacc Y acceleration m/s/s
- * @param zacc Z acceleration m/s/s
- * @param xgyro Angular speed around X axis rad/s
- * @param ygyro Angular speed around Y axis rad/s
- * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees
- * @param lon Longitude in degrees
- * @param alt Altitude in meters
- * @param std_dev_horz Horizontal position standard deviation
- * @param std_dev_vert Vertical position standard deviation
- * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame
- * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame
- * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
-	_mav_put_float(buf, 0, q1);
-	_mav_put_float(buf, 4, q2);
-	_mav_put_float(buf, 8, q3);
-	_mav_put_float(buf, 12, q4);
-	_mav_put_float(buf, 16, roll);
-	_mav_put_float(buf, 20, pitch);
-	_mav_put_float(buf, 24, yaw);
-	_mav_put_float(buf, 28, xacc);
-	_mav_put_float(buf, 32, yacc);
-	_mav_put_float(buf, 36, zacc);
-	_mav_put_float(buf, 40, xgyro);
-	_mav_put_float(buf, 44, ygyro);
-	_mav_put_float(buf, 48, zgyro);
-	_mav_put_float(buf, 52, lat);
-	_mav_put_float(buf, 56, lon);
-	_mav_put_float(buf, 60, alt);
-	_mav_put_float(buf, 64, std_dev_horz);
-	_mav_put_float(buf, 68, std_dev_vert);
-	_mav_put_float(buf, 72, vn);
-	_mav_put_float(buf, 76, ve);
-	_mav_put_float(buf, 80, vd);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#else
-	mavlink_sim_state_t packet;
-	packet.q1 = q1;
-	packet.q2 = q2;
-	packet.q3 = q3;
-	packet.q4 = q4;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.std_dev_horz = std_dev_horz;
-	packet.std_dev_vert = std_dev_vert;
-	packet.vn = vn;
-	packet.ve = ve;
-	packet.vd = vd;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a sim_state 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param q1 True attitude quaternion component 1
- * @param q2 True attitude quaternion component 2
- * @param q3 True attitude quaternion component 3
- * @param q4 True attitude quaternion component 4
- * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
- * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
- * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
- * @param xacc X acceleration m/s/s
- * @param yacc Y acceleration m/s/s
- * @param zacc Z acceleration m/s/s
- * @param xgyro Angular speed around X axis rad/s
- * @param ygyro Angular speed around Y axis rad/s
- * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees
- * @param lon Longitude in degrees
- * @param alt Altitude in meters
- * @param std_dev_horz Horizontal position standard deviation
- * @param std_dev_vert Vertical position standard deviation
- * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame
- * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame
- * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sim_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float q1,float q2,float q3,float q4,float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lon,float alt,float std_dev_horz,float std_dev_vert,float vn,float ve,float vd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
-	_mav_put_float(buf, 0, q1);
-	_mav_put_float(buf, 4, q2);
-	_mav_put_float(buf, 8, q3);
-	_mav_put_float(buf, 12, q4);
-	_mav_put_float(buf, 16, roll);
-	_mav_put_float(buf, 20, pitch);
-	_mav_put_float(buf, 24, yaw);
-	_mav_put_float(buf, 28, xacc);
-	_mav_put_float(buf, 32, yacc);
-	_mav_put_float(buf, 36, zacc);
-	_mav_put_float(buf, 40, xgyro);
-	_mav_put_float(buf, 44, ygyro);
-	_mav_put_float(buf, 48, zgyro);
-	_mav_put_float(buf, 52, lat);
-	_mav_put_float(buf, 56, lon);
-	_mav_put_float(buf, 60, alt);
-	_mav_put_float(buf, 64, std_dev_horz);
-	_mav_put_float(buf, 68, std_dev_vert);
-	_mav_put_float(buf, 72, vn);
-	_mav_put_float(buf, 76, ve);
-	_mav_put_float(buf, 80, vd);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#else
-	mavlink_sim_state_t packet;
-	packet.q1 = q1;
-	packet.q2 = q2;
-	packet.q3 = q3;
-	packet.q4 = q4;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.std_dev_horz = std_dev_horz;
-	packet.std_dev_vert = std_dev_vert;
-	packet.vn = vn;
-	packet.ve = ve;
-	packet.vd = vd;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SIM_STATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a sim_state struct
- *
- * @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 sim_state C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sim_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
-{
-	return mavlink_msg_sim_state_pack(system_id, component_id, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd);
-}
-
-/**
- * @brief Encode a sim_state struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sim_state C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sim_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state)
-{
-	return mavlink_msg_sim_state_pack_chan(system_id, component_id, chan, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd);
-}
-
-/**
- * @brief Send a sim_state message
- * @param chan MAVLink channel to send the message
- *
- * @param q1 True attitude quaternion component 1
- * @param q2 True attitude quaternion component 2
- * @param q3 True attitude quaternion component 3
- * @param q4 True attitude quaternion component 4
- * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
- * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
- * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
- * @param xacc X acceleration m/s/s
- * @param yacc Y acceleration m/s/s
- * @param zacc Z acceleration m/s/s
- * @param xgyro Angular speed around X axis rad/s
- * @param ygyro Angular speed around Y axis rad/s
- * @param zgyro Angular speed around Z axis rad/s
- * @param lat Latitude in degrees
- * @param lon Longitude in degrees
- * @param alt Altitude in meters
- * @param std_dev_horz Horizontal position standard deviation
- * @param std_dev_vert Vertical position standard deviation
- * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame
- * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame
- * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SIM_STATE_LEN];
-	_mav_put_float(buf, 0, q1);
-	_mav_put_float(buf, 4, q2);
-	_mav_put_float(buf, 8, q3);
-	_mav_put_float(buf, 12, q4);
-	_mav_put_float(buf, 16, roll);
-	_mav_put_float(buf, 20, pitch);
-	_mav_put_float(buf, 24, yaw);
-	_mav_put_float(buf, 28, xacc);
-	_mav_put_float(buf, 32, yacc);
-	_mav_put_float(buf, 36, zacc);
-	_mav_put_float(buf, 40, xgyro);
-	_mav_put_float(buf, 44, ygyro);
-	_mav_put_float(buf, 48, zgyro);
-	_mav_put_float(buf, 52, lat);
-	_mav_put_float(buf, 56, lon);
-	_mav_put_float(buf, 60, alt);
-	_mav_put_float(buf, 64, std_dev_horz);
-	_mav_put_float(buf, 68, std_dev_vert);
-	_mav_put_float(buf, 72, vn);
-	_mav_put_float(buf, 76, ve);
-	_mav_put_float(buf, 80, vd);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-#else
-	mavlink_sim_state_t packet;
-	packet.q1 = q1;
-	packet.q2 = q2;
-	packet.q3 = q3;
-	packet.q4 = q4;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.xacc = xacc;
-	packet.yacc = yacc;
-	packet.zacc = zacc;
-	packet.xgyro = xgyro;
-	packet.ygyro = ygyro;
-	packet.zgyro = zgyro;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.std_dev_horz = std_dev_horz;
-	packet.std_dev_vert = std_dev_vert;
-	packet.vn = vn;
-	packet.ve = ve;
-	packet.vd = vd;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)&packet, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)&packet, MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SIM_STATE UNPACKING
-
-
-/**
- * @brief Get field q1 from sim_state message
- *
- * @return True attitude quaternion component 1
- */
-static inline float mavlink_msg_sim_state_get_q1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field q2 from sim_state message
- *
- * @return True attitude quaternion component 2
- */
-static inline float mavlink_msg_sim_state_get_q2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field q3 from sim_state message
- *
- * @return True attitude quaternion component 3
- */
-static inline float mavlink_msg_sim_state_get_q3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field q4 from sim_state message
- *
- * @return True attitude quaternion component 4
- */
-static inline float mavlink_msg_sim_state_get_q4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field roll from sim_state message
- *
- * @return Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
- */
-static inline float mavlink_msg_sim_state_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field pitch from sim_state message
- *
- * @return Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
- */
-static inline float mavlink_msg_sim_state_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field yaw from sim_state message
- *
- * @return Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
- */
-static inline float mavlink_msg_sim_state_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field xacc from sim_state message
- *
- * @return X acceleration m/s/s
- */
-static inline float mavlink_msg_sim_state_get_xacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field yacc from sim_state message
- *
- * @return Y acceleration m/s/s
- */
-static inline float mavlink_msg_sim_state_get_yacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field zacc from sim_state message
- *
- * @return Z acceleration m/s/s
- */
-static inline float mavlink_msg_sim_state_get_zacc(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field xgyro from sim_state message
- *
- * @return Angular speed around X axis rad/s
- */
-static inline float mavlink_msg_sim_state_get_xgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field ygyro from sim_state message
- *
- * @return Angular speed around Y axis rad/s
- */
-static inline float mavlink_msg_sim_state_get_ygyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Get field zgyro from sim_state message
- *
- * @return Angular speed around Z axis rad/s
- */
-static inline float mavlink_msg_sim_state_get_zgyro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  48);
-}
-
-/**
- * @brief Get field lat from sim_state message
- *
- * @return Latitude in degrees
- */
-static inline float mavlink_msg_sim_state_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  52);
-}
-
-/**
- * @brief Get field lon from sim_state message
- *
- * @return Longitude in degrees
- */
-static inline float mavlink_msg_sim_state_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  56);
-}
-
-/**
- * @brief Get field alt from sim_state message
- *
- * @return Altitude in meters
- */
-static inline float mavlink_msg_sim_state_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  60);
-}
-
-/**
- * @brief Get field std_dev_horz from sim_state message
- *
- * @return Horizontal position standard deviation
- */
-static inline float mavlink_msg_sim_state_get_std_dev_horz(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  64);
-}
-
-/**
- * @brief Get field std_dev_vert from sim_state message
- *
- * @return Vertical position standard deviation
- */
-static inline float mavlink_msg_sim_state_get_std_dev_vert(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  68);
-}
-
-/**
- * @brief Get field vn from sim_state message
- *
- * @return True velocity in m/s in NORTH direction in earth-fixed NED frame
- */
-static inline float mavlink_msg_sim_state_get_vn(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  72);
-}
-
-/**
- * @brief Get field ve from sim_state message
- *
- * @return True velocity in m/s in EAST direction in earth-fixed NED frame
- */
-static inline float mavlink_msg_sim_state_get_ve(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  76);
-}
-
-/**
- * @brief Get field vd from sim_state message
- *
- * @return True velocity in m/s in DOWN direction in earth-fixed NED frame
- */
-static inline float mavlink_msg_sim_state_get_vd(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  80);
-}
-
-/**
- * @brief Decode a sim_state message into a struct
- *
- * @param msg The message to decode
- * @param sim_state C-struct to decode the message contents into
- */
-static inline void mavlink_msg_sim_state_decode(const mavlink_message_t* msg, mavlink_sim_state_t* sim_state)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	sim_state->q1 = mavlink_msg_sim_state_get_q1(msg);
-	sim_state->q2 = mavlink_msg_sim_state_get_q2(msg);
-	sim_state->q3 = mavlink_msg_sim_state_get_q3(msg);
-	sim_state->q4 = mavlink_msg_sim_state_get_q4(msg);
-	sim_state->roll = mavlink_msg_sim_state_get_roll(msg);
-	sim_state->pitch = mavlink_msg_sim_state_get_pitch(msg);
-	sim_state->yaw = mavlink_msg_sim_state_get_yaw(msg);
-	sim_state->xacc = mavlink_msg_sim_state_get_xacc(msg);
-	sim_state->yacc = mavlink_msg_sim_state_get_yacc(msg);
-	sim_state->zacc = mavlink_msg_sim_state_get_zacc(msg);
-	sim_state->xgyro = mavlink_msg_sim_state_get_xgyro(msg);
-	sim_state->ygyro = mavlink_msg_sim_state_get_ygyro(msg);
-	sim_state->zgyro = mavlink_msg_sim_state_get_zgyro(msg);
-	sim_state->lat = mavlink_msg_sim_state_get_lat(msg);
-	sim_state->lon = mavlink_msg_sim_state_get_lon(msg);
-	sim_state->alt = mavlink_msg_sim_state_get_alt(msg);
-	sim_state->std_dev_horz = mavlink_msg_sim_state_get_std_dev_horz(msg);
-	sim_state->std_dev_vert = mavlink_msg_sim_state_get_std_dev_vert(msg);
-	sim_state->vn = mavlink_msg_sim_state_get_vn(msg);
-	sim_state->ve = mavlink_msg_sim_state_get_ve(msg);
-	sim_state->vd = mavlink_msg_sim_state_get_vd(msg);
-#else
-	memcpy(sim_state, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SIM_STATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h
deleted file mode 100644
index 2db627b96..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_state_correction.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE STATE_CORRECTION PACKING
-
-#define MAVLINK_MSG_ID_STATE_CORRECTION 64
-
-typedef struct __mavlink_state_correction_t
-{
- float xErr; ///< x position error
- float yErr; ///< y position error
- float zErr; ///< z position error
- float rollErr; ///< roll error (radians)
- float pitchErr; ///< pitch error (radians)
- float yawErr; ///< yaw error (radians)
- float vxErr; ///< x velocity
- float vyErr; ///< y velocity
- float vzErr; ///< z velocity
-} mavlink_state_correction_t;
-
-#define MAVLINK_MSG_ID_STATE_CORRECTION_LEN 36
-#define MAVLINK_MSG_ID_64_LEN 36
-
-#define MAVLINK_MSG_ID_STATE_CORRECTION_CRC 130
-#define MAVLINK_MSG_ID_64_CRC 130
-
-
-
-#define MAVLINK_MESSAGE_INFO_STATE_CORRECTION { \
-	"STATE_CORRECTION", \
-	9, \
-	{  { "xErr", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_state_correction_t, xErr) }, \
-         { "yErr", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_state_correction_t, yErr) }, \
-         { "zErr", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_state_correction_t, zErr) }, \
-         { "rollErr", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_state_correction_t, rollErr) }, \
-         { "pitchErr", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_state_correction_t, pitchErr) }, \
-         { "yawErr", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_state_correction_t, yawErr) }, \
-         { "vxErr", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_state_correction_t, vxErr) }, \
-         { "vyErr", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_state_correction_t, vyErr) }, \
-         { "vzErr", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_state_correction_t, vzErr) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a state_correction 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 xErr x position error
- * @param yErr y position error
- * @param zErr z position error
- * @param rollErr roll error (radians)
- * @param pitchErr pitch error (radians)
- * @param yawErr yaw error (radians)
- * @param vxErr x velocity
- * @param vyErr y velocity
- * @param vzErr z velocity
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_STATE_CORRECTION_LEN];
-	_mav_put_float(buf, 0, xErr);
-	_mav_put_float(buf, 4, yErr);
-	_mav_put_float(buf, 8, zErr);
-	_mav_put_float(buf, 12, rollErr);
-	_mav_put_float(buf, 16, pitchErr);
-	_mav_put_float(buf, 20, yawErr);
-	_mav_put_float(buf, 24, vxErr);
-	_mav_put_float(buf, 28, vyErr);
-	_mav_put_float(buf, 32, vzErr);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#else
-	mavlink_state_correction_t packet;
-	packet.xErr = xErr;
-	packet.yErr = yErr;
-	packet.zErr = zErr;
-	packet.rollErr = rollErr;
-	packet.pitchErr = pitchErr;
-	packet.yawErr = yawErr;
-	packet.vxErr = vxErr;
-	packet.vyErr = vyErr;
-	packet.vzErr = vzErr;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATE_CORRECTION_LEN, MAVLINK_MSG_ID_STATE_CORRECTION_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-}
-
-/**
- * @brief Pack a state_correction 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param xErr x position error
- * @param yErr y position error
- * @param zErr z position error
- * @param rollErr roll error (radians)
- * @param pitchErr pitch error (radians)
- * @param yawErr yaw error (radians)
- * @param vxErr x velocity
- * @param vyErr y velocity
- * @param vzErr z velocity
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float xErr,float yErr,float zErr,float rollErr,float pitchErr,float yawErr,float vxErr,float vyErr,float vzErr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_STATE_CORRECTION_LEN];
-	_mav_put_float(buf, 0, xErr);
-	_mav_put_float(buf, 4, yErr);
-	_mav_put_float(buf, 8, zErr);
-	_mav_put_float(buf, 12, rollErr);
-	_mav_put_float(buf, 16, pitchErr);
-	_mav_put_float(buf, 20, yawErr);
-	_mav_put_float(buf, 24, vxErr);
-	_mav_put_float(buf, 28, vyErr);
-	_mav_put_float(buf, 32, vzErr);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#else
-	mavlink_state_correction_t packet;
-	packet.xErr = xErr;
-	packet.yErr = yErr;
-	packet.zErr = zErr;
-	packet.rollErr = rollErr;
-	packet.pitchErr = pitchErr;
-	packet.yawErr = yawErr;
-	packet.vxErr = vxErr;
-	packet.vyErr = vyErr;
-	packet.vzErr = vzErr;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATE_CORRECTION_LEN, MAVLINK_MSG_ID_STATE_CORRECTION_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-}
-
-/**
- * @brief Encode a state_correction struct
- *
- * @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 state_correction C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_state_correction_t* state_correction)
-{
-	return mavlink_msg_state_correction_pack(system_id, component_id, msg, state_correction->xErr, state_correction->yErr, state_correction->zErr, state_correction->rollErr, state_correction->pitchErr, state_correction->yawErr, state_correction->vxErr, state_correction->vyErr, state_correction->vzErr);
-}
-
-/**
- * @brief Encode a state_correction struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param state_correction C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_state_correction_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_state_correction_t* state_correction)
-{
-	return mavlink_msg_state_correction_pack_chan(system_id, component_id, chan, msg, state_correction->xErr, state_correction->yErr, state_correction->zErr, state_correction->rollErr, state_correction->pitchErr, state_correction->yawErr, state_correction->vxErr, state_correction->vyErr, state_correction->vzErr);
-}
-
-/**
- * @brief Send a state_correction message
- * @param chan MAVLink channel to send the message
- *
- * @param xErr x position error
- * @param yErr y position error
- * @param zErr z position error
- * @param rollErr roll error (radians)
- * @param pitchErr pitch error (radians)
- * @param yawErr yaw error (radians)
- * @param vxErr x velocity
- * @param vyErr y velocity
- * @param vzErr z velocity
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_STATE_CORRECTION_LEN];
-	_mav_put_float(buf, 0, xErr);
-	_mav_put_float(buf, 4, yErr);
-	_mav_put_float(buf, 8, zErr);
-	_mav_put_float(buf, 12, rollErr);
-	_mav_put_float(buf, 16, pitchErr);
-	_mav_put_float(buf, 20, yawErr);
-	_mav_put_float(buf, 24, vxErr);
-	_mav_put_float(buf, 28, vyErr);
-	_mav_put_float(buf, 32, vzErr);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, MAVLINK_MSG_ID_STATE_CORRECTION_LEN, MAVLINK_MSG_ID_STATE_CORRECTION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, buf, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-#else
-	mavlink_state_correction_t packet;
-	packet.xErr = xErr;
-	packet.yErr = yErr;
-	packet.zErr = zErr;
-	packet.rollErr = rollErr;
-	packet.pitchErr = pitchErr;
-	packet.yawErr = yawErr;
-	packet.vxErr = vxErr;
-	packet.vyErr = vyErr;
-	packet.vzErr = vzErr;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)&packet, MAVLINK_MSG_ID_STATE_CORRECTION_LEN, MAVLINK_MSG_ID_STATE_CORRECTION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATE_CORRECTION, (const char *)&packet, MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE STATE_CORRECTION UNPACKING
-
-
-/**
- * @brief Get field xErr from state_correction message
- *
- * @return x position error
- */
-static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field yErr from state_correction message
- *
- * @return y position error
- */
-static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field zErr from state_correction message
- *
- * @return z position error
- */
-static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field rollErr from state_correction message
- *
- * @return roll error (radians)
- */
-static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field pitchErr from state_correction message
- *
- * @return pitch error (radians)
- */
-static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field yawErr from state_correction message
- *
- * @return yaw error (radians)
- */
-static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field vxErr from state_correction message
- *
- * @return x velocity
- */
-static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field vyErr from state_correction message
- *
- * @return y velocity
- */
-static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field vzErr from state_correction message
- *
- * @return z velocity
- */
-static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Decode a state_correction message into a struct
- *
- * @param msg The message to decode
- * @param state_correction C-struct to decode the message contents into
- */
-static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg);
-	state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg);
-	state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg);
-	state_correction->rollErr = mavlink_msg_state_correction_get_rollErr(msg);
-	state_correction->pitchErr = mavlink_msg_state_correction_get_pitchErr(msg);
-	state_correction->yawErr = mavlink_msg_state_correction_get_yawErr(msg);
-	state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg);
-	state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg);
-	state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg);
-#else
-	memcpy(state_correction, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_STATE_CORRECTION_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h
deleted file mode 100644
index 536ca0634..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_statustext.h
+++ /dev/null
@@ -1,193 +0,0 @@
-// MESSAGE STATUSTEXT PACKING
-
-#define MAVLINK_MSG_ID_STATUSTEXT 253
-
-typedef struct __mavlink_statustext_t
-{
- uint8_t severity; ///< Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
- char text[50]; ///< Status text message, without null termination character
-} mavlink_statustext_t;
-
-#define MAVLINK_MSG_ID_STATUSTEXT_LEN 51
-#define MAVLINK_MSG_ID_253_LEN 51
-
-#define MAVLINK_MSG_ID_STATUSTEXT_CRC 83
-#define MAVLINK_MSG_ID_253_CRC 83
-
-#define MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN 50
-
-#define MAVLINK_MESSAGE_INFO_STATUSTEXT { \
-	"STATUSTEXT", \
-	2, \
-	{  { "severity", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_statustext_t, severity) }, \
-         { "text", NULL, MAVLINK_TYPE_CHAR, 50, 1, offsetof(mavlink_statustext_t, text) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a statustext 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 severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
- * @param text Status text message, without null termination character
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_statustext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t severity, const char *text)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
-	_mav_put_uint8_t(buf, 0, severity);
-	_mav_put_char_array(buf, 1, text, 50);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#else
-	mavlink_statustext_t packet;
-	packet.severity = severity;
-	mav_array_memcpy(packet.text, text, sizeof(char)*50);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a statustext 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
- * @param text Status text message, without null termination character
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_statustext_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t severity,const char *text)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
-	_mav_put_uint8_t(buf, 0, severity);
-	_mav_put_char_array(buf, 1, text, 50);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#else
-	mavlink_statustext_t packet;
-	packet.severity = severity;
-	mav_array_memcpy(packet.text, text, sizeof(char)*50);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_STATUSTEXT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a statustext struct
- *
- * @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 statustext C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_statustext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
-{
-	return mavlink_msg_statustext_pack(system_id, component_id, msg, statustext->severity, statustext->text);
-}
-
-/**
- * @brief Encode a statustext struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param statustext C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_statustext_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_statustext_t* statustext)
-{
-	return mavlink_msg_statustext_pack_chan(system_id, component_id, chan, msg, statustext->severity, statustext->text);
-}
-
-/**
- * @brief Send a statustext message
- * @param chan MAVLink channel to send the message
- *
- * @param severity Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
- * @param text Status text message, without null termination character
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_statustext_send(mavlink_channel_t chan, uint8_t severity, const char *text)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_STATUSTEXT_LEN];
-	_mav_put_uint8_t(buf, 0, severity);
-	_mav_put_char_array(buf, 1, text, 50);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, buf, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-#else
-	mavlink_statustext_t packet;
-	packet.severity = severity;
-	mav_array_memcpy(packet.text, text, sizeof(char)*50);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, MAVLINK_MSG_ID_STATUSTEXT_LEN, MAVLINK_MSG_ID_STATUSTEXT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_STATUSTEXT, (const char *)&packet, MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE STATUSTEXT UNPACKING
-
-
-/**
- * @brief Get field severity from statustext message
- *
- * @return Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
- */
-static inline uint8_t mavlink_msg_statustext_get_severity(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field text from statustext message
- *
- * @return Status text message, without null termination character
- */
-static inline uint16_t mavlink_msg_statustext_get_text(const mavlink_message_t* msg, char *text)
-{
-	return _MAV_RETURN_char_array(msg, text, 50,  1);
-}
-
-/**
- * @brief Decode a statustext message into a struct
- *
- * @param msg The message to decode
- * @param statustext C-struct to decode the message contents into
- */
-static inline void mavlink_msg_statustext_decode(const mavlink_message_t* msg, mavlink_statustext_t* statustext)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	statustext->severity = mavlink_msg_statustext_get_severity(msg);
-	mavlink_msg_statustext_get_text(msg, statustext->text);
-#else
-	memcpy(statustext, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_STATUSTEXT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h
deleted file mode 100644
index 101b36678..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_sys_status.h
+++ /dev/null
@@ -1,441 +0,0 @@
-// MESSAGE SYS_STATUS PACKING
-
-#define MAVLINK_MSG_ID_SYS_STATUS 1
-
-typedef struct __mavlink_sys_status_t
-{
- uint32_t onboard_control_sensors_present; ///< Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- uint32_t onboard_control_sensors_enabled; ///< Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- uint32_t onboard_control_sensors_health; ///< Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- uint16_t load; ///< Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
- uint16_t voltage_battery; ///< Battery voltage, in millivolts (1 = 1 millivolt)
- int16_t current_battery; ///< Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- uint16_t drop_rate_comm; ///< Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- uint16_t errors_comm; ///< Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- uint16_t errors_count1; ///< Autopilot-specific errors
- uint16_t errors_count2; ///< Autopilot-specific errors
- uint16_t errors_count3; ///< Autopilot-specific errors
- uint16_t errors_count4; ///< Autopilot-specific errors
- int8_t battery_remaining; ///< Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
-} mavlink_sys_status_t;
-
-#define MAVLINK_MSG_ID_SYS_STATUS_LEN 31
-#define MAVLINK_MSG_ID_1_LEN 31
-
-#define MAVLINK_MSG_ID_SYS_STATUS_CRC 124
-#define MAVLINK_MSG_ID_1_CRC 124
-
-
-
-#define MAVLINK_MESSAGE_INFO_SYS_STATUS { \
-	"SYS_STATUS", \
-	13, \
-	{  { "onboard_control_sensors_present", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_sys_status_t, onboard_control_sensors_present) }, \
-         { "onboard_control_sensors_enabled", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_sys_status_t, onboard_control_sensors_enabled) }, \
-         { "onboard_control_sensors_health", "0x%04x", MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_sys_status_t, onboard_control_sensors_health) }, \
-         { "load", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_sys_status_t, load) }, \
-         { "voltage_battery", NULL, MAVLINK_TYPE_UINT16_T, 0, 14, offsetof(mavlink_sys_status_t, voltage_battery) }, \
-         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_sys_status_t, current_battery) }, \
-         { "drop_rate_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_sys_status_t, drop_rate_comm) }, \
-         { "errors_comm", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_sys_status_t, errors_comm) }, \
-         { "errors_count1", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_sys_status_t, errors_count1) }, \
-         { "errors_count2", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_sys_status_t, errors_count2) }, \
-         { "errors_count3", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_sys_status_t, errors_count3) }, \
-         { "errors_count4", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_sys_status_t, errors_count4) }, \
-         { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 30, offsetof(mavlink_sys_status_t, battery_remaining) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a sys_status 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 onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
- * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
- * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
- * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- * @param errors_count1 Autopilot-specific errors
- * @param errors_count2 Autopilot-specific errors
- * @param errors_count3 Autopilot-specific errors
- * @param errors_count4 Autopilot-specific errors
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
-	_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
-	_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
-	_mav_put_uint16_t(buf, 12, load);
-	_mav_put_uint16_t(buf, 14, voltage_battery);
-	_mav_put_int16_t(buf, 16, current_battery);
-	_mav_put_uint16_t(buf, 18, drop_rate_comm);
-	_mav_put_uint16_t(buf, 20, errors_comm);
-	_mav_put_uint16_t(buf, 22, errors_count1);
-	_mav_put_uint16_t(buf, 24, errors_count2);
-	_mav_put_uint16_t(buf, 26, errors_count3);
-	_mav_put_uint16_t(buf, 28, errors_count4);
-	_mav_put_int8_t(buf, 30, battery_remaining);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#else
-	mavlink_sys_status_t packet;
-	packet.onboard_control_sensors_present = onboard_control_sensors_present;
-	packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
-	packet.onboard_control_sensors_health = onboard_control_sensors_health;
-	packet.load = load;
-	packet.voltage_battery = voltage_battery;
-	packet.current_battery = current_battery;
-	packet.drop_rate_comm = drop_rate_comm;
-	packet.errors_comm = errors_comm;
-	packet.errors_count1 = errors_count1;
-	packet.errors_count2 = errors_count2;
-	packet.errors_count3 = errors_count3;
-	packet.errors_count4 = errors_count4;
-	packet.battery_remaining = battery_remaining;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a sys_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
- * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
- * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
- * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- * @param errors_count1 Autopilot-specific errors
- * @param errors_count2 Autopilot-specific errors
- * @param errors_count3 Autopilot-specific errors
- * @param errors_count4 Autopilot-specific errors
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sys_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t onboard_control_sensors_present,uint32_t onboard_control_sensors_enabled,uint32_t onboard_control_sensors_health,uint16_t load,uint16_t voltage_battery,int16_t current_battery,int8_t battery_remaining,uint16_t drop_rate_comm,uint16_t errors_comm,uint16_t errors_count1,uint16_t errors_count2,uint16_t errors_count3,uint16_t errors_count4)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
-	_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
-	_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
-	_mav_put_uint16_t(buf, 12, load);
-	_mav_put_uint16_t(buf, 14, voltage_battery);
-	_mav_put_int16_t(buf, 16, current_battery);
-	_mav_put_uint16_t(buf, 18, drop_rate_comm);
-	_mav_put_uint16_t(buf, 20, errors_comm);
-	_mav_put_uint16_t(buf, 22, errors_count1);
-	_mav_put_uint16_t(buf, 24, errors_count2);
-	_mav_put_uint16_t(buf, 26, errors_count3);
-	_mav_put_uint16_t(buf, 28, errors_count4);
-	_mav_put_int8_t(buf, 30, battery_remaining);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#else
-	mavlink_sys_status_t packet;
-	packet.onboard_control_sensors_present = onboard_control_sensors_present;
-	packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
-	packet.onboard_control_sensors_health = onboard_control_sensors_health;
-	packet.load = load;
-	packet.voltage_battery = voltage_battery;
-	packet.current_battery = current_battery;
-	packet.drop_rate_comm = drop_rate_comm;
-	packet.errors_comm = errors_comm;
-	packet.errors_count1 = errors_count1;
-	packet.errors_count2 = errors_count2;
-	packet.errors_count3 = errors_count3;
-	packet.errors_count4 = errors_count4;
-	packet.battery_remaining = battery_remaining;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SYS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a sys_status struct
- *
- * @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 sys_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sys_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
-{
-	return mavlink_msg_sys_status_pack(system_id, component_id, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
-}
-
-/**
- * @brief Encode a sys_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sys_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sys_status_t* sys_status)
-{
-	return mavlink_msg_sys_status_pack_chan(system_id, component_id, chan, msg, sys_status->onboard_control_sensors_present, sys_status->onboard_control_sensors_enabled, sys_status->onboard_control_sensors_health, sys_status->load, sys_status->voltage_battery, sys_status->current_battery, sys_status->battery_remaining, sys_status->drop_rate_comm, sys_status->errors_comm, sys_status->errors_count1, sys_status->errors_count2, sys_status->errors_count3, sys_status->errors_count4);
-}
-
-/**
- * @brief Send a sys_status message
- * @param chan MAVLink channel to send the message
- *
- * @param onboard_control_sensors_present Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param onboard_control_sensors_enabled Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param onboard_control_sensors_health Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- * @param load Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
- * @param voltage_battery Battery voltage, in millivolts (1 = 1 millivolt)
- * @param current_battery Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- * @param battery_remaining Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
- * @param drop_rate_comm Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- * @param errors_comm Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- * @param errors_count1 Autopilot-specific errors
- * @param errors_count2 Autopilot-specific errors
- * @param errors_count3 Autopilot-specific errors
- * @param errors_count4 Autopilot-specific errors
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t onboard_control_sensors_present, uint32_t onboard_control_sensors_enabled, uint32_t onboard_control_sensors_health, uint16_t load, uint16_t voltage_battery, int16_t current_battery, int8_t battery_remaining, uint16_t drop_rate_comm, uint16_t errors_comm, uint16_t errors_count1, uint16_t errors_count2, uint16_t errors_count3, uint16_t errors_count4)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYS_STATUS_LEN];
-	_mav_put_uint32_t(buf, 0, onboard_control_sensors_present);
-	_mav_put_uint32_t(buf, 4, onboard_control_sensors_enabled);
-	_mav_put_uint32_t(buf, 8, onboard_control_sensors_health);
-	_mav_put_uint16_t(buf, 12, load);
-	_mav_put_uint16_t(buf, 14, voltage_battery);
-	_mav_put_int16_t(buf, 16, current_battery);
-	_mav_put_uint16_t(buf, 18, drop_rate_comm);
-	_mav_put_uint16_t(buf, 20, errors_comm);
-	_mav_put_uint16_t(buf, 22, errors_count1);
-	_mav_put_uint16_t(buf, 24, errors_count2);
-	_mav_put_uint16_t(buf, 26, errors_count3);
-	_mav_put_uint16_t(buf, 28, errors_count4);
-	_mav_put_int8_t(buf, 30, battery_remaining);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, buf, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-#else
-	mavlink_sys_status_t packet;
-	packet.onboard_control_sensors_present = onboard_control_sensors_present;
-	packet.onboard_control_sensors_enabled = onboard_control_sensors_enabled;
-	packet.onboard_control_sensors_health = onboard_control_sensors_health;
-	packet.load = load;
-	packet.voltage_battery = voltage_battery;
-	packet.current_battery = current_battery;
-	packet.drop_rate_comm = drop_rate_comm;
-	packet.errors_comm = errors_comm;
-	packet.errors_count1 = errors_count1;
-	packet.errors_count2 = errors_count2;
-	packet.errors_count3 = errors_count3;
-	packet.errors_count4 = errors_count4;
-	packet.battery_remaining = battery_remaining;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_LEN, MAVLINK_MSG_ID_SYS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SYS_STATUS UNPACKING
-
-
-/**
- * @brief Get field onboard_control_sensors_present from sys_status message
- *
- * @return Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- */
-static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_present(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field onboard_control_sensors_enabled from sys_status message
- *
- * @return Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- */
-static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enabled(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  4);
-}
-
-/**
- * @brief Get field onboard_control_sensors_health from sys_status message
- *
- * @return Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
- */
-static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_health(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  8);
-}
-
-/**
- * @brief Get field load from sys_status message
- *
- * @return Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
- */
-static inline uint16_t mavlink_msg_sys_status_get_load(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field voltage_battery from sys_status message
- *
- * @return Battery voltage, in millivolts (1 = 1 millivolt)
- */
-static inline uint16_t mavlink_msg_sys_status_get_voltage_battery(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  14);
-}
-
-/**
- * @brief Get field current_battery from sys_status message
- *
- * @return Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
- */
-static inline int16_t mavlink_msg_sys_status_get_current_battery(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field battery_remaining from sys_status message
- *
- * @return Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
- */
-static inline int8_t mavlink_msg_sys_status_get_battery_remaining(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  30);
-}
-
-/**
- * @brief Get field drop_rate_comm from sys_status message
- *
- * @return Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- */
-static inline uint16_t mavlink_msg_sys_status_get_drop_rate_comm(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Get field errors_comm from sys_status message
- *
- * @return Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
- */
-static inline uint16_t mavlink_msg_sys_status_get_errors_comm(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  20);
-}
-
-/**
- * @brief Get field errors_count1 from sys_status message
- *
- * @return Autopilot-specific errors
- */
-static inline uint16_t mavlink_msg_sys_status_get_errors_count1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  22);
-}
-
-/**
- * @brief Get field errors_count2 from sys_status message
- *
- * @return Autopilot-specific errors
- */
-static inline uint16_t mavlink_msg_sys_status_get_errors_count2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field errors_count3 from sys_status message
- *
- * @return Autopilot-specific errors
- */
-static inline uint16_t mavlink_msg_sys_status_get_errors_count3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  26);
-}
-
-/**
- * @brief Get field errors_count4 from sys_status message
- *
- * @return Autopilot-specific errors
- */
-static inline uint16_t mavlink_msg_sys_status_get_errors_count4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  28);
-}
-
-/**
- * @brief Decode a sys_status message into a struct
- *
- * @param msg The message to decode
- * @param sys_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_sys_status_decode(const mavlink_message_t* msg, mavlink_sys_status_t* sys_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	sys_status->onboard_control_sensors_present = mavlink_msg_sys_status_get_onboard_control_sensors_present(msg);
-	sys_status->onboard_control_sensors_enabled = mavlink_msg_sys_status_get_onboard_control_sensors_enabled(msg);
-	sys_status->onboard_control_sensors_health = mavlink_msg_sys_status_get_onboard_control_sensors_health(msg);
-	sys_status->load = mavlink_msg_sys_status_get_load(msg);
-	sys_status->voltage_battery = mavlink_msg_sys_status_get_voltage_battery(msg);
-	sys_status->current_battery = mavlink_msg_sys_status_get_current_battery(msg);
-	sys_status->drop_rate_comm = mavlink_msg_sys_status_get_drop_rate_comm(msg);
-	sys_status->errors_comm = mavlink_msg_sys_status_get_errors_comm(msg);
-	sys_status->errors_count1 = mavlink_msg_sys_status_get_errors_count1(msg);
-	sys_status->errors_count2 = mavlink_msg_sys_status_get_errors_count2(msg);
-	sys_status->errors_count3 = mavlink_msg_sys_status_get_errors_count3(msg);
-	sys_status->errors_count4 = mavlink_msg_sys_status_get_errors_count4(msg);
-	sys_status->battery_remaining = mavlink_msg_sys_status_get_battery_remaining(msg);
-#else
-	memcpy(sys_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYS_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h
deleted file mode 100644
index 1807567ae..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_system_time.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE SYSTEM_TIME PACKING
-
-#define MAVLINK_MSG_ID_SYSTEM_TIME 2
-
-typedef struct __mavlink_system_time_t
-{
- uint64_t time_unix_usec; ///< Timestamp of the master clock in microseconds since UNIX epoch.
- uint32_t time_boot_ms; ///< Timestamp of the component clock since boot time in milliseconds.
-} mavlink_system_time_t;
-
-#define MAVLINK_MSG_ID_SYSTEM_TIME_LEN 12
-#define MAVLINK_MSG_ID_2_LEN 12
-
-#define MAVLINK_MSG_ID_SYSTEM_TIME_CRC 137
-#define MAVLINK_MSG_ID_2_CRC 137
-
-
-
-#define MAVLINK_MESSAGE_INFO_SYSTEM_TIME { \
-	"SYSTEM_TIME", \
-	2, \
-	{  { "time_unix_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_system_time_t, time_unix_usec) }, \
-         { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_system_time_t, time_boot_ms) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a system_time 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 time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
- * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_system_time_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t time_unix_usec, uint32_t time_boot_ms)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
-	_mav_put_uint64_t(buf, 0, time_unix_usec);
-	_mav_put_uint32_t(buf, 8, time_boot_ms);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#else
-	mavlink_system_time_t packet;
-	packet.time_unix_usec = time_unix_usec;
-	packet.time_boot_ms = time_boot_ms;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-}
-
-/**
- * @brief Pack a system_time 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
- * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_system_time_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t time_unix_usec,uint32_t time_boot_ms)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
-	_mav_put_uint64_t(buf, 0, time_unix_usec);
-	_mav_put_uint32_t(buf, 8, time_boot_ms);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#else
-	mavlink_system_time_t packet;
-	packet.time_unix_usec = time_unix_usec;
-	packet.time_boot_ms = time_boot_ms;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SYSTEM_TIME;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-}
-
-/**
- * @brief Encode a system_time struct
- *
- * @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 system_time C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_system_time_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
-{
-	return mavlink_msg_system_time_pack(system_id, component_id, msg, system_time->time_unix_usec, system_time->time_boot_ms);
-}
-
-/**
- * @brief Encode a system_time struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param system_time C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_system_time_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_system_time_t* system_time)
-{
-	return mavlink_msg_system_time_pack_chan(system_id, component_id, chan, msg, system_time->time_unix_usec, system_time->time_boot_ms);
-}
-
-/**
- * @brief Send a system_time message
- * @param chan MAVLink channel to send the message
- *
- * @param time_unix_usec Timestamp of the master clock in microseconds since UNIX epoch.
- * @param time_boot_ms Timestamp of the component clock since boot time in milliseconds.
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_system_time_send(mavlink_channel_t chan, uint64_t time_unix_usec, uint32_t time_boot_ms)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYSTEM_TIME_LEN];
-	_mav_put_uint64_t(buf, 0, time_unix_usec);
-	_mav_put_uint32_t(buf, 8, time_boot_ms);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, buf, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-#else
-	mavlink_system_time_t packet;
-	packet.time_unix_usec = time_unix_usec;
-	packet.time_boot_ms = time_boot_ms;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN, MAVLINK_MSG_ID_SYSTEM_TIME_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYSTEM_TIME, (const char *)&packet, MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SYSTEM_TIME UNPACKING
-
-
-/**
- * @brief Get field time_unix_usec from system_time message
- *
- * @return Timestamp of the master clock in microseconds since UNIX epoch.
- */
-static inline uint64_t mavlink_msg_system_time_get_time_unix_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field time_boot_ms from system_time message
- *
- * @return Timestamp of the component clock since boot time in milliseconds.
- */
-static inline uint32_t mavlink_msg_system_time_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  8);
-}
-
-/**
- * @brief Decode a system_time message into a struct
- *
- * @param msg The message to decode
- * @param system_time C-struct to decode the message contents into
- */
-static inline void mavlink_msg_system_time_decode(const mavlink_message_t* msg, mavlink_system_time_t* system_time)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	system_time->time_unix_usec = mavlink_msg_system_time_get_time_unix_usec(msg);
-	system_time->time_boot_ms = mavlink_msg_system_time_get_time_boot_ms(msg);
-#else
-	memcpy(system_time, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYSTEM_TIME_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
deleted file mode 100644
index 5b1093a3d..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vfr_hud.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE VFR_HUD PACKING
-
-#define MAVLINK_MSG_ID_VFR_HUD 74
-
-typedef struct __mavlink_vfr_hud_t
-{
- float airspeed; ///< Current airspeed in m/s
- float groundspeed; ///< Current ground speed in m/s
- float alt; ///< Current altitude (MSL), in meters
- float climb; ///< Current climb rate in meters/second
- int16_t heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
- uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
-} mavlink_vfr_hud_t;
-
-#define MAVLINK_MSG_ID_VFR_HUD_LEN 20
-#define MAVLINK_MSG_ID_74_LEN 20
-
-#define MAVLINK_MSG_ID_VFR_HUD_CRC 20
-#define MAVLINK_MSG_ID_74_CRC 20
-
-
-
-#define MAVLINK_MESSAGE_INFO_VFR_HUD { \
-	"VFR_HUD", \
-	6, \
-	{  { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
-         { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \
-         { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \
-         { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \
-         { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a vfr_hud 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 airspeed Current airspeed in m/s
- * @param groundspeed Current ground speed in m/s
- * @param heading Current heading in degrees, in compass units (0..360, 0=north)
- * @param throttle Current throttle setting in integer percent, 0 to 100
- * @param alt Current altitude (MSL), in meters
- * @param climb Current climb rate in meters/second
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
-	_mav_put_float(buf, 0, airspeed);
-	_mav_put_float(buf, 4, groundspeed);
-	_mav_put_float(buf, 8, alt);
-	_mav_put_float(buf, 12, climb);
-	_mav_put_int16_t(buf, 16, heading);
-	_mav_put_uint16_t(buf, 18, throttle);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#else
-	mavlink_vfr_hud_t packet;
-	packet.airspeed = airspeed;
-	packet.groundspeed = groundspeed;
-	packet.alt = alt;
-	packet.climb = climb;
-	packet.heading = heading;
-	packet.throttle = throttle;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-}
-
-/**
- * @brief Pack a vfr_hud 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param airspeed Current airspeed in m/s
- * @param groundspeed Current ground speed in m/s
- * @param heading Current heading in degrees, in compass units (0..360, 0=north)
- * @param throttle Current throttle setting in integer percent, 0 to 100
- * @param alt Current altitude (MSL), in meters
- * @param climb Current climb rate in meters/second
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float airspeed,float groundspeed,int16_t heading,uint16_t throttle,float alt,float climb)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
-	_mav_put_float(buf, 0, airspeed);
-	_mav_put_float(buf, 4, groundspeed);
-	_mav_put_float(buf, 8, alt);
-	_mav_put_float(buf, 12, climb);
-	_mav_put_int16_t(buf, 16, heading);
-	_mav_put_uint16_t(buf, 18, throttle);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#else
-	mavlink_vfr_hud_t packet;
-	packet.airspeed = airspeed;
-	packet.groundspeed = groundspeed;
-	packet.alt = alt;
-	packet.climb = climb;
-	packet.heading = heading;
-	packet.throttle = throttle;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-}
-
-/**
- * @brief Encode a vfr_hud struct
- *
- * @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 vfr_hud C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
-{
-	return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
-}
-
-/**
- * @brief Encode a vfr_hud struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param vfr_hud C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vfr_hud_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vfr_hud_t* vfr_hud)
-{
-	return mavlink_msg_vfr_hud_pack_chan(system_id, component_id, chan, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
-}
-
-/**
- * @brief Send a vfr_hud message
- * @param chan MAVLink channel to send the message
- *
- * @param airspeed Current airspeed in m/s
- * @param groundspeed Current ground speed in m/s
- * @param heading Current heading in degrees, in compass units (0..360, 0=north)
- * @param throttle Current throttle setting in integer percent, 0 to 100
- * @param alt Current altitude (MSL), in meters
- * @param climb Current climb rate in meters/second
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VFR_HUD_LEN];
-	_mav_put_float(buf, 0, airspeed);
-	_mav_put_float(buf, 4, groundspeed);
-	_mav_put_float(buf, 8, alt);
-	_mav_put_float(buf, 12, climb);
-	_mav_put_int16_t(buf, 16, heading);
-	_mav_put_uint16_t(buf, 18, throttle);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-#else
-	mavlink_vfr_hud_t packet;
-	packet.airspeed = airspeed;
-	packet.groundspeed = groundspeed;
-	packet.alt = alt;
-	packet.climb = climb;
-	packet.heading = heading;
-	packet.throttle = throttle;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_LEN, MAVLINK_MSG_ID_VFR_HUD_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE VFR_HUD UNPACKING
-
-
-/**
- * @brief Get field airspeed from vfr_hud message
- *
- * @return Current airspeed in m/s
- */
-static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field groundspeed from vfr_hud message
- *
- * @return Current ground speed in m/s
- */
-static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field heading from vfr_hud message
- *
- * @return Current heading in degrees, in compass units (0..360, 0=north)
- */
-static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field throttle from vfr_hud message
- *
- * @return Current throttle setting in integer percent, 0 to 100
- */
-static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Get field alt from vfr_hud message
- *
- * @return Current altitude (MSL), in meters
- */
-static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field climb from vfr_hud message
- *
- * @return Current climb rate in meters/second
- */
-static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a vfr_hud message into a struct
- *
- * @param msg The message to decode
- * @param vfr_hud C-struct to decode the message contents into
- */
-static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t* msg, mavlink_vfr_hud_t* vfr_hud)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	vfr_hud->airspeed = mavlink_msg_vfr_hud_get_airspeed(msg);
-	vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
-	vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
-	vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
-	vfr_hud->heading = mavlink_msg_vfr_hud_get_heading(msg);
-	vfr_hud->throttle = mavlink_msg_vfr_hud_get_throttle(msg);
-#else
-	memcpy(vfr_hud, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VFR_HUD_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
deleted file mode 100644
index a254202e4..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vicon_position_estimate.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE VICON_POSITION_ESTIMATE PACKING
-
-#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104
-
-typedef struct __mavlink_vicon_position_estimate_t
-{
- uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float x; ///< Global X position
- float y; ///< Global Y position
- float z; ///< Global Z position
- float roll; ///< Roll angle in rad
- float pitch; ///< Pitch angle in rad
- float yaw; ///< Yaw angle in rad
-} mavlink_vicon_position_estimate_t;
-
-#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_104_LEN 32
-
-#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC 56
-#define MAVLINK_MSG_ID_104_CRC 56
-
-
-
-#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
-	"VICON_POSITION_ESTIMATE", \
-	7, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a vicon_position_estimate 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 usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#else
-	mavlink_vicon_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a vicon_position_estimate 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#else
-	mavlink_vicon_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a vicon_position_estimate struct
- *
- * @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 vicon_position_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
-{
-	return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
-}
-
-/**
- * @brief Encode a vicon_position_estimate struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param vicon_position_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vicon_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
-{
-	return mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, chan, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
-}
-
-/**
- * @brief Send a vicon_position_estimate message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-#else
-	mavlink_vicon_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE VICON_POSITION_ESTIMATE UNPACKING
-
-
-/**
- * @brief Get field usec from vicon_position_estimate message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field x from vicon_position_estimate message
- *
- * @return Global X position
- */
-static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field y from vicon_position_estimate message
- *
- * @return Global Y position
- */
-static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field z from vicon_position_estimate message
- *
- * @return Global Z position
- */
-static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field roll from vicon_position_estimate message
- *
- * @return Roll angle in rad
- */
-static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitch from vicon_position_estimate message
- *
- * @return Pitch angle in rad
- */
-static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yaw from vicon_position_estimate message
- *
- * @return Yaw angle in rad
- */
-static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a vicon_position_estimate message into a struct
- *
- * @param msg The message to decode
- * @param vicon_position_estimate C-struct to decode the message contents into
- */
-static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_message_t* msg, mavlink_vicon_position_estimate_t* vicon_position_estimate)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	vicon_position_estimate->usec = mavlink_msg_vicon_position_estimate_get_usec(msg);
-	vicon_position_estimate->x = mavlink_msg_vicon_position_estimate_get_x(msg);
-	vicon_position_estimate->y = mavlink_msg_vicon_position_estimate_get_y(msg);
-	vicon_position_estimate->z = mavlink_msg_vicon_position_estimate_get_z(msg);
-	vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg);
-	vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg);
-	vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg);
-#else
-	memcpy(vicon_position_estimate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
deleted file mode 100644
index f7a741b09..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_position_estimate.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE VISION_POSITION_ESTIMATE PACKING
-
-#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102
-
-typedef struct __mavlink_vision_position_estimate_t
-{
- uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float x; ///< Global X position
- float y; ///< Global Y position
- float z; ///< Global Z position
- float roll; ///< Roll angle in rad
- float pitch; ///< Pitch angle in rad
- float yaw; ///< Yaw angle in rad
-} mavlink_vision_position_estimate_t;
-
-#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_102_LEN 32
-
-#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 158
-#define MAVLINK_MSG_ID_102_CRC 158
-
-
-
-#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
-	"VISION_POSITION_ESTIMATE", \
-	7, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a vision_position_estimate 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 usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#else
-	mavlink_vision_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a vision_position_estimate 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#else
-	mavlink_vision_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a vision_position_estimate struct
- *
- * @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 vision_position_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
-{
-	return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw);
-}
-
-/**
- * @brief Encode a vision_position_estimate struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param vision_position_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
-{
-	return mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw);
-}
-
-/**
- * @brief Send a vision_position_estimate message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X position
- * @param y Global Y position
- * @param z Global Z position
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-	_mav_put_float(buf, 20, roll);
-	_mav_put_float(buf, 24, pitch);
-	_mav_put_float(buf, 28, yaw);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-#else
-	mavlink_vision_position_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE VISION_POSITION_ESTIMATE UNPACKING
-
-
-/**
- * @brief Get field usec from vision_position_estimate message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field x from vision_position_estimate message
- *
- * @return Global X position
- */
-static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field y from vision_position_estimate message
- *
- * @return Global Y position
- */
-static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field z from vision_position_estimate message
- *
- * @return Global Z position
- */
-static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field roll from vision_position_estimate message
- *
- * @return Roll angle in rad
- */
-static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field pitch from vision_position_estimate message
- *
- * @return Pitch angle in rad
- */
-static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field yaw from vision_position_estimate message
- *
- * @return Yaw angle in rad
- */
-static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Decode a vision_position_estimate message into a struct
- *
- * @param msg The message to decode
- * @param vision_position_estimate C-struct to decode the message contents into
- */
-static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg);
-	vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg);
-	vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg);
-	vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg);
-	vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg);
-	vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg);
-	vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg);
-#else
-	memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
deleted file mode 100644
index 660225128..000000000
--- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_vision_speed_estimate.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE VISION_SPEED_ESTIMATE PACKING
-
-#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103
-
-typedef struct __mavlink_vision_speed_estimate_t
-{
- uint64_t usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot)
- float x; ///< Global X speed
- float y; ///< Global Y speed
- float z; ///< Global Z speed
-} mavlink_vision_speed_estimate_t;
-
-#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
-#define MAVLINK_MSG_ID_103_LEN 20
-
-#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC 208
-#define MAVLINK_MSG_ID_103_CRC 208
-
-
-
-#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
-	"VISION_SPEED_ESTIMATE", \
-	4, \
-	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
-         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a vision_speed_estimate 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 usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X speed
- * @param y Global Y speed
- * @param z Global Z speed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t usec, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#else
-	mavlink_vision_speed_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a vision_speed_estimate 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X speed
- * @param y Global Y speed
- * @param z Global Z speed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t usec,float x,float y,float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#else
-	mavlink_vision_speed_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a vision_speed_estimate struct
- *
- * @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 vision_speed_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
-{
-	return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
-}
-
-/**
- * @brief Encode a vision_speed_estimate struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param vision_speed_estimate C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_vision_speed_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
-{
-	return mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, chan, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
-}
-
-/**
- * @brief Send a vision_speed_estimate message
- * @param chan MAVLink channel to send the message
- *
- * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
- * @param x Global X speed
- * @param y Global Y speed
- * @param z Global Z speed
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
-	_mav_put_uint64_t(buf, 0, usec);
-	_mav_put_float(buf, 8, x);
-	_mav_put_float(buf, 12, y);
-	_mav_put_float(buf, 16, z);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-#else
-	mavlink_vision_speed_estimate_t packet;
-	packet.usec = usec;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE VISION_SPEED_ESTIMATE UNPACKING
-
-
-/**
- * @brief Get field usec from vision_speed_estimate message
- *
- * @return Timestamp (microseconds, synced to UNIX time or since system boot)
- */
-static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field x from vision_speed_estimate message
- *
- * @return Global X speed
- */
-static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field y from vision_speed_estimate message
- *
- * @return Global Y speed
- */
-static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field z from vision_speed_estimate message
- *
- * @return Global Z speed
- */
-static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a vision_speed_estimate message into a struct
- *
- * @param msg The message to decode
- * @param vision_speed_estimate C-struct to decode the message contents into
- */
-static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
-	vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
-	vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
-	vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
-#else
-	memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h
deleted file mode 100644
index c5aa9ddf3..000000000
--- a/mavlink/include/mavlink/v1.0/common/testsuite.h
+++ /dev/null
@@ -1,5628 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from common.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef COMMON_TESTSUITE_H
-#define COMMON_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-
-	mavlink_test_common(system_id, component_id, last_msg);
-}
-#endif
-
-
-
-
-static void mavlink_test_heartbeat(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_heartbeat_t packet_in = {
-		963497464,
-	}17,
-	}84,
-	}151,
-	}218,
-	}3,
-	};
-	mavlink_heartbeat_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.custom_mode = packet_in.custom_mode;
-        	packet1.type = packet_in.type;
-        	packet1.autopilot = packet_in.autopilot;
-        	packet1.base_mode = packet_in.base_mode;
-        	packet1.system_status = packet_in.system_status;
-        	packet1.mavlink_version = packet_in.mavlink_version;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_heartbeat_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
-	mavlink_msg_heartbeat_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
-	mavlink_msg_heartbeat_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_heartbeat_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
-	mavlink_msg_heartbeat_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_sys_status(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_sys_status_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	}18691,
-	}223,
-	};
-	mavlink_sys_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present;
-        	packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled;
-        	packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health;
-        	packet1.load = packet_in.load;
-        	packet1.voltage_battery = packet_in.voltage_battery;
-        	packet1.current_battery = packet_in.current_battery;
-        	packet1.drop_rate_comm = packet_in.drop_rate_comm;
-        	packet1.errors_comm = packet_in.errors_comm;
-        	packet1.errors_count1 = packet_in.errors_count1;
-        	packet1.errors_count2 = packet_in.errors_count2;
-        	packet1.errors_count3 = packet_in.errors_count3;
-        	packet1.errors_count4 = packet_in.errors_count4;
-        	packet1.battery_remaining = packet_in.battery_remaining;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_sys_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_status_pack(system_id, component_id, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
-	mavlink_msg_sys_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
-	mavlink_msg_sys_status_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_sys_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_status_send(MAVLINK_COMM_1 , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
-	mavlink_msg_sys_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_system_time(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_system_time_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	};
-	mavlink_system_time_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_unix_usec = packet_in.time_unix_usec;
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_system_time_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
-	mavlink_msg_system_time_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
-	mavlink_msg_system_time_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_system_time_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms );
-	mavlink_msg_system_time_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_ping(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_ping_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	}41,
-	}108,
-	};
-	mavlink_ping_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.seq = packet_in.seq;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ping_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_ping_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ping_pack(system_id, component_id, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
-	mavlink_msg_ping_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ping_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
-	mavlink_msg_ping_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_ping_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_ping_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
-	mavlink_msg_ping_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_change_operator_control(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_change_operator_control_t packet_in = {
-		5,
-	}72,
-	}139,
-	}"DEFGHIJKLMNOPQRSTUVWXYZA",
-	};
-	mavlink_change_operator_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.control_request = packet_in.control_request;
-        	packet1.version = packet_in.version;
-        
-        	mav_array_memcpy(packet1.passkey, packet_in.passkey, sizeof(char)*25);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_change_operator_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
-	mavlink_msg_change_operator_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
-	mavlink_msg_change_operator_control_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_change_operator_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
-	mavlink_msg_change_operator_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_change_operator_control_ack(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_change_operator_control_ack_t packet_in = {
-		5,
-	}72,
-	}139,
-	};
-	mavlink_change_operator_control_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.gcs_system_id = packet_in.gcs_system_id;
-        	packet1.control_request = packet_in.control_request;
-        	packet1.ack = packet_in.ack;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_change_operator_control_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_ack_pack(system_id, component_id, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack );
-	mavlink_msg_change_operator_control_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack );
-	mavlink_msg_change_operator_control_ack_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_change_operator_control_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_change_operator_control_ack_send(MAVLINK_COMM_1 , packet1.gcs_system_id , packet1.control_request , packet1.ack );
-	mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_auth_key(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_auth_key_t packet_in = {
-		"ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE",
-	};
-	mavlink_auth_key_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.key, packet_in.key, sizeof(char)*32);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_auth_key_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_auth_key_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_auth_key_pack(system_id, component_id, &msg , packet1.key );
-	mavlink_msg_auth_key_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_auth_key_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.key );
-	mavlink_msg_auth_key_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_auth_key_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_auth_key_send(MAVLINK_COMM_1 , packet1.key );
-	mavlink_msg_auth_key_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_mode(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_set_mode_t packet_in = {
-		963497464,
-	}17,
-	}84,
-	};
-	mavlink_set_mode_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.custom_mode = packet_in.custom_mode;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.base_mode = packet_in.base_mode;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mode_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_mode_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mode_pack(system_id, component_id, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode );
-	mavlink_msg_set_mode_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode );
-	mavlink_msg_set_mode_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_set_mode_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_mode_send(MAVLINK_COMM_1 , packet1.target_system , packet1.base_mode , packet1.custom_mode );
-	mavlink_msg_set_mode_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_param_request_read(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_param_request_read_t packet_in = {
-		17235,
-	}139,
-	}206,
-	}"EFGHIJKLMNOPQRS",
-	};
-	mavlink_param_request_read_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.param_index = packet_in.param_index;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        	mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_read_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_param_request_read_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_read_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
-	mavlink_msg_param_request_read_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_read_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
-	mavlink_msg_param_request_read_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_param_request_read_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_read_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
-	mavlink_msg_param_request_read_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_param_request_list(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_param_request_list_t packet_in = {
-		5,
-	}72,
-	};
-	mavlink_param_request_list_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_list_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_param_request_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_param_request_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_param_request_list_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_param_request_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
-	mavlink_msg_param_request_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_param_value(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_param_value_t packet_in = {
-		17.0,
-	}17443,
-	}17547,
-	}"IJKLMNOPQRSTUVW",
-	}77,
-	};
-	mavlink_param_value_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.param_value = packet_in.param_value;
-        	packet1.param_count = packet_in.param_count;
-        	packet1.param_index = packet_in.param_index;
-        	packet1.param_type = packet_in.param_type;
-        
-        	mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_value_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_param_value_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_value_pack(system_id, component_id, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
-	mavlink_msg_param_value_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_value_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
-	mavlink_msg_param_value_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_param_value_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_value_send(MAVLINK_COMM_1 , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
-	mavlink_msg_param_value_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_param_set(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_param_set_t packet_in = {
-		17.0,
-	}17,
-	}84,
-	}"GHIJKLMNOPQRSTU",
-	}199,
-	};
-	mavlink_param_set_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.param_value = packet_in.param_value;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.param_type = packet_in.param_type;
-        
-        	mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_set_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_param_set_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
-	mavlink_msg_param_set_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
-	mavlink_msg_param_set_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_param_set_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_param_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
-	mavlink_msg_param_set_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_gps_raw_int(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_gps_raw_int_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	}963498088,
-	}963498296,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	}89,
-	}156,
-	};
-	mavlink_gps_raw_int_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.eph = packet_in.eph;
-        	packet1.epv = packet_in.epv;
-        	packet1.vel = packet_in.vel;
-        	packet1.cog = packet_in.cog;
-        	packet1.fix_type = packet_in.fix_type;
-        	packet1.satellites_visible = packet_in.satellites_visible;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_gps_raw_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_raw_int_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
-	mavlink_msg_gps_raw_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
-	mavlink_msg_gps_raw_int_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_gps_raw_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_raw_int_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
-	mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_gps_status(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_gps_status_t packet_in = {
-		5,
-	}{ 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 },
-	}{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 },
-	}{ 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 },
-	}{ 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 },
-	}{ 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 },
-	};
-	mavlink_gps_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.satellites_visible = packet_in.satellites_visible;
-        
-        	mav_array_memcpy(packet1.satellite_prn, packet_in.satellite_prn, sizeof(uint8_t)*20);
-        	mav_array_memcpy(packet1.satellite_used, packet_in.satellite_used, sizeof(uint8_t)*20);
-        	mav_array_memcpy(packet1.satellite_elevation, packet_in.satellite_elevation, sizeof(uint8_t)*20);
-        	mav_array_memcpy(packet1.satellite_azimuth, packet_in.satellite_azimuth, sizeof(uint8_t)*20);
-        	mav_array_memcpy(packet1.satellite_snr, packet_in.satellite_snr, sizeof(uint8_t)*20);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_gps_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_status_pack(system_id, component_id, &msg , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
-	mavlink_msg_gps_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
-	mavlink_msg_gps_status_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_gps_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_status_send(MAVLINK_COMM_1 , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
-	mavlink_msg_gps_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_scaled_imu(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_scaled_imu_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	};
-	mavlink_scaled_imu_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.xmag = packet_in.xmag;
-        	packet1.ymag = packet_in.ymag;
-        	packet1.zmag = packet_in.zmag;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_scaled_imu_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_scaled_imu_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_scaled_imu_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_scaled_imu_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_scaled_imu_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_raw_imu(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_raw_imu_t packet_in = {
-		93372036854775807ULL,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	}18379,
-	}18483,
-	};
-	mavlink_raw_imu_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.xmag = packet_in.xmag;
-        	packet1.ymag = packet_in.ymag;
-        	packet1.zmag = packet_in.zmag;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_imu_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_raw_imu_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_raw_imu_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_raw_imu_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_raw_imu_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_raw_imu_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_raw_pressure(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_raw_pressure_t packet_in = {
-		93372036854775807ULL,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	};
-	mavlink_raw_pressure_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.press_abs = packet_in.press_abs;
-        	packet1.press_diff1 = packet_in.press_diff1;
-        	packet1.press_diff2 = packet_in.press_diff2;
-        	packet1.temperature = packet_in.temperature;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_pressure_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_raw_pressure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_pressure_pack(system_id, component_id, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
-	mavlink_msg_raw_pressure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
-	mavlink_msg_raw_pressure_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_raw_pressure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_pressure_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
-	mavlink_msg_raw_pressure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_scaled_pressure(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_scaled_pressure_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}17859,
-	};
-	mavlink_scaled_pressure_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.press_abs = packet_in.press_abs;
-        	packet1.press_diff = packet_in.press_diff;
-        	packet1.temperature = packet_in.temperature;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_pressure_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_scaled_pressure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_pressure_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
-	mavlink_msg_scaled_pressure_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
-	mavlink_msg_scaled_pressure_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_scaled_pressure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_pressure_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
-	mavlink_msg_scaled_pressure_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_attitude(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_attitude_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	};
-	mavlink_attitude_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.rollspeed = packet_in.rollspeed;
-        	packet1.pitchspeed = packet_in.pitchspeed;
-        	packet1.yawspeed = packet_in.yawspeed;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_attitude_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
-	mavlink_msg_attitude_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
-	mavlink_msg_attitude_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_attitude_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
-	mavlink_msg_attitude_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_attitude_quaternion(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_attitude_quaternion_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	};
-	mavlink_attitude_quaternion_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.q1 = packet_in.q1;
-        	packet1.q2 = packet_in.q2;
-        	packet1.q3 = packet_in.q3;
-        	packet1.q4 = packet_in.q4;
-        	packet1.rollspeed = packet_in.rollspeed;
-        	packet1.pitchspeed = packet_in.pitchspeed;
-        	packet1.yawspeed = packet_in.yawspeed;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_quaternion_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_quaternion_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
-	mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
-	mavlink_msg_attitude_quaternion_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_attitude_quaternion_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
-	mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_local_position_ned(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_local_position_ned_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	};
-	mavlink_local_position_ned_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.vx = packet_in.vx;
-        	packet1.vy = packet_in.vy;
-        	packet1.vz = packet_in.vz;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_local_position_ned_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
-	mavlink_msg_local_position_ned_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
-	mavlink_msg_local_position_ned_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_local_position_ned_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
-	mavlink_msg_local_position_ned_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_global_position_int(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_global_position_int_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}963498088,
-	}963498296,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	};
-	mavlink_global_position_int_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.relative_alt = packet_in.relative_alt;
-        	packet1.vx = packet_in.vx;
-        	packet1.vy = packet_in.vy;
-        	packet1.vz = packet_in.vz;
-        	packet1.hdg = packet_in.hdg;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_int_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_global_position_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
-	mavlink_msg_global_position_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
-	mavlink_msg_global_position_int_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_global_position_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
-	mavlink_msg_global_position_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_rc_channels_scaled(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_rc_channels_scaled_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}65,
-	}132,
-	};
-	mavlink_rc_channels_scaled_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.chan1_scaled = packet_in.chan1_scaled;
-        	packet1.chan2_scaled = packet_in.chan2_scaled;
-        	packet1.chan3_scaled = packet_in.chan3_scaled;
-        	packet1.chan4_scaled = packet_in.chan4_scaled;
-        	packet1.chan5_scaled = packet_in.chan5_scaled;
-        	packet1.chan6_scaled = packet_in.chan6_scaled;
-        	packet1.chan7_scaled = packet_in.chan7_scaled;
-        	packet1.chan8_scaled = packet_in.chan8_scaled;
-        	packet1.port = packet_in.port;
-        	packet1.rssi = packet_in.rssi;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_scaled_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_rc_channels_scaled_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_scaled_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
-	mavlink_msg_rc_channels_scaled_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_scaled_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
-	mavlink_msg_rc_channels_scaled_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_rc_channels_scaled_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_scaled_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
-	mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_rc_channels_raw(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_rc_channels_raw_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}65,
-	}132,
-	};
-	mavlink_rc_channels_raw_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.chan1_raw = packet_in.chan1_raw;
-        	packet1.chan2_raw = packet_in.chan2_raw;
-        	packet1.chan3_raw = packet_in.chan3_raw;
-        	packet1.chan4_raw = packet_in.chan4_raw;
-        	packet1.chan5_raw = packet_in.chan5_raw;
-        	packet1.chan6_raw = packet_in.chan6_raw;
-        	packet1.chan7_raw = packet_in.chan7_raw;
-        	packet1.chan8_raw = packet_in.chan8_raw;
-        	packet1.port = packet_in.port;
-        	packet1.rssi = packet_in.rssi;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_raw_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_rc_channels_raw_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
-	mavlink_msg_rc_channels_raw_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
-	mavlink_msg_rc_channels_raw_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_rc_channels_raw_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
-	mavlink_msg_rc_channels_raw_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_servo_output_raw(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_servo_output_raw_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}65,
-	};
-	mavlink_servo_output_raw_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.servo1_raw = packet_in.servo1_raw;
-        	packet1.servo2_raw = packet_in.servo2_raw;
-        	packet1.servo3_raw = packet_in.servo3_raw;
-        	packet1.servo4_raw = packet_in.servo4_raw;
-        	packet1.servo5_raw = packet_in.servo5_raw;
-        	packet1.servo6_raw = packet_in.servo6_raw;
-        	packet1.servo7_raw = packet_in.servo7_raw;
-        	packet1.servo8_raw = packet_in.servo8_raw;
-        	packet1.port = packet_in.port;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_servo_output_raw_encode(system_id, component_id, &msg, &packet1);
-	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(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_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_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_servo_output_raw_decode(last_msg, &packet2);
-        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_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_request_partial_list(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_mission_request_partial_list_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	};
-	mavlink_mission_request_partial_list_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.start_index = packet_in.start_index;
-        	packet1.end_index = packet_in.end_index;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_partial_list_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_request_partial_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
-	mavlink_msg_mission_request_partial_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
-	mavlink_msg_mission_request_partial_list_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_mission_request_partial_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
-	mavlink_msg_mission_request_partial_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_write_partial_list(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_mission_write_partial_list_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	};
-	mavlink_mission_write_partial_list_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.start_index = packet_in.start_index;
-        	packet1.end_index = packet_in.end_index;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_write_partial_list_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_write_partial_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_write_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
-	mavlink_msg_mission_write_partial_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_write_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
-	mavlink_msg_mission_write_partial_list_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_mission_write_partial_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_write_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
-	mavlink_msg_mission_write_partial_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_item(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_mission_item_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}18691,
-	}18795,
-	}101,
-	}168,
-	}235,
-	}46,
-	}113,
-	};
-	mavlink_mission_item_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.param1 = packet_in.param1;
-        	packet1.param2 = packet_in.param2;
-        	packet1.param3 = packet_in.param3;
-        	packet1.param4 = packet_in.param4;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.seq = packet_in.seq;
-        	packet1.command = packet_in.command;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.frame = packet_in.frame;
-        	packet1.current = packet_in.current;
-        	packet1.autocontinue = packet_in.autocontinue;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_item_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_mission_item_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_mission_item_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_mission_item_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_mission_item_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_request(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_mission_request_t packet_in = {
-		17235,
-	}139,
-	}206,
-	};
-	mavlink_mission_request_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.seq = packet_in.seq;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_request_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq );
-	mavlink_msg_mission_request_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq );
-	mavlink_msg_mission_request_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_mission_request_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq );
-	mavlink_msg_mission_request_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_set_current(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_mission_set_current_t packet_in = {
-		17235,
-	}139,
-	}206,
-	};
-	mavlink_mission_set_current_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.seq = packet_in.seq;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_set_current_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_set_current_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_set_current_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq );
-	mavlink_msg_mission_set_current_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_set_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq );
-	mavlink_msg_mission_set_current_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_mission_set_current_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_set_current_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq );
-	mavlink_msg_mission_set_current_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_current(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_mission_current_t packet_in = {
-		17235,
-	};
-	mavlink_mission_current_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.seq = packet_in.seq;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_current_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_current_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_current_pack(system_id, component_id, &msg , packet1.seq );
-	mavlink_msg_mission_current_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq );
-	mavlink_msg_mission_current_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_mission_current_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_current_send(MAVLINK_COMM_1 , packet1.seq );
-	mavlink_msg_mission_current_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_request_list(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_mission_request_list_t packet_in = {
-		5,
-	}72,
-	};
-	mavlink_mission_request_list_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_list_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_request_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_mission_request_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_mission_request_list_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_mission_request_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
-	mavlink_msg_mission_request_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_count(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_mission_count_t packet_in = {
-		17235,
-	}139,
-	}206,
-	};
-	mavlink_mission_count_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.count = packet_in.count;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_count_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_count_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_count_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.count );
-	mavlink_msg_mission_count_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_count_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.count );
-	mavlink_msg_mission_count_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_mission_count_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_count_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.count );
-	mavlink_msg_mission_count_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_clear_all(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_mission_clear_all_t packet_in = {
-		5,
-	}72,
-	};
-	mavlink_mission_clear_all_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_clear_all_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_clear_all_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_clear_all_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_mission_clear_all_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_clear_all_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_mission_clear_all_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_mission_clear_all_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_clear_all_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
-	mavlink_msg_mission_clear_all_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_item_reached(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_mission_item_reached_t packet_in = {
-		17235,
-	};
-	mavlink_mission_item_reached_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.seq = packet_in.seq;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_reached_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_item_reached_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_reached_pack(system_id, component_id, &msg , packet1.seq );
-	mavlink_msg_mission_item_reached_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_reached_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq );
-	mavlink_msg_mission_item_reached_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_mission_item_reached_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_item_reached_send(MAVLINK_COMM_1 , packet1.seq );
-	mavlink_msg_mission_item_reached_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_mission_ack(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_mission_ack_t packet_in = {
-		5,
-	}72,
-	}139,
-	};
-	mavlink_mission_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.type = packet_in.type;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_mission_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.type );
-	mavlink_msg_mission_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.type );
-	mavlink_msg_mission_ack_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_mission_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_mission_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.type );
-	mavlink_msg_mission_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_gps_global_origin(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_set_gps_global_origin_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}41,
-	};
-	mavlink_set_gps_global_origin_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.latitude = packet_in.latitude;
-        	packet1.longitude = packet_in.longitude;
-        	packet1.altitude = packet_in.altitude;
-        	packet1.target_system = packet_in.target_system;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_gps_global_origin_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_gps_global_origin_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_gps_global_origin_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
-	mavlink_msg_set_gps_global_origin_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
-	mavlink_msg_set_gps_global_origin_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_set_gps_global_origin_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_gps_global_origin_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
-	mavlink_msg_set_gps_global_origin_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_gps_global_origin(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_gps_global_origin_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	};
-	mavlink_gps_global_origin_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.latitude = packet_in.latitude;
-        	packet1.longitude = packet_in.longitude;
-        	packet1.altitude = packet_in.altitude;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_global_origin_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_gps_global_origin_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_global_origin_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude );
-	mavlink_msg_gps_global_origin_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude );
-	mavlink_msg_gps_global_origin_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_gps_global_origin_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_global_origin_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude );
-	mavlink_msg_gps_global_origin_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_local_position_setpoint(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_set_local_position_setpoint_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}53,
-	}120,
-	}187,
-	};
-	mavlink_set_local_position_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.coordinate_frame = packet_in.coordinate_frame;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_local_position_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_local_position_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_set_local_position_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_set_local_position_setpoint_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_set_local_position_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_set_local_position_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_local_position_setpoint(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_local_position_setpoint_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}53,
-	};
-	mavlink_local_position_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.coordinate_frame = packet_in.coordinate_frame;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_local_position_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_setpoint_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_local_position_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_local_position_setpoint_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_local_position_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_local_position_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_global_position_setpoint_int(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_global_position_setpoint_int_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}17859,
-	}175,
-	};
-	mavlink_global_position_setpoint_int_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.latitude = packet_in.latitude;
-        	packet1.longitude = packet_in.longitude;
-        	packet1.altitude = packet_in.altitude;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.coordinate_frame = packet_in.coordinate_frame;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_setpoint_int_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_global_position_setpoint_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
-	mavlink_msg_global_position_setpoint_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_setpoint_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
-	mavlink_msg_global_position_setpoint_int_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_global_position_setpoint_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
-	mavlink_msg_global_position_setpoint_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_global_position_setpoint_int(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_set_global_position_setpoint_int_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}17859,
-	}175,
-	};
-	mavlink_set_global_position_setpoint_int_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.latitude = packet_in.latitude;
-        	packet1.longitude = packet_in.longitude;
-        	packet1.altitude = packet_in.altitude;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.coordinate_frame = packet_in.coordinate_frame;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_global_position_setpoint_int_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_global_position_setpoint_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
-	mavlink_msg_set_global_position_setpoint_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_global_position_setpoint_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
-	mavlink_msg_set_global_position_setpoint_int_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_set_global_position_setpoint_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_global_position_setpoint_int_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw );
-	mavlink_msg_set_global_position_setpoint_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_safety_set_allowed_area(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_safety_set_allowed_area_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}77,
-	}144,
-	}211,
-	};
-	mavlink_safety_set_allowed_area_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.p1x = packet_in.p1x;
-        	packet1.p1y = packet_in.p1y;
-        	packet1.p1z = packet_in.p1z;
-        	packet1.p2x = packet_in.p2x;
-        	packet1.p2y = packet_in.p2y;
-        	packet1.p2z = packet_in.p2z;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.frame = packet_in.frame;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_set_allowed_area_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
-	mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_set_allowed_area_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
-	mavlink_msg_safety_set_allowed_area_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_safety_set_allowed_area_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_set_allowed_area_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
-	mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_safety_allowed_area(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_safety_allowed_area_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}77,
-	};
-	mavlink_safety_allowed_area_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.p1x = packet_in.p1x;
-        	packet1.p1y = packet_in.p1y;
-        	packet1.p1z = packet_in.p1z;
-        	packet1.p2x = packet_in.p2x;
-        	packet1.p2y = packet_in.p2y;
-        	packet1.p2z = packet_in.p2z;
-        	packet1.frame = packet_in.frame;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_allowed_area_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_safety_allowed_area_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_allowed_area_pack(system_id, component_id, &msg , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
-	mavlink_msg_safety_allowed_area_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_allowed_area_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
-	mavlink_msg_safety_allowed_area_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_safety_allowed_area_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_safety_allowed_area_send(MAVLINK_COMM_1 , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
-	mavlink_msg_safety_allowed_area_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_roll_pitch_yaw_thrust(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_set_roll_pitch_yaw_thrust_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}53,
-	}120,
-	};
-	mavlink_set_roll_pitch_yaw_thrust_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.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_roll_pitch_yaw_thrust_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_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_roll_pitch_yaw_speed_thrust(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_set_roll_pitch_yaw_speed_thrust_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}53,
-	}120,
-	};
-	mavlink_set_roll_pitch_yaw_speed_thrust_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.roll_speed = packet_in.roll_speed;
-        	packet1.pitch_speed = packet_in.pitch_speed;
-        	packet1.yaw_speed = packet_in.yaw_speed;
-        	packet1.thrust = packet_in.thrust;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_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_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
-	mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_roll_pitch_yaw_thrust_setpoint(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_roll_pitch_yaw_thrust_setpoint_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	};
-	mavlink_roll_pitch_yaw_thrust_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.thrust = packet_in.thrust;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_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_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(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_roll_pitch_yaw_speed_thrust_setpoint_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	};
-	mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.roll_speed = packet_in.roll_speed;
-        	packet1.pitch_speed = packet_in.pitch_speed;
-        	packet1.yaw_speed = packet_in.yaw_speed;
-        	packet1.thrust = packet_in.thrust;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_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_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_quad_motors_setpoint(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_set_quad_motors_setpoint_t packet_in = {
-		17235,
-	}17339,
-	}17443,
-	}17547,
-	}29,
-	};
-	mavlink_set_quad_motors_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.motor_front_nw = packet_in.motor_front_nw;
-        	packet1.motor_right_ne = packet_in.motor_right_ne;
-        	packet1.motor_back_se = packet_in.motor_back_se;
-        	packet1.motor_left_sw = packet_in.motor_left_sw;
-        	packet1.target_system = packet_in.target_system;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_motors_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw );
-	mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_motors_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw );
-	mavlink_msg_set_quad_motors_setpoint_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_set_quad_motors_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_motors_setpoint_send(MAVLINK_COMM_1 , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw );
-	mavlink_msg_set_quad_motors_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(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_set_quad_swarm_roll_pitch_yaw_thrust_t packet_in = {
-		{ 17235, 17236, 17237, 17238 },
-	}{ 17651, 17652, 17653, 17654 },
-	}{ 18067, 18068, 18069, 18070 },
-	}{ 18483, 18484, 18485, 18486 },
-	}101,
-	}168,
-	};
-	mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.group = packet_in.group;
-        	packet1.mode = packet_in.mode;
-        
-        	mav_array_memcpy(packet1.roll, packet_in.roll, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.yaw, packet_in.yaw, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.thrust, packet_in.thrust, sizeof(uint16_t)*4);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_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_set_quad_swarm_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_nav_controller_output(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_nav_controller_output_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}18275,
-	}18379,
-	}18483,
-	};
-	mavlink_nav_controller_output_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.nav_roll = packet_in.nav_roll;
-        	packet1.nav_pitch = packet_in.nav_pitch;
-        	packet1.alt_error = packet_in.alt_error;
-        	packet1.aspd_error = packet_in.aspd_error;
-        	packet1.xtrack_error = packet_in.xtrack_error;
-        	packet1.nav_bearing = packet_in.nav_bearing;
-        	packet1.target_bearing = packet_in.target_bearing;
-        	packet1.wp_dist = packet_in.wp_dist;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_nav_controller_output_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_nav_controller_output_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_nav_controller_output_pack(system_id, component_id, &msg , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
-	mavlink_msg_nav_controller_output_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
-	mavlink_msg_nav_controller_output_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_nav_controller_output_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_nav_controller_output_send(MAVLINK_COMM_1 , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
-	mavlink_msg_nav_controller_output_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_quad_swarm_led_roll_pitch_yaw_thrust(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_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet_in = {
-		{ 17235, 17236, 17237, 17238 },
-	}{ 17651, 17652, 17653, 17654 },
-	}{ 18067, 18068, 18069, 18070 },
-	}{ 18483, 18484, 18485, 18486 },
-	}101,
-	}168,
-	}{ 235, 236, 237, 238 },
-	}{ 247, 248, 249, 250 },
-	}{ 3, 4, 5, 6 },
-	};
-	mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.group = packet_in.group;
-        	packet1.mode = packet_in.mode;
-        
-        	mav_array_memcpy(packet1.roll, packet_in.roll, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.yaw, packet_in.yaw, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.thrust, packet_in.thrust, sizeof(uint16_t)*4);
-        	mav_array_memcpy(packet1.led_red, packet_in.led_red, sizeof(uint8_t)*4);
-        	mav_array_memcpy(packet1.led_blue, packet_in.led_blue, sizeof(uint8_t)*4);
-        	mav_array_memcpy(packet1.led_green, packet_in.led_green, sizeof(uint8_t)*4);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_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_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust );
-	mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_state_correction(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_state_correction_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	};
-	mavlink_state_correction_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.xErr = packet_in.xErr;
-        	packet1.yErr = packet_in.yErr;
-        	packet1.zErr = packet_in.zErr;
-        	packet1.rollErr = packet_in.rollErr;
-        	packet1.pitchErr = packet_in.pitchErr;
-        	packet1.yawErr = packet_in.yawErr;
-        	packet1.vxErr = packet_in.vxErr;
-        	packet1.vyErr = packet_in.vyErr;
-        	packet1.vzErr = packet_in.vzErr;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_state_correction_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_state_correction_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_state_correction_pack(system_id, component_id, &msg , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr );
-	mavlink_msg_state_correction_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_state_correction_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr );
-	mavlink_msg_state_correction_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_state_correction_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_state_correction_send(MAVLINK_COMM_1 , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr );
-	mavlink_msg_state_correction_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_request_data_stream(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_request_data_stream_t packet_in = {
-		17235,
-	}139,
-	}206,
-	}17,
-	}84,
-	};
-	mavlink_request_data_stream_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.req_message_rate = packet_in.req_message_rate;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.req_stream_id = packet_in.req_stream_id;
-        	packet1.start_stop = packet_in.start_stop;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_request_data_stream_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_request_data_stream_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_request_data_stream_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
-	mavlink_msg_request_data_stream_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_request_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
-	mavlink_msg_request_data_stream_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_request_data_stream_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_request_data_stream_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
-	mavlink_msg_request_data_stream_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_data_stream(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_data_stream_t packet_in = {
-		17235,
-	}139,
-	}206,
-	};
-	mavlink_data_stream_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.message_rate = packet_in.message_rate;
-        	packet1.stream_id = packet_in.stream_id;
-        	packet1.on_off = packet_in.on_off;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_stream_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_data_stream_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_stream_pack(system_id, component_id, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off );
-	mavlink_msg_data_stream_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off );
-	mavlink_msg_data_stream_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_data_stream_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_stream_send(MAVLINK_COMM_1 , packet1.stream_id , packet1.message_rate , packet1.on_off );
-	mavlink_msg_data_stream_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_manual_control(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_manual_control_t packet_in = {
-		17235,
-	}17339,
-	}17443,
-	}17547,
-	}17651,
-	}163,
-	};
-	mavlink_manual_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	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;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_control_encode(system_id, component_id, &msg, &packet1);
-	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(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.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_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_manual_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	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);
-}
-
-static void mavlink_test_rc_channels_override(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_rc_channels_override_t packet_in = {
-		17235,
-	}17339,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}53,
-	}120,
-	};
-	mavlink_rc_channels_override_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.chan1_raw = packet_in.chan1_raw;
-        	packet1.chan2_raw = packet_in.chan2_raw;
-        	packet1.chan3_raw = packet_in.chan3_raw;
-        	packet1.chan4_raw = packet_in.chan4_raw;
-        	packet1.chan5_raw = packet_in.chan5_raw;
-        	packet1.chan6_raw = packet_in.chan6_raw;
-        	packet1.chan7_raw = packet_in.chan7_raw;
-        	packet1.chan8_raw = packet_in.chan8_raw;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_override_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_rc_channels_override_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_override_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
-	mavlink_msg_rc_channels_override_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_override_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
-	mavlink_msg_rc_channels_override_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_rc_channels_override_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_rc_channels_override_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
-	mavlink_msg_rc_channels_override_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vfr_hud(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_vfr_hud_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}18067,
-	}18171,
-	};
-	mavlink_vfr_hud_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.airspeed = packet_in.airspeed;
-        	packet1.groundspeed = packet_in.groundspeed;
-        	packet1.alt = packet_in.alt;
-        	packet1.climb = packet_in.climb;
-        	packet1.heading = packet_in.heading;
-        	packet1.throttle = packet_in.throttle;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vfr_hud_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vfr_hud_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vfr_hud_pack(system_id, component_id, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
-	mavlink_msg_vfr_hud_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vfr_hud_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
-	mavlink_msg_vfr_hud_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_vfr_hud_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vfr_hud_send(MAVLINK_COMM_1 , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
-	mavlink_msg_vfr_hud_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_command_long(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_command_long_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}18691,
-	}223,
-	}34,
-	}101,
-	};
-	mavlink_command_long_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.param1 = packet_in.param1;
-        	packet1.param2 = packet_in.param2;
-        	packet1.param3 = packet_in.param3;
-        	packet1.param4 = packet_in.param4;
-        	packet1.param5 = packet_in.param5;
-        	packet1.param6 = packet_in.param6;
-        	packet1.param7 = packet_in.param7;
-        	packet1.command = packet_in.command;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.confirmation = packet_in.confirmation;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_long_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_command_long_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_long_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
-	mavlink_msg_command_long_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_long_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
-	mavlink_msg_command_long_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_command_long_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_long_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
-	mavlink_msg_command_long_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_command_ack(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_command_ack_t packet_in = {
-		17235,
-	}139,
-	};
-	mavlink_command_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.command = packet_in.command;
-        	packet1.result = packet_in.result;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_command_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_ack_pack(system_id, component_id, &msg , packet1.command , packet1.result );
-	mavlink_msg_command_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command , packet1.result );
-	mavlink_msg_command_ack_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_command_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_command_ack_send(MAVLINK_COMM_1 , packet1.command , packet1.result );
-	mavlink_msg_command_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(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_roll_pitch_yaw_rates_thrust_setpoint_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	};
-	mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.roll_rate = packet_in.roll_rate;
-        	packet1.pitch_rate = packet_in.pitch_rate;
-        	packet1.yaw_rate = packet_in.yaw_rate;
-        	packet1.thrust = packet_in.thrust;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_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_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
-	mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_manual_setpoint(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_manual_setpoint_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}65,
-	}132,
-	};
-	mavlink_manual_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.thrust = packet_in.thrust;
-        	packet1.mode_switch = packet_in.mode_switch;
-        	packet1.manual_override_switch = packet_in.manual_override_switch;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_manual_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
-	mavlink_msg_manual_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
-	mavlink_msg_manual_setpoint_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_manual_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_manual_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
-	mavlink_msg_manual_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_local_position_ned_system_global_offset(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_local_position_ned_system_global_offset_t packet_in = {
-		963497464,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	};
-	mavlink_local_position_ned_system_global_offset_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_system_global_offset_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_system_global_offset_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_local_position_ned_system_global_offset_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_local_position_ned_system_global_offset_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_local_position_ned_system_global_offset_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_state(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_hil_state_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}963499128,
-	}963499336,
-	}963499544,
-	}19523,
-	}19627,
-	}19731,
-	}19835,
-	}19939,
-	}20043,
-	};
-	mavlink_hil_state_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.rollspeed = packet_in.rollspeed;
-        	packet1.pitchspeed = packet_in.pitchspeed;
-        	packet1.yawspeed = packet_in.yawspeed;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.vx = packet_in.vx;
-        	packet1.vy = packet_in.vy;
-        	packet1.vz = packet_in.vz;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_state_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
-	mavlink_msg_hil_state_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
-	mavlink_msg_hil_state_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_hil_state_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
-	mavlink_msg_hil_state_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_controls(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_hil_controls_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}125,
-	}192,
-	};
-	mavlink_hil_controls_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.roll_ailerons = packet_in.roll_ailerons;
-        	packet1.pitch_elevator = packet_in.pitch_elevator;
-        	packet1.yaw_rudder = packet_in.yaw_rudder;
-        	packet1.throttle = packet_in.throttle;
-        	packet1.aux1 = packet_in.aux1;
-        	packet1.aux2 = packet_in.aux2;
-        	packet1.aux3 = packet_in.aux3;
-        	packet1.aux4 = packet_in.aux4;
-        	packet1.mode = packet_in.mode;
-        	packet1.nav_mode = packet_in.nav_mode;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_controls_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_controls_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_controls_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
-	mavlink_msg_hil_controls_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_controls_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
-	mavlink_msg_hil_controls_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_hil_controls_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_controls_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
-	mavlink_msg_hil_controls_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_rc_inputs_raw(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_hil_rc_inputs_raw_t packet_in = {
-		93372036854775807ULL,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	}18691,
-	}18795,
-	}101,
-	};
-	mavlink_hil_rc_inputs_raw_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.chan1_raw = packet_in.chan1_raw;
-        	packet1.chan2_raw = packet_in.chan2_raw;
-        	packet1.chan3_raw = packet_in.chan3_raw;
-        	packet1.chan4_raw = packet_in.chan4_raw;
-        	packet1.chan5_raw = packet_in.chan5_raw;
-        	packet1.chan6_raw = packet_in.chan6_raw;
-        	packet1.chan7_raw = packet_in.chan7_raw;
-        	packet1.chan8_raw = packet_in.chan8_raw;
-        	packet1.chan9_raw = packet_in.chan9_raw;
-        	packet1.chan10_raw = packet_in.chan10_raw;
-        	packet1.chan11_raw = packet_in.chan11_raw;
-        	packet1.chan12_raw = packet_in.chan12_raw;
-        	packet1.rssi = packet_in.rssi;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_rc_inputs_raw_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
-	mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_rc_inputs_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
-	mavlink_msg_hil_rc_inputs_raw_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_hil_rc_inputs_raw_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_rc_inputs_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
-	mavlink_msg_hil_rc_inputs_raw_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_optical_flow(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_optical_flow_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}18275,
-	}18379,
-	}77,
-	}144,
-	};
-	mavlink_optical_flow_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.flow_comp_m_x = packet_in.flow_comp_m_x;
-        	packet1.flow_comp_m_y = packet_in.flow_comp_m_y;
-        	packet1.ground_distance = packet_in.ground_distance;
-        	packet1.flow_x = packet_in.flow_x;
-        	packet1.flow_y = packet_in.flow_y;
-        	packet1.sensor_id = packet_in.sensor_id;
-        	packet1.quality = packet_in.quality;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_optical_flow_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_optical_flow_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
-	mavlink_msg_optical_flow_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
-	mavlink_msg_optical_flow_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_optical_flow_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
-	mavlink_msg_optical_flow_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_global_vision_position_estimate(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_global_vision_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	};
-	mavlink_global_vision_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_global_vision_position_estimate_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_global_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vision_position_estimate(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_vision_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	};
-	mavlink_vision_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_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_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vision_speed_estimate(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_vision_speed_estimate_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	};
-	mavlink_vision_speed_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_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_vision_speed_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vicon_position_estimate(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_vicon_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	};
-	mavlink_vicon_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_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_vicon_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_highres_imu(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_highres_imu_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}297.0,
-	}325.0,
-	}353.0,
-	}381.0,
-	}409.0,
-	}20355,
-	};
-	mavlink_highres_imu_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.xmag = packet_in.xmag;
-        	packet1.ymag = packet_in.ymag;
-        	packet1.zmag = packet_in.zmag;
-        	packet1.abs_pressure = packet_in.abs_pressure;
-        	packet1.diff_pressure = packet_in.diff_pressure;
-        	packet1.pressure_alt = packet_in.pressure_alt;
-        	packet1.temperature = packet_in.temperature;
-        	packet1.fields_updated = packet_in.fields_updated;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_highres_imu_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
-	mavlink_msg_highres_imu_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
-	mavlink_msg_highres_imu_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_highres_imu_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
-	mavlink_msg_highres_imu_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_omnidirectional_flow(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_omnidirectional_flow_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}{ 17859, 17860, 17861, 17862, 17863, 17864, 17865, 17866, 17867, 17868 },
-	}{ 18899, 18900, 18901, 18902, 18903, 18904, 18905, 18906, 18907, 18908 },
-	}161,
-	}228,
-	};
-	mavlink_omnidirectional_flow_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.front_distance_m = packet_in.front_distance_m;
-        	packet1.sensor_id = packet_in.sensor_id;
-        	packet1.quality = packet_in.quality;
-        
-        	mav_array_memcpy(packet1.left, packet_in.left, sizeof(int16_t)*10);
-        	mav_array_memcpy(packet1.right, packet_in.right, sizeof(int16_t)*10);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_omnidirectional_flow_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_omnidirectional_flow_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_omnidirectional_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m );
-	mavlink_msg_omnidirectional_flow_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_omnidirectional_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m );
-	mavlink_msg_omnidirectional_flow_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_omnidirectional_flow_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_omnidirectional_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m );
-	mavlink_msg_omnidirectional_flow_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_sensor(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_hil_sensor_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}297.0,
-	}325.0,
-	}353.0,
-	}381.0,
-	}409.0,
-	}963500584,
-	};
-	mavlink_hil_sensor_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.xmag = packet_in.xmag;
-        	packet1.ymag = packet_in.ymag;
-        	packet1.zmag = packet_in.zmag;
-        	packet1.abs_pressure = packet_in.abs_pressure;
-        	packet1.diff_pressure = packet_in.diff_pressure;
-        	packet1.pressure_alt = packet_in.pressure_alt;
-        	packet1.temperature = packet_in.temperature;
-        	packet1.fields_updated = packet_in.fields_updated;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_sensor_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_sensor_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_sensor_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
-	mavlink_msg_hil_sensor_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
-	mavlink_msg_hil_sensor_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_hil_sensor_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_sensor_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
-	mavlink_msg_hil_sensor_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_sim_state(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_sim_state_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}297.0,
-	}325.0,
-	}353.0,
-	}381.0,
-	}409.0,
-	}437.0,
-	}465.0,
-	}493.0,
-	}521.0,
-	}549.0,
-	}577.0,
-	};
-	mavlink_sim_state_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.q1 = packet_in.q1;
-        	packet1.q2 = packet_in.q2;
-        	packet1.q3 = packet_in.q3;
-        	packet1.q4 = packet_in.q4;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.std_dev_horz = packet_in.std_dev_horz;
-        	packet1.std_dev_vert = packet_in.std_dev_vert;
-        	packet1.vn = packet_in.vn;
-        	packet1.ve = packet_in.ve;
-        	packet1.vd = packet_in.vd;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sim_state_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_sim_state_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sim_state_pack(system_id, component_id, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd );
-	mavlink_msg_sim_state_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sim_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd );
-	mavlink_msg_sim_state_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_sim_state_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sim_state_send(MAVLINK_COMM_1 , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd );
-	mavlink_msg_sim_state_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_radio_status(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_radio_status_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	}151,
-	}218,
-	}29,
-	};
-	mavlink_radio_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.rxerrors = packet_in.rxerrors;
-        	packet1.fixed = packet_in.fixed;
-        	packet1.rssi = packet_in.rssi;
-        	packet1.remrssi = packet_in.remrssi;
-        	packet1.txbuf = packet_in.txbuf;
-        	packet1.noise = packet_in.noise;
-        	packet1.remnoise = packet_in.remnoise;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_radio_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_status_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
-	mavlink_msg_radio_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
-	mavlink_msg_radio_status_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_radio_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_radio_status_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
-	mavlink_msg_radio_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_file_transfer_start(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_file_transfer_start_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	}"MNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ",
-	}249,
-	}60,
-	};
-	mavlink_file_transfer_start_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.transfer_uid = packet_in.transfer_uid;
-        	packet1.file_size = packet_in.file_size;
-        	packet1.direction = packet_in.direction;
-        	packet1.flags = packet_in.flags;
-        
-        	mav_array_memcpy(packet1.dest_path, packet_in.dest_path, sizeof(char)*240);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_start_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_file_transfer_start_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_start_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags );
-	mavlink_msg_file_transfer_start_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_start_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags );
-	mavlink_msg_file_transfer_start_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_file_transfer_start_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_start_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags );
-	mavlink_msg_file_transfer_start_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_file_transfer_dir_list(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_file_transfer_dir_list_t packet_in = {
-		93372036854775807ULL,
-	}"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLM",
-	}237,
-	};
-	mavlink_file_transfer_dir_list_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.transfer_uid = packet_in.transfer_uid;
-        	packet1.flags = packet_in.flags;
-        
-        	mav_array_memcpy(packet1.dir_path, packet_in.dir_path, sizeof(char)*240);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_dir_list_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_file_transfer_dir_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_dir_list_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.dir_path , packet1.flags );
-	mavlink_msg_file_transfer_dir_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_dir_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.dir_path , packet1.flags );
-	mavlink_msg_file_transfer_dir_list_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_file_transfer_dir_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_dir_list_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.dir_path , packet1.flags );
-	mavlink_msg_file_transfer_dir_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_file_transfer_res(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_file_transfer_res_t packet_in = {
-		93372036854775807ULL,
-	}29,
-	};
-	mavlink_file_transfer_res_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.transfer_uid = packet_in.transfer_uid;
-        	packet1.result = packet_in.result;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_res_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_file_transfer_res_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_res_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.result );
-	mavlink_msg_file_transfer_res_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_res_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.result );
-	mavlink_msg_file_transfer_res_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_file_transfer_res_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_file_transfer_res_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.result );
-	mavlink_msg_file_transfer_res_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_gps(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_hil_gps_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	}963498088,
-	}963498296,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	}18691,
-	}18795,
-	}18899,
-	}235,
-	}46,
-	};
-	mavlink_hil_gps_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.eph = packet_in.eph;
-        	packet1.epv = packet_in.epv;
-        	packet1.vel = packet_in.vel;
-        	packet1.vn = packet_in.vn;
-        	packet1.ve = packet_in.ve;
-        	packet1.vd = packet_in.vd;
-        	packet1.cog = packet_in.cog;
-        	packet1.fix_type = packet_in.fix_type;
-        	packet1.satellites_visible = packet_in.satellites_visible;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_gps_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_gps_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_gps_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible );
-	mavlink_msg_hil_gps_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_gps_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible );
-	mavlink_msg_hil_gps_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_hil_gps_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_gps_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible );
-	mavlink_msg_hil_gps_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_optical_flow(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_hil_optical_flow_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}18275,
-	}18379,
-	}77,
-	}144,
-	};
-	mavlink_hil_optical_flow_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.flow_comp_m_x = packet_in.flow_comp_m_x;
-        	packet1.flow_comp_m_y = packet_in.flow_comp_m_y;
-        	packet1.ground_distance = packet_in.ground_distance;
-        	packet1.flow_x = packet_in.flow_x;
-        	packet1.flow_y = packet_in.flow_y;
-        	packet1.sensor_id = packet_in.sensor_id;
-        	packet1.quality = packet_in.quality;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_optical_flow_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_optical_flow_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
-	mavlink_msg_hil_optical_flow_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
-	mavlink_msg_hil_optical_flow_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_hil_optical_flow_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
-	mavlink_msg_hil_optical_flow_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_hil_state_quaternion(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_hil_state_quaternion_t packet_in = {
-		93372036854775807ULL,
-	}{ 73.0, 74.0, 75.0, 76.0 },
-	}185.0,
-	}213.0,
-	}241.0,
-	}963499336,
-	}963499544,
-	}963499752,
-	}19731,
-	}19835,
-	}19939,
-	}20043,
-	}20147,
-	}20251,
-	}20355,
-	}20459,
-	};
-	mavlink_hil_state_quaternion_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.rollspeed = packet_in.rollspeed;
-        	packet1.pitchspeed = packet_in.pitchspeed;
-        	packet1.yawspeed = packet_in.yawspeed;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.vx = packet_in.vx;
-        	packet1.vy = packet_in.vy;
-        	packet1.vz = packet_in.vz;
-        	packet1.ind_airspeed = packet_in.ind_airspeed;
-        	packet1.true_airspeed = packet_in.true_airspeed;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        
-        	mav_array_memcpy(packet1.attitude_quaternion, packet_in.attitude_quaternion, sizeof(float)*4);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_quaternion_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_quaternion_pack(system_id, component_id, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
-	mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
-	mavlink_msg_hil_state_quaternion_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_hil_state_quaternion_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_hil_state_quaternion_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
-	mavlink_msg_hil_state_quaternion_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_scaled_imu2(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_scaled_imu2_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	};
-	mavlink_scaled_imu2_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.xacc = packet_in.xacc;
-        	packet1.yacc = packet_in.yacc;
-        	packet1.zacc = packet_in.zacc;
-        	packet1.xgyro = packet_in.xgyro;
-        	packet1.ygyro = packet_in.ygyro;
-        	packet1.zgyro = packet_in.zgyro;
-        	packet1.xmag = packet_in.xmag;
-        	packet1.ymag = packet_in.ymag;
-        	packet1.zmag = packet_in.zmag;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu2_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_scaled_imu2_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu2_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_scaled_imu2_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_scaled_imu2_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_scaled_imu2_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_scaled_imu2_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
-	mavlink_msg_scaled_imu2_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_log_request_list(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_log_request_list_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	};
-	mavlink_log_request_list_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.start = packet_in.start;
-        	packet1.end = packet_in.end;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_list_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_log_request_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end );
-	mavlink_msg_log_request_list_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end );
-	mavlink_msg_log_request_list_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_log_request_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start , packet1.end );
-	mavlink_msg_log_request_list_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_log_entry(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_log_entry_t packet_in = {
-		963497464,
-	}963497672,
-	}17651,
-	}17755,
-	}17859,
-	};
-	mavlink_log_entry_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_utc = packet_in.time_utc;
-        	packet1.size = packet_in.size;
-        	packet1.id = packet_in.id;
-        	packet1.num_logs = packet_in.num_logs;
-        	packet1.last_log_num = packet_in.last_log_num;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_entry_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_log_entry_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_entry_pack(system_id, component_id, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size );
-	mavlink_msg_log_entry_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_entry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size );
-	mavlink_msg_log_entry_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_log_entry_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_entry_send(MAVLINK_COMM_1 , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size );
-	mavlink_msg_log_entry_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_log_request_data(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_log_request_data_t packet_in = {
-		963497464,
-	}963497672,
-	}17651,
-	}163,
-	}230,
-	};
-	mavlink_log_request_data_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.ofs = packet_in.ofs;
-        	packet1.count = packet_in.count;
-        	packet1.id = packet_in.id;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_data_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_log_request_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count );
-	mavlink_msg_log_request_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count );
-	mavlink_msg_log_request_data_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_log_request_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count );
-	mavlink_msg_log_request_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_log_data(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_log_data_t packet_in = {
-		963497464,
-	}17443,
-	}151,
-	}{ 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51 },
-	};
-	mavlink_log_data_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.ofs = packet_in.ofs;
-        	packet1.id = packet_in.id;
-        	packet1.count = packet_in.count;
-        
-        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*90);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_data_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_log_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_data_pack(system_id, component_id, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data );
-	mavlink_msg_log_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data );
-	mavlink_msg_log_data_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_log_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_data_send(MAVLINK_COMM_1 , packet1.id , packet1.ofs , packet1.count , packet1.data );
-	mavlink_msg_log_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_log_erase(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_log_erase_t packet_in = {
-		5,
-	}72,
-	};
-	mavlink_log_erase_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_erase_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_log_erase_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_erase_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_log_erase_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_erase_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_log_erase_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_log_erase_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_erase_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
-	mavlink_msg_log_erase_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_log_request_end(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_log_request_end_t packet_in = {
-		5,
-	}72,
-	};
-	mavlink_log_request_end_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_end_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_log_request_end_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_end_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_log_request_end_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_end_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_log_request_end_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_log_request_end_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_log_request_end_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
-	mavlink_msg_log_request_end_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_gps_inject_data(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_gps_inject_data_t packet_in = {
-		5,
-	}72,
-	}139,
-	}{ 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, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59 },
-	};
-	mavlink_gps_inject_data_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.len = packet_in.len;
-        
-        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*110);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_inject_data_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_gps_inject_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_inject_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
-	mavlink_msg_gps_inject_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_inject_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
-	mavlink_msg_gps_inject_data_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_gps_inject_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps_inject_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
-	mavlink_msg_gps_inject_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_gps2_raw(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_gps2_raw_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	}963498088,
-	}963498296,
-	}963498504,
-	}18483,
-	}18587,
-	}18691,
-	}18795,
-	}101,
-	}168,
-	}235,
-	};
-	mavlink_gps2_raw_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.dgps_age = packet_in.dgps_age;
-        	packet1.eph = packet_in.eph;
-        	packet1.epv = packet_in.epv;
-        	packet1.vel = packet_in.vel;
-        	packet1.cog = packet_in.cog;
-        	packet1.fix_type = packet_in.fix_type;
-        	packet1.satellites_visible = packet_in.satellites_visible;
-        	packet1.dgps_numch = packet_in.dgps_numch;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps2_raw_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_gps2_raw_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps2_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
-	mavlink_msg_gps2_raw_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps2_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
-	mavlink_msg_gps2_raw_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_gps2_raw_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_gps2_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
-	mavlink_msg_gps2_raw_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_data_transmission_handshake(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_data_transmission_handshake_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}163,
-	}230,
-	}41,
-	};
-	mavlink_data_transmission_handshake_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.size = packet_in.size;
-        	packet1.width = packet_in.width;
-        	packet1.height = packet_in.height;
-        	packet1.packets = packet_in.packets;
-        	packet1.type = packet_in.type;
-        	packet1.payload = packet_in.payload;
-        	packet1.jpg_quality = packet_in.jpg_quality;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
-	mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
-	mavlink_msg_data_transmission_handshake_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_data_transmission_handshake_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
-	mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_encapsulated_data(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_encapsulated_data_t packet_in = {
-		17235,
-	}{ 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, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 },
-	};
-	mavlink_encapsulated_data_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.seqnr = packet_in.seqnr;
-        
-        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*253);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_pack(system_id, component_id, &msg , packet1.seqnr , packet1.data );
-	mavlink_msg_encapsulated_data_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seqnr , packet1.data );
-	mavlink_msg_encapsulated_data_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_encapsulated_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_encapsulated_data_send(MAVLINK_COMM_1 , packet1.seqnr , packet1.data );
-	mavlink_msg_encapsulated_data_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_battery_status(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_battery_status_t packet_in = {
-		963497464,
-	}963497672,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	}199,
-	}10,
-	};
-	mavlink_battery_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.current_consumed = packet_in.current_consumed;
-        	packet1.energy_consumed = packet_in.energy_consumed;
-        	packet1.voltage_cell_1 = packet_in.voltage_cell_1;
-        	packet1.voltage_cell_2 = packet_in.voltage_cell_2;
-        	packet1.voltage_cell_3 = packet_in.voltage_cell_3;
-        	packet1.voltage_cell_4 = packet_in.voltage_cell_4;
-        	packet1.voltage_cell_5 = packet_in.voltage_cell_5;
-        	packet1.voltage_cell_6 = packet_in.voltage_cell_6;
-        	packet1.current_battery = packet_in.current_battery;
-        	packet1.accu_id = packet_in.accu_id;
-        	packet1.battery_remaining = packet_in.battery_remaining;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_battery_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_battery_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining );
-	mavlink_msg_battery_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining );
-	mavlink_msg_battery_status_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_battery_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining );
-	mavlink_msg_battery_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_setpoint_8dof(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_setpoint_8dof_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}101,
-	};
-	mavlink_setpoint_8dof_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.val1 = packet_in.val1;
-        	packet1.val2 = packet_in.val2;
-        	packet1.val3 = packet_in.val3;
-        	packet1.val4 = packet_in.val4;
-        	packet1.val5 = packet_in.val5;
-        	packet1.val6 = packet_in.val6;
-        	packet1.val7 = packet_in.val7;
-        	packet1.val8 = packet_in.val8;
-        	packet1.target_system = packet_in.target_system;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_8dof_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_8dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
-	mavlink_msg_setpoint_8dof_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_8dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
-	mavlink_msg_setpoint_8dof_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_setpoint_8dof_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_8dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 );
-	mavlink_msg_setpoint_8dof_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_setpoint_6dof(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_setpoint_6dof_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}77,
-	};
-	mavlink_setpoint_6dof_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.trans_x = packet_in.trans_x;
-        	packet1.trans_y = packet_in.trans_y;
-        	packet1.trans_z = packet_in.trans_z;
-        	packet1.rot_x = packet_in.rot_x;
-        	packet1.rot_y = packet_in.rot_y;
-        	packet1.rot_z = packet_in.rot_z;
-        	packet1.target_system = packet_in.target_system;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_6dof_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_6dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
-	mavlink_msg_setpoint_6dof_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_6dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
-	mavlink_msg_setpoint_6dof_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_setpoint_6dof_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_setpoint_6dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z );
-	mavlink_msg_setpoint_6dof_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_memory_vect(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_memory_vect_t packet_in = {
-		17235,
-	}139,
-	}206,
-	}{ 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 },
-	};
-	mavlink_memory_vect_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.address = packet_in.address;
-        	packet1.ver = packet_in.ver;
-        	packet1.type = packet_in.type;
-        
-        	mav_array_memcpy(packet1.value, packet_in.value, sizeof(int8_t)*32);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_memory_vect_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_memory_vect_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_memory_vect_pack(system_id, component_id, &msg , packet1.address , packet1.ver , packet1.type , packet1.value );
-	mavlink_msg_memory_vect_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_memory_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.address , packet1.ver , packet1.type , packet1.value );
-	mavlink_msg_memory_vect_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_memory_vect_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_memory_vect_send(MAVLINK_COMM_1 , packet1.address , packet1.ver , packet1.type , packet1.value );
-	mavlink_msg_memory_vect_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_debug_vect(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_debug_vect_t packet_in = {
-		93372036854775807ULL,
-	}73.0,
-	}101.0,
-	}129.0,
-	}"UVWXYZABC",
-	};
-	mavlink_debug_vect_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_usec = packet_in.time_usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        
-        	mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_vect_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_debug_vect_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_vect_pack(system_id, component_id, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_debug_vect_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_debug_vect_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_debug_vect_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_vect_send(MAVLINK_COMM_1 , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_debug_vect_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_named_value_float(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_named_value_float_t packet_in = {
-		963497464,
-	}45.0,
-	}"IJKLMNOPQ",
-	};
-	mavlink_named_value_float_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.value = packet_in.value;
-        
-        	mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_float_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_named_value_float_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_float_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
-	mavlink_msg_named_value_float_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_float_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
-	mavlink_msg_named_value_float_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_named_value_float_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_float_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value );
-	mavlink_msg_named_value_float_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_named_value_int(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_named_value_int_t packet_in = {
-		963497464,
-	}963497672,
-	}"IJKLMNOPQ",
-	};
-	mavlink_named_value_int_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.value = packet_in.value;
-        
-        	mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_int_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_named_value_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
-	mavlink_msg_named_value_int_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
-	mavlink_msg_named_value_int_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_named_value_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_named_value_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value );
-	mavlink_msg_named_value_int_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_statustext(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_statustext_t packet_in = {
-		5,
-	}"BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWX",
-	};
-	mavlink_statustext_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.severity = packet_in.severity;
-        
-        	mav_array_memcpy(packet1.text, packet_in.text, sizeof(char)*50);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_statustext_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_statustext_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_statustext_pack(system_id, component_id, &msg , packet1.severity , packet1.text );
-	mavlink_msg_statustext_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_statustext_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.severity , packet1.text );
-	mavlink_msg_statustext_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_statustext_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_statustext_send(MAVLINK_COMM_1 , packet1.severity , packet1.text );
-	mavlink_msg_statustext_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_debug(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_debug_t packet_in = {
-		963497464,
-	}45.0,
-	}29,
-	};
-	mavlink_debug_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.value = packet_in.value;
-        	packet1.ind = packet_in.ind;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_debug_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.ind , packet1.value );
-	mavlink_msg_debug_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.ind , packet1.value );
-	mavlink_msg_debug_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_debug_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_debug_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.ind , packet1.value );
-	mavlink_msg_debug_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_heartbeat(system_id, component_id, last_msg);
-	mavlink_test_sys_status(system_id, component_id, last_msg);
-	mavlink_test_system_time(system_id, component_id, last_msg);
-	mavlink_test_ping(system_id, component_id, last_msg);
-	mavlink_test_change_operator_control(system_id, component_id, last_msg);
-	mavlink_test_change_operator_control_ack(system_id, component_id, last_msg);
-	mavlink_test_auth_key(system_id, component_id, last_msg);
-	mavlink_test_set_mode(system_id, component_id, last_msg);
-	mavlink_test_param_request_read(system_id, component_id, last_msg);
-	mavlink_test_param_request_list(system_id, component_id, last_msg);
-	mavlink_test_param_value(system_id, component_id, last_msg);
-	mavlink_test_param_set(system_id, component_id, last_msg);
-	mavlink_test_gps_raw_int(system_id, component_id, last_msg);
-	mavlink_test_gps_status(system_id, component_id, last_msg);
-	mavlink_test_scaled_imu(system_id, component_id, last_msg);
-	mavlink_test_raw_imu(system_id, component_id, last_msg);
-	mavlink_test_raw_pressure(system_id, component_id, last_msg);
-	mavlink_test_scaled_pressure(system_id, component_id, last_msg);
-	mavlink_test_attitude(system_id, component_id, last_msg);
-	mavlink_test_attitude_quaternion(system_id, component_id, last_msg);
-	mavlink_test_local_position_ned(system_id, component_id, last_msg);
-	mavlink_test_global_position_int(system_id, component_id, last_msg);
-	mavlink_test_rc_channels_scaled(system_id, component_id, last_msg);
-	mavlink_test_rc_channels_raw(system_id, component_id, last_msg);
-	mavlink_test_servo_output_raw(system_id, component_id, last_msg);
-	mavlink_test_mission_request_partial_list(system_id, component_id, last_msg);
-	mavlink_test_mission_write_partial_list(system_id, component_id, last_msg);
-	mavlink_test_mission_item(system_id, component_id, last_msg);
-	mavlink_test_mission_request(system_id, component_id, last_msg);
-	mavlink_test_mission_set_current(system_id, component_id, last_msg);
-	mavlink_test_mission_current(system_id, component_id, last_msg);
-	mavlink_test_mission_request_list(system_id, component_id, last_msg);
-	mavlink_test_mission_count(system_id, component_id, last_msg);
-	mavlink_test_mission_clear_all(system_id, component_id, last_msg);
-	mavlink_test_mission_item_reached(system_id, component_id, last_msg);
-	mavlink_test_mission_ack(system_id, component_id, last_msg);
-	mavlink_test_set_gps_global_origin(system_id, component_id, last_msg);
-	mavlink_test_gps_global_origin(system_id, component_id, last_msg);
-	mavlink_test_set_local_position_setpoint(system_id, component_id, last_msg);
-	mavlink_test_local_position_setpoint(system_id, component_id, last_msg);
-	mavlink_test_global_position_setpoint_int(system_id, component_id, last_msg);
-	mavlink_test_set_global_position_setpoint_int(system_id, component_id, last_msg);
-	mavlink_test_safety_set_allowed_area(system_id, component_id, last_msg);
-	mavlink_test_safety_allowed_area(system_id, component_id, last_msg);
-	mavlink_test_set_roll_pitch_yaw_thrust(system_id, component_id, last_msg);
-	mavlink_test_set_roll_pitch_yaw_speed_thrust(system_id, component_id, last_msg);
-	mavlink_test_roll_pitch_yaw_thrust_setpoint(system_id, component_id, last_msg);
-	mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(system_id, component_id, last_msg);
-	mavlink_test_set_quad_motors_setpoint(system_id, component_id, last_msg);
-	mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(system_id, component_id, last_msg);
-	mavlink_test_nav_controller_output(system_id, component_id, last_msg);
-	mavlink_test_set_quad_swarm_led_roll_pitch_yaw_thrust(system_id, component_id, last_msg);
-	mavlink_test_state_correction(system_id, component_id, last_msg);
-	mavlink_test_request_data_stream(system_id, component_id, last_msg);
-	mavlink_test_data_stream(system_id, component_id, last_msg);
-	mavlink_test_manual_control(system_id, component_id, last_msg);
-	mavlink_test_rc_channels_override(system_id, component_id, last_msg);
-	mavlink_test_vfr_hud(system_id, component_id, last_msg);
-	mavlink_test_command_long(system_id, component_id, last_msg);
-	mavlink_test_command_ack(system_id, component_id, last_msg);
-	mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(system_id, component_id, last_msg);
-	mavlink_test_manual_setpoint(system_id, component_id, last_msg);
-	mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg);
-	mavlink_test_hil_state(system_id, component_id, last_msg);
-	mavlink_test_hil_controls(system_id, component_id, last_msg);
-	mavlink_test_hil_rc_inputs_raw(system_id, component_id, last_msg);
-	mavlink_test_optical_flow(system_id, component_id, last_msg);
-	mavlink_test_global_vision_position_estimate(system_id, component_id, last_msg);
-	mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
-	mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
-	mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
-	mavlink_test_highres_imu(system_id, component_id, last_msg);
-	mavlink_test_omnidirectional_flow(system_id, component_id, last_msg);
-	mavlink_test_hil_sensor(system_id, component_id, last_msg);
-	mavlink_test_sim_state(system_id, component_id, last_msg);
-	mavlink_test_radio_status(system_id, component_id, last_msg);
-	mavlink_test_file_transfer_start(system_id, component_id, last_msg);
-	mavlink_test_file_transfer_dir_list(system_id, component_id, last_msg);
-	mavlink_test_file_transfer_res(system_id, component_id, last_msg);
-	mavlink_test_hil_gps(system_id, component_id, last_msg);
-	mavlink_test_hil_optical_flow(system_id, component_id, last_msg);
-	mavlink_test_hil_state_quaternion(system_id, component_id, last_msg);
-	mavlink_test_scaled_imu2(system_id, component_id, last_msg);
-	mavlink_test_log_request_list(system_id, component_id, last_msg);
-	mavlink_test_log_entry(system_id, component_id, last_msg);
-	mavlink_test_log_request_data(system_id, component_id, last_msg);
-	mavlink_test_log_data(system_id, component_id, last_msg);
-	mavlink_test_log_erase(system_id, component_id, last_msg);
-	mavlink_test_log_request_end(system_id, component_id, last_msg);
-	mavlink_test_gps_inject_data(system_id, component_id, last_msg);
-	mavlink_test_gps2_raw(system_id, component_id, last_msg);
-	mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
-	mavlink_test_encapsulated_data(system_id, component_id, last_msg);
-	mavlink_test_battery_status(system_id, component_id, last_msg);
-	mavlink_test_setpoint_8dof(system_id, component_id, last_msg);
-	mavlink_test_setpoint_6dof(system_id, component_id, last_msg);
-	mavlink_test_memory_vect(system_id, component_id, last_msg);
-	mavlink_test_debug_vect(system_id, component_id, last_msg);
-	mavlink_test_named_value_float(system_id, component_id, last_msg);
-	mavlink_test_named_value_int(system_id, component_id, last_msg);
-	mavlink_test_statustext(system_id, component_id, last_msg);
-	mavlink_test_debug(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // COMMON_TESTSUITE_H
diff --git a/mavlink/include/mavlink/v1.0/common/version.h b/mavlink/include/mavlink/v1.0/common/version.h
deleted file mode 100644
index 2f3736f45..000000000
--- a/mavlink/include/mavlink/v1.0/common/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from common.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:29 2014"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h b/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
deleted file mode 100644
index 2f15d31c4..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/matrixpilot.h
+++ /dev/null
@@ -1,133 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from matrixpilot.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef MATRIXPILOT_H
-#define MATRIXPILOT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 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, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 2, 6, 58, 6, 0, 53, 7, 3, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63, 70, 10, 24, 20, 24, 28, 14, 17, 60, 110, 28, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 181, 26, 101, 109, 0, 12, 218, 133, 208, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 150, 169, 191, 121, 54, 171, 142, 249, 123, 7, 222, 55, 154, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_SET, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_READ_REQ, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY_ACK, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND, MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_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_SERIAL_UDB_EXTRA_F2_A, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_B, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F4, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F5, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F6, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F7, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F8, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F13, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F14, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F15, MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F16, MAVLINK_MESSAGE_INFO_ALTITUDES, MAVLINK_MESSAGE_INFO_AIRSPEEDS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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"
-
-#define MAVLINK_ENABLED_MATRIXPILOT
-
-// ENUM DEFINITIONS
-
-
-/** @brief Action required when performing CMD_PREFLIGHT_STORAGE */
-#ifndef HAVE_ENUM_MAV_PREFLIGHT_STORAGE_ACTION
-#define HAVE_ENUM_MAV_PREFLIGHT_STORAGE_ACTION
-enum MAV_PREFLIGHT_STORAGE_ACTION
-{
-	MAV_PFS_CMD_READ_ALL=0, /* Read all parameters from storage | */
-	MAV_PFS_CMD_WRITE_ALL=1, /* Write all parameters to storage | */
-	MAV_PFS_CMD_CLEAR_ALL=2, /* Clear all  parameters in storage | */
-	MAV_PFS_CMD_READ_SPECIFIC=3, /* Read specific parameters from storage | */
-	MAV_PFS_CMD_WRITE_SPECIFIC=4, /* Write specific parameters to storage | */
-	MAV_PFS_CMD_CLEAR_SPECIFIC=5, /* Clear specific parameters in storage | */
-	MAV_PFS_CMD_DO_NOTHING=6, /* do nothing | */
-	MAV_PREFLIGHT_STORAGE_ACTION_ENUM_END=7, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-enum MAV_CMD
-{
-	MAV_CMD_PREFLIGHT_STORAGE_ADVANCED=0, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED| Storage area as defined by parameter database| Storage flags as defined by parameter database| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	MAV_CMD_ENUM_END=501, /*  | */
-};
-#endif
-
-#include "../common/common.h"
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_flexifunction_set.h"
-#include "./mavlink_msg_flexifunction_read_req.h"
-#include "./mavlink_msg_flexifunction_buffer_function.h"
-#include "./mavlink_msg_flexifunction_buffer_function_ack.h"
-#include "./mavlink_msg_flexifunction_directory.h"
-#include "./mavlink_msg_flexifunction_directory_ack.h"
-#include "./mavlink_msg_flexifunction_command.h"
-#include "./mavlink_msg_flexifunction_command_ack.h"
-#include "./mavlink_msg_serial_udb_extra_f2_a.h"
-#include "./mavlink_msg_serial_udb_extra_f2_b.h"
-#include "./mavlink_msg_serial_udb_extra_f4.h"
-#include "./mavlink_msg_serial_udb_extra_f5.h"
-#include "./mavlink_msg_serial_udb_extra_f6.h"
-#include "./mavlink_msg_serial_udb_extra_f7.h"
-#include "./mavlink_msg_serial_udb_extra_f8.h"
-#include "./mavlink_msg_serial_udb_extra_f13.h"
-#include "./mavlink_msg_serial_udb_extra_f14.h"
-#include "./mavlink_msg_serial_udb_extra_f15.h"
-#include "./mavlink_msg_serial_udb_extra_f16.h"
-#include "./mavlink_msg_altitudes.h"
-#include "./mavlink_msg_airspeeds.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // MATRIXPILOT_H
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink.h
deleted file mode 100644
index 7e62a9719..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from matrixpilot.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "matrixpilot.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h
deleted file mode 100644
index bc47a547a..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_airspeeds.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE AIRSPEEDS PACKING
-
-#define MAVLINK_MSG_ID_AIRSPEEDS 182
-
-typedef struct __mavlink_airspeeds_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int16_t airspeed_imu; ///< Airspeed estimate from IMU, cm/s
- int16_t airspeed_pitot; ///< Pitot measured forward airpseed, cm/s
- int16_t airspeed_hot_wire; ///< Hot wire anenometer measured airspeed, cm/s
- int16_t airspeed_ultrasonic; ///< Ultrasonic measured airspeed, cm/s
- int16_t aoa; ///< Angle of attack sensor, degrees * 10
- int16_t aoy; ///< Yaw angle sensor, degrees * 10
-} mavlink_airspeeds_t;
-
-#define MAVLINK_MSG_ID_AIRSPEEDS_LEN 16
-#define MAVLINK_MSG_ID_182_LEN 16
-
-#define MAVLINK_MSG_ID_AIRSPEEDS_CRC 154
-#define MAVLINK_MSG_ID_182_CRC 154
-
-
-
-#define MAVLINK_MESSAGE_INFO_AIRSPEEDS { \
-	"AIRSPEEDS", \
-	7, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_airspeeds_t, time_boot_ms) }, \
-         { "airspeed_imu", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_airspeeds_t, airspeed_imu) }, \
-         { "airspeed_pitot", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_airspeeds_t, airspeed_pitot) }, \
-         { "airspeed_hot_wire", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_airspeeds_t, airspeed_hot_wire) }, \
-         { "airspeed_ultrasonic", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_airspeeds_t, airspeed_ultrasonic) }, \
-         { "aoa", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_airspeeds_t, aoa) }, \
-         { "aoy", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_airspeeds_t, aoy) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a airspeeds 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param airspeed_imu Airspeed estimate from IMU, cm/s
- * @param airspeed_pitot Pitot measured forward airpseed, cm/s
- * @param airspeed_hot_wire Hot wire anenometer measured airspeed, cm/s
- * @param airspeed_ultrasonic Ultrasonic measured airspeed, cm/s
- * @param aoa Angle of attack sensor, degrees * 10
- * @param aoy Yaw angle sensor, degrees * 10
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_airspeeds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, int16_t airspeed_imu, int16_t airspeed_pitot, int16_t airspeed_hot_wire, int16_t airspeed_ultrasonic, int16_t aoa, int16_t aoy)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AIRSPEEDS_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, airspeed_imu);
-	_mav_put_int16_t(buf, 6, airspeed_pitot);
-	_mav_put_int16_t(buf, 8, airspeed_hot_wire);
-	_mav_put_int16_t(buf, 10, airspeed_ultrasonic);
-	_mav_put_int16_t(buf, 12, aoa);
-	_mav_put_int16_t(buf, 14, aoy);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#else
-	mavlink_airspeeds_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.airspeed_imu = airspeed_imu;
-	packet.airspeed_pitot = airspeed_pitot;
-	packet.airspeed_hot_wire = airspeed_hot_wire;
-	packet.airspeed_ultrasonic = airspeed_ultrasonic;
-	packet.aoa = aoa;
-	packet.aoy = aoy;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AIRSPEEDS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEEDS_LEN, MAVLINK_MSG_ID_AIRSPEEDS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a airspeeds 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param airspeed_imu Airspeed estimate from IMU, cm/s
- * @param airspeed_pitot Pitot measured forward airpseed, cm/s
- * @param airspeed_hot_wire Hot wire anenometer measured airspeed, cm/s
- * @param airspeed_ultrasonic Ultrasonic measured airspeed, cm/s
- * @param aoa Angle of attack sensor, degrees * 10
- * @param aoy Yaw angle sensor, degrees * 10
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_airspeeds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,int16_t airspeed_imu,int16_t airspeed_pitot,int16_t airspeed_hot_wire,int16_t airspeed_ultrasonic,int16_t aoa,int16_t aoy)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AIRSPEEDS_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, airspeed_imu);
-	_mav_put_int16_t(buf, 6, airspeed_pitot);
-	_mav_put_int16_t(buf, 8, airspeed_hot_wire);
-	_mav_put_int16_t(buf, 10, airspeed_ultrasonic);
-	_mav_put_int16_t(buf, 12, aoa);
-	_mav_put_int16_t(buf, 14, aoy);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#else
-	mavlink_airspeeds_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.airspeed_imu = airspeed_imu;
-	packet.airspeed_pitot = airspeed_pitot;
-	packet.airspeed_hot_wire = airspeed_hot_wire;
-	packet.airspeed_ultrasonic = airspeed_ultrasonic;
-	packet.aoa = aoa;
-	packet.aoy = aoy;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_AIRSPEEDS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEEDS_LEN, MAVLINK_MSG_ID_AIRSPEEDS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a airspeeds struct
- *
- * @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 airspeeds C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_airspeeds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_airspeeds_t* airspeeds)
-{
-	return mavlink_msg_airspeeds_pack(system_id, component_id, msg, airspeeds->time_boot_ms, airspeeds->airspeed_imu, airspeeds->airspeed_pitot, airspeeds->airspeed_hot_wire, airspeeds->airspeed_ultrasonic, airspeeds->aoa, airspeeds->aoy);
-}
-
-/**
- * @brief Encode a airspeeds struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param airspeeds C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_airspeeds_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_airspeeds_t* airspeeds)
-{
-	return mavlink_msg_airspeeds_pack_chan(system_id, component_id, chan, msg, airspeeds->time_boot_ms, airspeeds->airspeed_imu, airspeeds->airspeed_pitot, airspeeds->airspeed_hot_wire, airspeeds->airspeed_ultrasonic, airspeeds->aoa, airspeeds->aoy);
-}
-
-/**
- * @brief Send a airspeeds message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param airspeed_imu Airspeed estimate from IMU, cm/s
- * @param airspeed_pitot Pitot measured forward airpseed, cm/s
- * @param airspeed_hot_wire Hot wire anenometer measured airspeed, cm/s
- * @param airspeed_ultrasonic Ultrasonic measured airspeed, cm/s
- * @param aoa Angle of attack sensor, degrees * 10
- * @param aoy Yaw angle sensor, degrees * 10
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_airspeeds_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t airspeed_imu, int16_t airspeed_pitot, int16_t airspeed_hot_wire, int16_t airspeed_ultrasonic, int16_t aoa, int16_t aoy)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_AIRSPEEDS_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int16_t(buf, 4, airspeed_imu);
-	_mav_put_int16_t(buf, 6, airspeed_pitot);
-	_mav_put_int16_t(buf, 8, airspeed_hot_wire);
-	_mav_put_int16_t(buf, 10, airspeed_ultrasonic);
-	_mav_put_int16_t(buf, 12, aoa);
-	_mav_put_int16_t(buf, 14, aoy);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, buf, MAVLINK_MSG_ID_AIRSPEEDS_LEN, MAVLINK_MSG_ID_AIRSPEEDS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, buf, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-#else
-	mavlink_airspeeds_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.airspeed_imu = airspeed_imu;
-	packet.airspeed_pitot = airspeed_pitot;
-	packet.airspeed_hot_wire = airspeed_hot_wire;
-	packet.airspeed_ultrasonic = airspeed_ultrasonic;
-	packet.aoa = aoa;
-	packet.aoy = aoy;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEEDS_LEN, MAVLINK_MSG_ID_AIRSPEEDS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AIRSPEEDS, (const char *)&packet, MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE AIRSPEEDS UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from airspeeds message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_airspeeds_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field airspeed_imu from airspeeds message
- *
- * @return Airspeed estimate from IMU, cm/s
- */
-static inline int16_t mavlink_msg_airspeeds_get_airspeed_imu(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field airspeed_pitot from airspeeds message
- *
- * @return Pitot measured forward airpseed, cm/s
- */
-static inline int16_t mavlink_msg_airspeeds_get_airspeed_pitot(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Get field airspeed_hot_wire from airspeeds message
- *
- * @return Hot wire anenometer measured airspeed, cm/s
- */
-static inline int16_t mavlink_msg_airspeeds_get_airspeed_hot_wire(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field airspeed_ultrasonic from airspeeds message
- *
- * @return Ultrasonic measured airspeed, cm/s
- */
-static inline int16_t mavlink_msg_airspeeds_get_airspeed_ultrasonic(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field aoa from airspeeds message
- *
- * @return Angle of attack sensor, degrees * 10
- */
-static inline int16_t mavlink_msg_airspeeds_get_aoa(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field aoy from airspeeds message
- *
- * @return Yaw angle sensor, degrees * 10
- */
-static inline int16_t mavlink_msg_airspeeds_get_aoy(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Decode a airspeeds message into a struct
- *
- * @param msg The message to decode
- * @param airspeeds C-struct to decode the message contents into
- */
-static inline void mavlink_msg_airspeeds_decode(const mavlink_message_t* msg, mavlink_airspeeds_t* airspeeds)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	airspeeds->time_boot_ms = mavlink_msg_airspeeds_get_time_boot_ms(msg);
-	airspeeds->airspeed_imu = mavlink_msg_airspeeds_get_airspeed_imu(msg);
-	airspeeds->airspeed_pitot = mavlink_msg_airspeeds_get_airspeed_pitot(msg);
-	airspeeds->airspeed_hot_wire = mavlink_msg_airspeeds_get_airspeed_hot_wire(msg);
-	airspeeds->airspeed_ultrasonic = mavlink_msg_airspeeds_get_airspeed_ultrasonic(msg);
-	airspeeds->aoa = mavlink_msg_airspeeds_get_aoa(msg);
-	airspeeds->aoy = mavlink_msg_airspeeds_get_aoy(msg);
-#else
-	memcpy(airspeeds, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AIRSPEEDS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h
deleted file mode 100644
index e64787cc7..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_altitudes.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE ALTITUDES PACKING
-
-#define MAVLINK_MSG_ID_ALTITUDES 181
-
-typedef struct __mavlink_altitudes_t
-{
- uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
- int32_t alt_gps; ///< GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
- int32_t alt_imu; ///< IMU altitude above ground in meters, expressed as * 1000 (millimeters)
- int32_t alt_barometric; ///< barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
- int32_t alt_optical_flow; ///< Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
- int32_t alt_range_finder; ///< Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
- int32_t alt_extra; ///< Extra altitude above ground in meters, expressed as * 1000 (millimeters)
-} mavlink_altitudes_t;
-
-#define MAVLINK_MSG_ID_ALTITUDES_LEN 28
-#define MAVLINK_MSG_ID_181_LEN 28
-
-#define MAVLINK_MSG_ID_ALTITUDES_CRC 55
-#define MAVLINK_MSG_ID_181_CRC 55
-
-
-
-#define MAVLINK_MESSAGE_INFO_ALTITUDES { \
-	"ALTITUDES", \
-	7, \
-	{  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_altitudes_t, time_boot_ms) }, \
-         { "alt_gps", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_altitudes_t, alt_gps) }, \
-         { "alt_imu", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_altitudes_t, alt_imu) }, \
-         { "alt_barometric", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_altitudes_t, alt_barometric) }, \
-         { "alt_optical_flow", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_altitudes_t, alt_optical_flow) }, \
-         { "alt_range_finder", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_altitudes_t, alt_range_finder) }, \
-         { "alt_extra", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_altitudes_t, alt_extra) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a altitudes 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 time_boot_ms Timestamp (milliseconds since system boot)
- * @param alt_gps GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_altitudes_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ALTITUDES_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, alt_gps);
-	_mav_put_int32_t(buf, 8, alt_imu);
-	_mav_put_int32_t(buf, 12, alt_barometric);
-	_mav_put_int32_t(buf, 16, alt_optical_flow);
-	_mav_put_int32_t(buf, 20, alt_range_finder);
-	_mav_put_int32_t(buf, 24, alt_extra);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#else
-	mavlink_altitudes_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.alt_gps = alt_gps;
-	packet.alt_imu = alt_imu;
-	packet.alt_barometric = alt_barometric;
-	packet.alt_optical_flow = alt_optical_flow;
-	packet.alt_range_finder = alt_range_finder;
-	packet.alt_extra = alt_extra;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ALTITUDES;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-}
-
-/**
- * @brief Pack a altitudes 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param alt_gps GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_altitudes_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t time_boot_ms,int32_t alt_gps,int32_t alt_imu,int32_t alt_barometric,int32_t alt_optical_flow,int32_t alt_range_finder,int32_t alt_extra)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ALTITUDES_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, alt_gps);
-	_mav_put_int32_t(buf, 8, alt_imu);
-	_mav_put_int32_t(buf, 12, alt_barometric);
-	_mav_put_int32_t(buf, 16, alt_optical_flow);
-	_mav_put_int32_t(buf, 20, alt_range_finder);
-	_mav_put_int32_t(buf, 24, alt_extra);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#else
-	mavlink_altitudes_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.alt_gps = alt_gps;
-	packet.alt_imu = alt_imu;
-	packet.alt_barometric = alt_barometric;
-	packet.alt_optical_flow = alt_optical_flow;
-	packet.alt_range_finder = alt_range_finder;
-	packet.alt_extra = alt_extra;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ALTITUDES;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-}
-
-/**
- * @brief Encode a altitudes struct
- *
- * @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 altitudes C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_altitudes_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitudes_t* altitudes)
-{
-	return mavlink_msg_altitudes_pack(system_id, component_id, msg, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra);
-}
-
-/**
- * @brief Encode a altitudes struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param altitudes C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_altitudes_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_altitudes_t* altitudes)
-{
-	return mavlink_msg_altitudes_pack_chan(system_id, component_id, chan, msg, altitudes->time_boot_ms, altitudes->alt_gps, altitudes->alt_imu, altitudes->alt_barometric, altitudes->alt_optical_flow, altitudes->alt_range_finder, altitudes->alt_extra);
-}
-
-/**
- * @brief Send a altitudes message
- * @param chan MAVLink channel to send the message
- *
- * @param time_boot_ms Timestamp (milliseconds since system boot)
- * @param alt_gps GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
- * @param alt_imu IMU altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_barometric barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_optical_flow Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_range_finder Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
- * @param alt_extra Extra altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_altitudes_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t alt_gps, int32_t alt_imu, int32_t alt_barometric, int32_t alt_optical_flow, int32_t alt_range_finder, int32_t alt_extra)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ALTITUDES_LEN];
-	_mav_put_uint32_t(buf, 0, time_boot_ms);
-	_mav_put_int32_t(buf, 4, alt_gps);
-	_mav_put_int32_t(buf, 8, alt_imu);
-	_mav_put_int32_t(buf, 12, alt_barometric);
-	_mav_put_int32_t(buf, 16, alt_optical_flow);
-	_mav_put_int32_t(buf, 20, alt_range_finder);
-	_mav_put_int32_t(buf, 24, alt_extra);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, buf, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-#else
-	mavlink_altitudes_t packet;
-	packet.time_boot_ms = time_boot_ms;
-	packet.alt_gps = alt_gps;
-	packet.alt_imu = alt_imu;
-	packet.alt_barometric = alt_barometric;
-	packet.alt_optical_flow = alt_optical_flow;
-	packet.alt_range_finder = alt_range_finder;
-	packet.alt_extra = alt_extra;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)&packet, MAVLINK_MSG_ID_ALTITUDES_LEN, MAVLINK_MSG_ID_ALTITUDES_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDES, (const char *)&packet, MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ALTITUDES UNPACKING
-
-
-/**
- * @brief Get field time_boot_ms from altitudes message
- *
- * @return Timestamp (milliseconds since system boot)
- */
-static inline uint32_t mavlink_msg_altitudes_get_time_boot_ms(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field alt_gps from altitudes message
- *
- * @return GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
- */
-static inline int32_t mavlink_msg_altitudes_get_alt_gps(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field alt_imu from altitudes message
- *
- * @return IMU altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_altitudes_get_alt_imu(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field alt_barometric from altitudes message
- *
- * @return barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_altitudes_get_alt_barometric(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  12);
-}
-
-/**
- * @brief Get field alt_optical_flow from altitudes message
- *
- * @return Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_altitudes_get_alt_optical_flow(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  16);
-}
-
-/**
- * @brief Get field alt_range_finder from altitudes message
- *
- * @return Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_altitudes_get_alt_range_finder(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  20);
-}
-
-/**
- * @brief Get field alt_extra from altitudes message
- *
- * @return Extra altitude above ground in meters, expressed as * 1000 (millimeters)
- */
-static inline int32_t mavlink_msg_altitudes_get_alt_extra(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  24);
-}
-
-/**
- * @brief Decode a altitudes message into a struct
- *
- * @param msg The message to decode
- * @param altitudes C-struct to decode the message contents into
- */
-static inline void mavlink_msg_altitudes_decode(const mavlink_message_t* msg, mavlink_altitudes_t* altitudes)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	altitudes->time_boot_ms = mavlink_msg_altitudes_get_time_boot_ms(msg);
-	altitudes->alt_gps = mavlink_msg_altitudes_get_alt_gps(msg);
-	altitudes->alt_imu = mavlink_msg_altitudes_get_alt_imu(msg);
-	altitudes->alt_barometric = mavlink_msg_altitudes_get_alt_barometric(msg);
-	altitudes->alt_optical_flow = mavlink_msg_altitudes_get_alt_optical_flow(msg);
-	altitudes->alt_range_finder = mavlink_msg_altitudes_get_alt_range_finder(msg);
-	altitudes->alt_extra = mavlink_msg_altitudes_get_alt_extra(msg);
-#else
-	memcpy(altitudes, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ALTITUDES_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h
deleted file mode 100644
index 581bd35dc..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function.h
+++ /dev/null
@@ -1,303 +0,0 @@
-// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION 152
-
-typedef struct __mavlink_flexifunction_buffer_function_t
-{
- uint16_t func_index; ///< Function index
- uint16_t func_count; ///< Total count of functions
- uint16_t data_address; ///< Address in the flexifunction data, Set to 0xFFFF to use address in target memory
- uint16_t data_size; ///< Size of the 
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- int8_t data[48]; ///< Settings data
-} mavlink_flexifunction_buffer_function_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN 58
-#define MAVLINK_MSG_ID_152_LEN 58
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC 101
-#define MAVLINK_MSG_ID_152_CRC 101
-
-#define MAVLINK_MSG_FLEXIFUNCTION_BUFFER_FUNCTION_FIELD_DATA_LEN 48
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION { \
-	"FLEXIFUNCTION_BUFFER_FUNCTION", \
-	7, \
-	{  { "func_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_buffer_function_t, func_index) }, \
-         { "func_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_flexifunction_buffer_function_t, func_count) }, \
-         { "data_address", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_flexifunction_buffer_function_t, data_address) }, \
-         { "data_size", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_flexifunction_buffer_function_t, data_size) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_flexifunction_buffer_function_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_flexifunction_buffer_function_t, target_component) }, \
-         { "data", NULL, MAVLINK_TYPE_INT8_T, 48, 10, offsetof(mavlink_flexifunction_buffer_function_t, data) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_buffer_function 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 target_system System ID
- * @param target_component Component ID
- * @param func_index Function index
- * @param func_count Total count of functions
- * @param data_address Address in the flexifunction data, Set to 0xFFFF to use address in target memory
- * @param data_size Size of the 
- * @param data Settings data
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t func_count, uint16_t data_address, uint16_t data_size, const int8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN];
-	_mav_put_uint16_t(buf, 0, func_index);
-	_mav_put_uint16_t(buf, 2, func_count);
-	_mav_put_uint16_t(buf, 4, data_address);
-	_mav_put_uint16_t(buf, 6, data_size);
-	_mav_put_uint8_t(buf, 8, target_system);
-	_mav_put_uint8_t(buf, 9, target_component);
-	_mav_put_int8_t_array(buf, 10, data, 48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#else
-	mavlink_flexifunction_buffer_function_t packet;
-	packet.func_index = func_index;
-	packet.func_count = func_count;
-	packet.data_address = data_address;
-	packet.data_size = data_size;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	mav_array_memcpy(packet.data, data, sizeof(int8_t)*48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_buffer_function 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param func_index Function index
- * @param func_count Total count of functions
- * @param data_address Address in the flexifunction data, Set to 0xFFFF to use address in target memory
- * @param data_size Size of the 
- * @param data Settings data
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t func_index,uint16_t func_count,uint16_t data_address,uint16_t data_size,const int8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN];
-	_mav_put_uint16_t(buf, 0, func_index);
-	_mav_put_uint16_t(buf, 2, func_count);
-	_mav_put_uint16_t(buf, 4, data_address);
-	_mav_put_uint16_t(buf, 6, data_size);
-	_mav_put_uint8_t(buf, 8, target_system);
-	_mav_put_uint8_t(buf, 9, target_component);
-	_mav_put_int8_t_array(buf, 10, data, 48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#else
-	mavlink_flexifunction_buffer_function_t packet;
-	packet.func_index = func_index;
-	packet.func_count = func_count;
-	packet.data_address = data_address;
-	packet.data_size = data_size;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	mav_array_memcpy(packet.data, data, sizeof(int8_t)*48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_buffer_function struct
- *
- * @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 flexifunction_buffer_function C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_buffer_function_t* flexifunction_buffer_function)
-{
-	return mavlink_msg_flexifunction_buffer_function_pack(system_id, component_id, msg, flexifunction_buffer_function->target_system, flexifunction_buffer_function->target_component, flexifunction_buffer_function->func_index, flexifunction_buffer_function->func_count, flexifunction_buffer_function->data_address, flexifunction_buffer_function->data_size, flexifunction_buffer_function->data);
-}
-
-/**
- * @brief Encode a flexifunction_buffer_function struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_buffer_function C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_buffer_function_t* flexifunction_buffer_function)
-{
-	return mavlink_msg_flexifunction_buffer_function_pack_chan(system_id, component_id, chan, msg, flexifunction_buffer_function->target_system, flexifunction_buffer_function->target_component, flexifunction_buffer_function->func_index, flexifunction_buffer_function->func_count, flexifunction_buffer_function->data_address, flexifunction_buffer_function->data_size, flexifunction_buffer_function->data);
-}
-
-/**
- * @brief Send a flexifunction_buffer_function message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param func_index Function index
- * @param func_count Total count of functions
- * @param data_address Address in the flexifunction data, Set to 0xFFFF to use address in target memory
- * @param data_size Size of the 
- * @param data Settings data
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_buffer_function_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t func_count, uint16_t data_address, uint16_t data_size, const int8_t *data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN];
-	_mav_put_uint16_t(buf, 0, func_index);
-	_mav_put_uint16_t(buf, 2, func_count);
-	_mav_put_uint16_t(buf, 4, data_address);
-	_mav_put_uint16_t(buf, 6, data_size);
-	_mav_put_uint8_t(buf, 8, target_system);
-	_mav_put_uint8_t(buf, 9, target_component);
-	_mav_put_int8_t_array(buf, 10, data, 48);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-#else
-	mavlink_flexifunction_buffer_function_t packet;
-	packet.func_index = func_index;
-	packet.func_count = func_count;
-	packet.data_address = data_address;
-	packet.data_size = data_size;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	mav_array_memcpy(packet.data, data, sizeof(int8_t)*48);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_buffer_function message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_buffer_function_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field target_component from flexifunction_buffer_function message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_buffer_function_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Get field func_index from flexifunction_buffer_function message
- *
- * @return Function index
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_func_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field func_count from flexifunction_buffer_function message
- *
- * @return Total count of functions
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_func_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Get field data_address from flexifunction_buffer_function message
- *
- * @return Address in the flexifunction data, Set to 0xFFFF to use address in target memory
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_data_address(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field data_size from flexifunction_buffer_function message
- *
- * @return Size of the 
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_data_size(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field data from flexifunction_buffer_function message
- *
- * @return Settings data
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_get_data(const mavlink_message_t* msg, int8_t *data)
-{
-	return _MAV_RETURN_int8_t_array(msg, data, 48,  10);
-}
-
-/**
- * @brief Decode a flexifunction_buffer_function message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_buffer_function C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_buffer_function_decode(const mavlink_message_t* msg, mavlink_flexifunction_buffer_function_t* flexifunction_buffer_function)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_buffer_function->func_index = mavlink_msg_flexifunction_buffer_function_get_func_index(msg);
-	flexifunction_buffer_function->func_count = mavlink_msg_flexifunction_buffer_function_get_func_count(msg);
-	flexifunction_buffer_function->data_address = mavlink_msg_flexifunction_buffer_function_get_data_address(msg);
-	flexifunction_buffer_function->data_size = mavlink_msg_flexifunction_buffer_function_get_data_size(msg);
-	flexifunction_buffer_function->target_system = mavlink_msg_flexifunction_buffer_function_get_target_system(msg);
-	flexifunction_buffer_function->target_component = mavlink_msg_flexifunction_buffer_function_get_target_component(msg);
-	mavlink_msg_flexifunction_buffer_function_get_data(msg, flexifunction_buffer_function->data);
-#else
-	memcpy(flexifunction_buffer_function, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h
deleted file mode 100644
index 790afd52b..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_buffer_function_ack.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION_ACK PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK 153
-
-typedef struct __mavlink_flexifunction_buffer_function_ack_t
-{
- uint16_t func_index; ///< Function index
- uint16_t result; ///< result of acknowledge, 0=fail, 1=good
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_flexifunction_buffer_function_ack_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN 6
-#define MAVLINK_MSG_ID_153_LEN 6
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC 109
-#define MAVLINK_MSG_ID_153_CRC 109
-
-
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_BUFFER_FUNCTION_ACK { \
-	"FLEXIFUNCTION_BUFFER_FUNCTION_ACK", \
-	4, \
-	{  { "func_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_buffer_function_ack_t, func_index) }, \
-         { "result", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_flexifunction_buffer_function_ack_t, result) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_buffer_function_ack_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_flexifunction_buffer_function_ack_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_buffer_function_ack 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 target_system System ID
- * @param target_component Component ID
- * @param func_index Function index
- * @param result result of acknowledge, 0=fail, 1=good
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, func_index);
-	_mav_put_uint16_t(buf, 2, result);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#else
-	mavlink_flexifunction_buffer_function_ack_t packet;
-	packet.func_index = func_index;
-	packet.result = result;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_buffer_function_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param func_index Function index
- * @param result result of acknowledge, 0=fail, 1=good
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint16_t func_index,uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, func_index);
-	_mav_put_uint16_t(buf, 2, result);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#else
-	mavlink_flexifunction_buffer_function_ack_t packet;
-	packet.func_index = func_index;
-	packet.result = result;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_buffer_function_ack struct
- *
- * @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 flexifunction_buffer_function_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_buffer_function_ack_t* flexifunction_buffer_function_ack)
-{
-	return mavlink_msg_flexifunction_buffer_function_ack_pack(system_id, component_id, msg, flexifunction_buffer_function_ack->target_system, flexifunction_buffer_function_ack->target_component, flexifunction_buffer_function_ack->func_index, flexifunction_buffer_function_ack->result);
-}
-
-/**
- * @brief Encode a flexifunction_buffer_function_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_buffer_function_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_buffer_function_ack_t* flexifunction_buffer_function_ack)
-{
-	return mavlink_msg_flexifunction_buffer_function_ack_pack_chan(system_id, component_id, chan, msg, flexifunction_buffer_function_ack->target_system, flexifunction_buffer_function_ack->target_component, flexifunction_buffer_function_ack->func_index, flexifunction_buffer_function_ack->result);
-}
-
-/**
- * @brief Send a flexifunction_buffer_function_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param func_index Function index
- * @param result result of acknowledge, 0=fail, 1=good
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_buffer_function_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t func_index, uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, func_index);
-	_mav_put_uint16_t(buf, 2, result);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-#else
-	mavlink_flexifunction_buffer_function_ack_t packet;
-	packet.func_index = func_index;
-	packet.result = result;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_BUFFER_FUNCTION_ACK UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_buffer_function_ack message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_buffer_function_ack_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from flexifunction_buffer_function_ack message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_buffer_function_ack_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field func_index from flexifunction_buffer_function_ack message
- *
- * @return Function index
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_get_func_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field result from flexifunction_buffer_function_ack message
- *
- * @return result of acknowledge, 0=fail, 1=good
- */
-static inline uint16_t mavlink_msg_flexifunction_buffer_function_ack_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a flexifunction_buffer_function_ack message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_buffer_function_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_buffer_function_ack_decode(const mavlink_message_t* msg, mavlink_flexifunction_buffer_function_ack_t* flexifunction_buffer_function_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_buffer_function_ack->func_index = mavlink_msg_flexifunction_buffer_function_ack_get_func_index(msg);
-	flexifunction_buffer_function_ack->result = mavlink_msg_flexifunction_buffer_function_ack_get_result(msg);
-	flexifunction_buffer_function_ack->target_system = mavlink_msg_flexifunction_buffer_function_ack_get_target_system(msg);
-	flexifunction_buffer_function_ack->target_component = mavlink_msg_flexifunction_buffer_function_ack_get_target_component(msg);
-#else
-	memcpy(flexifunction_buffer_function_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_BUFFER_FUNCTION_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h
deleted file mode 100644
index ce722c8a4..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command.h
+++ /dev/null
@@ -1,221 +0,0 @@
-// MESSAGE FLEXIFUNCTION_COMMAND PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND 157
-
-typedef struct __mavlink_flexifunction_command_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t command_type; ///< Flexifunction command type
-} mavlink_flexifunction_command_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN 3
-#define MAVLINK_MSG_ID_157_LEN 3
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC 133
-#define MAVLINK_MSG_ID_157_CRC 133
-
-
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND { \
-	"FLEXIFUNCTION_COMMAND", \
-	3, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_flexifunction_command_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_flexifunction_command_t, target_component) }, \
-         { "command_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_flexifunction_command_t, command_type) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_command 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 target_system System ID
- * @param target_component Component ID
- * @param command_type Flexifunction command type
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t command_type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, command_type);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#else
-	mavlink_flexifunction_command_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.command_type = command_type;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_command 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param command_type Flexifunction command type
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t command_type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, command_type);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#else
-	mavlink_flexifunction_command_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.command_type = command_type;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_command struct
- *
- * @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 flexifunction_command C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_command_t* flexifunction_command)
-{
-	return mavlink_msg_flexifunction_command_pack(system_id, component_id, msg, flexifunction_command->target_system, flexifunction_command->target_component, flexifunction_command->command_type);
-}
-
-/**
- * @brief Encode a flexifunction_command struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_command C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_command_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_command_t* flexifunction_command)
-{
-	return mavlink_msg_flexifunction_command_pack_chan(system_id, component_id, chan, msg, flexifunction_command->target_system, flexifunction_command->target_component, flexifunction_command->command_type);
-}
-
-/**
- * @brief Send a flexifunction_command message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param command_type Flexifunction command type
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command_type)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, command_type);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-#else
-	mavlink_flexifunction_command_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.command_type = command_type;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_COMMAND UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_command message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_command_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from flexifunction_command message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_command_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field command_type from flexifunction_command message
- *
- * @return Flexifunction command type
- */
-static inline uint8_t mavlink_msg_flexifunction_command_get_command_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Decode a flexifunction_command message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_command C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_command_decode(const mavlink_message_t* msg, mavlink_flexifunction_command_t* flexifunction_command)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_command->target_system = mavlink_msg_flexifunction_command_get_target_system(msg);
-	flexifunction_command->target_component = mavlink_msg_flexifunction_command_get_target_component(msg);
-	flexifunction_command->command_type = mavlink_msg_flexifunction_command_get_command_type(msg);
-#else
-	memcpy(flexifunction_command, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h
deleted file mode 100644
index 070dc4bf8..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_command_ack.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE FLEXIFUNCTION_COMMAND_ACK PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK 158
-
-typedef struct __mavlink_flexifunction_command_ack_t
-{
- uint16_t command_type; ///< Command acknowledged
- uint16_t result; ///< result of acknowledge
-} mavlink_flexifunction_command_ack_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN 4
-#define MAVLINK_MSG_ID_158_LEN 4
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC 208
-#define MAVLINK_MSG_ID_158_CRC 208
-
-
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_COMMAND_ACK { \
-	"FLEXIFUNCTION_COMMAND_ACK", \
-	2, \
-	{  { "command_type", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_command_ack_t, command_type) }, \
-         { "result", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_flexifunction_command_ack_t, result) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_command_ack 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 command_type Command acknowledged
- * @param result result of acknowledge
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t command_type, uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, command_type);
-	_mav_put_uint16_t(buf, 2, result);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#else
-	mavlink_flexifunction_command_ack_t packet;
-	packet.command_type = command_type;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_command_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param command_type Command acknowledged
- * @param result result of acknowledge
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t command_type,uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, command_type);
-	_mav_put_uint16_t(buf, 2, result);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#else
-	mavlink_flexifunction_command_ack_t packet;
-	packet.command_type = command_type;
-	packet.result = result;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_command_ack struct
- *
- * @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 flexifunction_command_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_command_ack_t* flexifunction_command_ack)
-{
-	return mavlink_msg_flexifunction_command_ack_pack(system_id, component_id, msg, flexifunction_command_ack->command_type, flexifunction_command_ack->result);
-}
-
-/**
- * @brief Encode a flexifunction_command_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_command_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_command_ack_t* flexifunction_command_ack)
-{
-	return mavlink_msg_flexifunction_command_ack_pack_chan(system_id, component_id, chan, msg, flexifunction_command_ack->command_type, flexifunction_command_ack->result);
-}
-
-/**
- * @brief Send a flexifunction_command_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param command_type Command acknowledged
- * @param result result of acknowledge
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_command_ack_send(mavlink_channel_t chan, uint16_t command_type, uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, command_type);
-	_mav_put_uint16_t(buf, 2, result);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-#else
-	mavlink_flexifunction_command_ack_t packet;
-	packet.command_type = command_type;
-	packet.result = result;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_COMMAND_ACK UNPACKING
-
-
-/**
- * @brief Get field command_type from flexifunction_command_ack message
- *
- * @return Command acknowledged
- */
-static inline uint16_t mavlink_msg_flexifunction_command_ack_get_command_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field result from flexifunction_command_ack message
- *
- * @return result of acknowledge
- */
-static inline uint16_t mavlink_msg_flexifunction_command_ack_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a flexifunction_command_ack message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_command_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_command_ack_decode(const mavlink_message_t* msg, mavlink_flexifunction_command_ack_t* flexifunction_command_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_command_ack->command_type = mavlink_msg_flexifunction_command_ack_get_command_type(msg);
-	flexifunction_command_ack->result = mavlink_msg_flexifunction_command_ack_get_result(msg);
-#else
-	memcpy(flexifunction_command_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_COMMAND_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h
deleted file mode 100644
index ef262a6b1..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory.h
+++ /dev/null
@@ -1,281 +0,0 @@
-// MESSAGE FLEXIFUNCTION_DIRECTORY PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY 155
-
-typedef struct __mavlink_flexifunction_directory_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t directory_type; ///< 0=inputs, 1=outputs
- uint8_t start_index; ///< index of first directory entry to write
- uint8_t count; ///< count of directory entries to write
- int8_t directory_data[48]; ///< Settings data
-} mavlink_flexifunction_directory_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN 53
-#define MAVLINK_MSG_ID_155_LEN 53
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC 12
-#define MAVLINK_MSG_ID_155_CRC 12
-
-#define MAVLINK_MSG_FLEXIFUNCTION_DIRECTORY_FIELD_DIRECTORY_DATA_LEN 48
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY { \
-	"FLEXIFUNCTION_DIRECTORY", \
-	6, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_flexifunction_directory_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_flexifunction_directory_t, target_component) }, \
-         { "directory_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_flexifunction_directory_t, directory_type) }, \
-         { "start_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_flexifunction_directory_t, start_index) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_directory_t, count) }, \
-         { "directory_data", NULL, MAVLINK_TYPE_INT8_T, 48, 5, offsetof(mavlink_flexifunction_directory_t, directory_data) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_directory 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 target_system System ID
- * @param target_component Component ID
- * @param directory_type 0=inputs, 1=outputs
- * @param start_index index of first directory entry to write
- * @param count count of directory entries to write
- * @param directory_data Settings data
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, const int8_t *directory_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, directory_type);
-	_mav_put_uint8_t(buf, 3, start_index);
-	_mav_put_uint8_t(buf, 4, count);
-	_mav_put_int8_t_array(buf, 5, directory_data, 48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#else
-	mavlink_flexifunction_directory_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.directory_type = directory_type;
-	packet.start_index = start_index;
-	packet.count = count;
-	mav_array_memcpy(packet.directory_data, directory_data, sizeof(int8_t)*48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_directory 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param directory_type 0=inputs, 1=outputs
- * @param start_index index of first directory entry to write
- * @param count count of directory entries to write
- * @param directory_data Settings data
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t directory_type,uint8_t start_index,uint8_t count,const int8_t *directory_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, directory_type);
-	_mav_put_uint8_t(buf, 3, start_index);
-	_mav_put_uint8_t(buf, 4, count);
-	_mav_put_int8_t_array(buf, 5, directory_data, 48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#else
-	mavlink_flexifunction_directory_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.directory_type = directory_type;
-	packet.start_index = start_index;
-	packet.count = count;
-	mav_array_memcpy(packet.directory_data, directory_data, sizeof(int8_t)*48);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_directory struct
- *
- * @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 flexifunction_directory C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_directory_t* flexifunction_directory)
-{
-	return mavlink_msg_flexifunction_directory_pack(system_id, component_id, msg, flexifunction_directory->target_system, flexifunction_directory->target_component, flexifunction_directory->directory_type, flexifunction_directory->start_index, flexifunction_directory->count, flexifunction_directory->directory_data);
-}
-
-/**
- * @brief Encode a flexifunction_directory struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_directory C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_directory_t* flexifunction_directory)
-{
-	return mavlink_msg_flexifunction_directory_pack_chan(system_id, component_id, chan, msg, flexifunction_directory->target_system, flexifunction_directory->target_component, flexifunction_directory->directory_type, flexifunction_directory->start_index, flexifunction_directory->count, flexifunction_directory->directory_data);
-}
-
-/**
- * @brief Send a flexifunction_directory message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param directory_type 0=inputs, 1=outputs
- * @param start_index index of first directory entry to write
- * @param count count of directory entries to write
- * @param directory_data Settings data
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_directory_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, const int8_t *directory_data)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-	_mav_put_uint8_t(buf, 2, directory_type);
-	_mav_put_uint8_t(buf, 3, start_index);
-	_mav_put_uint8_t(buf, 4, count);
-	_mav_put_int8_t_array(buf, 5, directory_data, 48);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-#else
-	mavlink_flexifunction_directory_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.directory_type = directory_type;
-	packet.start_index = start_index;
-	packet.count = count;
-	mav_array_memcpy(packet.directory_data, directory_data, sizeof(int8_t)*48);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_DIRECTORY UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_directory message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from flexifunction_directory message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field directory_type from flexifunction_directory message
- *
- * @return 0=inputs, 1=outputs
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_get_directory_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field start_index from flexifunction_directory message
- *
- * @return index of first directory entry to write
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_get_start_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field count from flexifunction_directory message
- *
- * @return count of directory entries to write
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field directory_data from flexifunction_directory message
- *
- * @return Settings data
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_get_directory_data(const mavlink_message_t* msg, int8_t *directory_data)
-{
-	return _MAV_RETURN_int8_t_array(msg, directory_data, 48,  5);
-}
-
-/**
- * @brief Decode a flexifunction_directory message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_directory C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_directory_decode(const mavlink_message_t* msg, mavlink_flexifunction_directory_t* flexifunction_directory)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_directory->target_system = mavlink_msg_flexifunction_directory_get_target_system(msg);
-	flexifunction_directory->target_component = mavlink_msg_flexifunction_directory_get_target_component(msg);
-	flexifunction_directory->directory_type = mavlink_msg_flexifunction_directory_get_directory_type(msg);
-	flexifunction_directory->start_index = mavlink_msg_flexifunction_directory_get_start_index(msg);
-	flexifunction_directory->count = mavlink_msg_flexifunction_directory_get_count(msg);
-	mavlink_msg_flexifunction_directory_get_directory_data(msg, flexifunction_directory->directory_data);
-#else
-	memcpy(flexifunction_directory, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h
deleted file mode 100644
index d3a386ce5..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_directory_ack.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE FLEXIFUNCTION_DIRECTORY_ACK PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK 156
-
-typedef struct __mavlink_flexifunction_directory_ack_t
-{
- uint16_t result; ///< result of acknowledge, 0=fail, 1=good
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
- uint8_t directory_type; ///< 0=inputs, 1=outputs
- uint8_t start_index; ///< index of first directory entry to write
- uint8_t count; ///< count of directory entries to write
-} mavlink_flexifunction_directory_ack_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN 7
-#define MAVLINK_MSG_ID_156_LEN 7
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC 218
-#define MAVLINK_MSG_ID_156_CRC 218
-
-
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_DIRECTORY_ACK { \
-	"FLEXIFUNCTION_DIRECTORY_ACK", \
-	6, \
-	{  { "result", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_flexifunction_directory_ack_t, result) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_flexifunction_directory_ack_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_flexifunction_directory_ack_t, target_component) }, \
-         { "directory_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_directory_ack_t, directory_type) }, \
-         { "start_index", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_flexifunction_directory_ack_t, start_index) }, \
-         { "count", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_flexifunction_directory_ack_t, count) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_directory_ack 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 target_system System ID
- * @param target_component Component ID
- * @param directory_type 0=inputs, 1=outputs
- * @param start_index index of first directory entry to write
- * @param count count of directory entries to write
- * @param result result of acknowledge, 0=fail, 1=good
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, result);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_uint8_t(buf, 4, directory_type);
-	_mav_put_uint8_t(buf, 5, start_index);
-	_mav_put_uint8_t(buf, 6, count);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#else
-	mavlink_flexifunction_directory_ack_t packet;
-	packet.result = result;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.directory_type = directory_type;
-	packet.start_index = start_index;
-	packet.count = count;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_directory_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param directory_type 0=inputs, 1=outputs
- * @param start_index index of first directory entry to write
- * @param count count of directory entries to write
- * @param result result of acknowledge, 0=fail, 1=good
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,uint8_t directory_type,uint8_t start_index,uint8_t count,uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, result);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_uint8_t(buf, 4, directory_type);
-	_mav_put_uint8_t(buf, 5, start_index);
-	_mav_put_uint8_t(buf, 6, count);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#else
-	mavlink_flexifunction_directory_ack_t packet;
-	packet.result = result;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.directory_type = directory_type;
-	packet.start_index = start_index;
-	packet.count = count;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_directory_ack struct
- *
- * @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 flexifunction_directory_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_directory_ack_t* flexifunction_directory_ack)
-{
-	return mavlink_msg_flexifunction_directory_ack_pack(system_id, component_id, msg, flexifunction_directory_ack->target_system, flexifunction_directory_ack->target_component, flexifunction_directory_ack->directory_type, flexifunction_directory_ack->start_index, flexifunction_directory_ack->count, flexifunction_directory_ack->result);
-}
-
-/**
- * @brief Encode a flexifunction_directory_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_directory_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_directory_ack_t* flexifunction_directory_ack)
-{
-	return mavlink_msg_flexifunction_directory_ack_pack_chan(system_id, component_id, chan, msg, flexifunction_directory_ack->target_system, flexifunction_directory_ack->target_component, flexifunction_directory_ack->directory_type, flexifunction_directory_ack->start_index, flexifunction_directory_ack->count, flexifunction_directory_ack->result);
-}
-
-/**
- * @brief Send a flexifunction_directory_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param directory_type 0=inputs, 1=outputs
- * @param start_index index of first directory entry to write
- * @param count count of directory entries to write
- * @param result result of acknowledge, 0=fail, 1=good
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_directory_ack_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t directory_type, uint8_t start_index, uint8_t count, uint16_t result)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN];
-	_mav_put_uint16_t(buf, 0, result);
-	_mav_put_uint8_t(buf, 2, target_system);
-	_mav_put_uint8_t(buf, 3, target_component);
-	_mav_put_uint8_t(buf, 4, directory_type);
-	_mav_put_uint8_t(buf, 5, start_index);
-	_mav_put_uint8_t(buf, 6, count);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-#else
-	mavlink_flexifunction_directory_ack_t packet;
-	packet.result = result;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-	packet.directory_type = directory_type;
-	packet.start_index = start_index;
-	packet.count = count;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_DIRECTORY_ACK UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_directory_ack message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field target_component from flexifunction_directory_ack message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field directory_type from flexifunction_directory_ack message
- *
- * @return 0=inputs, 1=outputs
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_directory_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field start_index from flexifunction_directory_ack message
- *
- * @return index of first directory entry to write
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_start_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field count from flexifunction_directory_ack message
- *
- * @return count of directory entries to write
- */
-static inline uint8_t mavlink_msg_flexifunction_directory_ack_get_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field result from flexifunction_directory_ack message
- *
- * @return result of acknowledge, 0=fail, 1=good
- */
-static inline uint16_t mavlink_msg_flexifunction_directory_ack_get_result(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Decode a flexifunction_directory_ack message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_directory_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_directory_ack_decode(const mavlink_message_t* msg, mavlink_flexifunction_directory_ack_t* flexifunction_directory_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_directory_ack->result = mavlink_msg_flexifunction_directory_ack_get_result(msg);
-	flexifunction_directory_ack->target_system = mavlink_msg_flexifunction_directory_ack_get_target_system(msg);
-	flexifunction_directory_ack->target_component = mavlink_msg_flexifunction_directory_ack_get_target_component(msg);
-	flexifunction_directory_ack->directory_type = mavlink_msg_flexifunction_directory_ack_get_directory_type(msg);
-	flexifunction_directory_ack->start_index = mavlink_msg_flexifunction_directory_ack_get_start_index(msg);
-	flexifunction_directory_ack->count = mavlink_msg_flexifunction_directory_ack_get_count(msg);
-#else
-	memcpy(flexifunction_directory_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_DIRECTORY_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h
deleted file mode 100644
index e50f77b08..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_read_req.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE FLEXIFUNCTION_READ_REQ PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ 151
-
-typedef struct __mavlink_flexifunction_read_req_t
-{
- int16_t read_req_type; ///< Type of flexifunction data requested
- int16_t data_index; ///< index into data where needed
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_flexifunction_read_req_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN 6
-#define MAVLINK_MSG_ID_151_LEN 6
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC 26
-#define MAVLINK_MSG_ID_151_CRC 26
-
-
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_READ_REQ { \
-	"FLEXIFUNCTION_READ_REQ", \
-	4, \
-	{  { "read_req_type", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_flexifunction_read_req_t, read_req_type) }, \
-         { "data_index", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_flexifunction_read_req_t, data_index) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_flexifunction_read_req_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_flexifunction_read_req_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_read_req 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 target_system System ID
- * @param target_component Component ID
- * @param read_req_type Type of flexifunction data requested
- * @param data_index index into data where needed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_read_req_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, int16_t read_req_type, int16_t data_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN];
-	_mav_put_int16_t(buf, 0, read_req_type);
-	_mav_put_int16_t(buf, 2, data_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#else
-	mavlink_flexifunction_read_req_t packet;
-	packet.read_req_type = read_req_type;
-	packet.data_index = data_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_read_req 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param read_req_type Type of flexifunction data requested
- * @param data_index index into data where needed
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_read_req_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,int16_t read_req_type,int16_t data_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN];
-	_mav_put_int16_t(buf, 0, read_req_type);
-	_mav_put_int16_t(buf, 2, data_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#else
-	mavlink_flexifunction_read_req_t packet;
-	packet.read_req_type = read_req_type;
-	packet.data_index = data_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_read_req struct
- *
- * @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 flexifunction_read_req C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_read_req_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_read_req_t* flexifunction_read_req)
-{
-	return mavlink_msg_flexifunction_read_req_pack(system_id, component_id, msg, flexifunction_read_req->target_system, flexifunction_read_req->target_component, flexifunction_read_req->read_req_type, flexifunction_read_req->data_index);
-}
-
-/**
- * @brief Encode a flexifunction_read_req struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_read_req C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_read_req_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_read_req_t* flexifunction_read_req)
-{
-	return mavlink_msg_flexifunction_read_req_pack_chan(system_id, component_id, chan, msg, flexifunction_read_req->target_system, flexifunction_read_req->target_component, flexifunction_read_req->read_req_type, flexifunction_read_req->data_index);
-}
-
-/**
- * @brief Send a flexifunction_read_req message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param read_req_type Type of flexifunction data requested
- * @param data_index index into data where needed
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_read_req_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t read_req_type, int16_t data_index)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN];
-	_mav_put_int16_t(buf, 0, read_req_type);
-	_mav_put_int16_t(buf, 2, data_index);
-	_mav_put_uint8_t(buf, 4, target_system);
-	_mav_put_uint8_t(buf, 5, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-#else
-	mavlink_flexifunction_read_req_t packet;
-	packet.read_req_type = read_req_type;
-	packet.data_index = data_index;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_READ_REQ UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_read_req message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_read_req_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field target_component from flexifunction_read_req message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_read_req_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field read_req_type from flexifunction_read_req message
- *
- * @return Type of flexifunction data requested
- */
-static inline int16_t mavlink_msg_flexifunction_read_req_get_read_req_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  0);
-}
-
-/**
- * @brief Get field data_index from flexifunction_read_req message
- *
- * @return index into data where needed
- */
-static inline int16_t mavlink_msg_flexifunction_read_req_get_data_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  2);
-}
-
-/**
- * @brief Decode a flexifunction_read_req message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_read_req C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_read_req_decode(const mavlink_message_t* msg, mavlink_flexifunction_read_req_t* flexifunction_read_req)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_read_req->read_req_type = mavlink_msg_flexifunction_read_req_get_read_req_type(msg);
-	flexifunction_read_req->data_index = mavlink_msg_flexifunction_read_req_get_data_index(msg);
-	flexifunction_read_req->target_system = mavlink_msg_flexifunction_read_req_get_target_system(msg);
-	flexifunction_read_req->target_component = mavlink_msg_flexifunction_read_req_get_target_component(msg);
-#else
-	memcpy(flexifunction_read_req, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_READ_REQ_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h
deleted file mode 100644
index 41afb3811..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_flexifunction_set.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE FLEXIFUNCTION_SET PACKING
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_SET 150
-
-typedef struct __mavlink_flexifunction_set_t
-{
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_flexifunction_set_t;
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN 2
-#define MAVLINK_MSG_ID_150_LEN 2
-
-#define MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC 181
-#define MAVLINK_MSG_ID_150_CRC 181
-
-
-
-#define MAVLINK_MESSAGE_INFO_FLEXIFUNCTION_SET { \
-	"FLEXIFUNCTION_SET", \
-	2, \
-	{  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_flexifunction_set_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_flexifunction_set_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a flexifunction_set 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 target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#else
-	mavlink_flexifunction_set_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_SET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-}
-
-/**
- * @brief Pack a flexifunction_set 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_flexifunction_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#else
-	mavlink_flexifunction_set_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FLEXIFUNCTION_SET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-}
-
-/**
- * @brief Encode a flexifunction_set struct
- *
- * @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 flexifunction_set C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_flexifunction_set_t* flexifunction_set)
-{
-	return mavlink_msg_flexifunction_set_pack(system_id, component_id, msg, flexifunction_set->target_system, flexifunction_set->target_component);
-}
-
-/**
- * @brief Encode a flexifunction_set struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param flexifunction_set C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_flexifunction_set_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_flexifunction_set_t* flexifunction_set)
-{
-	return mavlink_msg_flexifunction_set_pack_chan(system_id, component_id, chan, msg, flexifunction_set->target_system, flexifunction_set->target_component);
-}
-
-/**
- * @brief Send a flexifunction_set message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_flexifunction_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN];
-	_mav_put_uint8_t(buf, 0, target_system);
-	_mav_put_uint8_t(buf, 1, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, buf, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-#else
-	mavlink_flexifunction_set_t packet;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FLEXIFUNCTION_SET, (const char *)&packet, MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FLEXIFUNCTION_SET UNPACKING
-
-
-/**
- * @brief Get field target_system from flexifunction_set message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_flexifunction_set_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field target_component from flexifunction_set message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_flexifunction_set_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Decode a flexifunction_set message into a struct
- *
- * @param msg The message to decode
- * @param flexifunction_set C-struct to decode the message contents into
- */
-static inline void mavlink_msg_flexifunction_set_decode(const mavlink_message_t* msg, mavlink_flexifunction_set_t* flexifunction_set)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	flexifunction_set->target_system = mavlink_msg_flexifunction_set_get_target_system(msg);
-	flexifunction_set->target_component = mavlink_msg_flexifunction_set_get_target_component(msg);
-#else
-	memcpy(flexifunction_set, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FLEXIFUNCTION_SET_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h
deleted file mode 100644
index d21ab4816..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f13.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F13 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13 177
-
-typedef struct __mavlink_serial_udb_extra_f13_t
-{
- int32_t sue_lat_origin; ///< Serial UDB Extra MP Origin Latitude
- int32_t sue_lon_origin; ///< Serial UDB Extra MP Origin Longitude
- int32_t sue_alt_origin; ///< Serial UDB Extra MP Origin Altitude Above Sea Level
- int16_t sue_week_no; ///< Serial UDB Extra GPS Week Number
-} mavlink_serial_udb_extra_f13_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN 14
-#define MAVLINK_MSG_ID_177_LEN 14
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC 249
-#define MAVLINK_MSG_ID_177_CRC 249
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F13 { \
-	"SERIAL_UDB_EXTRA_F13", \
-	4, \
-	{  { "sue_lat_origin", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f13_t, sue_lat_origin) }, \
-         { "sue_lon_origin", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_serial_udb_extra_f13_t, sue_lon_origin) }, \
-         { "sue_alt_origin", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_serial_udb_extra_f13_t, sue_alt_origin) }, \
-         { "sue_week_no", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_serial_udb_extra_f13_t, sue_week_no) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f13 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 sue_week_no Serial UDB Extra GPS Week Number
- * @param sue_lat_origin Serial UDB Extra MP Origin Latitude
- * @param sue_lon_origin Serial UDB Extra MP Origin Longitude
- * @param sue_alt_origin Serial UDB Extra MP Origin Altitude Above Sea Level
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f13_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int16_t sue_week_no, int32_t sue_lat_origin, int32_t sue_lon_origin, int32_t sue_alt_origin)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN];
-	_mav_put_int32_t(buf, 0, sue_lat_origin);
-	_mav_put_int32_t(buf, 4, sue_lon_origin);
-	_mav_put_int32_t(buf, 8, sue_alt_origin);
-	_mav_put_int16_t(buf, 12, sue_week_no);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#else
-	mavlink_serial_udb_extra_f13_t packet;
-	packet.sue_lat_origin = sue_lat_origin;
-	packet.sue_lon_origin = sue_lon_origin;
-	packet.sue_alt_origin = sue_alt_origin;
-	packet.sue_week_no = sue_week_no;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f13 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_week_no Serial UDB Extra GPS Week Number
- * @param sue_lat_origin Serial UDB Extra MP Origin Latitude
- * @param sue_lon_origin Serial UDB Extra MP Origin Longitude
- * @param sue_alt_origin Serial UDB Extra MP Origin Altitude Above Sea Level
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f13_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int16_t sue_week_no,int32_t sue_lat_origin,int32_t sue_lon_origin,int32_t sue_alt_origin)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN];
-	_mav_put_int32_t(buf, 0, sue_lat_origin);
-	_mav_put_int32_t(buf, 4, sue_lon_origin);
-	_mav_put_int32_t(buf, 8, sue_alt_origin);
-	_mav_put_int16_t(buf, 12, sue_week_no);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#else
-	mavlink_serial_udb_extra_f13_t packet;
-	packet.sue_lat_origin = sue_lat_origin;
-	packet.sue_lon_origin = sue_lon_origin;
-	packet.sue_alt_origin = sue_alt_origin;
-	packet.sue_week_no = sue_week_no;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f13 struct
- *
- * @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 serial_udb_extra_f13 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f13_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f13_t* serial_udb_extra_f13)
-{
-	return mavlink_msg_serial_udb_extra_f13_pack(system_id, component_id, msg, serial_udb_extra_f13->sue_week_no, serial_udb_extra_f13->sue_lat_origin, serial_udb_extra_f13->sue_lon_origin, serial_udb_extra_f13->sue_alt_origin);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f13 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f13 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f13_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f13_t* serial_udb_extra_f13)
-{
-	return mavlink_msg_serial_udb_extra_f13_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f13->sue_week_no, serial_udb_extra_f13->sue_lat_origin, serial_udb_extra_f13->sue_lon_origin, serial_udb_extra_f13->sue_alt_origin);
-}
-
-/**
- * @brief Send a serial_udb_extra_f13 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_week_no Serial UDB Extra GPS Week Number
- * @param sue_lat_origin Serial UDB Extra MP Origin Latitude
- * @param sue_lon_origin Serial UDB Extra MP Origin Longitude
- * @param sue_alt_origin Serial UDB Extra MP Origin Altitude Above Sea Level
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f13_send(mavlink_channel_t chan, int16_t sue_week_no, int32_t sue_lat_origin, int32_t sue_lon_origin, int32_t sue_alt_origin)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN];
-	_mav_put_int32_t(buf, 0, sue_lat_origin);
-	_mav_put_int32_t(buf, 4, sue_lon_origin);
-	_mav_put_int32_t(buf, 8, sue_alt_origin);
-	_mav_put_int16_t(buf, 12, sue_week_no);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f13_t packet;
-	packet.sue_lat_origin = sue_lat_origin;
-	packet.sue_lon_origin = sue_lon_origin;
-	packet.sue_alt_origin = sue_alt_origin;
-	packet.sue_week_no = sue_week_no;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F13 UNPACKING
-
-
-/**
- * @brief Get field sue_week_no from serial_udb_extra_f13 message
- *
- * @return Serial UDB Extra GPS Week Number
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f13_get_sue_week_no(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field sue_lat_origin from serial_udb_extra_f13 message
- *
- * @return Serial UDB Extra MP Origin Latitude
- */
-static inline int32_t mavlink_msg_serial_udb_extra_f13_get_sue_lat_origin(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field sue_lon_origin from serial_udb_extra_f13 message
- *
- * @return Serial UDB Extra MP Origin Longitude
- */
-static inline int32_t mavlink_msg_serial_udb_extra_f13_get_sue_lon_origin(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field sue_alt_origin from serial_udb_extra_f13 message
- *
- * @return Serial UDB Extra MP Origin Altitude Above Sea Level
- */
-static inline int32_t mavlink_msg_serial_udb_extra_f13_get_sue_alt_origin(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f13 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f13 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f13_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f13_t* serial_udb_extra_f13)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f13->sue_lat_origin = mavlink_msg_serial_udb_extra_f13_get_sue_lat_origin(msg);
-	serial_udb_extra_f13->sue_lon_origin = mavlink_msg_serial_udb_extra_f13_get_sue_lon_origin(msg);
-	serial_udb_extra_f13->sue_alt_origin = mavlink_msg_serial_udb_extra_f13_get_sue_alt_origin(msg);
-	serial_udb_extra_f13->sue_week_no = mavlink_msg_serial_udb_extra_f13_get_sue_week_no(msg);
-#else
-	memcpy(serial_udb_extra_f13, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F13_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h
deleted file mode 100644
index 6ac12f28a..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f14.h
+++ /dev/null
@@ -1,397 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F14 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14 178
-
-typedef struct __mavlink_serial_udb_extra_f14_t
-{
- uint32_t sue_TRAP_SOURCE; ///< Serial UDB Extra Type Program Address of Last Trap
- int16_t sue_RCON; ///< Serial UDB Extra Reboot Regitster of DSPIC
- int16_t sue_TRAP_FLAGS; ///< Serial UDB Extra  Last dspic Trap Flags
- int16_t sue_osc_fail_count; ///< Serial UDB Extra Number of Ocillator Failures
- uint8_t sue_WIND_ESTIMATION; ///< Serial UDB Extra Wind Estimation Enabled
- uint8_t sue_GPS_TYPE; ///< Serial UDB Extra Type of GPS Unit
- uint8_t sue_DR; ///< Serial UDB Extra Dead Reckoning Enabled
- uint8_t sue_BOARD_TYPE; ///< Serial UDB Extra Type of UDB Hardware
- uint8_t sue_AIRFRAME; ///< Serial UDB Extra Type of Airframe
- uint8_t sue_CLOCK_CONFIG; ///< Serial UDB Extra UDB Internal Clock Configuration
- uint8_t sue_FLIGHT_PLAN_TYPE; ///< Serial UDB Extra Type of Flight Plan
-} mavlink_serial_udb_extra_f14_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN 17
-#define MAVLINK_MSG_ID_178_LEN 17
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC 123
-#define MAVLINK_MSG_ID_178_CRC 123
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F14 { \
-	"SERIAL_UDB_EXTRA_F14", \
-	11, \
-	{  { "sue_TRAP_SOURCE", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f14_t, sue_TRAP_SOURCE) }, \
-         { "sue_RCON", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_serial_udb_extra_f14_t, sue_RCON) }, \
-         { "sue_TRAP_FLAGS", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_serial_udb_extra_f14_t, sue_TRAP_FLAGS) }, \
-         { "sue_osc_fail_count", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_serial_udb_extra_f14_t, sue_osc_fail_count) }, \
-         { "sue_WIND_ESTIMATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_serial_udb_extra_f14_t, sue_WIND_ESTIMATION) }, \
-         { "sue_GPS_TYPE", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_serial_udb_extra_f14_t, sue_GPS_TYPE) }, \
-         { "sue_DR", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_serial_udb_extra_f14_t, sue_DR) }, \
-         { "sue_BOARD_TYPE", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_serial_udb_extra_f14_t, sue_BOARD_TYPE) }, \
-         { "sue_AIRFRAME", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_serial_udb_extra_f14_t, sue_AIRFRAME) }, \
-         { "sue_CLOCK_CONFIG", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_serial_udb_extra_f14_t, sue_CLOCK_CONFIG) }, \
-         { "sue_FLIGHT_PLAN_TYPE", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_serial_udb_extra_f14_t, sue_FLIGHT_PLAN_TYPE) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f14 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 sue_WIND_ESTIMATION Serial UDB Extra Wind Estimation Enabled
- * @param sue_GPS_TYPE Serial UDB Extra Type of GPS Unit
- * @param sue_DR Serial UDB Extra Dead Reckoning Enabled
- * @param sue_BOARD_TYPE Serial UDB Extra Type of UDB Hardware
- * @param sue_AIRFRAME Serial UDB Extra Type of Airframe
- * @param sue_RCON Serial UDB Extra Reboot Regitster of DSPIC
- * @param sue_TRAP_FLAGS Serial UDB Extra  Last dspic Trap Flags
- * @param sue_TRAP_SOURCE Serial UDB Extra Type Program Address of Last Trap
- * @param sue_osc_fail_count Serial UDB Extra Number of Ocillator Failures
- * @param sue_CLOCK_CONFIG Serial UDB Extra UDB Internal Clock Configuration
- * @param sue_FLIGHT_PLAN_TYPE Serial UDB Extra Type of Flight Plan
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f14_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t sue_WIND_ESTIMATION, uint8_t sue_GPS_TYPE, uint8_t sue_DR, uint8_t sue_BOARD_TYPE, uint8_t sue_AIRFRAME, int16_t sue_RCON, int16_t sue_TRAP_FLAGS, uint32_t sue_TRAP_SOURCE, int16_t sue_osc_fail_count, uint8_t sue_CLOCK_CONFIG, uint8_t sue_FLIGHT_PLAN_TYPE)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN];
-	_mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE);
-	_mav_put_int16_t(buf, 4, sue_RCON);
-	_mav_put_int16_t(buf, 6, sue_TRAP_FLAGS);
-	_mav_put_int16_t(buf, 8, sue_osc_fail_count);
-	_mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION);
-	_mav_put_uint8_t(buf, 11, sue_GPS_TYPE);
-	_mav_put_uint8_t(buf, 12, sue_DR);
-	_mav_put_uint8_t(buf, 13, sue_BOARD_TYPE);
-	_mav_put_uint8_t(buf, 14, sue_AIRFRAME);
-	_mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG);
-	_mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#else
-	mavlink_serial_udb_extra_f14_t packet;
-	packet.sue_TRAP_SOURCE = sue_TRAP_SOURCE;
-	packet.sue_RCON = sue_RCON;
-	packet.sue_TRAP_FLAGS = sue_TRAP_FLAGS;
-	packet.sue_osc_fail_count = sue_osc_fail_count;
-	packet.sue_WIND_ESTIMATION = sue_WIND_ESTIMATION;
-	packet.sue_GPS_TYPE = sue_GPS_TYPE;
-	packet.sue_DR = sue_DR;
-	packet.sue_BOARD_TYPE = sue_BOARD_TYPE;
-	packet.sue_AIRFRAME = sue_AIRFRAME;
-	packet.sue_CLOCK_CONFIG = sue_CLOCK_CONFIG;
-	packet.sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f14 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_WIND_ESTIMATION Serial UDB Extra Wind Estimation Enabled
- * @param sue_GPS_TYPE Serial UDB Extra Type of GPS Unit
- * @param sue_DR Serial UDB Extra Dead Reckoning Enabled
- * @param sue_BOARD_TYPE Serial UDB Extra Type of UDB Hardware
- * @param sue_AIRFRAME Serial UDB Extra Type of Airframe
- * @param sue_RCON Serial UDB Extra Reboot Regitster of DSPIC
- * @param sue_TRAP_FLAGS Serial UDB Extra  Last dspic Trap Flags
- * @param sue_TRAP_SOURCE Serial UDB Extra Type Program Address of Last Trap
- * @param sue_osc_fail_count Serial UDB Extra Number of Ocillator Failures
- * @param sue_CLOCK_CONFIG Serial UDB Extra UDB Internal Clock Configuration
- * @param sue_FLIGHT_PLAN_TYPE Serial UDB Extra Type of Flight Plan
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f14_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t sue_WIND_ESTIMATION,uint8_t sue_GPS_TYPE,uint8_t sue_DR,uint8_t sue_BOARD_TYPE,uint8_t sue_AIRFRAME,int16_t sue_RCON,int16_t sue_TRAP_FLAGS,uint32_t sue_TRAP_SOURCE,int16_t sue_osc_fail_count,uint8_t sue_CLOCK_CONFIG,uint8_t sue_FLIGHT_PLAN_TYPE)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN];
-	_mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE);
-	_mav_put_int16_t(buf, 4, sue_RCON);
-	_mav_put_int16_t(buf, 6, sue_TRAP_FLAGS);
-	_mav_put_int16_t(buf, 8, sue_osc_fail_count);
-	_mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION);
-	_mav_put_uint8_t(buf, 11, sue_GPS_TYPE);
-	_mav_put_uint8_t(buf, 12, sue_DR);
-	_mav_put_uint8_t(buf, 13, sue_BOARD_TYPE);
-	_mav_put_uint8_t(buf, 14, sue_AIRFRAME);
-	_mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG);
-	_mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#else
-	mavlink_serial_udb_extra_f14_t packet;
-	packet.sue_TRAP_SOURCE = sue_TRAP_SOURCE;
-	packet.sue_RCON = sue_RCON;
-	packet.sue_TRAP_FLAGS = sue_TRAP_FLAGS;
-	packet.sue_osc_fail_count = sue_osc_fail_count;
-	packet.sue_WIND_ESTIMATION = sue_WIND_ESTIMATION;
-	packet.sue_GPS_TYPE = sue_GPS_TYPE;
-	packet.sue_DR = sue_DR;
-	packet.sue_BOARD_TYPE = sue_BOARD_TYPE;
-	packet.sue_AIRFRAME = sue_AIRFRAME;
-	packet.sue_CLOCK_CONFIG = sue_CLOCK_CONFIG;
-	packet.sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f14 struct
- *
- * @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 serial_udb_extra_f14 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f14_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f14_t* serial_udb_extra_f14)
-{
-	return mavlink_msg_serial_udb_extra_f14_pack(system_id, component_id, msg, serial_udb_extra_f14->sue_WIND_ESTIMATION, serial_udb_extra_f14->sue_GPS_TYPE, serial_udb_extra_f14->sue_DR, serial_udb_extra_f14->sue_BOARD_TYPE, serial_udb_extra_f14->sue_AIRFRAME, serial_udb_extra_f14->sue_RCON, serial_udb_extra_f14->sue_TRAP_FLAGS, serial_udb_extra_f14->sue_TRAP_SOURCE, serial_udb_extra_f14->sue_osc_fail_count, serial_udb_extra_f14->sue_CLOCK_CONFIG, serial_udb_extra_f14->sue_FLIGHT_PLAN_TYPE);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f14 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f14 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f14_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f14_t* serial_udb_extra_f14)
-{
-	return mavlink_msg_serial_udb_extra_f14_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f14->sue_WIND_ESTIMATION, serial_udb_extra_f14->sue_GPS_TYPE, serial_udb_extra_f14->sue_DR, serial_udb_extra_f14->sue_BOARD_TYPE, serial_udb_extra_f14->sue_AIRFRAME, serial_udb_extra_f14->sue_RCON, serial_udb_extra_f14->sue_TRAP_FLAGS, serial_udb_extra_f14->sue_TRAP_SOURCE, serial_udb_extra_f14->sue_osc_fail_count, serial_udb_extra_f14->sue_CLOCK_CONFIG, serial_udb_extra_f14->sue_FLIGHT_PLAN_TYPE);
-}
-
-/**
- * @brief Send a serial_udb_extra_f14 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_WIND_ESTIMATION Serial UDB Extra Wind Estimation Enabled
- * @param sue_GPS_TYPE Serial UDB Extra Type of GPS Unit
- * @param sue_DR Serial UDB Extra Dead Reckoning Enabled
- * @param sue_BOARD_TYPE Serial UDB Extra Type of UDB Hardware
- * @param sue_AIRFRAME Serial UDB Extra Type of Airframe
- * @param sue_RCON Serial UDB Extra Reboot Regitster of DSPIC
- * @param sue_TRAP_FLAGS Serial UDB Extra  Last dspic Trap Flags
- * @param sue_TRAP_SOURCE Serial UDB Extra Type Program Address of Last Trap
- * @param sue_osc_fail_count Serial UDB Extra Number of Ocillator Failures
- * @param sue_CLOCK_CONFIG Serial UDB Extra UDB Internal Clock Configuration
- * @param sue_FLIGHT_PLAN_TYPE Serial UDB Extra Type of Flight Plan
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f14_send(mavlink_channel_t chan, uint8_t sue_WIND_ESTIMATION, uint8_t sue_GPS_TYPE, uint8_t sue_DR, uint8_t sue_BOARD_TYPE, uint8_t sue_AIRFRAME, int16_t sue_RCON, int16_t sue_TRAP_FLAGS, uint32_t sue_TRAP_SOURCE, int16_t sue_osc_fail_count, uint8_t sue_CLOCK_CONFIG, uint8_t sue_FLIGHT_PLAN_TYPE)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN];
-	_mav_put_uint32_t(buf, 0, sue_TRAP_SOURCE);
-	_mav_put_int16_t(buf, 4, sue_RCON);
-	_mav_put_int16_t(buf, 6, sue_TRAP_FLAGS);
-	_mav_put_int16_t(buf, 8, sue_osc_fail_count);
-	_mav_put_uint8_t(buf, 10, sue_WIND_ESTIMATION);
-	_mav_put_uint8_t(buf, 11, sue_GPS_TYPE);
-	_mav_put_uint8_t(buf, 12, sue_DR);
-	_mav_put_uint8_t(buf, 13, sue_BOARD_TYPE);
-	_mav_put_uint8_t(buf, 14, sue_AIRFRAME);
-	_mav_put_uint8_t(buf, 15, sue_CLOCK_CONFIG);
-	_mav_put_uint8_t(buf, 16, sue_FLIGHT_PLAN_TYPE);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f14_t packet;
-	packet.sue_TRAP_SOURCE = sue_TRAP_SOURCE;
-	packet.sue_RCON = sue_RCON;
-	packet.sue_TRAP_FLAGS = sue_TRAP_FLAGS;
-	packet.sue_osc_fail_count = sue_osc_fail_count;
-	packet.sue_WIND_ESTIMATION = sue_WIND_ESTIMATION;
-	packet.sue_GPS_TYPE = sue_GPS_TYPE;
-	packet.sue_DR = sue_DR;
-	packet.sue_BOARD_TYPE = sue_BOARD_TYPE;
-	packet.sue_AIRFRAME = sue_AIRFRAME;
-	packet.sue_CLOCK_CONFIG = sue_CLOCK_CONFIG;
-	packet.sue_FLIGHT_PLAN_TYPE = sue_FLIGHT_PLAN_TYPE;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F14 UNPACKING
-
-
-/**
- * @brief Get field sue_WIND_ESTIMATION from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Wind Estimation Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_WIND_ESTIMATION(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field sue_GPS_TYPE from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Type of GPS Unit
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_GPS_TYPE(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field sue_DR from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Dead Reckoning Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_DR(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  12);
-}
-
-/**
- * @brief Get field sue_BOARD_TYPE from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Type of UDB Hardware
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_BOARD_TYPE(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  13);
-}
-
-/**
- * @brief Get field sue_AIRFRAME from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Type of Airframe
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_AIRFRAME(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Get field sue_RCON from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Reboot Regitster of DSPIC
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f14_get_sue_RCON(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  4);
-}
-
-/**
- * @brief Get field sue_TRAP_FLAGS from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra  Last dspic Trap Flags
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_FLAGS(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  6);
-}
-
-/**
- * @brief Get field sue_TRAP_SOURCE from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Type Program Address of Last Trap
- */
-static inline uint32_t mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_SOURCE(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field sue_osc_fail_count from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Number of Ocillator Failures
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f14_get_sue_osc_fail_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field sue_CLOCK_CONFIG from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra UDB Internal Clock Configuration
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_CLOCK_CONFIG(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  15);
-}
-
-/**
- * @brief Get field sue_FLIGHT_PLAN_TYPE from serial_udb_extra_f14 message
- *
- * @return Serial UDB Extra Type of Flight Plan
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f14_get_sue_FLIGHT_PLAN_TYPE(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f14 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f14 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f14_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f14_t* serial_udb_extra_f14)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f14->sue_TRAP_SOURCE = mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_SOURCE(msg);
-	serial_udb_extra_f14->sue_RCON = mavlink_msg_serial_udb_extra_f14_get_sue_RCON(msg);
-	serial_udb_extra_f14->sue_TRAP_FLAGS = mavlink_msg_serial_udb_extra_f14_get_sue_TRAP_FLAGS(msg);
-	serial_udb_extra_f14->sue_osc_fail_count = mavlink_msg_serial_udb_extra_f14_get_sue_osc_fail_count(msg);
-	serial_udb_extra_f14->sue_WIND_ESTIMATION = mavlink_msg_serial_udb_extra_f14_get_sue_WIND_ESTIMATION(msg);
-	serial_udb_extra_f14->sue_GPS_TYPE = mavlink_msg_serial_udb_extra_f14_get_sue_GPS_TYPE(msg);
-	serial_udb_extra_f14->sue_DR = mavlink_msg_serial_udb_extra_f14_get_sue_DR(msg);
-	serial_udb_extra_f14->sue_BOARD_TYPE = mavlink_msg_serial_udb_extra_f14_get_sue_BOARD_TYPE(msg);
-	serial_udb_extra_f14->sue_AIRFRAME = mavlink_msg_serial_udb_extra_f14_get_sue_AIRFRAME(msg);
-	serial_udb_extra_f14->sue_CLOCK_CONFIG = mavlink_msg_serial_udb_extra_f14_get_sue_CLOCK_CONFIG(msg);
-	serial_udb_extra_f14->sue_FLIGHT_PLAN_TYPE = mavlink_msg_serial_udb_extra_f14_get_sue_FLIGHT_PLAN_TYPE(msg);
-#else
-	memcpy(serial_udb_extra_f14, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F14_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h
deleted file mode 100644
index 10c3f4ca4..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f15.h
+++ /dev/null
@@ -1,200 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F15 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15 179
-
-typedef struct __mavlink_serial_udb_extra_f15_t
-{
- uint8_t sue_ID_VEHICLE_MODEL_NAME[40]; ///< Serial UDB Extra Model Name Of Vehicle
- uint8_t sue_ID_VEHICLE_REGISTRATION[20]; ///< Serial UDB Extra Registraton Number of Vehicle
-} mavlink_serial_udb_extra_f15_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN 60
-#define MAVLINK_MSG_ID_179_LEN 60
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC 7
-#define MAVLINK_MSG_ID_179_CRC 7
-
-#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F15_FIELD_SUE_ID_VEHICLE_MODEL_NAME_LEN 40
-#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F15_FIELD_SUE_ID_VEHICLE_REGISTRATION_LEN 20
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F15 { \
-	"SERIAL_UDB_EXTRA_F15", \
-	2, \
-	{  { "sue_ID_VEHICLE_MODEL_NAME", NULL, MAVLINK_TYPE_UINT8_T, 40, 0, offsetof(mavlink_serial_udb_extra_f15_t, sue_ID_VEHICLE_MODEL_NAME) }, \
-         { "sue_ID_VEHICLE_REGISTRATION", NULL, MAVLINK_TYPE_UINT8_T, 20, 40, offsetof(mavlink_serial_udb_extra_f15_t, sue_ID_VEHICLE_REGISTRATION) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f15 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 sue_ID_VEHICLE_MODEL_NAME Serial UDB Extra Model Name Of Vehicle
- * @param sue_ID_VEHICLE_REGISTRATION Serial UDB Extra Registraton Number of Vehicle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f15_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const uint8_t *sue_ID_VEHICLE_MODEL_NAME, const uint8_t *sue_ID_VEHICLE_REGISTRATION)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN];
-
-	_mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40);
-	_mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#else
-	mavlink_serial_udb_extra_f15_t packet;
-
-	mav_array_memcpy(packet.sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
-	mav_array_memcpy(packet.sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f15 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_ID_VEHICLE_MODEL_NAME Serial UDB Extra Model Name Of Vehicle
- * @param sue_ID_VEHICLE_REGISTRATION Serial UDB Extra Registraton Number of Vehicle
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f15_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const uint8_t *sue_ID_VEHICLE_MODEL_NAME,const uint8_t *sue_ID_VEHICLE_REGISTRATION)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN];
-
-	_mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40);
-	_mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#else
-	mavlink_serial_udb_extra_f15_t packet;
-
-	mav_array_memcpy(packet.sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
-	mav_array_memcpy(packet.sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f15 struct
- *
- * @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 serial_udb_extra_f15 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f15_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f15_t* serial_udb_extra_f15)
-{
-	return mavlink_msg_serial_udb_extra_f15_pack(system_id, component_id, msg, serial_udb_extra_f15->sue_ID_VEHICLE_MODEL_NAME, serial_udb_extra_f15->sue_ID_VEHICLE_REGISTRATION);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f15 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f15 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f15_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f15_t* serial_udb_extra_f15)
-{
-	return mavlink_msg_serial_udb_extra_f15_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f15->sue_ID_VEHICLE_MODEL_NAME, serial_udb_extra_f15->sue_ID_VEHICLE_REGISTRATION);
-}
-
-/**
- * @brief Send a serial_udb_extra_f15 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_ID_VEHICLE_MODEL_NAME Serial UDB Extra Model Name Of Vehicle
- * @param sue_ID_VEHICLE_REGISTRATION Serial UDB Extra Registraton Number of Vehicle
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f15_send(mavlink_channel_t chan, const uint8_t *sue_ID_VEHICLE_MODEL_NAME, const uint8_t *sue_ID_VEHICLE_REGISTRATION)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN];
-
-	_mav_put_uint8_t_array(buf, 0, sue_ID_VEHICLE_MODEL_NAME, 40);
-	_mav_put_uint8_t_array(buf, 40, sue_ID_VEHICLE_REGISTRATION, 20);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f15_t packet;
-
-	mav_array_memcpy(packet.sue_ID_VEHICLE_MODEL_NAME, sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
-	mav_array_memcpy(packet.sue_ID_VEHICLE_REGISTRATION, sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F15 UNPACKING
-
-
-/**
- * @brief Get field sue_ID_VEHICLE_MODEL_NAME from serial_udb_extra_f15 message
- *
- * @return Serial UDB Extra Model Name Of Vehicle
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_MODEL_NAME(const mavlink_message_t* msg, uint8_t *sue_ID_VEHICLE_MODEL_NAME)
-{
-	return _MAV_RETURN_uint8_t_array(msg, sue_ID_VEHICLE_MODEL_NAME, 40,  0);
-}
-
-/**
- * @brief Get field sue_ID_VEHICLE_REGISTRATION from serial_udb_extra_f15 message
- *
- * @return Serial UDB Extra Registraton Number of Vehicle
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_REGISTRATION(const mavlink_message_t* msg, uint8_t *sue_ID_VEHICLE_REGISTRATION)
-{
-	return _MAV_RETURN_uint8_t_array(msg, sue_ID_VEHICLE_REGISTRATION, 20,  40);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f15 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f15 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f15_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f15_t* serial_udb_extra_f15)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_MODEL_NAME(msg, serial_udb_extra_f15->sue_ID_VEHICLE_MODEL_NAME);
-	mavlink_msg_serial_udb_extra_f15_get_sue_ID_VEHICLE_REGISTRATION(msg, serial_udb_extra_f15->sue_ID_VEHICLE_REGISTRATION);
-#else
-	memcpy(serial_udb_extra_f15, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F15_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h
deleted file mode 100644
index 659e6b7c5..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f16.h
+++ /dev/null
@@ -1,200 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F16 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16 180
-
-typedef struct __mavlink_serial_udb_extra_f16_t
-{
- uint8_t sue_ID_LEAD_PILOT[40]; ///< Serial UDB Extra Name of Expected Lead Pilot
- uint8_t sue_ID_DIY_DRONES_URL[70]; ///< Serial UDB Extra URL of Lead Pilot or Team
-} mavlink_serial_udb_extra_f16_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN 110
-#define MAVLINK_MSG_ID_180_LEN 110
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC 222
-#define MAVLINK_MSG_ID_180_CRC 222
-
-#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F16_FIELD_SUE_ID_LEAD_PILOT_LEN 40
-#define MAVLINK_MSG_SERIAL_UDB_EXTRA_F16_FIELD_SUE_ID_DIY_DRONES_URL_LEN 70
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F16 { \
-	"SERIAL_UDB_EXTRA_F16", \
-	2, \
-	{  { "sue_ID_LEAD_PILOT", NULL, MAVLINK_TYPE_UINT8_T, 40, 0, offsetof(mavlink_serial_udb_extra_f16_t, sue_ID_LEAD_PILOT) }, \
-         { "sue_ID_DIY_DRONES_URL", NULL, MAVLINK_TYPE_UINT8_T, 70, 40, offsetof(mavlink_serial_udb_extra_f16_t, sue_ID_DIY_DRONES_URL) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f16 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 sue_ID_LEAD_PILOT Serial UDB Extra Name of Expected Lead Pilot
- * @param sue_ID_DIY_DRONES_URL Serial UDB Extra URL of Lead Pilot or Team
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f16_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const uint8_t *sue_ID_LEAD_PILOT, const uint8_t *sue_ID_DIY_DRONES_URL)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN];
-
-	_mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40);
-	_mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#else
-	mavlink_serial_udb_extra_f16_t packet;
-
-	mav_array_memcpy(packet.sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
-	mav_array_memcpy(packet.sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f16 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_ID_LEAD_PILOT Serial UDB Extra Name of Expected Lead Pilot
- * @param sue_ID_DIY_DRONES_URL Serial UDB Extra URL of Lead Pilot or Team
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f16_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const uint8_t *sue_ID_LEAD_PILOT,const uint8_t *sue_ID_DIY_DRONES_URL)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN];
-
-	_mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40);
-	_mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#else
-	mavlink_serial_udb_extra_f16_t packet;
-
-	mav_array_memcpy(packet.sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
-	mav_array_memcpy(packet.sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f16 struct
- *
- * @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 serial_udb_extra_f16 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f16_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f16_t* serial_udb_extra_f16)
-{
-	return mavlink_msg_serial_udb_extra_f16_pack(system_id, component_id, msg, serial_udb_extra_f16->sue_ID_LEAD_PILOT, serial_udb_extra_f16->sue_ID_DIY_DRONES_URL);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f16 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f16 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f16_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f16_t* serial_udb_extra_f16)
-{
-	return mavlink_msg_serial_udb_extra_f16_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f16->sue_ID_LEAD_PILOT, serial_udb_extra_f16->sue_ID_DIY_DRONES_URL);
-}
-
-/**
- * @brief Send a serial_udb_extra_f16 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_ID_LEAD_PILOT Serial UDB Extra Name of Expected Lead Pilot
- * @param sue_ID_DIY_DRONES_URL Serial UDB Extra URL of Lead Pilot or Team
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f16_send(mavlink_channel_t chan, const uint8_t *sue_ID_LEAD_PILOT, const uint8_t *sue_ID_DIY_DRONES_URL)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN];
-
-	_mav_put_uint8_t_array(buf, 0, sue_ID_LEAD_PILOT, 40);
-	_mav_put_uint8_t_array(buf, 40, sue_ID_DIY_DRONES_URL, 70);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f16_t packet;
-
-	mav_array_memcpy(packet.sue_ID_LEAD_PILOT, sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
-	mav_array_memcpy(packet.sue_ID_DIY_DRONES_URL, sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F16 UNPACKING
-
-
-/**
- * @brief Get field sue_ID_LEAD_PILOT from serial_udb_extra_f16 message
- *
- * @return Serial UDB Extra Name of Expected Lead Pilot
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f16_get_sue_ID_LEAD_PILOT(const mavlink_message_t* msg, uint8_t *sue_ID_LEAD_PILOT)
-{
-	return _MAV_RETURN_uint8_t_array(msg, sue_ID_LEAD_PILOT, 40,  0);
-}
-
-/**
- * @brief Get field sue_ID_DIY_DRONES_URL from serial_udb_extra_f16 message
- *
- * @return Serial UDB Extra URL of Lead Pilot or Team
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f16_get_sue_ID_DIY_DRONES_URL(const mavlink_message_t* msg, uint8_t *sue_ID_DIY_DRONES_URL)
-{
-	return _MAV_RETURN_uint8_t_array(msg, sue_ID_DIY_DRONES_URL, 70,  40);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f16 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f16 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f16_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f16_t* serial_udb_extra_f16)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_serial_udb_extra_f16_get_sue_ID_LEAD_PILOT(msg, serial_udb_extra_f16->sue_ID_LEAD_PILOT);
-	mavlink_msg_serial_udb_extra_f16_get_sue_ID_DIY_DRONES_URL(msg, serial_udb_extra_f16->sue_ID_DIY_DRONES_URL);
-#else
-	memcpy(serial_udb_extra_f16, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F16_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h
deleted file mode 100644
index 15ba68a34..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_a.h
+++ /dev/null
@@ -1,771 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F2_A PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A 170
-
-typedef struct __mavlink_serial_udb_extra_f2_a_t
-{
- uint32_t sue_time; ///< Serial UDB Extra Time
- int32_t sue_latitude; ///< Serial UDB Extra Latitude
- int32_t sue_longitude; ///< Serial UDB Extra Longitude
- int32_t sue_altitude; ///< Serial UDB Extra Altitude
- uint16_t sue_waypoint_index; ///< Serial UDB Extra Waypoint Index
- int16_t sue_rmat0; ///< Serial UDB Extra Rmat 0
- int16_t sue_rmat1; ///< Serial UDB Extra Rmat 1
- int16_t sue_rmat2; ///< Serial UDB Extra Rmat 2
- int16_t sue_rmat3; ///< Serial UDB Extra Rmat 3
- int16_t sue_rmat4; ///< Serial UDB Extra Rmat 4
- int16_t sue_rmat5; ///< Serial UDB Extra Rmat 5
- int16_t sue_rmat6; ///< Serial UDB Extra Rmat 6
- int16_t sue_rmat7; ///< Serial UDB Extra Rmat 7
- int16_t sue_rmat8; ///< Serial UDB Extra Rmat 8
- uint16_t sue_cog; ///< Serial UDB Extra GPS Course Over Ground
- int16_t sue_sog; ///< Serial UDB Extra Speed Over Ground
- uint16_t sue_cpu_load; ///< Serial UDB Extra CPU Load
- int16_t sue_voltage_milis; ///< Serial UDB Extra Voltage in MilliVolts
- uint16_t sue_air_speed_3DIMU; ///< Serial UDB Extra 3D IMU Air Speed
- int16_t sue_estimated_wind_0; ///< Serial UDB Extra Estimated Wind 0
- int16_t sue_estimated_wind_1; ///< Serial UDB Extra Estimated Wind 1
- int16_t sue_estimated_wind_2; ///< Serial UDB Extra Estimated Wind 2
- int16_t sue_magFieldEarth0; ///< Serial UDB Extra Magnetic Field Earth 0 
- int16_t sue_magFieldEarth1; ///< Serial UDB Extra Magnetic Field Earth 1 
- int16_t sue_magFieldEarth2; ///< Serial UDB Extra Magnetic Field Earth 2 
- int16_t sue_svs; ///< Serial UDB Extra Number of Sattelites in View
- int16_t sue_hdop; ///< Serial UDB Extra GPS Horizontal Dilution of Precision
- uint8_t sue_status; ///< Serial UDB Extra Status
-} mavlink_serial_udb_extra_f2_a_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN 63
-#define MAVLINK_MSG_ID_170_LEN 63
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC 150
-#define MAVLINK_MSG_ID_170_CRC 150
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_A { \
-	"SERIAL_UDB_EXTRA_F2_A", \
-	28, \
-	{  { "sue_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_time) }, \
-         { "sue_latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_latitude) }, \
-         { "sue_longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_longitude) }, \
-         { "sue_altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_altitude) }, \
-         { "sue_waypoint_index", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_waypoint_index) }, \
-         { "sue_rmat0", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat0) }, \
-         { "sue_rmat1", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat1) }, \
-         { "sue_rmat2", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat2) }, \
-         { "sue_rmat3", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat3) }, \
-         { "sue_rmat4", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat4) }, \
-         { "sue_rmat5", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat5) }, \
-         { "sue_rmat6", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat6) }, \
-         { "sue_rmat7", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat7) }, \
-         { "sue_rmat8", NULL, MAVLINK_TYPE_INT16_T, 0, 34, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_rmat8) }, \
-         { "sue_cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_cog) }, \
-         { "sue_sog", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_sog) }, \
-         { "sue_cpu_load", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_cpu_load) }, \
-         { "sue_voltage_milis", NULL, MAVLINK_TYPE_INT16_T, 0, 42, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_voltage_milis) }, \
-         { "sue_air_speed_3DIMU", NULL, MAVLINK_TYPE_UINT16_T, 0, 44, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_air_speed_3DIMU) }, \
-         { "sue_estimated_wind_0", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_estimated_wind_0) }, \
-         { "sue_estimated_wind_1", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_estimated_wind_1) }, \
-         { "sue_estimated_wind_2", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_estimated_wind_2) }, \
-         { "sue_magFieldEarth0", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_magFieldEarth0) }, \
-         { "sue_magFieldEarth1", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_magFieldEarth1) }, \
-         { "sue_magFieldEarth2", NULL, MAVLINK_TYPE_INT16_T, 0, 56, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_magFieldEarth2) }, \
-         { "sue_svs", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_svs) }, \
-         { "sue_hdop", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_hdop) }, \
-         { "sue_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 62, offsetof(mavlink_serial_udb_extra_f2_a_t, sue_status) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f2_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 sue_time Serial UDB Extra Time
- * @param sue_status Serial UDB Extra Status
- * @param sue_latitude Serial UDB Extra Latitude
- * @param sue_longitude Serial UDB Extra Longitude
- * @param sue_altitude Serial UDB Extra Altitude
- * @param sue_waypoint_index Serial UDB Extra Waypoint Index
- * @param sue_rmat0 Serial UDB Extra Rmat 0
- * @param sue_rmat1 Serial UDB Extra Rmat 1
- * @param sue_rmat2 Serial UDB Extra Rmat 2
- * @param sue_rmat3 Serial UDB Extra Rmat 3
- * @param sue_rmat4 Serial UDB Extra Rmat 4
- * @param sue_rmat5 Serial UDB Extra Rmat 5
- * @param sue_rmat6 Serial UDB Extra Rmat 6
- * @param sue_rmat7 Serial UDB Extra Rmat 7
- * @param sue_rmat8 Serial UDB Extra Rmat 8
- * @param sue_cog Serial UDB Extra GPS Course Over Ground
- * @param sue_sog Serial UDB Extra Speed Over Ground
- * @param sue_cpu_load Serial UDB Extra CPU Load
- * @param sue_voltage_milis Serial UDB Extra Voltage in MilliVolts
- * @param sue_air_speed_3DIMU Serial UDB Extra 3D IMU Air Speed
- * @param sue_estimated_wind_0 Serial UDB Extra Estimated Wind 0
- * @param sue_estimated_wind_1 Serial UDB Extra Estimated Wind 1
- * @param sue_estimated_wind_2 Serial UDB Extra Estimated Wind 2
- * @param sue_magFieldEarth0 Serial UDB Extra Magnetic Field Earth 0 
- * @param sue_magFieldEarth1 Serial UDB Extra Magnetic Field Earth 1 
- * @param sue_magFieldEarth2 Serial UDB Extra Magnetic Field Earth 2 
- * @param sue_svs Serial UDB Extra Number of Sattelites in View
- * @param sue_hdop Serial UDB Extra GPS Horizontal Dilution of Precision
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t sue_time, uint8_t sue_status, int32_t sue_latitude, int32_t sue_longitude, int32_t sue_altitude, uint16_t sue_waypoint_index, int16_t sue_rmat0, int16_t sue_rmat1, int16_t sue_rmat2, int16_t sue_rmat3, int16_t sue_rmat4, int16_t sue_rmat5, int16_t sue_rmat6, int16_t sue_rmat7, int16_t sue_rmat8, uint16_t sue_cog, int16_t sue_sog, uint16_t sue_cpu_load, int16_t sue_voltage_milis, uint16_t sue_air_speed_3DIMU, int16_t sue_estimated_wind_0, int16_t sue_estimated_wind_1, int16_t sue_estimated_wind_2, int16_t sue_magFieldEarth0, int16_t sue_magFieldEarth1, int16_t sue_magFieldEarth2, int16_t sue_svs, int16_t sue_hdop)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN];
-	_mav_put_uint32_t(buf, 0, sue_time);
-	_mav_put_int32_t(buf, 4, sue_latitude);
-	_mav_put_int32_t(buf, 8, sue_longitude);
-	_mav_put_int32_t(buf, 12, sue_altitude);
-	_mav_put_uint16_t(buf, 16, sue_waypoint_index);
-	_mav_put_int16_t(buf, 18, sue_rmat0);
-	_mav_put_int16_t(buf, 20, sue_rmat1);
-	_mav_put_int16_t(buf, 22, sue_rmat2);
-	_mav_put_int16_t(buf, 24, sue_rmat3);
-	_mav_put_int16_t(buf, 26, sue_rmat4);
-	_mav_put_int16_t(buf, 28, sue_rmat5);
-	_mav_put_int16_t(buf, 30, sue_rmat6);
-	_mav_put_int16_t(buf, 32, sue_rmat7);
-	_mav_put_int16_t(buf, 34, sue_rmat8);
-	_mav_put_uint16_t(buf, 36, sue_cog);
-	_mav_put_int16_t(buf, 38, sue_sog);
-	_mav_put_uint16_t(buf, 40, sue_cpu_load);
-	_mav_put_int16_t(buf, 42, sue_voltage_milis);
-	_mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU);
-	_mav_put_int16_t(buf, 46, sue_estimated_wind_0);
-	_mav_put_int16_t(buf, 48, sue_estimated_wind_1);
-	_mav_put_int16_t(buf, 50, sue_estimated_wind_2);
-	_mav_put_int16_t(buf, 52, sue_magFieldEarth0);
-	_mav_put_int16_t(buf, 54, sue_magFieldEarth1);
-	_mav_put_int16_t(buf, 56, sue_magFieldEarth2);
-	_mav_put_int16_t(buf, 58, sue_svs);
-	_mav_put_int16_t(buf, 60, sue_hdop);
-	_mav_put_uint8_t(buf, 62, sue_status);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#else
-	mavlink_serial_udb_extra_f2_a_t packet;
-	packet.sue_time = sue_time;
-	packet.sue_latitude = sue_latitude;
-	packet.sue_longitude = sue_longitude;
-	packet.sue_altitude = sue_altitude;
-	packet.sue_waypoint_index = sue_waypoint_index;
-	packet.sue_rmat0 = sue_rmat0;
-	packet.sue_rmat1 = sue_rmat1;
-	packet.sue_rmat2 = sue_rmat2;
-	packet.sue_rmat3 = sue_rmat3;
-	packet.sue_rmat4 = sue_rmat4;
-	packet.sue_rmat5 = sue_rmat5;
-	packet.sue_rmat6 = sue_rmat6;
-	packet.sue_rmat7 = sue_rmat7;
-	packet.sue_rmat8 = sue_rmat8;
-	packet.sue_cog = sue_cog;
-	packet.sue_sog = sue_sog;
-	packet.sue_cpu_load = sue_cpu_load;
-	packet.sue_voltage_milis = sue_voltage_milis;
-	packet.sue_air_speed_3DIMU = sue_air_speed_3DIMU;
-	packet.sue_estimated_wind_0 = sue_estimated_wind_0;
-	packet.sue_estimated_wind_1 = sue_estimated_wind_1;
-	packet.sue_estimated_wind_2 = sue_estimated_wind_2;
-	packet.sue_magFieldEarth0 = sue_magFieldEarth0;
-	packet.sue_magFieldEarth1 = sue_magFieldEarth1;
-	packet.sue_magFieldEarth2 = sue_magFieldEarth2;
-	packet.sue_svs = sue_svs;
-	packet.sue_hdop = sue_hdop;
-	packet.sue_status = sue_status;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f2_a 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_time Serial UDB Extra Time
- * @param sue_status Serial UDB Extra Status
- * @param sue_latitude Serial UDB Extra Latitude
- * @param sue_longitude Serial UDB Extra Longitude
- * @param sue_altitude Serial UDB Extra Altitude
- * @param sue_waypoint_index Serial UDB Extra Waypoint Index
- * @param sue_rmat0 Serial UDB Extra Rmat 0
- * @param sue_rmat1 Serial UDB Extra Rmat 1
- * @param sue_rmat2 Serial UDB Extra Rmat 2
- * @param sue_rmat3 Serial UDB Extra Rmat 3
- * @param sue_rmat4 Serial UDB Extra Rmat 4
- * @param sue_rmat5 Serial UDB Extra Rmat 5
- * @param sue_rmat6 Serial UDB Extra Rmat 6
- * @param sue_rmat7 Serial UDB Extra Rmat 7
- * @param sue_rmat8 Serial UDB Extra Rmat 8
- * @param sue_cog Serial UDB Extra GPS Course Over Ground
- * @param sue_sog Serial UDB Extra Speed Over Ground
- * @param sue_cpu_load Serial UDB Extra CPU Load
- * @param sue_voltage_milis Serial UDB Extra Voltage in MilliVolts
- * @param sue_air_speed_3DIMU Serial UDB Extra 3D IMU Air Speed
- * @param sue_estimated_wind_0 Serial UDB Extra Estimated Wind 0
- * @param sue_estimated_wind_1 Serial UDB Extra Estimated Wind 1
- * @param sue_estimated_wind_2 Serial UDB Extra Estimated Wind 2
- * @param sue_magFieldEarth0 Serial UDB Extra Magnetic Field Earth 0 
- * @param sue_magFieldEarth1 Serial UDB Extra Magnetic Field Earth 1 
- * @param sue_magFieldEarth2 Serial UDB Extra Magnetic Field Earth 2 
- * @param sue_svs Serial UDB Extra Number of Sattelites in View
- * @param sue_hdop Serial UDB Extra GPS Horizontal Dilution of Precision
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t sue_time,uint8_t sue_status,int32_t sue_latitude,int32_t sue_longitude,int32_t sue_altitude,uint16_t sue_waypoint_index,int16_t sue_rmat0,int16_t sue_rmat1,int16_t sue_rmat2,int16_t sue_rmat3,int16_t sue_rmat4,int16_t sue_rmat5,int16_t sue_rmat6,int16_t sue_rmat7,int16_t sue_rmat8,uint16_t sue_cog,int16_t sue_sog,uint16_t sue_cpu_load,int16_t sue_voltage_milis,uint16_t sue_air_speed_3DIMU,int16_t sue_estimated_wind_0,int16_t sue_estimated_wind_1,int16_t sue_estimated_wind_2,int16_t sue_magFieldEarth0,int16_t sue_magFieldEarth1,int16_t sue_magFieldEarth2,int16_t sue_svs,int16_t sue_hdop)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN];
-	_mav_put_uint32_t(buf, 0, sue_time);
-	_mav_put_int32_t(buf, 4, sue_latitude);
-	_mav_put_int32_t(buf, 8, sue_longitude);
-	_mav_put_int32_t(buf, 12, sue_altitude);
-	_mav_put_uint16_t(buf, 16, sue_waypoint_index);
-	_mav_put_int16_t(buf, 18, sue_rmat0);
-	_mav_put_int16_t(buf, 20, sue_rmat1);
-	_mav_put_int16_t(buf, 22, sue_rmat2);
-	_mav_put_int16_t(buf, 24, sue_rmat3);
-	_mav_put_int16_t(buf, 26, sue_rmat4);
-	_mav_put_int16_t(buf, 28, sue_rmat5);
-	_mav_put_int16_t(buf, 30, sue_rmat6);
-	_mav_put_int16_t(buf, 32, sue_rmat7);
-	_mav_put_int16_t(buf, 34, sue_rmat8);
-	_mav_put_uint16_t(buf, 36, sue_cog);
-	_mav_put_int16_t(buf, 38, sue_sog);
-	_mav_put_uint16_t(buf, 40, sue_cpu_load);
-	_mav_put_int16_t(buf, 42, sue_voltage_milis);
-	_mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU);
-	_mav_put_int16_t(buf, 46, sue_estimated_wind_0);
-	_mav_put_int16_t(buf, 48, sue_estimated_wind_1);
-	_mav_put_int16_t(buf, 50, sue_estimated_wind_2);
-	_mav_put_int16_t(buf, 52, sue_magFieldEarth0);
-	_mav_put_int16_t(buf, 54, sue_magFieldEarth1);
-	_mav_put_int16_t(buf, 56, sue_magFieldEarth2);
-	_mav_put_int16_t(buf, 58, sue_svs);
-	_mav_put_int16_t(buf, 60, sue_hdop);
-	_mav_put_uint8_t(buf, 62, sue_status);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#else
-	mavlink_serial_udb_extra_f2_a_t packet;
-	packet.sue_time = sue_time;
-	packet.sue_latitude = sue_latitude;
-	packet.sue_longitude = sue_longitude;
-	packet.sue_altitude = sue_altitude;
-	packet.sue_waypoint_index = sue_waypoint_index;
-	packet.sue_rmat0 = sue_rmat0;
-	packet.sue_rmat1 = sue_rmat1;
-	packet.sue_rmat2 = sue_rmat2;
-	packet.sue_rmat3 = sue_rmat3;
-	packet.sue_rmat4 = sue_rmat4;
-	packet.sue_rmat5 = sue_rmat5;
-	packet.sue_rmat6 = sue_rmat6;
-	packet.sue_rmat7 = sue_rmat7;
-	packet.sue_rmat8 = sue_rmat8;
-	packet.sue_cog = sue_cog;
-	packet.sue_sog = sue_sog;
-	packet.sue_cpu_load = sue_cpu_load;
-	packet.sue_voltage_milis = sue_voltage_milis;
-	packet.sue_air_speed_3DIMU = sue_air_speed_3DIMU;
-	packet.sue_estimated_wind_0 = sue_estimated_wind_0;
-	packet.sue_estimated_wind_1 = sue_estimated_wind_1;
-	packet.sue_estimated_wind_2 = sue_estimated_wind_2;
-	packet.sue_magFieldEarth0 = sue_magFieldEarth0;
-	packet.sue_magFieldEarth1 = sue_magFieldEarth1;
-	packet.sue_magFieldEarth2 = sue_magFieldEarth2;
-	packet.sue_svs = sue_svs;
-	packet.sue_hdop = sue_hdop;
-	packet.sue_status = sue_status;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f2_a struct
- *
- * @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 serial_udb_extra_f2_a C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f2_a_t* serial_udb_extra_f2_a)
-{
-	return mavlink_msg_serial_udb_extra_f2_a_pack(system_id, component_id, msg, serial_udb_extra_f2_a->sue_time, serial_udb_extra_f2_a->sue_status, serial_udb_extra_f2_a->sue_latitude, serial_udb_extra_f2_a->sue_longitude, serial_udb_extra_f2_a->sue_altitude, serial_udb_extra_f2_a->sue_waypoint_index, serial_udb_extra_f2_a->sue_rmat0, serial_udb_extra_f2_a->sue_rmat1, serial_udb_extra_f2_a->sue_rmat2, serial_udb_extra_f2_a->sue_rmat3, serial_udb_extra_f2_a->sue_rmat4, serial_udb_extra_f2_a->sue_rmat5, serial_udb_extra_f2_a->sue_rmat6, serial_udb_extra_f2_a->sue_rmat7, serial_udb_extra_f2_a->sue_rmat8, serial_udb_extra_f2_a->sue_cog, serial_udb_extra_f2_a->sue_sog, serial_udb_extra_f2_a->sue_cpu_load, serial_udb_extra_f2_a->sue_voltage_milis, serial_udb_extra_f2_a->sue_air_speed_3DIMU, serial_udb_extra_f2_a->sue_estimated_wind_0, serial_udb_extra_f2_a->sue_estimated_wind_1, serial_udb_extra_f2_a->sue_estimated_wind_2, serial_udb_extra_f2_a->sue_magFieldEarth0, serial_udb_extra_f2_a->sue_magFieldEarth1, serial_udb_extra_f2_a->sue_magFieldEarth2, serial_udb_extra_f2_a->sue_svs, serial_udb_extra_f2_a->sue_hdop);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f2_a struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f2_a C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f2_a_t* serial_udb_extra_f2_a)
-{
-	return mavlink_msg_serial_udb_extra_f2_a_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f2_a->sue_time, serial_udb_extra_f2_a->sue_status, serial_udb_extra_f2_a->sue_latitude, serial_udb_extra_f2_a->sue_longitude, serial_udb_extra_f2_a->sue_altitude, serial_udb_extra_f2_a->sue_waypoint_index, serial_udb_extra_f2_a->sue_rmat0, serial_udb_extra_f2_a->sue_rmat1, serial_udb_extra_f2_a->sue_rmat2, serial_udb_extra_f2_a->sue_rmat3, serial_udb_extra_f2_a->sue_rmat4, serial_udb_extra_f2_a->sue_rmat5, serial_udb_extra_f2_a->sue_rmat6, serial_udb_extra_f2_a->sue_rmat7, serial_udb_extra_f2_a->sue_rmat8, serial_udb_extra_f2_a->sue_cog, serial_udb_extra_f2_a->sue_sog, serial_udb_extra_f2_a->sue_cpu_load, serial_udb_extra_f2_a->sue_voltage_milis, serial_udb_extra_f2_a->sue_air_speed_3DIMU, serial_udb_extra_f2_a->sue_estimated_wind_0, serial_udb_extra_f2_a->sue_estimated_wind_1, serial_udb_extra_f2_a->sue_estimated_wind_2, serial_udb_extra_f2_a->sue_magFieldEarth0, serial_udb_extra_f2_a->sue_magFieldEarth1, serial_udb_extra_f2_a->sue_magFieldEarth2, serial_udb_extra_f2_a->sue_svs, serial_udb_extra_f2_a->sue_hdop);
-}
-
-/**
- * @brief Send a serial_udb_extra_f2_a message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_time Serial UDB Extra Time
- * @param sue_status Serial UDB Extra Status
- * @param sue_latitude Serial UDB Extra Latitude
- * @param sue_longitude Serial UDB Extra Longitude
- * @param sue_altitude Serial UDB Extra Altitude
- * @param sue_waypoint_index Serial UDB Extra Waypoint Index
- * @param sue_rmat0 Serial UDB Extra Rmat 0
- * @param sue_rmat1 Serial UDB Extra Rmat 1
- * @param sue_rmat2 Serial UDB Extra Rmat 2
- * @param sue_rmat3 Serial UDB Extra Rmat 3
- * @param sue_rmat4 Serial UDB Extra Rmat 4
- * @param sue_rmat5 Serial UDB Extra Rmat 5
- * @param sue_rmat6 Serial UDB Extra Rmat 6
- * @param sue_rmat7 Serial UDB Extra Rmat 7
- * @param sue_rmat8 Serial UDB Extra Rmat 8
- * @param sue_cog Serial UDB Extra GPS Course Over Ground
- * @param sue_sog Serial UDB Extra Speed Over Ground
- * @param sue_cpu_load Serial UDB Extra CPU Load
- * @param sue_voltage_milis Serial UDB Extra Voltage in MilliVolts
- * @param sue_air_speed_3DIMU Serial UDB Extra 3D IMU Air Speed
- * @param sue_estimated_wind_0 Serial UDB Extra Estimated Wind 0
- * @param sue_estimated_wind_1 Serial UDB Extra Estimated Wind 1
- * @param sue_estimated_wind_2 Serial UDB Extra Estimated Wind 2
- * @param sue_magFieldEarth0 Serial UDB Extra Magnetic Field Earth 0 
- * @param sue_magFieldEarth1 Serial UDB Extra Magnetic Field Earth 1 
- * @param sue_magFieldEarth2 Serial UDB Extra Magnetic Field Earth 2 
- * @param sue_svs Serial UDB Extra Number of Sattelites in View
- * @param sue_hdop Serial UDB Extra GPS Horizontal Dilution of Precision
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f2_a_send(mavlink_channel_t chan, uint32_t sue_time, uint8_t sue_status, int32_t sue_latitude, int32_t sue_longitude, int32_t sue_altitude, uint16_t sue_waypoint_index, int16_t sue_rmat0, int16_t sue_rmat1, int16_t sue_rmat2, int16_t sue_rmat3, int16_t sue_rmat4, int16_t sue_rmat5, int16_t sue_rmat6, int16_t sue_rmat7, int16_t sue_rmat8, uint16_t sue_cog, int16_t sue_sog, uint16_t sue_cpu_load, int16_t sue_voltage_milis, uint16_t sue_air_speed_3DIMU, int16_t sue_estimated_wind_0, int16_t sue_estimated_wind_1, int16_t sue_estimated_wind_2, int16_t sue_magFieldEarth0, int16_t sue_magFieldEarth1, int16_t sue_magFieldEarth2, int16_t sue_svs, int16_t sue_hdop)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN];
-	_mav_put_uint32_t(buf, 0, sue_time);
-	_mav_put_int32_t(buf, 4, sue_latitude);
-	_mav_put_int32_t(buf, 8, sue_longitude);
-	_mav_put_int32_t(buf, 12, sue_altitude);
-	_mav_put_uint16_t(buf, 16, sue_waypoint_index);
-	_mav_put_int16_t(buf, 18, sue_rmat0);
-	_mav_put_int16_t(buf, 20, sue_rmat1);
-	_mav_put_int16_t(buf, 22, sue_rmat2);
-	_mav_put_int16_t(buf, 24, sue_rmat3);
-	_mav_put_int16_t(buf, 26, sue_rmat4);
-	_mav_put_int16_t(buf, 28, sue_rmat5);
-	_mav_put_int16_t(buf, 30, sue_rmat6);
-	_mav_put_int16_t(buf, 32, sue_rmat7);
-	_mav_put_int16_t(buf, 34, sue_rmat8);
-	_mav_put_uint16_t(buf, 36, sue_cog);
-	_mav_put_int16_t(buf, 38, sue_sog);
-	_mav_put_uint16_t(buf, 40, sue_cpu_load);
-	_mav_put_int16_t(buf, 42, sue_voltage_milis);
-	_mav_put_uint16_t(buf, 44, sue_air_speed_3DIMU);
-	_mav_put_int16_t(buf, 46, sue_estimated_wind_0);
-	_mav_put_int16_t(buf, 48, sue_estimated_wind_1);
-	_mav_put_int16_t(buf, 50, sue_estimated_wind_2);
-	_mav_put_int16_t(buf, 52, sue_magFieldEarth0);
-	_mav_put_int16_t(buf, 54, sue_magFieldEarth1);
-	_mav_put_int16_t(buf, 56, sue_magFieldEarth2);
-	_mav_put_int16_t(buf, 58, sue_svs);
-	_mav_put_int16_t(buf, 60, sue_hdop);
-	_mav_put_uint8_t(buf, 62, sue_status);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f2_a_t packet;
-	packet.sue_time = sue_time;
-	packet.sue_latitude = sue_latitude;
-	packet.sue_longitude = sue_longitude;
-	packet.sue_altitude = sue_altitude;
-	packet.sue_waypoint_index = sue_waypoint_index;
-	packet.sue_rmat0 = sue_rmat0;
-	packet.sue_rmat1 = sue_rmat1;
-	packet.sue_rmat2 = sue_rmat2;
-	packet.sue_rmat3 = sue_rmat3;
-	packet.sue_rmat4 = sue_rmat4;
-	packet.sue_rmat5 = sue_rmat5;
-	packet.sue_rmat6 = sue_rmat6;
-	packet.sue_rmat7 = sue_rmat7;
-	packet.sue_rmat8 = sue_rmat8;
-	packet.sue_cog = sue_cog;
-	packet.sue_sog = sue_sog;
-	packet.sue_cpu_load = sue_cpu_load;
-	packet.sue_voltage_milis = sue_voltage_milis;
-	packet.sue_air_speed_3DIMU = sue_air_speed_3DIMU;
-	packet.sue_estimated_wind_0 = sue_estimated_wind_0;
-	packet.sue_estimated_wind_1 = sue_estimated_wind_1;
-	packet.sue_estimated_wind_2 = sue_estimated_wind_2;
-	packet.sue_magFieldEarth0 = sue_magFieldEarth0;
-	packet.sue_magFieldEarth1 = sue_magFieldEarth1;
-	packet.sue_magFieldEarth2 = sue_magFieldEarth2;
-	packet.sue_svs = sue_svs;
-	packet.sue_hdop = sue_hdop;
-	packet.sue_status = sue_status;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F2_A UNPACKING
-
-
-/**
- * @brief Get field sue_time from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Time
- */
-static inline uint32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_time(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field sue_status from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Status
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f2_a_get_sue_status(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  62);
-}
-
-/**
- * @brief Get field sue_latitude from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Latitude
- */
-static inline int32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_latitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field sue_longitude from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Longitude
- */
-static inline int32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_longitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Get field sue_altitude from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Altitude
- */
-static inline int32_t mavlink_msg_serial_udb_extra_f2_a_get_sue_altitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  12);
-}
-
-/**
- * @brief Get field sue_waypoint_index from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Waypoint Index
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_waypoint_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field sue_rmat0 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 0
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat0(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  18);
-}
-
-/**
- * @brief Get field sue_rmat1 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 1
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field sue_rmat2 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 2
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field sue_rmat3 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 3
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  24);
-}
-
-/**
- * @brief Get field sue_rmat4 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 4
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  26);
-}
-
-/**
- * @brief Get field sue_rmat5 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 5
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  28);
-}
-
-/**
- * @brief Get field sue_rmat6 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 6
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  30);
-}
-
-/**
- * @brief Get field sue_rmat7 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 7
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  32);
-}
-
-/**
- * @brief Get field sue_rmat8 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Rmat 8
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  34);
-}
-
-/**
- * @brief Get field sue_cog from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra GPS Course Over Ground
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_cog(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  36);
-}
-
-/**
- * @brief Get field sue_sog from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Speed Over Ground
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_sog(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  38);
-}
-
-/**
- * @brief Get field sue_cpu_load from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra CPU Load
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_cpu_load(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  40);
-}
-
-/**
- * @brief Get field sue_voltage_milis from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Voltage in MilliVolts
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_voltage_milis(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  42);
-}
-
-/**
- * @brief Get field sue_air_speed_3DIMU from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra 3D IMU Air Speed
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_air_speed_3DIMU(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  44);
-}
-
-/**
- * @brief Get field sue_estimated_wind_0 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Estimated Wind 0
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_0(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  46);
-}
-
-/**
- * @brief Get field sue_estimated_wind_1 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Estimated Wind 1
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  48);
-}
-
-/**
- * @brief Get field sue_estimated_wind_2 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Estimated Wind 2
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  50);
-}
-
-/**
- * @brief Get field sue_magFieldEarth0 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Magnetic Field Earth 0 
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth0(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  52);
-}
-
-/**
- * @brief Get field sue_magFieldEarth1 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Magnetic Field Earth 1 
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  54);
-}
-
-/**
- * @brief Get field sue_magFieldEarth2 from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Magnetic Field Earth 2 
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  56);
-}
-
-/**
- * @brief Get field sue_svs from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra Number of Sattelites in View
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_svs(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  58);
-}
-
-/**
- * @brief Get field sue_hdop from serial_udb_extra_f2_a message
- *
- * @return Serial UDB Extra GPS Horizontal Dilution of Precision
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_a_get_sue_hdop(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  60);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f2_a message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f2_a C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f2_a_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f2_a_t* serial_udb_extra_f2_a)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f2_a->sue_time = mavlink_msg_serial_udb_extra_f2_a_get_sue_time(msg);
-	serial_udb_extra_f2_a->sue_latitude = mavlink_msg_serial_udb_extra_f2_a_get_sue_latitude(msg);
-	serial_udb_extra_f2_a->sue_longitude = mavlink_msg_serial_udb_extra_f2_a_get_sue_longitude(msg);
-	serial_udb_extra_f2_a->sue_altitude = mavlink_msg_serial_udb_extra_f2_a_get_sue_altitude(msg);
-	serial_udb_extra_f2_a->sue_waypoint_index = mavlink_msg_serial_udb_extra_f2_a_get_sue_waypoint_index(msg);
-	serial_udb_extra_f2_a->sue_rmat0 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat0(msg);
-	serial_udb_extra_f2_a->sue_rmat1 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat1(msg);
-	serial_udb_extra_f2_a->sue_rmat2 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat2(msg);
-	serial_udb_extra_f2_a->sue_rmat3 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat3(msg);
-	serial_udb_extra_f2_a->sue_rmat4 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat4(msg);
-	serial_udb_extra_f2_a->sue_rmat5 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat5(msg);
-	serial_udb_extra_f2_a->sue_rmat6 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat6(msg);
-	serial_udb_extra_f2_a->sue_rmat7 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat7(msg);
-	serial_udb_extra_f2_a->sue_rmat8 = mavlink_msg_serial_udb_extra_f2_a_get_sue_rmat8(msg);
-	serial_udb_extra_f2_a->sue_cog = mavlink_msg_serial_udb_extra_f2_a_get_sue_cog(msg);
-	serial_udb_extra_f2_a->sue_sog = mavlink_msg_serial_udb_extra_f2_a_get_sue_sog(msg);
-	serial_udb_extra_f2_a->sue_cpu_load = mavlink_msg_serial_udb_extra_f2_a_get_sue_cpu_load(msg);
-	serial_udb_extra_f2_a->sue_voltage_milis = mavlink_msg_serial_udb_extra_f2_a_get_sue_voltage_milis(msg);
-	serial_udb_extra_f2_a->sue_air_speed_3DIMU = mavlink_msg_serial_udb_extra_f2_a_get_sue_air_speed_3DIMU(msg);
-	serial_udb_extra_f2_a->sue_estimated_wind_0 = mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_0(msg);
-	serial_udb_extra_f2_a->sue_estimated_wind_1 = mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_1(msg);
-	serial_udb_extra_f2_a->sue_estimated_wind_2 = mavlink_msg_serial_udb_extra_f2_a_get_sue_estimated_wind_2(msg);
-	serial_udb_extra_f2_a->sue_magFieldEarth0 = mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth0(msg);
-	serial_udb_extra_f2_a->sue_magFieldEarth1 = mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth1(msg);
-	serial_udb_extra_f2_a->sue_magFieldEarth2 = mavlink_msg_serial_udb_extra_f2_a_get_sue_magFieldEarth2(msg);
-	serial_udb_extra_f2_a->sue_svs = mavlink_msg_serial_udb_extra_f2_a_get_sue_svs(msg);
-	serial_udb_extra_f2_a->sue_hdop = mavlink_msg_serial_udb_extra_f2_a_get_sue_hdop(msg);
-	serial_udb_extra_f2_a->sue_status = mavlink_msg_serial_udb_extra_f2_a_get_sue_status(msg);
-#else
-	memcpy(serial_udb_extra_f2_a, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_A_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h
deleted file mode 100644
index 7cb8c87da..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f2_b.h
+++ /dev/null
@@ -1,881 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F2_B PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B 171
-
-typedef struct __mavlink_serial_udb_extra_f2_b_t
-{
- uint32_t sue_time; ///< Serial UDB Extra Time
- uint32_t sue_flags; ///< Serial UDB Extra Status Flags
- int16_t sue_pwm_input_1; ///< Serial UDB Extra PWM Input Channel 1
- int16_t sue_pwm_input_2; ///< Serial UDB Extra PWM Input Channel 2
- int16_t sue_pwm_input_3; ///< Serial UDB Extra PWM Input Channel 3
- int16_t sue_pwm_input_4; ///< Serial UDB Extra PWM Input Channel 4
- int16_t sue_pwm_input_5; ///< Serial UDB Extra PWM Input Channel 5
- int16_t sue_pwm_input_6; ///< Serial UDB Extra PWM Input Channel 6
- int16_t sue_pwm_input_7; ///< Serial UDB Extra PWM Input Channel 7
- int16_t sue_pwm_input_8; ///< Serial UDB Extra PWM Input Channel 8
- int16_t sue_pwm_input_9; ///< Serial UDB Extra PWM Input Channel 9
- int16_t sue_pwm_input_10; ///< Serial UDB Extra PWM Input Channel 10
- int16_t sue_pwm_output_1; ///< Serial UDB Extra PWM Output Channel 1
- int16_t sue_pwm_output_2; ///< Serial UDB Extra PWM Output Channel 2
- int16_t sue_pwm_output_3; ///< Serial UDB Extra PWM Output Channel 3
- int16_t sue_pwm_output_4; ///< Serial UDB Extra PWM Output Channel 4
- int16_t sue_pwm_output_5; ///< Serial UDB Extra PWM Output Channel 5
- int16_t sue_pwm_output_6; ///< Serial UDB Extra PWM Output Channel 6
- int16_t sue_pwm_output_7; ///< Serial UDB Extra PWM Output Channel 7
- int16_t sue_pwm_output_8; ///< Serial UDB Extra PWM Output Channel 8
- int16_t sue_pwm_output_9; ///< Serial UDB Extra PWM Output Channel 9
- int16_t sue_pwm_output_10; ///< Serial UDB Extra PWM Output Channel 10
- int16_t sue_imu_location_x; ///< Serial UDB Extra IMU Location X
- int16_t sue_imu_location_y; ///< Serial UDB Extra IMU Location Y
- int16_t sue_imu_location_z; ///< Serial UDB Extra IMU Location Z
- int16_t sue_osc_fails; ///< Serial UDB Extra Oscillator Failure Count
- int16_t sue_imu_velocity_x; ///< Serial UDB Extra IMU Velocity X
- int16_t sue_imu_velocity_y; ///< Serial UDB Extra IMU Velocity Y
- int16_t sue_imu_velocity_z; ///< Serial UDB Extra IMU Velocity Z
- int16_t sue_waypoint_goal_x; ///< Serial UDB Extra Current Waypoint Goal X
- int16_t sue_waypoint_goal_y; ///< Serial UDB Extra Current Waypoint Goal Y
- int16_t sue_waypoint_goal_z; ///< Serial UDB Extra Current Waypoint Goal Z
- int16_t sue_memory_stack_free; ///< Serial UDB Extra Stack Memory Free
-} mavlink_serial_udb_extra_f2_b_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN 70
-#define MAVLINK_MSG_ID_171_LEN 70
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC 169
-#define MAVLINK_MSG_ID_171_CRC 169
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F2_B { \
-	"SERIAL_UDB_EXTRA_F2_B", \
-	33, \
-	{  { "sue_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_time) }, \
-         { "sue_flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_flags) }, \
-         { "sue_pwm_input_1", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_1) }, \
-         { "sue_pwm_input_2", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_2) }, \
-         { "sue_pwm_input_3", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_3) }, \
-         { "sue_pwm_input_4", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_4) }, \
-         { "sue_pwm_input_5", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_5) }, \
-         { "sue_pwm_input_6", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_6) }, \
-         { "sue_pwm_input_7", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_7) }, \
-         { "sue_pwm_input_8", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_8) }, \
-         { "sue_pwm_input_9", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_9) }, \
-         { "sue_pwm_input_10", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_input_10) }, \
-         { "sue_pwm_output_1", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_1) }, \
-         { "sue_pwm_output_2", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_2) }, \
-         { "sue_pwm_output_3", NULL, MAVLINK_TYPE_INT16_T, 0, 32, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_3) }, \
-         { "sue_pwm_output_4", NULL, MAVLINK_TYPE_INT16_T, 0, 34, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_4) }, \
-         { "sue_pwm_output_5", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_5) }, \
-         { "sue_pwm_output_6", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_6) }, \
-         { "sue_pwm_output_7", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_7) }, \
-         { "sue_pwm_output_8", NULL, MAVLINK_TYPE_INT16_T, 0, 42, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_8) }, \
-         { "sue_pwm_output_9", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_9) }, \
-         { "sue_pwm_output_10", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_pwm_output_10) }, \
-         { "sue_imu_location_x", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_location_x) }, \
-         { "sue_imu_location_y", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_location_y) }, \
-         { "sue_imu_location_z", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_location_z) }, \
-         { "sue_osc_fails", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_osc_fails) }, \
-         { "sue_imu_velocity_x", NULL, MAVLINK_TYPE_INT16_T, 0, 56, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_velocity_x) }, \
-         { "sue_imu_velocity_y", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_velocity_y) }, \
-         { "sue_imu_velocity_z", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_imu_velocity_z) }, \
-         { "sue_waypoint_goal_x", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_waypoint_goal_x) }, \
-         { "sue_waypoint_goal_y", NULL, MAVLINK_TYPE_INT16_T, 0, 64, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_waypoint_goal_y) }, \
-         { "sue_waypoint_goal_z", NULL, MAVLINK_TYPE_INT16_T, 0, 66, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_waypoint_goal_z) }, \
-         { "sue_memory_stack_free", NULL, MAVLINK_TYPE_INT16_T, 0, 68, offsetof(mavlink_serial_udb_extra_f2_b_t, sue_memory_stack_free) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f2_b 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 sue_time Serial UDB Extra Time
- * @param sue_pwm_input_1 Serial UDB Extra PWM Input Channel 1
- * @param sue_pwm_input_2 Serial UDB Extra PWM Input Channel 2
- * @param sue_pwm_input_3 Serial UDB Extra PWM Input Channel 3
- * @param sue_pwm_input_4 Serial UDB Extra PWM Input Channel 4
- * @param sue_pwm_input_5 Serial UDB Extra PWM Input Channel 5
- * @param sue_pwm_input_6 Serial UDB Extra PWM Input Channel 6
- * @param sue_pwm_input_7 Serial UDB Extra PWM Input Channel 7
- * @param sue_pwm_input_8 Serial UDB Extra PWM Input Channel 8
- * @param sue_pwm_input_9 Serial UDB Extra PWM Input Channel 9
- * @param sue_pwm_input_10 Serial UDB Extra PWM Input Channel 10
- * @param sue_pwm_output_1 Serial UDB Extra PWM Output Channel 1
- * @param sue_pwm_output_2 Serial UDB Extra PWM Output Channel 2
- * @param sue_pwm_output_3 Serial UDB Extra PWM Output Channel 3
- * @param sue_pwm_output_4 Serial UDB Extra PWM Output Channel 4
- * @param sue_pwm_output_5 Serial UDB Extra PWM Output Channel 5
- * @param sue_pwm_output_6 Serial UDB Extra PWM Output Channel 6
- * @param sue_pwm_output_7 Serial UDB Extra PWM Output Channel 7
- * @param sue_pwm_output_8 Serial UDB Extra PWM Output Channel 8
- * @param sue_pwm_output_9 Serial UDB Extra PWM Output Channel 9
- * @param sue_pwm_output_10 Serial UDB Extra PWM Output Channel 10
- * @param sue_imu_location_x Serial UDB Extra IMU Location X
- * @param sue_imu_location_y Serial UDB Extra IMU Location Y
- * @param sue_imu_location_z Serial UDB Extra IMU Location Z
- * @param sue_flags Serial UDB Extra Status Flags
- * @param sue_osc_fails Serial UDB Extra Oscillator Failure Count
- * @param sue_imu_velocity_x Serial UDB Extra IMU Velocity X
- * @param sue_imu_velocity_y Serial UDB Extra IMU Velocity Y
- * @param sue_imu_velocity_z Serial UDB Extra IMU Velocity Z
- * @param sue_waypoint_goal_x Serial UDB Extra Current Waypoint Goal X
- * @param sue_waypoint_goal_y Serial UDB Extra Current Waypoint Goal Y
- * @param sue_waypoint_goal_z Serial UDB Extra Current Waypoint Goal Z
- * @param sue_memory_stack_free Serial UDB Extra Stack Memory Free
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint32_t sue_time, int16_t sue_pwm_input_1, int16_t sue_pwm_input_2, int16_t sue_pwm_input_3, int16_t sue_pwm_input_4, int16_t sue_pwm_input_5, int16_t sue_pwm_input_6, int16_t sue_pwm_input_7, int16_t sue_pwm_input_8, int16_t sue_pwm_input_9, int16_t sue_pwm_input_10, int16_t sue_pwm_output_1, int16_t sue_pwm_output_2, int16_t sue_pwm_output_3, int16_t sue_pwm_output_4, int16_t sue_pwm_output_5, int16_t sue_pwm_output_6, int16_t sue_pwm_output_7, int16_t sue_pwm_output_8, int16_t sue_pwm_output_9, int16_t sue_pwm_output_10, int16_t sue_imu_location_x, int16_t sue_imu_location_y, int16_t sue_imu_location_z, uint32_t sue_flags, int16_t sue_osc_fails, int16_t sue_imu_velocity_x, int16_t sue_imu_velocity_y, int16_t sue_imu_velocity_z, int16_t sue_waypoint_goal_x, int16_t sue_waypoint_goal_y, int16_t sue_waypoint_goal_z, int16_t sue_memory_stack_free)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN];
-	_mav_put_uint32_t(buf, 0, sue_time);
-	_mav_put_uint32_t(buf, 4, sue_flags);
-	_mav_put_int16_t(buf, 8, sue_pwm_input_1);
-	_mav_put_int16_t(buf, 10, sue_pwm_input_2);
-	_mav_put_int16_t(buf, 12, sue_pwm_input_3);
-	_mav_put_int16_t(buf, 14, sue_pwm_input_4);
-	_mav_put_int16_t(buf, 16, sue_pwm_input_5);
-	_mav_put_int16_t(buf, 18, sue_pwm_input_6);
-	_mav_put_int16_t(buf, 20, sue_pwm_input_7);
-	_mav_put_int16_t(buf, 22, sue_pwm_input_8);
-	_mav_put_int16_t(buf, 24, sue_pwm_input_9);
-	_mav_put_int16_t(buf, 26, sue_pwm_input_10);
-	_mav_put_int16_t(buf, 28, sue_pwm_output_1);
-	_mav_put_int16_t(buf, 30, sue_pwm_output_2);
-	_mav_put_int16_t(buf, 32, sue_pwm_output_3);
-	_mav_put_int16_t(buf, 34, sue_pwm_output_4);
-	_mav_put_int16_t(buf, 36, sue_pwm_output_5);
-	_mav_put_int16_t(buf, 38, sue_pwm_output_6);
-	_mav_put_int16_t(buf, 40, sue_pwm_output_7);
-	_mav_put_int16_t(buf, 42, sue_pwm_output_8);
-	_mav_put_int16_t(buf, 44, sue_pwm_output_9);
-	_mav_put_int16_t(buf, 46, sue_pwm_output_10);
-	_mav_put_int16_t(buf, 48, sue_imu_location_x);
-	_mav_put_int16_t(buf, 50, sue_imu_location_y);
-	_mav_put_int16_t(buf, 52, sue_imu_location_z);
-	_mav_put_int16_t(buf, 54, sue_osc_fails);
-	_mav_put_int16_t(buf, 56, sue_imu_velocity_x);
-	_mav_put_int16_t(buf, 58, sue_imu_velocity_y);
-	_mav_put_int16_t(buf, 60, sue_imu_velocity_z);
-	_mav_put_int16_t(buf, 62, sue_waypoint_goal_x);
-	_mav_put_int16_t(buf, 64, sue_waypoint_goal_y);
-	_mav_put_int16_t(buf, 66, sue_waypoint_goal_z);
-	_mav_put_int16_t(buf, 68, sue_memory_stack_free);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#else
-	mavlink_serial_udb_extra_f2_b_t packet;
-	packet.sue_time = sue_time;
-	packet.sue_flags = sue_flags;
-	packet.sue_pwm_input_1 = sue_pwm_input_1;
-	packet.sue_pwm_input_2 = sue_pwm_input_2;
-	packet.sue_pwm_input_3 = sue_pwm_input_3;
-	packet.sue_pwm_input_4 = sue_pwm_input_4;
-	packet.sue_pwm_input_5 = sue_pwm_input_5;
-	packet.sue_pwm_input_6 = sue_pwm_input_6;
-	packet.sue_pwm_input_7 = sue_pwm_input_7;
-	packet.sue_pwm_input_8 = sue_pwm_input_8;
-	packet.sue_pwm_input_9 = sue_pwm_input_9;
-	packet.sue_pwm_input_10 = sue_pwm_input_10;
-	packet.sue_pwm_output_1 = sue_pwm_output_1;
-	packet.sue_pwm_output_2 = sue_pwm_output_2;
-	packet.sue_pwm_output_3 = sue_pwm_output_3;
-	packet.sue_pwm_output_4 = sue_pwm_output_4;
-	packet.sue_pwm_output_5 = sue_pwm_output_5;
-	packet.sue_pwm_output_6 = sue_pwm_output_6;
-	packet.sue_pwm_output_7 = sue_pwm_output_7;
-	packet.sue_pwm_output_8 = sue_pwm_output_8;
-	packet.sue_pwm_output_9 = sue_pwm_output_9;
-	packet.sue_pwm_output_10 = sue_pwm_output_10;
-	packet.sue_imu_location_x = sue_imu_location_x;
-	packet.sue_imu_location_y = sue_imu_location_y;
-	packet.sue_imu_location_z = sue_imu_location_z;
-	packet.sue_osc_fails = sue_osc_fails;
-	packet.sue_imu_velocity_x = sue_imu_velocity_x;
-	packet.sue_imu_velocity_y = sue_imu_velocity_y;
-	packet.sue_imu_velocity_z = sue_imu_velocity_z;
-	packet.sue_waypoint_goal_x = sue_waypoint_goal_x;
-	packet.sue_waypoint_goal_y = sue_waypoint_goal_y;
-	packet.sue_waypoint_goal_z = sue_waypoint_goal_z;
-	packet.sue_memory_stack_free = sue_memory_stack_free;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f2_b 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_time Serial UDB Extra Time
- * @param sue_pwm_input_1 Serial UDB Extra PWM Input Channel 1
- * @param sue_pwm_input_2 Serial UDB Extra PWM Input Channel 2
- * @param sue_pwm_input_3 Serial UDB Extra PWM Input Channel 3
- * @param sue_pwm_input_4 Serial UDB Extra PWM Input Channel 4
- * @param sue_pwm_input_5 Serial UDB Extra PWM Input Channel 5
- * @param sue_pwm_input_6 Serial UDB Extra PWM Input Channel 6
- * @param sue_pwm_input_7 Serial UDB Extra PWM Input Channel 7
- * @param sue_pwm_input_8 Serial UDB Extra PWM Input Channel 8
- * @param sue_pwm_input_9 Serial UDB Extra PWM Input Channel 9
- * @param sue_pwm_input_10 Serial UDB Extra PWM Input Channel 10
- * @param sue_pwm_output_1 Serial UDB Extra PWM Output Channel 1
- * @param sue_pwm_output_2 Serial UDB Extra PWM Output Channel 2
- * @param sue_pwm_output_3 Serial UDB Extra PWM Output Channel 3
- * @param sue_pwm_output_4 Serial UDB Extra PWM Output Channel 4
- * @param sue_pwm_output_5 Serial UDB Extra PWM Output Channel 5
- * @param sue_pwm_output_6 Serial UDB Extra PWM Output Channel 6
- * @param sue_pwm_output_7 Serial UDB Extra PWM Output Channel 7
- * @param sue_pwm_output_8 Serial UDB Extra PWM Output Channel 8
- * @param sue_pwm_output_9 Serial UDB Extra PWM Output Channel 9
- * @param sue_pwm_output_10 Serial UDB Extra PWM Output Channel 10
- * @param sue_imu_location_x Serial UDB Extra IMU Location X
- * @param sue_imu_location_y Serial UDB Extra IMU Location Y
- * @param sue_imu_location_z Serial UDB Extra IMU Location Z
- * @param sue_flags Serial UDB Extra Status Flags
- * @param sue_osc_fails Serial UDB Extra Oscillator Failure Count
- * @param sue_imu_velocity_x Serial UDB Extra IMU Velocity X
- * @param sue_imu_velocity_y Serial UDB Extra IMU Velocity Y
- * @param sue_imu_velocity_z Serial UDB Extra IMU Velocity Z
- * @param sue_waypoint_goal_x Serial UDB Extra Current Waypoint Goal X
- * @param sue_waypoint_goal_y Serial UDB Extra Current Waypoint Goal Y
- * @param sue_waypoint_goal_z Serial UDB Extra Current Waypoint Goal Z
- * @param sue_memory_stack_free Serial UDB Extra Stack Memory Free
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint32_t sue_time,int16_t sue_pwm_input_1,int16_t sue_pwm_input_2,int16_t sue_pwm_input_3,int16_t sue_pwm_input_4,int16_t sue_pwm_input_5,int16_t sue_pwm_input_6,int16_t sue_pwm_input_7,int16_t sue_pwm_input_8,int16_t sue_pwm_input_9,int16_t sue_pwm_input_10,int16_t sue_pwm_output_1,int16_t sue_pwm_output_2,int16_t sue_pwm_output_3,int16_t sue_pwm_output_4,int16_t sue_pwm_output_5,int16_t sue_pwm_output_6,int16_t sue_pwm_output_7,int16_t sue_pwm_output_8,int16_t sue_pwm_output_9,int16_t sue_pwm_output_10,int16_t sue_imu_location_x,int16_t sue_imu_location_y,int16_t sue_imu_location_z,uint32_t sue_flags,int16_t sue_osc_fails,int16_t sue_imu_velocity_x,int16_t sue_imu_velocity_y,int16_t sue_imu_velocity_z,int16_t sue_waypoint_goal_x,int16_t sue_waypoint_goal_y,int16_t sue_waypoint_goal_z,int16_t sue_memory_stack_free)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN];
-	_mav_put_uint32_t(buf, 0, sue_time);
-	_mav_put_uint32_t(buf, 4, sue_flags);
-	_mav_put_int16_t(buf, 8, sue_pwm_input_1);
-	_mav_put_int16_t(buf, 10, sue_pwm_input_2);
-	_mav_put_int16_t(buf, 12, sue_pwm_input_3);
-	_mav_put_int16_t(buf, 14, sue_pwm_input_4);
-	_mav_put_int16_t(buf, 16, sue_pwm_input_5);
-	_mav_put_int16_t(buf, 18, sue_pwm_input_6);
-	_mav_put_int16_t(buf, 20, sue_pwm_input_7);
-	_mav_put_int16_t(buf, 22, sue_pwm_input_8);
-	_mav_put_int16_t(buf, 24, sue_pwm_input_9);
-	_mav_put_int16_t(buf, 26, sue_pwm_input_10);
-	_mav_put_int16_t(buf, 28, sue_pwm_output_1);
-	_mav_put_int16_t(buf, 30, sue_pwm_output_2);
-	_mav_put_int16_t(buf, 32, sue_pwm_output_3);
-	_mav_put_int16_t(buf, 34, sue_pwm_output_4);
-	_mav_put_int16_t(buf, 36, sue_pwm_output_5);
-	_mav_put_int16_t(buf, 38, sue_pwm_output_6);
-	_mav_put_int16_t(buf, 40, sue_pwm_output_7);
-	_mav_put_int16_t(buf, 42, sue_pwm_output_8);
-	_mav_put_int16_t(buf, 44, sue_pwm_output_9);
-	_mav_put_int16_t(buf, 46, sue_pwm_output_10);
-	_mav_put_int16_t(buf, 48, sue_imu_location_x);
-	_mav_put_int16_t(buf, 50, sue_imu_location_y);
-	_mav_put_int16_t(buf, 52, sue_imu_location_z);
-	_mav_put_int16_t(buf, 54, sue_osc_fails);
-	_mav_put_int16_t(buf, 56, sue_imu_velocity_x);
-	_mav_put_int16_t(buf, 58, sue_imu_velocity_y);
-	_mav_put_int16_t(buf, 60, sue_imu_velocity_z);
-	_mav_put_int16_t(buf, 62, sue_waypoint_goal_x);
-	_mav_put_int16_t(buf, 64, sue_waypoint_goal_y);
-	_mav_put_int16_t(buf, 66, sue_waypoint_goal_z);
-	_mav_put_int16_t(buf, 68, sue_memory_stack_free);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#else
-	mavlink_serial_udb_extra_f2_b_t packet;
-	packet.sue_time = sue_time;
-	packet.sue_flags = sue_flags;
-	packet.sue_pwm_input_1 = sue_pwm_input_1;
-	packet.sue_pwm_input_2 = sue_pwm_input_2;
-	packet.sue_pwm_input_3 = sue_pwm_input_3;
-	packet.sue_pwm_input_4 = sue_pwm_input_4;
-	packet.sue_pwm_input_5 = sue_pwm_input_5;
-	packet.sue_pwm_input_6 = sue_pwm_input_6;
-	packet.sue_pwm_input_7 = sue_pwm_input_7;
-	packet.sue_pwm_input_8 = sue_pwm_input_8;
-	packet.sue_pwm_input_9 = sue_pwm_input_9;
-	packet.sue_pwm_input_10 = sue_pwm_input_10;
-	packet.sue_pwm_output_1 = sue_pwm_output_1;
-	packet.sue_pwm_output_2 = sue_pwm_output_2;
-	packet.sue_pwm_output_3 = sue_pwm_output_3;
-	packet.sue_pwm_output_4 = sue_pwm_output_4;
-	packet.sue_pwm_output_5 = sue_pwm_output_5;
-	packet.sue_pwm_output_6 = sue_pwm_output_6;
-	packet.sue_pwm_output_7 = sue_pwm_output_7;
-	packet.sue_pwm_output_8 = sue_pwm_output_8;
-	packet.sue_pwm_output_9 = sue_pwm_output_9;
-	packet.sue_pwm_output_10 = sue_pwm_output_10;
-	packet.sue_imu_location_x = sue_imu_location_x;
-	packet.sue_imu_location_y = sue_imu_location_y;
-	packet.sue_imu_location_z = sue_imu_location_z;
-	packet.sue_osc_fails = sue_osc_fails;
-	packet.sue_imu_velocity_x = sue_imu_velocity_x;
-	packet.sue_imu_velocity_y = sue_imu_velocity_y;
-	packet.sue_imu_velocity_z = sue_imu_velocity_z;
-	packet.sue_waypoint_goal_x = sue_waypoint_goal_x;
-	packet.sue_waypoint_goal_y = sue_waypoint_goal_y;
-	packet.sue_waypoint_goal_z = sue_waypoint_goal_z;
-	packet.sue_memory_stack_free = sue_memory_stack_free;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f2_b struct
- *
- * @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 serial_udb_extra_f2_b C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f2_b_t* serial_udb_extra_f2_b)
-{
-	return mavlink_msg_serial_udb_extra_f2_b_pack(system_id, component_id, msg, serial_udb_extra_f2_b->sue_time, serial_udb_extra_f2_b->sue_pwm_input_1, serial_udb_extra_f2_b->sue_pwm_input_2, serial_udb_extra_f2_b->sue_pwm_input_3, serial_udb_extra_f2_b->sue_pwm_input_4, serial_udb_extra_f2_b->sue_pwm_input_5, serial_udb_extra_f2_b->sue_pwm_input_6, serial_udb_extra_f2_b->sue_pwm_input_7, serial_udb_extra_f2_b->sue_pwm_input_8, serial_udb_extra_f2_b->sue_pwm_input_9, serial_udb_extra_f2_b->sue_pwm_input_10, serial_udb_extra_f2_b->sue_pwm_output_1, serial_udb_extra_f2_b->sue_pwm_output_2, serial_udb_extra_f2_b->sue_pwm_output_3, serial_udb_extra_f2_b->sue_pwm_output_4, serial_udb_extra_f2_b->sue_pwm_output_5, serial_udb_extra_f2_b->sue_pwm_output_6, serial_udb_extra_f2_b->sue_pwm_output_7, serial_udb_extra_f2_b->sue_pwm_output_8, serial_udb_extra_f2_b->sue_pwm_output_9, serial_udb_extra_f2_b->sue_pwm_output_10, serial_udb_extra_f2_b->sue_imu_location_x, serial_udb_extra_f2_b->sue_imu_location_y, serial_udb_extra_f2_b->sue_imu_location_z, serial_udb_extra_f2_b->sue_flags, serial_udb_extra_f2_b->sue_osc_fails, serial_udb_extra_f2_b->sue_imu_velocity_x, serial_udb_extra_f2_b->sue_imu_velocity_y, serial_udb_extra_f2_b->sue_imu_velocity_z, serial_udb_extra_f2_b->sue_waypoint_goal_x, serial_udb_extra_f2_b->sue_waypoint_goal_y, serial_udb_extra_f2_b->sue_waypoint_goal_z, serial_udb_extra_f2_b->sue_memory_stack_free);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f2_b struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f2_b C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f2_b_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f2_b_t* serial_udb_extra_f2_b)
-{
-	return mavlink_msg_serial_udb_extra_f2_b_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f2_b->sue_time, serial_udb_extra_f2_b->sue_pwm_input_1, serial_udb_extra_f2_b->sue_pwm_input_2, serial_udb_extra_f2_b->sue_pwm_input_3, serial_udb_extra_f2_b->sue_pwm_input_4, serial_udb_extra_f2_b->sue_pwm_input_5, serial_udb_extra_f2_b->sue_pwm_input_6, serial_udb_extra_f2_b->sue_pwm_input_7, serial_udb_extra_f2_b->sue_pwm_input_8, serial_udb_extra_f2_b->sue_pwm_input_9, serial_udb_extra_f2_b->sue_pwm_input_10, serial_udb_extra_f2_b->sue_pwm_output_1, serial_udb_extra_f2_b->sue_pwm_output_2, serial_udb_extra_f2_b->sue_pwm_output_3, serial_udb_extra_f2_b->sue_pwm_output_4, serial_udb_extra_f2_b->sue_pwm_output_5, serial_udb_extra_f2_b->sue_pwm_output_6, serial_udb_extra_f2_b->sue_pwm_output_7, serial_udb_extra_f2_b->sue_pwm_output_8, serial_udb_extra_f2_b->sue_pwm_output_9, serial_udb_extra_f2_b->sue_pwm_output_10, serial_udb_extra_f2_b->sue_imu_location_x, serial_udb_extra_f2_b->sue_imu_location_y, serial_udb_extra_f2_b->sue_imu_location_z, serial_udb_extra_f2_b->sue_flags, serial_udb_extra_f2_b->sue_osc_fails, serial_udb_extra_f2_b->sue_imu_velocity_x, serial_udb_extra_f2_b->sue_imu_velocity_y, serial_udb_extra_f2_b->sue_imu_velocity_z, serial_udb_extra_f2_b->sue_waypoint_goal_x, serial_udb_extra_f2_b->sue_waypoint_goal_y, serial_udb_extra_f2_b->sue_waypoint_goal_z, serial_udb_extra_f2_b->sue_memory_stack_free);
-}
-
-/**
- * @brief Send a serial_udb_extra_f2_b message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_time Serial UDB Extra Time
- * @param sue_pwm_input_1 Serial UDB Extra PWM Input Channel 1
- * @param sue_pwm_input_2 Serial UDB Extra PWM Input Channel 2
- * @param sue_pwm_input_3 Serial UDB Extra PWM Input Channel 3
- * @param sue_pwm_input_4 Serial UDB Extra PWM Input Channel 4
- * @param sue_pwm_input_5 Serial UDB Extra PWM Input Channel 5
- * @param sue_pwm_input_6 Serial UDB Extra PWM Input Channel 6
- * @param sue_pwm_input_7 Serial UDB Extra PWM Input Channel 7
- * @param sue_pwm_input_8 Serial UDB Extra PWM Input Channel 8
- * @param sue_pwm_input_9 Serial UDB Extra PWM Input Channel 9
- * @param sue_pwm_input_10 Serial UDB Extra PWM Input Channel 10
- * @param sue_pwm_output_1 Serial UDB Extra PWM Output Channel 1
- * @param sue_pwm_output_2 Serial UDB Extra PWM Output Channel 2
- * @param sue_pwm_output_3 Serial UDB Extra PWM Output Channel 3
- * @param sue_pwm_output_4 Serial UDB Extra PWM Output Channel 4
- * @param sue_pwm_output_5 Serial UDB Extra PWM Output Channel 5
- * @param sue_pwm_output_6 Serial UDB Extra PWM Output Channel 6
- * @param sue_pwm_output_7 Serial UDB Extra PWM Output Channel 7
- * @param sue_pwm_output_8 Serial UDB Extra PWM Output Channel 8
- * @param sue_pwm_output_9 Serial UDB Extra PWM Output Channel 9
- * @param sue_pwm_output_10 Serial UDB Extra PWM Output Channel 10
- * @param sue_imu_location_x Serial UDB Extra IMU Location X
- * @param sue_imu_location_y Serial UDB Extra IMU Location Y
- * @param sue_imu_location_z Serial UDB Extra IMU Location Z
- * @param sue_flags Serial UDB Extra Status Flags
- * @param sue_osc_fails Serial UDB Extra Oscillator Failure Count
- * @param sue_imu_velocity_x Serial UDB Extra IMU Velocity X
- * @param sue_imu_velocity_y Serial UDB Extra IMU Velocity Y
- * @param sue_imu_velocity_z Serial UDB Extra IMU Velocity Z
- * @param sue_waypoint_goal_x Serial UDB Extra Current Waypoint Goal X
- * @param sue_waypoint_goal_y Serial UDB Extra Current Waypoint Goal Y
- * @param sue_waypoint_goal_z Serial UDB Extra Current Waypoint Goal Z
- * @param sue_memory_stack_free Serial UDB Extra Stack Memory Free
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f2_b_send(mavlink_channel_t chan, uint32_t sue_time, int16_t sue_pwm_input_1, int16_t sue_pwm_input_2, int16_t sue_pwm_input_3, int16_t sue_pwm_input_4, int16_t sue_pwm_input_5, int16_t sue_pwm_input_6, int16_t sue_pwm_input_7, int16_t sue_pwm_input_8, int16_t sue_pwm_input_9, int16_t sue_pwm_input_10, int16_t sue_pwm_output_1, int16_t sue_pwm_output_2, int16_t sue_pwm_output_3, int16_t sue_pwm_output_4, int16_t sue_pwm_output_5, int16_t sue_pwm_output_6, int16_t sue_pwm_output_7, int16_t sue_pwm_output_8, int16_t sue_pwm_output_9, int16_t sue_pwm_output_10, int16_t sue_imu_location_x, int16_t sue_imu_location_y, int16_t sue_imu_location_z, uint32_t sue_flags, int16_t sue_osc_fails, int16_t sue_imu_velocity_x, int16_t sue_imu_velocity_y, int16_t sue_imu_velocity_z, int16_t sue_waypoint_goal_x, int16_t sue_waypoint_goal_y, int16_t sue_waypoint_goal_z, int16_t sue_memory_stack_free)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN];
-	_mav_put_uint32_t(buf, 0, sue_time);
-	_mav_put_uint32_t(buf, 4, sue_flags);
-	_mav_put_int16_t(buf, 8, sue_pwm_input_1);
-	_mav_put_int16_t(buf, 10, sue_pwm_input_2);
-	_mav_put_int16_t(buf, 12, sue_pwm_input_3);
-	_mav_put_int16_t(buf, 14, sue_pwm_input_4);
-	_mav_put_int16_t(buf, 16, sue_pwm_input_5);
-	_mav_put_int16_t(buf, 18, sue_pwm_input_6);
-	_mav_put_int16_t(buf, 20, sue_pwm_input_7);
-	_mav_put_int16_t(buf, 22, sue_pwm_input_8);
-	_mav_put_int16_t(buf, 24, sue_pwm_input_9);
-	_mav_put_int16_t(buf, 26, sue_pwm_input_10);
-	_mav_put_int16_t(buf, 28, sue_pwm_output_1);
-	_mav_put_int16_t(buf, 30, sue_pwm_output_2);
-	_mav_put_int16_t(buf, 32, sue_pwm_output_3);
-	_mav_put_int16_t(buf, 34, sue_pwm_output_4);
-	_mav_put_int16_t(buf, 36, sue_pwm_output_5);
-	_mav_put_int16_t(buf, 38, sue_pwm_output_6);
-	_mav_put_int16_t(buf, 40, sue_pwm_output_7);
-	_mav_put_int16_t(buf, 42, sue_pwm_output_8);
-	_mav_put_int16_t(buf, 44, sue_pwm_output_9);
-	_mav_put_int16_t(buf, 46, sue_pwm_output_10);
-	_mav_put_int16_t(buf, 48, sue_imu_location_x);
-	_mav_put_int16_t(buf, 50, sue_imu_location_y);
-	_mav_put_int16_t(buf, 52, sue_imu_location_z);
-	_mav_put_int16_t(buf, 54, sue_osc_fails);
-	_mav_put_int16_t(buf, 56, sue_imu_velocity_x);
-	_mav_put_int16_t(buf, 58, sue_imu_velocity_y);
-	_mav_put_int16_t(buf, 60, sue_imu_velocity_z);
-	_mav_put_int16_t(buf, 62, sue_waypoint_goal_x);
-	_mav_put_int16_t(buf, 64, sue_waypoint_goal_y);
-	_mav_put_int16_t(buf, 66, sue_waypoint_goal_z);
-	_mav_put_int16_t(buf, 68, sue_memory_stack_free);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f2_b_t packet;
-	packet.sue_time = sue_time;
-	packet.sue_flags = sue_flags;
-	packet.sue_pwm_input_1 = sue_pwm_input_1;
-	packet.sue_pwm_input_2 = sue_pwm_input_2;
-	packet.sue_pwm_input_3 = sue_pwm_input_3;
-	packet.sue_pwm_input_4 = sue_pwm_input_4;
-	packet.sue_pwm_input_5 = sue_pwm_input_5;
-	packet.sue_pwm_input_6 = sue_pwm_input_6;
-	packet.sue_pwm_input_7 = sue_pwm_input_7;
-	packet.sue_pwm_input_8 = sue_pwm_input_8;
-	packet.sue_pwm_input_9 = sue_pwm_input_9;
-	packet.sue_pwm_input_10 = sue_pwm_input_10;
-	packet.sue_pwm_output_1 = sue_pwm_output_1;
-	packet.sue_pwm_output_2 = sue_pwm_output_2;
-	packet.sue_pwm_output_3 = sue_pwm_output_3;
-	packet.sue_pwm_output_4 = sue_pwm_output_4;
-	packet.sue_pwm_output_5 = sue_pwm_output_5;
-	packet.sue_pwm_output_6 = sue_pwm_output_6;
-	packet.sue_pwm_output_7 = sue_pwm_output_7;
-	packet.sue_pwm_output_8 = sue_pwm_output_8;
-	packet.sue_pwm_output_9 = sue_pwm_output_9;
-	packet.sue_pwm_output_10 = sue_pwm_output_10;
-	packet.sue_imu_location_x = sue_imu_location_x;
-	packet.sue_imu_location_y = sue_imu_location_y;
-	packet.sue_imu_location_z = sue_imu_location_z;
-	packet.sue_osc_fails = sue_osc_fails;
-	packet.sue_imu_velocity_x = sue_imu_velocity_x;
-	packet.sue_imu_velocity_y = sue_imu_velocity_y;
-	packet.sue_imu_velocity_z = sue_imu_velocity_z;
-	packet.sue_waypoint_goal_x = sue_waypoint_goal_x;
-	packet.sue_waypoint_goal_y = sue_waypoint_goal_y;
-	packet.sue_waypoint_goal_z = sue_waypoint_goal_z;
-	packet.sue_memory_stack_free = sue_memory_stack_free;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F2_B UNPACKING
-
-
-/**
- * @brief Get field sue_time from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Time
- */
-static inline uint32_t mavlink_msg_serial_udb_extra_f2_b_get_sue_time(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  0);
-}
-
-/**
- * @brief Get field sue_pwm_input_1 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 1
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  8);
-}
-
-/**
- * @brief Get field sue_pwm_input_2 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 2
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  10);
-}
-
-/**
- * @brief Get field sue_pwm_input_3 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 3
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  12);
-}
-
-/**
- * @brief Get field sue_pwm_input_4 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 4
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field sue_pwm_input_5 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 5
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  16);
-}
-
-/**
- * @brief Get field sue_pwm_input_6 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 6
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  18);
-}
-
-/**
- * @brief Get field sue_pwm_input_7 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 7
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  20);
-}
-
-/**
- * @brief Get field sue_pwm_input_8 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 8
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  22);
-}
-
-/**
- * @brief Get field sue_pwm_input_9 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 9
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_9(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  24);
-}
-
-/**
- * @brief Get field sue_pwm_input_10 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Input Channel 10
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_10(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  26);
-}
-
-/**
- * @brief Get field sue_pwm_output_1 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 1
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  28);
-}
-
-/**
- * @brief Get field sue_pwm_output_2 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 2
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  30);
-}
-
-/**
- * @brief Get field sue_pwm_output_3 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 3
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  32);
-}
-
-/**
- * @brief Get field sue_pwm_output_4 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 4
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  34);
-}
-
-/**
- * @brief Get field sue_pwm_output_5 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 5
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_5(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  36);
-}
-
-/**
- * @brief Get field sue_pwm_output_6 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 6
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_6(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  38);
-}
-
-/**
- * @brief Get field sue_pwm_output_7 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 7
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_7(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  40);
-}
-
-/**
- * @brief Get field sue_pwm_output_8 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 8
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  42);
-}
-
-/**
- * @brief Get field sue_pwm_output_9 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 9
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_9(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  44);
-}
-
-/**
- * @brief Get field sue_pwm_output_10 from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra PWM Output Channel 10
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_10(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  46);
-}
-
-/**
- * @brief Get field sue_imu_location_x from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra IMU Location X
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  48);
-}
-
-/**
- * @brief Get field sue_imu_location_y from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra IMU Location Y
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  50);
-}
-
-/**
- * @brief Get field sue_imu_location_z from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra IMU Location Z
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  52);
-}
-
-/**
- * @brief Get field sue_flags from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Status Flags
- */
-static inline uint32_t mavlink_msg_serial_udb_extra_f2_b_get_sue_flags(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  4);
-}
-
-/**
- * @brief Get field sue_osc_fails from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Oscillator Failure Count
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_osc_fails(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  54);
-}
-
-/**
- * @brief Get field sue_imu_velocity_x from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra IMU Velocity X
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  56);
-}
-
-/**
- * @brief Get field sue_imu_velocity_y from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra IMU Velocity Y
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  58);
-}
-
-/**
- * @brief Get field sue_imu_velocity_z from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra IMU Velocity Z
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  60);
-}
-
-/**
- * @brief Get field sue_waypoint_goal_x from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Current Waypoint Goal X
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  62);
-}
-
-/**
- * @brief Get field sue_waypoint_goal_y from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Current Waypoint Goal Y
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  64);
-}
-
-/**
- * @brief Get field sue_waypoint_goal_z from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Current Waypoint Goal Z
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  66);
-}
-
-/**
- * @brief Get field sue_memory_stack_free from serial_udb_extra_f2_b message
- *
- * @return Serial UDB Extra Stack Memory Free
- */
-static inline int16_t mavlink_msg_serial_udb_extra_f2_b_get_sue_memory_stack_free(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  68);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f2_b message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f2_b C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f2_b_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f2_b_t* serial_udb_extra_f2_b)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f2_b->sue_time = mavlink_msg_serial_udb_extra_f2_b_get_sue_time(msg);
-	serial_udb_extra_f2_b->sue_flags = mavlink_msg_serial_udb_extra_f2_b_get_sue_flags(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_1 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_1(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_2 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_2(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_3 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_3(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_4 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_4(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_5 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_5(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_6 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_6(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_7 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_7(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_8 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_8(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_9 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_9(msg);
-	serial_udb_extra_f2_b->sue_pwm_input_10 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_input_10(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_1 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_1(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_2 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_2(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_3 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_3(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_4 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_4(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_5 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_5(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_6 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_6(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_7 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_7(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_8 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_8(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_9 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_9(msg);
-	serial_udb_extra_f2_b->sue_pwm_output_10 = mavlink_msg_serial_udb_extra_f2_b_get_sue_pwm_output_10(msg);
-	serial_udb_extra_f2_b->sue_imu_location_x = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_x(msg);
-	serial_udb_extra_f2_b->sue_imu_location_y = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_y(msg);
-	serial_udb_extra_f2_b->sue_imu_location_z = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_location_z(msg);
-	serial_udb_extra_f2_b->sue_osc_fails = mavlink_msg_serial_udb_extra_f2_b_get_sue_osc_fails(msg);
-	serial_udb_extra_f2_b->sue_imu_velocity_x = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_x(msg);
-	serial_udb_extra_f2_b->sue_imu_velocity_y = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_y(msg);
-	serial_udb_extra_f2_b->sue_imu_velocity_z = mavlink_msg_serial_udb_extra_f2_b_get_sue_imu_velocity_z(msg);
-	serial_udb_extra_f2_b->sue_waypoint_goal_x = mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_x(msg);
-	serial_udb_extra_f2_b->sue_waypoint_goal_y = mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_y(msg);
-	serial_udb_extra_f2_b->sue_waypoint_goal_z = mavlink_msg_serial_udb_extra_f2_b_get_sue_waypoint_goal_z(msg);
-	serial_udb_extra_f2_b->sue_memory_stack_free = mavlink_msg_serial_udb_extra_f2_b_get_sue_memory_stack_free(msg);
-#else
-	memcpy(serial_udb_extra_f2_b, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F2_B_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h
deleted file mode 100644
index 77c616cc2..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f4.h
+++ /dev/null
@@ -1,375 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F4 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4 172
-
-typedef struct __mavlink_serial_udb_extra_f4_t
-{
- uint8_t sue_ROLL_STABILIZATION_AILERONS; ///< Serial UDB Extra Roll Stabilization with Ailerons Enabled
- uint8_t sue_ROLL_STABILIZATION_RUDDER; ///< Serial UDB Extra Roll Stabilization with Rudder Enabled
- uint8_t sue_PITCH_STABILIZATION; ///< Serial UDB Extra Pitch Stabilization Enabled
- uint8_t sue_YAW_STABILIZATION_RUDDER; ///< Serial UDB Extra Yaw Stabilization using Rudder Enabled
- uint8_t sue_YAW_STABILIZATION_AILERON; ///< Serial UDB Extra Yaw Stabilization using Ailerons Enabled
- uint8_t sue_AILERON_NAVIGATION; ///< Serial UDB Extra Navigation with Ailerons Enabled
- uint8_t sue_RUDDER_NAVIGATION; ///< Serial UDB Extra Navigation with Rudder Enabled
- uint8_t sue_ALTITUDEHOLD_STABILIZED; ///< Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
- uint8_t sue_ALTITUDEHOLD_WAYPOINT; ///< Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
- uint8_t sue_RACING_MODE; ///< Serial UDB Extra Firmware racing mode enabled
-} mavlink_serial_udb_extra_f4_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN 10
-#define MAVLINK_MSG_ID_172_LEN 10
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC 191
-#define MAVLINK_MSG_ID_172_CRC 191
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F4 { \
-	"SERIAL_UDB_EXTRA_F4", \
-	10, \
-	{  { "sue_ROLL_STABILIZATION_AILERONS", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_serial_udb_extra_f4_t, sue_ROLL_STABILIZATION_AILERONS) }, \
-         { "sue_ROLL_STABILIZATION_RUDDER", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_serial_udb_extra_f4_t, sue_ROLL_STABILIZATION_RUDDER) }, \
-         { "sue_PITCH_STABILIZATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_serial_udb_extra_f4_t, sue_PITCH_STABILIZATION) }, \
-         { "sue_YAW_STABILIZATION_RUDDER", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_serial_udb_extra_f4_t, sue_YAW_STABILIZATION_RUDDER) }, \
-         { "sue_YAW_STABILIZATION_AILERON", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_serial_udb_extra_f4_t, sue_YAW_STABILIZATION_AILERON) }, \
-         { "sue_AILERON_NAVIGATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_serial_udb_extra_f4_t, sue_AILERON_NAVIGATION) }, \
-         { "sue_RUDDER_NAVIGATION", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_serial_udb_extra_f4_t, sue_RUDDER_NAVIGATION) }, \
-         { "sue_ALTITUDEHOLD_STABILIZED", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_serial_udb_extra_f4_t, sue_ALTITUDEHOLD_STABILIZED) }, \
-         { "sue_ALTITUDEHOLD_WAYPOINT", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_serial_udb_extra_f4_t, sue_ALTITUDEHOLD_WAYPOINT) }, \
-         { "sue_RACING_MODE", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_serial_udb_extra_f4_t, sue_RACING_MODE) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f4 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 sue_ROLL_STABILIZATION_AILERONS Serial UDB Extra Roll Stabilization with Ailerons Enabled
- * @param sue_ROLL_STABILIZATION_RUDDER Serial UDB Extra Roll Stabilization with Rudder Enabled
- * @param sue_PITCH_STABILIZATION Serial UDB Extra Pitch Stabilization Enabled
- * @param sue_YAW_STABILIZATION_RUDDER Serial UDB Extra Yaw Stabilization using Rudder Enabled
- * @param sue_YAW_STABILIZATION_AILERON Serial UDB Extra Yaw Stabilization using Ailerons Enabled
- * @param sue_AILERON_NAVIGATION Serial UDB Extra Navigation with Ailerons Enabled
- * @param sue_RUDDER_NAVIGATION Serial UDB Extra Navigation with Rudder Enabled
- * @param sue_ALTITUDEHOLD_STABILIZED Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
- * @param sue_ALTITUDEHOLD_WAYPOINT Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
- * @param sue_RACING_MODE Serial UDB Extra Firmware racing mode enabled
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f4_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t sue_ROLL_STABILIZATION_AILERONS, uint8_t sue_ROLL_STABILIZATION_RUDDER, uint8_t sue_PITCH_STABILIZATION, uint8_t sue_YAW_STABILIZATION_RUDDER, uint8_t sue_YAW_STABILIZATION_AILERON, uint8_t sue_AILERON_NAVIGATION, uint8_t sue_RUDDER_NAVIGATION, uint8_t sue_ALTITUDEHOLD_STABILIZED, uint8_t sue_ALTITUDEHOLD_WAYPOINT, uint8_t sue_RACING_MODE)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN];
-	_mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS);
-	_mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER);
-	_mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION);
-	_mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER);
-	_mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON);
-	_mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION);
-	_mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION);
-	_mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED);
-	_mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT);
-	_mav_put_uint8_t(buf, 9, sue_RACING_MODE);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#else
-	mavlink_serial_udb_extra_f4_t packet;
-	packet.sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS;
-	packet.sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER;
-	packet.sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION;
-	packet.sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER;
-	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
-	packet.sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION;
-	packet.sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION;
-	packet.sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED;
-	packet.sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT;
-	packet.sue_RACING_MODE = sue_RACING_MODE;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f4 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_ROLL_STABILIZATION_AILERONS Serial UDB Extra Roll Stabilization with Ailerons Enabled
- * @param sue_ROLL_STABILIZATION_RUDDER Serial UDB Extra Roll Stabilization with Rudder Enabled
- * @param sue_PITCH_STABILIZATION Serial UDB Extra Pitch Stabilization Enabled
- * @param sue_YAW_STABILIZATION_RUDDER Serial UDB Extra Yaw Stabilization using Rudder Enabled
- * @param sue_YAW_STABILIZATION_AILERON Serial UDB Extra Yaw Stabilization using Ailerons Enabled
- * @param sue_AILERON_NAVIGATION Serial UDB Extra Navigation with Ailerons Enabled
- * @param sue_RUDDER_NAVIGATION Serial UDB Extra Navigation with Rudder Enabled
- * @param sue_ALTITUDEHOLD_STABILIZED Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
- * @param sue_ALTITUDEHOLD_WAYPOINT Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
- * @param sue_RACING_MODE Serial UDB Extra Firmware racing mode enabled
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f4_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t sue_ROLL_STABILIZATION_AILERONS,uint8_t sue_ROLL_STABILIZATION_RUDDER,uint8_t sue_PITCH_STABILIZATION,uint8_t sue_YAW_STABILIZATION_RUDDER,uint8_t sue_YAW_STABILIZATION_AILERON,uint8_t sue_AILERON_NAVIGATION,uint8_t sue_RUDDER_NAVIGATION,uint8_t sue_ALTITUDEHOLD_STABILIZED,uint8_t sue_ALTITUDEHOLD_WAYPOINT,uint8_t sue_RACING_MODE)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN];
-	_mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS);
-	_mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER);
-	_mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION);
-	_mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER);
-	_mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON);
-	_mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION);
-	_mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION);
-	_mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED);
-	_mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT);
-	_mav_put_uint8_t(buf, 9, sue_RACING_MODE);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#else
-	mavlink_serial_udb_extra_f4_t packet;
-	packet.sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS;
-	packet.sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER;
-	packet.sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION;
-	packet.sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER;
-	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
-	packet.sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION;
-	packet.sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION;
-	packet.sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED;
-	packet.sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT;
-	packet.sue_RACING_MODE = sue_RACING_MODE;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f4 struct
- *
- * @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 serial_udb_extra_f4 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f4_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f4_t* serial_udb_extra_f4)
-{
-	return mavlink_msg_serial_udb_extra_f4_pack(system_id, component_id, msg, serial_udb_extra_f4->sue_ROLL_STABILIZATION_AILERONS, serial_udb_extra_f4->sue_ROLL_STABILIZATION_RUDDER, serial_udb_extra_f4->sue_PITCH_STABILIZATION, serial_udb_extra_f4->sue_YAW_STABILIZATION_RUDDER, serial_udb_extra_f4->sue_YAW_STABILIZATION_AILERON, serial_udb_extra_f4->sue_AILERON_NAVIGATION, serial_udb_extra_f4->sue_RUDDER_NAVIGATION, serial_udb_extra_f4->sue_ALTITUDEHOLD_STABILIZED, serial_udb_extra_f4->sue_ALTITUDEHOLD_WAYPOINT, serial_udb_extra_f4->sue_RACING_MODE);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f4 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f4 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f4_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f4_t* serial_udb_extra_f4)
-{
-	return mavlink_msg_serial_udb_extra_f4_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f4->sue_ROLL_STABILIZATION_AILERONS, serial_udb_extra_f4->sue_ROLL_STABILIZATION_RUDDER, serial_udb_extra_f4->sue_PITCH_STABILIZATION, serial_udb_extra_f4->sue_YAW_STABILIZATION_RUDDER, serial_udb_extra_f4->sue_YAW_STABILIZATION_AILERON, serial_udb_extra_f4->sue_AILERON_NAVIGATION, serial_udb_extra_f4->sue_RUDDER_NAVIGATION, serial_udb_extra_f4->sue_ALTITUDEHOLD_STABILIZED, serial_udb_extra_f4->sue_ALTITUDEHOLD_WAYPOINT, serial_udb_extra_f4->sue_RACING_MODE);
-}
-
-/**
- * @brief Send a serial_udb_extra_f4 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_ROLL_STABILIZATION_AILERONS Serial UDB Extra Roll Stabilization with Ailerons Enabled
- * @param sue_ROLL_STABILIZATION_RUDDER Serial UDB Extra Roll Stabilization with Rudder Enabled
- * @param sue_PITCH_STABILIZATION Serial UDB Extra Pitch Stabilization Enabled
- * @param sue_YAW_STABILIZATION_RUDDER Serial UDB Extra Yaw Stabilization using Rudder Enabled
- * @param sue_YAW_STABILIZATION_AILERON Serial UDB Extra Yaw Stabilization using Ailerons Enabled
- * @param sue_AILERON_NAVIGATION Serial UDB Extra Navigation with Ailerons Enabled
- * @param sue_RUDDER_NAVIGATION Serial UDB Extra Navigation with Rudder Enabled
- * @param sue_ALTITUDEHOLD_STABILIZED Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
- * @param sue_ALTITUDEHOLD_WAYPOINT Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
- * @param sue_RACING_MODE Serial UDB Extra Firmware racing mode enabled
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f4_send(mavlink_channel_t chan, uint8_t sue_ROLL_STABILIZATION_AILERONS, uint8_t sue_ROLL_STABILIZATION_RUDDER, uint8_t sue_PITCH_STABILIZATION, uint8_t sue_YAW_STABILIZATION_RUDDER, uint8_t sue_YAW_STABILIZATION_AILERON, uint8_t sue_AILERON_NAVIGATION, uint8_t sue_RUDDER_NAVIGATION, uint8_t sue_ALTITUDEHOLD_STABILIZED, uint8_t sue_ALTITUDEHOLD_WAYPOINT, uint8_t sue_RACING_MODE)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN];
-	_mav_put_uint8_t(buf, 0, sue_ROLL_STABILIZATION_AILERONS);
-	_mav_put_uint8_t(buf, 1, sue_ROLL_STABILIZATION_RUDDER);
-	_mav_put_uint8_t(buf, 2, sue_PITCH_STABILIZATION);
-	_mav_put_uint8_t(buf, 3, sue_YAW_STABILIZATION_RUDDER);
-	_mav_put_uint8_t(buf, 4, sue_YAW_STABILIZATION_AILERON);
-	_mav_put_uint8_t(buf, 5, sue_AILERON_NAVIGATION);
-	_mav_put_uint8_t(buf, 6, sue_RUDDER_NAVIGATION);
-	_mav_put_uint8_t(buf, 7, sue_ALTITUDEHOLD_STABILIZED);
-	_mav_put_uint8_t(buf, 8, sue_ALTITUDEHOLD_WAYPOINT);
-	_mav_put_uint8_t(buf, 9, sue_RACING_MODE);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f4_t packet;
-	packet.sue_ROLL_STABILIZATION_AILERONS = sue_ROLL_STABILIZATION_AILERONS;
-	packet.sue_ROLL_STABILIZATION_RUDDER = sue_ROLL_STABILIZATION_RUDDER;
-	packet.sue_PITCH_STABILIZATION = sue_PITCH_STABILIZATION;
-	packet.sue_YAW_STABILIZATION_RUDDER = sue_YAW_STABILIZATION_RUDDER;
-	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
-	packet.sue_AILERON_NAVIGATION = sue_AILERON_NAVIGATION;
-	packet.sue_RUDDER_NAVIGATION = sue_RUDDER_NAVIGATION;
-	packet.sue_ALTITUDEHOLD_STABILIZED = sue_ALTITUDEHOLD_STABILIZED;
-	packet.sue_ALTITUDEHOLD_WAYPOINT = sue_ALTITUDEHOLD_WAYPOINT;
-	packet.sue_RACING_MODE = sue_RACING_MODE;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F4 UNPACKING
-
-
-/**
- * @brief Get field sue_ROLL_STABILIZATION_AILERONS from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Roll Stabilization with Ailerons Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_AILERONS(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field sue_ROLL_STABILIZATION_RUDDER from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Roll Stabilization with Rudder Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_RUDDER(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field sue_PITCH_STABILIZATION from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Pitch Stabilization Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_PITCH_STABILIZATION(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field sue_YAW_STABILIZATION_RUDDER from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Yaw Stabilization using Rudder Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_RUDDER(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Get field sue_YAW_STABILIZATION_AILERON from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Yaw Stabilization using Ailerons Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_AILERON(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field sue_AILERON_NAVIGATION from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Navigation with Ailerons Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_AILERON_NAVIGATION(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Get field sue_RUDDER_NAVIGATION from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Navigation with Rudder Enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_RUDDER_NAVIGATION(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  6);
-}
-
-/**
- * @brief Get field sue_ALTITUDEHOLD_STABILIZED from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_STABILIZED(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  7);
-}
-
-/**
- * @brief Get field sue_ALTITUDEHOLD_WAYPOINT from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_WAYPOINT(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field sue_RACING_MODE from serial_udb_extra_f4 message
- *
- * @return Serial UDB Extra Firmware racing mode enabled
- */
-static inline uint8_t mavlink_msg_serial_udb_extra_f4_get_sue_RACING_MODE(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f4 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f4 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f4_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f4_t* serial_udb_extra_f4)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f4->sue_ROLL_STABILIZATION_AILERONS = mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_AILERONS(msg);
-	serial_udb_extra_f4->sue_ROLL_STABILIZATION_RUDDER = mavlink_msg_serial_udb_extra_f4_get_sue_ROLL_STABILIZATION_RUDDER(msg);
-	serial_udb_extra_f4->sue_PITCH_STABILIZATION = mavlink_msg_serial_udb_extra_f4_get_sue_PITCH_STABILIZATION(msg);
-	serial_udb_extra_f4->sue_YAW_STABILIZATION_RUDDER = mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_RUDDER(msg);
-	serial_udb_extra_f4->sue_YAW_STABILIZATION_AILERON = mavlink_msg_serial_udb_extra_f4_get_sue_YAW_STABILIZATION_AILERON(msg);
-	serial_udb_extra_f4->sue_AILERON_NAVIGATION = mavlink_msg_serial_udb_extra_f4_get_sue_AILERON_NAVIGATION(msg);
-	serial_udb_extra_f4->sue_RUDDER_NAVIGATION = mavlink_msg_serial_udb_extra_f4_get_sue_RUDDER_NAVIGATION(msg);
-	serial_udb_extra_f4->sue_ALTITUDEHOLD_STABILIZED = mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_STABILIZED(msg);
-	serial_udb_extra_f4->sue_ALTITUDEHOLD_WAYPOINT = mavlink_msg_serial_udb_extra_f4_get_sue_ALTITUDEHOLD_WAYPOINT(msg);
-	serial_udb_extra_f4->sue_RACING_MODE = mavlink_msg_serial_udb_extra_f4_get_sue_RACING_MODE(msg);
-#else
-	memcpy(serial_udb_extra_f4, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F4_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h
deleted file mode 100644
index e115a9b44..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f5.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F5 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5 173
-
-typedef struct __mavlink_serial_udb_extra_f5_t
-{
- float sue_YAWKP_AILERON; ///< Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
- float sue_YAWKD_AILERON; ///< Serial UDB YAWKD_AILERON Gain for Rate control of navigation
- float sue_ROLLKP; ///< Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
- float sue_ROLLKD; ///< Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
- float sue_YAW_STABILIZATION_AILERON; ///< YAW_STABILIZATION_AILERON Proportional control
- float sue_AILERON_BOOST; ///< Gain For Boosting Manual Aileron control When Plane Stabilized
-} mavlink_serial_udb_extra_f5_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN 24
-#define MAVLINK_MSG_ID_173_LEN 24
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC 121
-#define MAVLINK_MSG_ID_173_CRC 121
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F5 { \
-	"SERIAL_UDB_EXTRA_F5", \
-	6, \
-	{  { "sue_YAWKP_AILERON", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f5_t, sue_YAWKP_AILERON) }, \
-         { "sue_YAWKD_AILERON", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f5_t, sue_YAWKD_AILERON) }, \
-         { "sue_ROLLKP", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f5_t, sue_ROLLKP) }, \
-         { "sue_ROLLKD", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f5_t, sue_ROLLKD) }, \
-         { "sue_YAW_STABILIZATION_AILERON", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f5_t, sue_YAW_STABILIZATION_AILERON) }, \
-         { "sue_AILERON_BOOST", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_serial_udb_extra_f5_t, sue_AILERON_BOOST) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f5 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 sue_YAWKP_AILERON Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
- * @param sue_YAWKD_AILERON Serial UDB YAWKD_AILERON Gain for Rate control of navigation
- * @param sue_ROLLKP Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
- * @param sue_ROLLKD Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
- * @param sue_YAW_STABILIZATION_AILERON YAW_STABILIZATION_AILERON Proportional control
- * @param sue_AILERON_BOOST Gain For Boosting Manual Aileron control When Plane Stabilized
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f5_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float sue_YAWKP_AILERON, float sue_YAWKD_AILERON, float sue_ROLLKP, float sue_ROLLKD, float sue_YAW_STABILIZATION_AILERON, float sue_AILERON_BOOST)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN];
-	_mav_put_float(buf, 0, sue_YAWKP_AILERON);
-	_mav_put_float(buf, 4, sue_YAWKD_AILERON);
-	_mav_put_float(buf, 8, sue_ROLLKP);
-	_mav_put_float(buf, 12, sue_ROLLKD);
-	_mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON);
-	_mav_put_float(buf, 20, sue_AILERON_BOOST);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#else
-	mavlink_serial_udb_extra_f5_t packet;
-	packet.sue_YAWKP_AILERON = sue_YAWKP_AILERON;
-	packet.sue_YAWKD_AILERON = sue_YAWKD_AILERON;
-	packet.sue_ROLLKP = sue_ROLLKP;
-	packet.sue_ROLLKD = sue_ROLLKD;
-	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
-	packet.sue_AILERON_BOOST = sue_AILERON_BOOST;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f5 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_YAWKP_AILERON Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
- * @param sue_YAWKD_AILERON Serial UDB YAWKD_AILERON Gain for Rate control of navigation
- * @param sue_ROLLKP Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
- * @param sue_ROLLKD Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
- * @param sue_YAW_STABILIZATION_AILERON YAW_STABILIZATION_AILERON Proportional control
- * @param sue_AILERON_BOOST Gain For Boosting Manual Aileron control When Plane Stabilized
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f5_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float sue_YAWKP_AILERON,float sue_YAWKD_AILERON,float sue_ROLLKP,float sue_ROLLKD,float sue_YAW_STABILIZATION_AILERON,float sue_AILERON_BOOST)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN];
-	_mav_put_float(buf, 0, sue_YAWKP_AILERON);
-	_mav_put_float(buf, 4, sue_YAWKD_AILERON);
-	_mav_put_float(buf, 8, sue_ROLLKP);
-	_mav_put_float(buf, 12, sue_ROLLKD);
-	_mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON);
-	_mav_put_float(buf, 20, sue_AILERON_BOOST);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#else
-	mavlink_serial_udb_extra_f5_t packet;
-	packet.sue_YAWKP_AILERON = sue_YAWKP_AILERON;
-	packet.sue_YAWKD_AILERON = sue_YAWKD_AILERON;
-	packet.sue_ROLLKP = sue_ROLLKP;
-	packet.sue_ROLLKD = sue_ROLLKD;
-	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
-	packet.sue_AILERON_BOOST = sue_AILERON_BOOST;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f5 struct
- *
- * @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 serial_udb_extra_f5 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f5_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f5_t* serial_udb_extra_f5)
-{
-	return mavlink_msg_serial_udb_extra_f5_pack(system_id, component_id, msg, serial_udb_extra_f5->sue_YAWKP_AILERON, serial_udb_extra_f5->sue_YAWKD_AILERON, serial_udb_extra_f5->sue_ROLLKP, serial_udb_extra_f5->sue_ROLLKD, serial_udb_extra_f5->sue_YAW_STABILIZATION_AILERON, serial_udb_extra_f5->sue_AILERON_BOOST);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f5 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f5 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f5_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f5_t* serial_udb_extra_f5)
-{
-	return mavlink_msg_serial_udb_extra_f5_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f5->sue_YAWKP_AILERON, serial_udb_extra_f5->sue_YAWKD_AILERON, serial_udb_extra_f5->sue_ROLLKP, serial_udb_extra_f5->sue_ROLLKD, serial_udb_extra_f5->sue_YAW_STABILIZATION_AILERON, serial_udb_extra_f5->sue_AILERON_BOOST);
-}
-
-/**
- * @brief Send a serial_udb_extra_f5 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_YAWKP_AILERON Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
- * @param sue_YAWKD_AILERON Serial UDB YAWKD_AILERON Gain for Rate control of navigation
- * @param sue_ROLLKP Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
- * @param sue_ROLLKD Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
- * @param sue_YAW_STABILIZATION_AILERON YAW_STABILIZATION_AILERON Proportional control
- * @param sue_AILERON_BOOST Gain For Boosting Manual Aileron control When Plane Stabilized
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f5_send(mavlink_channel_t chan, float sue_YAWKP_AILERON, float sue_YAWKD_AILERON, float sue_ROLLKP, float sue_ROLLKD, float sue_YAW_STABILIZATION_AILERON, float sue_AILERON_BOOST)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN];
-	_mav_put_float(buf, 0, sue_YAWKP_AILERON);
-	_mav_put_float(buf, 4, sue_YAWKD_AILERON);
-	_mav_put_float(buf, 8, sue_ROLLKP);
-	_mav_put_float(buf, 12, sue_ROLLKD);
-	_mav_put_float(buf, 16, sue_YAW_STABILIZATION_AILERON);
-	_mav_put_float(buf, 20, sue_AILERON_BOOST);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f5_t packet;
-	packet.sue_YAWKP_AILERON = sue_YAWKP_AILERON;
-	packet.sue_YAWKD_AILERON = sue_YAWKD_AILERON;
-	packet.sue_ROLLKP = sue_ROLLKP;
-	packet.sue_ROLLKD = sue_ROLLKD;
-	packet.sue_YAW_STABILIZATION_AILERON = sue_YAW_STABILIZATION_AILERON;
-	packet.sue_AILERON_BOOST = sue_AILERON_BOOST;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F5 UNPACKING
-
-
-/**
- * @brief Get field sue_YAWKP_AILERON from serial_udb_extra_f5 message
- *
- * @return Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
- */
-static inline float mavlink_msg_serial_udb_extra_f5_get_sue_YAWKP_AILERON(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field sue_YAWKD_AILERON from serial_udb_extra_f5 message
- *
- * @return Serial UDB YAWKD_AILERON Gain for Rate control of navigation
- */
-static inline float mavlink_msg_serial_udb_extra_f5_get_sue_YAWKD_AILERON(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field sue_ROLLKP from serial_udb_extra_f5 message
- *
- * @return Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
- */
-static inline float mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKP(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field sue_ROLLKD from serial_udb_extra_f5 message
- *
- * @return Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
- */
-static inline float mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKD(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field sue_YAW_STABILIZATION_AILERON from serial_udb_extra_f5 message
- *
- * @return YAW_STABILIZATION_AILERON Proportional control
- */
-static inline float mavlink_msg_serial_udb_extra_f5_get_sue_YAW_STABILIZATION_AILERON(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field sue_AILERON_BOOST from serial_udb_extra_f5 message
- *
- * @return Gain For Boosting Manual Aileron control When Plane Stabilized
- */
-static inline float mavlink_msg_serial_udb_extra_f5_get_sue_AILERON_BOOST(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f5 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f5 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f5_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f5_t* serial_udb_extra_f5)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f5->sue_YAWKP_AILERON = mavlink_msg_serial_udb_extra_f5_get_sue_YAWKP_AILERON(msg);
-	serial_udb_extra_f5->sue_YAWKD_AILERON = mavlink_msg_serial_udb_extra_f5_get_sue_YAWKD_AILERON(msg);
-	serial_udb_extra_f5->sue_ROLLKP = mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKP(msg);
-	serial_udb_extra_f5->sue_ROLLKD = mavlink_msg_serial_udb_extra_f5_get_sue_ROLLKD(msg);
-	serial_udb_extra_f5->sue_YAW_STABILIZATION_AILERON = mavlink_msg_serial_udb_extra_f5_get_sue_YAW_STABILIZATION_AILERON(msg);
-	serial_udb_extra_f5->sue_AILERON_BOOST = mavlink_msg_serial_udb_extra_f5_get_sue_AILERON_BOOST(msg);
-#else
-	memcpy(serial_udb_extra_f5, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F5_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h
deleted file mode 100644
index 656103d09..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f6.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F6 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6 174
-
-typedef struct __mavlink_serial_udb_extra_f6_t
-{
- float sue_PITCHGAIN; ///< Serial UDB Extra PITCHGAIN Proportional Control
- float sue_PITCHKD; ///< Serial UDB Extra Pitch Rate Control
- float sue_RUDDER_ELEV_MIX; ///< Serial UDB Extra Rudder to Elevator Mix
- float sue_ROLL_ELEV_MIX; ///< Serial UDB Extra Roll to Elevator Mix
- float sue_ELEVATOR_BOOST; ///< Gain For Boosting Manual Elevator control When Plane Stabilized
-} mavlink_serial_udb_extra_f6_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN 20
-#define MAVLINK_MSG_ID_174_LEN 20
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC 54
-#define MAVLINK_MSG_ID_174_CRC 54
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F6 { \
-	"SERIAL_UDB_EXTRA_F6", \
-	5, \
-	{  { "sue_PITCHGAIN", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f6_t, sue_PITCHGAIN) }, \
-         { "sue_PITCHKD", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f6_t, sue_PITCHKD) }, \
-         { "sue_RUDDER_ELEV_MIX", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f6_t, sue_RUDDER_ELEV_MIX) }, \
-         { "sue_ROLL_ELEV_MIX", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f6_t, sue_ROLL_ELEV_MIX) }, \
-         { "sue_ELEVATOR_BOOST", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f6_t, sue_ELEVATOR_BOOST) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f6 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 sue_PITCHGAIN Serial UDB Extra PITCHGAIN Proportional Control
- * @param sue_PITCHKD Serial UDB Extra Pitch Rate Control
- * @param sue_RUDDER_ELEV_MIX Serial UDB Extra Rudder to Elevator Mix
- * @param sue_ROLL_ELEV_MIX Serial UDB Extra Roll to Elevator Mix
- * @param sue_ELEVATOR_BOOST Gain For Boosting Manual Elevator control When Plane Stabilized
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f6_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float sue_PITCHGAIN, float sue_PITCHKD, float sue_RUDDER_ELEV_MIX, float sue_ROLL_ELEV_MIX, float sue_ELEVATOR_BOOST)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN];
-	_mav_put_float(buf, 0, sue_PITCHGAIN);
-	_mav_put_float(buf, 4, sue_PITCHKD);
-	_mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX);
-	_mav_put_float(buf, 12, sue_ROLL_ELEV_MIX);
-	_mav_put_float(buf, 16, sue_ELEVATOR_BOOST);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#else
-	mavlink_serial_udb_extra_f6_t packet;
-	packet.sue_PITCHGAIN = sue_PITCHGAIN;
-	packet.sue_PITCHKD = sue_PITCHKD;
-	packet.sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX;
-	packet.sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX;
-	packet.sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f6 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_PITCHGAIN Serial UDB Extra PITCHGAIN Proportional Control
- * @param sue_PITCHKD Serial UDB Extra Pitch Rate Control
- * @param sue_RUDDER_ELEV_MIX Serial UDB Extra Rudder to Elevator Mix
- * @param sue_ROLL_ELEV_MIX Serial UDB Extra Roll to Elevator Mix
- * @param sue_ELEVATOR_BOOST Gain For Boosting Manual Elevator control When Plane Stabilized
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f6_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float sue_PITCHGAIN,float sue_PITCHKD,float sue_RUDDER_ELEV_MIX,float sue_ROLL_ELEV_MIX,float sue_ELEVATOR_BOOST)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN];
-	_mav_put_float(buf, 0, sue_PITCHGAIN);
-	_mav_put_float(buf, 4, sue_PITCHKD);
-	_mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX);
-	_mav_put_float(buf, 12, sue_ROLL_ELEV_MIX);
-	_mav_put_float(buf, 16, sue_ELEVATOR_BOOST);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#else
-	mavlink_serial_udb_extra_f6_t packet;
-	packet.sue_PITCHGAIN = sue_PITCHGAIN;
-	packet.sue_PITCHKD = sue_PITCHKD;
-	packet.sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX;
-	packet.sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX;
-	packet.sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f6 struct
- *
- * @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 serial_udb_extra_f6 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f6_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f6_t* serial_udb_extra_f6)
-{
-	return mavlink_msg_serial_udb_extra_f6_pack(system_id, component_id, msg, serial_udb_extra_f6->sue_PITCHGAIN, serial_udb_extra_f6->sue_PITCHKD, serial_udb_extra_f6->sue_RUDDER_ELEV_MIX, serial_udb_extra_f6->sue_ROLL_ELEV_MIX, serial_udb_extra_f6->sue_ELEVATOR_BOOST);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f6 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f6 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f6_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f6_t* serial_udb_extra_f6)
-{
-	return mavlink_msg_serial_udb_extra_f6_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f6->sue_PITCHGAIN, serial_udb_extra_f6->sue_PITCHKD, serial_udb_extra_f6->sue_RUDDER_ELEV_MIX, serial_udb_extra_f6->sue_ROLL_ELEV_MIX, serial_udb_extra_f6->sue_ELEVATOR_BOOST);
-}
-
-/**
- * @brief Send a serial_udb_extra_f6 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_PITCHGAIN Serial UDB Extra PITCHGAIN Proportional Control
- * @param sue_PITCHKD Serial UDB Extra Pitch Rate Control
- * @param sue_RUDDER_ELEV_MIX Serial UDB Extra Rudder to Elevator Mix
- * @param sue_ROLL_ELEV_MIX Serial UDB Extra Roll to Elevator Mix
- * @param sue_ELEVATOR_BOOST Gain For Boosting Manual Elevator control When Plane Stabilized
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f6_send(mavlink_channel_t chan, float sue_PITCHGAIN, float sue_PITCHKD, float sue_RUDDER_ELEV_MIX, float sue_ROLL_ELEV_MIX, float sue_ELEVATOR_BOOST)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN];
-	_mav_put_float(buf, 0, sue_PITCHGAIN);
-	_mav_put_float(buf, 4, sue_PITCHKD);
-	_mav_put_float(buf, 8, sue_RUDDER_ELEV_MIX);
-	_mav_put_float(buf, 12, sue_ROLL_ELEV_MIX);
-	_mav_put_float(buf, 16, sue_ELEVATOR_BOOST);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f6_t packet;
-	packet.sue_PITCHGAIN = sue_PITCHGAIN;
-	packet.sue_PITCHKD = sue_PITCHKD;
-	packet.sue_RUDDER_ELEV_MIX = sue_RUDDER_ELEV_MIX;
-	packet.sue_ROLL_ELEV_MIX = sue_ROLL_ELEV_MIX;
-	packet.sue_ELEVATOR_BOOST = sue_ELEVATOR_BOOST;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F6 UNPACKING
-
-
-/**
- * @brief Get field sue_PITCHGAIN from serial_udb_extra_f6 message
- *
- * @return Serial UDB Extra PITCHGAIN Proportional Control
- */
-static inline float mavlink_msg_serial_udb_extra_f6_get_sue_PITCHGAIN(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field sue_PITCHKD from serial_udb_extra_f6 message
- *
- * @return Serial UDB Extra Pitch Rate Control
- */
-static inline float mavlink_msg_serial_udb_extra_f6_get_sue_PITCHKD(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field sue_RUDDER_ELEV_MIX from serial_udb_extra_f6 message
- *
- * @return Serial UDB Extra Rudder to Elevator Mix
- */
-static inline float mavlink_msg_serial_udb_extra_f6_get_sue_RUDDER_ELEV_MIX(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field sue_ROLL_ELEV_MIX from serial_udb_extra_f6 message
- *
- * @return Serial UDB Extra Roll to Elevator Mix
- */
-static inline float mavlink_msg_serial_udb_extra_f6_get_sue_ROLL_ELEV_MIX(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field sue_ELEVATOR_BOOST from serial_udb_extra_f6 message
- *
- * @return Gain For Boosting Manual Elevator control When Plane Stabilized
- */
-static inline float mavlink_msg_serial_udb_extra_f6_get_sue_ELEVATOR_BOOST(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f6 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f6 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f6_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f6_t* serial_udb_extra_f6)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f6->sue_PITCHGAIN = mavlink_msg_serial_udb_extra_f6_get_sue_PITCHGAIN(msg);
-	serial_udb_extra_f6->sue_PITCHKD = mavlink_msg_serial_udb_extra_f6_get_sue_PITCHKD(msg);
-	serial_udb_extra_f6->sue_RUDDER_ELEV_MIX = mavlink_msg_serial_udb_extra_f6_get_sue_RUDDER_ELEV_MIX(msg);
-	serial_udb_extra_f6->sue_ROLL_ELEV_MIX = mavlink_msg_serial_udb_extra_f6_get_sue_ROLL_ELEV_MIX(msg);
-	serial_udb_extra_f6->sue_ELEVATOR_BOOST = mavlink_msg_serial_udb_extra_f6_get_sue_ELEVATOR_BOOST(msg);
-#else
-	memcpy(serial_udb_extra_f6, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F6_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h
deleted file mode 100644
index 51c98e6b7..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f7.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F7 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7 175
-
-typedef struct __mavlink_serial_udb_extra_f7_t
-{
- float sue_YAWKP_RUDDER; ///< Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
- float sue_YAWKD_RUDDER; ///< Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
- float sue_ROLLKP_RUDDER; ///< Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
- float sue_ROLLKD_RUDDER; ///< Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
- float sue_RUDDER_BOOST; ///< SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
- float sue_RTL_PITCH_DOWN; ///< Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
-} mavlink_serial_udb_extra_f7_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN 24
-#define MAVLINK_MSG_ID_175_LEN 24
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC 171
-#define MAVLINK_MSG_ID_175_CRC 171
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F7 { \
-	"SERIAL_UDB_EXTRA_F7", \
-	6, \
-	{  { "sue_YAWKP_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f7_t, sue_YAWKP_RUDDER) }, \
-         { "sue_YAWKD_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f7_t, sue_YAWKD_RUDDER) }, \
-         { "sue_ROLLKP_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f7_t, sue_ROLLKP_RUDDER) }, \
-         { "sue_ROLLKD_RUDDER", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f7_t, sue_ROLLKD_RUDDER) }, \
-         { "sue_RUDDER_BOOST", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f7_t, sue_RUDDER_BOOST) }, \
-         { "sue_RTL_PITCH_DOWN", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_serial_udb_extra_f7_t, sue_RTL_PITCH_DOWN) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f7 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 sue_YAWKP_RUDDER Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
- * @param sue_YAWKD_RUDDER Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
- * @param sue_ROLLKP_RUDDER Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
- * @param sue_ROLLKD_RUDDER Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
- * @param sue_RUDDER_BOOST SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
- * @param sue_RTL_PITCH_DOWN Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f7_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float sue_YAWKP_RUDDER, float sue_YAWKD_RUDDER, float sue_ROLLKP_RUDDER, float sue_ROLLKD_RUDDER, float sue_RUDDER_BOOST, float sue_RTL_PITCH_DOWN)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN];
-	_mav_put_float(buf, 0, sue_YAWKP_RUDDER);
-	_mav_put_float(buf, 4, sue_YAWKD_RUDDER);
-	_mav_put_float(buf, 8, sue_ROLLKP_RUDDER);
-	_mav_put_float(buf, 12, sue_ROLLKD_RUDDER);
-	_mav_put_float(buf, 16, sue_RUDDER_BOOST);
-	_mav_put_float(buf, 20, sue_RTL_PITCH_DOWN);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#else
-	mavlink_serial_udb_extra_f7_t packet;
-	packet.sue_YAWKP_RUDDER = sue_YAWKP_RUDDER;
-	packet.sue_YAWKD_RUDDER = sue_YAWKD_RUDDER;
-	packet.sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER;
-	packet.sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER;
-	packet.sue_RUDDER_BOOST = sue_RUDDER_BOOST;
-	packet.sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f7 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_YAWKP_RUDDER Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
- * @param sue_YAWKD_RUDDER Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
- * @param sue_ROLLKP_RUDDER Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
- * @param sue_ROLLKD_RUDDER Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
- * @param sue_RUDDER_BOOST SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
- * @param sue_RTL_PITCH_DOWN Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f7_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float sue_YAWKP_RUDDER,float sue_YAWKD_RUDDER,float sue_ROLLKP_RUDDER,float sue_ROLLKD_RUDDER,float sue_RUDDER_BOOST,float sue_RTL_PITCH_DOWN)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN];
-	_mav_put_float(buf, 0, sue_YAWKP_RUDDER);
-	_mav_put_float(buf, 4, sue_YAWKD_RUDDER);
-	_mav_put_float(buf, 8, sue_ROLLKP_RUDDER);
-	_mav_put_float(buf, 12, sue_ROLLKD_RUDDER);
-	_mav_put_float(buf, 16, sue_RUDDER_BOOST);
-	_mav_put_float(buf, 20, sue_RTL_PITCH_DOWN);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#else
-	mavlink_serial_udb_extra_f7_t packet;
-	packet.sue_YAWKP_RUDDER = sue_YAWKP_RUDDER;
-	packet.sue_YAWKD_RUDDER = sue_YAWKD_RUDDER;
-	packet.sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER;
-	packet.sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER;
-	packet.sue_RUDDER_BOOST = sue_RUDDER_BOOST;
-	packet.sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f7 struct
- *
- * @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 serial_udb_extra_f7 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f7_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f7_t* serial_udb_extra_f7)
-{
-	return mavlink_msg_serial_udb_extra_f7_pack(system_id, component_id, msg, serial_udb_extra_f7->sue_YAWKP_RUDDER, serial_udb_extra_f7->sue_YAWKD_RUDDER, serial_udb_extra_f7->sue_ROLLKP_RUDDER, serial_udb_extra_f7->sue_ROLLKD_RUDDER, serial_udb_extra_f7->sue_RUDDER_BOOST, serial_udb_extra_f7->sue_RTL_PITCH_DOWN);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f7 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f7 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f7_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f7_t* serial_udb_extra_f7)
-{
-	return mavlink_msg_serial_udb_extra_f7_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f7->sue_YAWKP_RUDDER, serial_udb_extra_f7->sue_YAWKD_RUDDER, serial_udb_extra_f7->sue_ROLLKP_RUDDER, serial_udb_extra_f7->sue_ROLLKD_RUDDER, serial_udb_extra_f7->sue_RUDDER_BOOST, serial_udb_extra_f7->sue_RTL_PITCH_DOWN);
-}
-
-/**
- * @brief Send a serial_udb_extra_f7 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_YAWKP_RUDDER Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
- * @param sue_YAWKD_RUDDER Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
- * @param sue_ROLLKP_RUDDER Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
- * @param sue_ROLLKD_RUDDER Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
- * @param sue_RUDDER_BOOST SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
- * @param sue_RTL_PITCH_DOWN Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f7_send(mavlink_channel_t chan, float sue_YAWKP_RUDDER, float sue_YAWKD_RUDDER, float sue_ROLLKP_RUDDER, float sue_ROLLKD_RUDDER, float sue_RUDDER_BOOST, float sue_RTL_PITCH_DOWN)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN];
-	_mav_put_float(buf, 0, sue_YAWKP_RUDDER);
-	_mav_put_float(buf, 4, sue_YAWKD_RUDDER);
-	_mav_put_float(buf, 8, sue_ROLLKP_RUDDER);
-	_mav_put_float(buf, 12, sue_ROLLKD_RUDDER);
-	_mav_put_float(buf, 16, sue_RUDDER_BOOST);
-	_mav_put_float(buf, 20, sue_RTL_PITCH_DOWN);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f7_t packet;
-	packet.sue_YAWKP_RUDDER = sue_YAWKP_RUDDER;
-	packet.sue_YAWKD_RUDDER = sue_YAWKD_RUDDER;
-	packet.sue_ROLLKP_RUDDER = sue_ROLLKP_RUDDER;
-	packet.sue_ROLLKD_RUDDER = sue_ROLLKD_RUDDER;
-	packet.sue_RUDDER_BOOST = sue_RUDDER_BOOST;
-	packet.sue_RTL_PITCH_DOWN = sue_RTL_PITCH_DOWN;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F7 UNPACKING
-
-
-/**
- * @brief Get field sue_YAWKP_RUDDER from serial_udb_extra_f7 message
- *
- * @return Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
- */
-static inline float mavlink_msg_serial_udb_extra_f7_get_sue_YAWKP_RUDDER(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field sue_YAWKD_RUDDER from serial_udb_extra_f7 message
- *
- * @return Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
- */
-static inline float mavlink_msg_serial_udb_extra_f7_get_sue_YAWKD_RUDDER(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field sue_ROLLKP_RUDDER from serial_udb_extra_f7 message
- *
- * @return Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
- */
-static inline float mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKP_RUDDER(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field sue_ROLLKD_RUDDER from serial_udb_extra_f7 message
- *
- * @return Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
- */
-static inline float mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKD_RUDDER(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field sue_RUDDER_BOOST from serial_udb_extra_f7 message
- *
- * @return SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
- */
-static inline float mavlink_msg_serial_udb_extra_f7_get_sue_RUDDER_BOOST(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field sue_RTL_PITCH_DOWN from serial_udb_extra_f7 message
- *
- * @return Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
- */
-static inline float mavlink_msg_serial_udb_extra_f7_get_sue_RTL_PITCH_DOWN(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f7 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f7 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f7_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f7_t* serial_udb_extra_f7)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f7->sue_YAWKP_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_YAWKP_RUDDER(msg);
-	serial_udb_extra_f7->sue_YAWKD_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_YAWKD_RUDDER(msg);
-	serial_udb_extra_f7->sue_ROLLKP_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKP_RUDDER(msg);
-	serial_udb_extra_f7->sue_ROLLKD_RUDDER = mavlink_msg_serial_udb_extra_f7_get_sue_ROLLKD_RUDDER(msg);
-	serial_udb_extra_f7->sue_RUDDER_BOOST = mavlink_msg_serial_udb_extra_f7_get_sue_RUDDER_BOOST(msg);
-	serial_udb_extra_f7->sue_RTL_PITCH_DOWN = mavlink_msg_serial_udb_extra_f7_get_sue_RTL_PITCH_DOWN(msg);
-#else
-	memcpy(serial_udb_extra_f7, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F7_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h b/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h
deleted file mode 100644
index 8557a95e2..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/mavlink_msg_serial_udb_extra_f8.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE SERIAL_UDB_EXTRA_F8 PACKING
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8 176
-
-typedef struct __mavlink_serial_udb_extra_f8_t
-{
- float sue_HEIGHT_TARGET_MAX; ///< Serial UDB Extra HEIGHT_TARGET_MAX
- float sue_HEIGHT_TARGET_MIN; ///< Serial UDB Extra HEIGHT_TARGET_MIN
- float sue_ALT_HOLD_THROTTLE_MIN; ///< Serial UDB Extra ALT_HOLD_THROTTLE_MIN
- float sue_ALT_HOLD_THROTTLE_MAX; ///< Serial UDB Extra ALT_HOLD_THROTTLE_MAX
- float sue_ALT_HOLD_PITCH_MIN; ///< Serial UDB Extra ALT_HOLD_PITCH_MIN
- float sue_ALT_HOLD_PITCH_MAX; ///< Serial UDB Extra ALT_HOLD_PITCH_MAX
- float sue_ALT_HOLD_PITCH_HIGH; ///< Serial UDB Extra ALT_HOLD_PITCH_HIGH
-} mavlink_serial_udb_extra_f8_t;
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN 28
-#define MAVLINK_MSG_ID_176_LEN 28
-
-#define MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC 142
-#define MAVLINK_MSG_ID_176_CRC 142
-
-
-
-#define MAVLINK_MESSAGE_INFO_SERIAL_UDB_EXTRA_F8 { \
-	"SERIAL_UDB_EXTRA_F8", \
-	7, \
-	{  { "sue_HEIGHT_TARGET_MAX", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_serial_udb_extra_f8_t, sue_HEIGHT_TARGET_MAX) }, \
-         { "sue_HEIGHT_TARGET_MIN", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_serial_udb_extra_f8_t, sue_HEIGHT_TARGET_MIN) }, \
-         { "sue_ALT_HOLD_THROTTLE_MIN", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_THROTTLE_MIN) }, \
-         { "sue_ALT_HOLD_THROTTLE_MAX", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_THROTTLE_MAX) }, \
-         { "sue_ALT_HOLD_PITCH_MIN", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_PITCH_MIN) }, \
-         { "sue_ALT_HOLD_PITCH_MAX", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_PITCH_MAX) }, \
-         { "sue_ALT_HOLD_PITCH_HIGH", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_serial_udb_extra_f8_t, sue_ALT_HOLD_PITCH_HIGH) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a serial_udb_extra_f8 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 sue_HEIGHT_TARGET_MAX Serial UDB Extra HEIGHT_TARGET_MAX
- * @param sue_HEIGHT_TARGET_MIN Serial UDB Extra HEIGHT_TARGET_MIN
- * @param sue_ALT_HOLD_THROTTLE_MIN Serial UDB Extra ALT_HOLD_THROTTLE_MIN
- * @param sue_ALT_HOLD_THROTTLE_MAX Serial UDB Extra ALT_HOLD_THROTTLE_MAX
- * @param sue_ALT_HOLD_PITCH_MIN Serial UDB Extra ALT_HOLD_PITCH_MIN
- * @param sue_ALT_HOLD_PITCH_MAX Serial UDB Extra ALT_HOLD_PITCH_MAX
- * @param sue_ALT_HOLD_PITCH_HIGH Serial UDB Extra ALT_HOLD_PITCH_HIGH
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f8_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float sue_HEIGHT_TARGET_MAX, float sue_HEIGHT_TARGET_MIN, float sue_ALT_HOLD_THROTTLE_MIN, float sue_ALT_HOLD_THROTTLE_MAX, float sue_ALT_HOLD_PITCH_MIN, float sue_ALT_HOLD_PITCH_MAX, float sue_ALT_HOLD_PITCH_HIGH)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN];
-	_mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX);
-	_mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN);
-	_mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN);
-	_mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX);
-	_mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN);
-	_mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX);
-	_mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#else
-	mavlink_serial_udb_extra_f8_t packet;
-	packet.sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX;
-	packet.sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN;
-	packet.sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN;
-	packet.sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX;
-	packet.sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN;
-	packet.sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX;
-	packet.sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-}
-
-/**
- * @brief Pack a serial_udb_extra_f8 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sue_HEIGHT_TARGET_MAX Serial UDB Extra HEIGHT_TARGET_MAX
- * @param sue_HEIGHT_TARGET_MIN Serial UDB Extra HEIGHT_TARGET_MIN
- * @param sue_ALT_HOLD_THROTTLE_MIN Serial UDB Extra ALT_HOLD_THROTTLE_MIN
- * @param sue_ALT_HOLD_THROTTLE_MAX Serial UDB Extra ALT_HOLD_THROTTLE_MAX
- * @param sue_ALT_HOLD_PITCH_MIN Serial UDB Extra ALT_HOLD_PITCH_MIN
- * @param sue_ALT_HOLD_PITCH_MAX Serial UDB Extra ALT_HOLD_PITCH_MAX
- * @param sue_ALT_HOLD_PITCH_HIGH Serial UDB Extra ALT_HOLD_PITCH_HIGH
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f8_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float sue_HEIGHT_TARGET_MAX,float sue_HEIGHT_TARGET_MIN,float sue_ALT_HOLD_THROTTLE_MIN,float sue_ALT_HOLD_THROTTLE_MAX,float sue_ALT_HOLD_PITCH_MIN,float sue_ALT_HOLD_PITCH_MAX,float sue_ALT_HOLD_PITCH_HIGH)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN];
-	_mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX);
-	_mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN);
-	_mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN);
-	_mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX);
-	_mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN);
-	_mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX);
-	_mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#else
-	mavlink_serial_udb_extra_f8_t packet;
-	packet.sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX;
-	packet.sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN;
-	packet.sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN;
-	packet.sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX;
-	packet.sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN;
-	packet.sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX;
-	packet.sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-}
-
-/**
- * @brief Encode a serial_udb_extra_f8 struct
- *
- * @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 serial_udb_extra_f8 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f8_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_serial_udb_extra_f8_t* serial_udb_extra_f8)
-{
-	return mavlink_msg_serial_udb_extra_f8_pack(system_id, component_id, msg, serial_udb_extra_f8->sue_HEIGHT_TARGET_MAX, serial_udb_extra_f8->sue_HEIGHT_TARGET_MIN, serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MIN, serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MAX, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MIN, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MAX, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_HIGH);
-}
-
-/**
- * @brief Encode a serial_udb_extra_f8 struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param serial_udb_extra_f8 C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_serial_udb_extra_f8_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_serial_udb_extra_f8_t* serial_udb_extra_f8)
-{
-	return mavlink_msg_serial_udb_extra_f8_pack_chan(system_id, component_id, chan, msg, serial_udb_extra_f8->sue_HEIGHT_TARGET_MAX, serial_udb_extra_f8->sue_HEIGHT_TARGET_MIN, serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MIN, serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MAX, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MIN, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MAX, serial_udb_extra_f8->sue_ALT_HOLD_PITCH_HIGH);
-}
-
-/**
- * @brief Send a serial_udb_extra_f8 message
- * @param chan MAVLink channel to send the message
- *
- * @param sue_HEIGHT_TARGET_MAX Serial UDB Extra HEIGHT_TARGET_MAX
- * @param sue_HEIGHT_TARGET_MIN Serial UDB Extra HEIGHT_TARGET_MIN
- * @param sue_ALT_HOLD_THROTTLE_MIN Serial UDB Extra ALT_HOLD_THROTTLE_MIN
- * @param sue_ALT_HOLD_THROTTLE_MAX Serial UDB Extra ALT_HOLD_THROTTLE_MAX
- * @param sue_ALT_HOLD_PITCH_MIN Serial UDB Extra ALT_HOLD_PITCH_MIN
- * @param sue_ALT_HOLD_PITCH_MAX Serial UDB Extra ALT_HOLD_PITCH_MAX
- * @param sue_ALT_HOLD_PITCH_HIGH Serial UDB Extra ALT_HOLD_PITCH_HIGH
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_serial_udb_extra_f8_send(mavlink_channel_t chan, float sue_HEIGHT_TARGET_MAX, float sue_HEIGHT_TARGET_MIN, float sue_ALT_HOLD_THROTTLE_MIN, float sue_ALT_HOLD_THROTTLE_MAX, float sue_ALT_HOLD_PITCH_MIN, float sue_ALT_HOLD_PITCH_MAX, float sue_ALT_HOLD_PITCH_HIGH)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN];
-	_mav_put_float(buf, 0, sue_HEIGHT_TARGET_MAX);
-	_mav_put_float(buf, 4, sue_HEIGHT_TARGET_MIN);
-	_mav_put_float(buf, 8, sue_ALT_HOLD_THROTTLE_MIN);
-	_mav_put_float(buf, 12, sue_ALT_HOLD_THROTTLE_MAX);
-	_mav_put_float(buf, 16, sue_ALT_HOLD_PITCH_MIN);
-	_mav_put_float(buf, 20, sue_ALT_HOLD_PITCH_MAX);
-	_mav_put_float(buf, 24, sue_ALT_HOLD_PITCH_HIGH);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, buf, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-#else
-	mavlink_serial_udb_extra_f8_t packet;
-	packet.sue_HEIGHT_TARGET_MAX = sue_HEIGHT_TARGET_MAX;
-	packet.sue_HEIGHT_TARGET_MIN = sue_HEIGHT_TARGET_MIN;
-	packet.sue_ALT_HOLD_THROTTLE_MIN = sue_ALT_HOLD_THROTTLE_MIN;
-	packet.sue_ALT_HOLD_THROTTLE_MAX = sue_ALT_HOLD_THROTTLE_MAX;
-	packet.sue_ALT_HOLD_PITCH_MIN = sue_ALT_HOLD_PITCH_MIN;
-	packet.sue_ALT_HOLD_PITCH_MAX = sue_ALT_HOLD_PITCH_MAX;
-	packet.sue_ALT_HOLD_PITCH_HIGH = sue_ALT_HOLD_PITCH_HIGH;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8, (const char *)&packet, MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SERIAL_UDB_EXTRA_F8 UNPACKING
-
-
-/**
- * @brief Get field sue_HEIGHT_TARGET_MAX from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra HEIGHT_TARGET_MAX
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MAX(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field sue_HEIGHT_TARGET_MIN from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra HEIGHT_TARGET_MIN
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MIN(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field sue_ALT_HOLD_THROTTLE_MIN from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra ALT_HOLD_THROTTLE_MIN
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MIN(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field sue_ALT_HOLD_THROTTLE_MAX from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra ALT_HOLD_THROTTLE_MAX
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MAX(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field sue_ALT_HOLD_PITCH_MIN from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra ALT_HOLD_PITCH_MIN
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MIN(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field sue_ALT_HOLD_PITCH_MAX from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra ALT_HOLD_PITCH_MAX
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MAX(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field sue_ALT_HOLD_PITCH_HIGH from serial_udb_extra_f8 message
- *
- * @return Serial UDB Extra ALT_HOLD_PITCH_HIGH
- */
-static inline float mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_HIGH(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Decode a serial_udb_extra_f8 message into a struct
- *
- * @param msg The message to decode
- * @param serial_udb_extra_f8 C-struct to decode the message contents into
- */
-static inline void mavlink_msg_serial_udb_extra_f8_decode(const mavlink_message_t* msg, mavlink_serial_udb_extra_f8_t* serial_udb_extra_f8)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	serial_udb_extra_f8->sue_HEIGHT_TARGET_MAX = mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MAX(msg);
-	serial_udb_extra_f8->sue_HEIGHT_TARGET_MIN = mavlink_msg_serial_udb_extra_f8_get_sue_HEIGHT_TARGET_MIN(msg);
-	serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MIN = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MIN(msg);
-	serial_udb_extra_f8->sue_ALT_HOLD_THROTTLE_MAX = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_THROTTLE_MAX(msg);
-	serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MIN = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MIN(msg);
-	serial_udb_extra_f8->sue_ALT_HOLD_PITCH_MAX = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_MAX(msg);
-	serial_udb_extra_f8->sue_ALT_HOLD_PITCH_HIGH = mavlink_msg_serial_udb_extra_f8_get_sue_ALT_HOLD_PITCH_HIGH(msg);
-#else
-	memcpy(serial_udb_extra_f8, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SERIAL_UDB_EXTRA_F8_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h b/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h
deleted file mode 100644
index 6856839e9..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/testsuite.h
+++ /dev/null
@@ -1,1240 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from matrixpilot.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef MATRIXPILOT_TESTSUITE_H
-#define MATRIXPILOT_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-static void mavlink_test_matrixpilot(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_common(system_id, component_id, last_msg);
-	mavlink_test_matrixpilot(system_id, component_id, last_msg);
-}
-#endif
-
-#include "../common/testsuite.h"
-
-
-static void mavlink_test_flexifunction_set(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_flexifunction_set_t packet_in = {
-		5,
-	}72,
-	};
-	mavlink_flexifunction_set_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_set_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_set_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_flexifunction_set_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
-	mavlink_msg_flexifunction_set_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_flexifunction_set_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
-	mavlink_msg_flexifunction_set_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_read_req(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_flexifunction_read_req_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	};
-	mavlink_flexifunction_read_req_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.read_req_type = packet_in.read_req_type;
-        	packet1.data_index = packet_in.data_index;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_read_req_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_read_req_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_read_req_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.read_req_type , packet1.data_index );
-	mavlink_msg_flexifunction_read_req_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_read_req_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.read_req_type , packet1.data_index );
-	mavlink_msg_flexifunction_read_req_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_flexifunction_read_req_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_read_req_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.read_req_type , packet1.data_index );
-	mavlink_msg_flexifunction_read_req_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_buffer_function(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_flexifunction_buffer_function_t packet_in = {
-		17235,
-	}17339,
-	}17443,
-	}17547,
-	}29,
-	}96,
-	}{ 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 },
-	};
-	mavlink_flexifunction_buffer_function_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.func_index = packet_in.func_index;
-        	packet1.func_count = packet_in.func_count;
-        	packet1.data_address = packet_in.data_address;
-        	packet1.data_size = packet_in.data_size;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        	mav_array_memcpy(packet1.data, packet_in.data, sizeof(int8_t)*48);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_buffer_function_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.func_count , packet1.data_address , packet1.data_size , packet1.data );
-	mavlink_msg_flexifunction_buffer_function_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.func_count , packet1.data_address , packet1.data_size , packet1.data );
-	mavlink_msg_flexifunction_buffer_function_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_flexifunction_buffer_function_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.func_index , packet1.func_count , packet1.data_address , packet1.data_size , packet1.data );
-	mavlink_msg_flexifunction_buffer_function_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_buffer_function_ack(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_flexifunction_buffer_function_ack_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	};
-	mavlink_flexifunction_buffer_function_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.func_index = packet_in.func_index;
-        	packet1.result = packet_in.result;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_buffer_function_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.result );
-	mavlink_msg_flexifunction_buffer_function_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.func_index , packet1.result );
-	mavlink_msg_flexifunction_buffer_function_ack_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_flexifunction_buffer_function_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_buffer_function_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.func_index , packet1.result );
-	mavlink_msg_flexifunction_buffer_function_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_directory(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_flexifunction_directory_t packet_in = {
-		5,
-	}72,
-	}139,
-	}206,
-	}17,
-	}{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131 },
-	};
-	mavlink_flexifunction_directory_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.directory_type = packet_in.directory_type;
-        	packet1.start_index = packet_in.start_index;
-        	packet1.count = packet_in.count;
-        
-        	mav_array_memcpy(packet1.directory_data, packet_in.directory_data, sizeof(int8_t)*48);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_directory_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.directory_data );
-	mavlink_msg_flexifunction_directory_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.directory_data );
-	mavlink_msg_flexifunction_directory_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_flexifunction_directory_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.directory_data );
-	mavlink_msg_flexifunction_directory_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_directory_ack(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_flexifunction_directory_ack_t packet_in = {
-		17235,
-	}139,
-	}206,
-	}17,
-	}84,
-	}151,
-	};
-	mavlink_flexifunction_directory_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.result = packet_in.result;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.directory_type = packet_in.directory_type;
-        	packet1.start_index = packet_in.start_index;
-        	packet1.count = packet_in.count;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_directory_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.result );
-	mavlink_msg_flexifunction_directory_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.result );
-	mavlink_msg_flexifunction_directory_ack_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_flexifunction_directory_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_directory_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.directory_type , packet1.start_index , packet1.count , packet1.result );
-	mavlink_msg_flexifunction_directory_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_command(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_flexifunction_command_t packet_in = {
-		5,
-	}72,
-	}139,
-	};
-	mavlink_flexifunction_command_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        	packet1.command_type = packet_in.command_type;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_command_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command_type );
-	mavlink_msg_flexifunction_command_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.command_type );
-	mavlink_msg_flexifunction_command_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_flexifunction_command_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command_type );
-	mavlink_msg_flexifunction_command_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_flexifunction_command_ack(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_flexifunction_command_ack_t packet_in = {
-		17235,
-	}17339,
-	};
-	mavlink_flexifunction_command_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.command_type = packet_in.command_type;
-        	packet1.result = packet_in.result;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_flexifunction_command_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_ack_pack(system_id, component_id, &msg , packet1.command_type , packet1.result );
-	mavlink_msg_flexifunction_command_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command_type , packet1.result );
-	mavlink_msg_flexifunction_command_ack_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_flexifunction_command_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_flexifunction_command_ack_send(MAVLINK_COMM_1 , packet1.command_type , packet1.result );
-	mavlink_msg_flexifunction_command_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f2_a(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_serial_udb_extra_f2_a_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}963498088,
-	}18067,
-	}18171,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	}18691,
-	}18795,
-	}18899,
-	}19003,
-	}19107,
-	}19211,
-	}19315,
-	}19419,
-	}19523,
-	}19627,
-	}19731,
-	}19835,
-	}19939,
-	}20043,
-	}20147,
-	}20251,
-	}20355,
-	}63,
-	};
-	mavlink_serial_udb_extra_f2_a_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_time = packet_in.sue_time;
-        	packet1.sue_latitude = packet_in.sue_latitude;
-        	packet1.sue_longitude = packet_in.sue_longitude;
-        	packet1.sue_altitude = packet_in.sue_altitude;
-        	packet1.sue_waypoint_index = packet_in.sue_waypoint_index;
-        	packet1.sue_rmat0 = packet_in.sue_rmat0;
-        	packet1.sue_rmat1 = packet_in.sue_rmat1;
-        	packet1.sue_rmat2 = packet_in.sue_rmat2;
-        	packet1.sue_rmat3 = packet_in.sue_rmat3;
-        	packet1.sue_rmat4 = packet_in.sue_rmat4;
-        	packet1.sue_rmat5 = packet_in.sue_rmat5;
-        	packet1.sue_rmat6 = packet_in.sue_rmat6;
-        	packet1.sue_rmat7 = packet_in.sue_rmat7;
-        	packet1.sue_rmat8 = packet_in.sue_rmat8;
-        	packet1.sue_cog = packet_in.sue_cog;
-        	packet1.sue_sog = packet_in.sue_sog;
-        	packet1.sue_cpu_load = packet_in.sue_cpu_load;
-        	packet1.sue_voltage_milis = packet_in.sue_voltage_milis;
-        	packet1.sue_air_speed_3DIMU = packet_in.sue_air_speed_3DIMU;
-        	packet1.sue_estimated_wind_0 = packet_in.sue_estimated_wind_0;
-        	packet1.sue_estimated_wind_1 = packet_in.sue_estimated_wind_1;
-        	packet1.sue_estimated_wind_2 = packet_in.sue_estimated_wind_2;
-        	packet1.sue_magFieldEarth0 = packet_in.sue_magFieldEarth0;
-        	packet1.sue_magFieldEarth1 = packet_in.sue_magFieldEarth1;
-        	packet1.sue_magFieldEarth2 = packet_in.sue_magFieldEarth2;
-        	packet1.sue_svs = packet_in.sue_svs;
-        	packet1.sue_hdop = packet_in.sue_hdop;
-        	packet1.sue_status = packet_in.sue_status;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_a_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f2_a_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_a_pack(system_id, component_id, &msg , packet1.sue_time , packet1.sue_status , packet1.sue_latitude , packet1.sue_longitude , packet1.sue_altitude , packet1.sue_waypoint_index , packet1.sue_rmat0 , packet1.sue_rmat1 , packet1.sue_rmat2 , packet1.sue_rmat3 , packet1.sue_rmat4 , packet1.sue_rmat5 , packet1.sue_rmat6 , packet1.sue_rmat7 , packet1.sue_rmat8 , packet1.sue_cog , packet1.sue_sog , packet1.sue_cpu_load , packet1.sue_voltage_milis , packet1.sue_air_speed_3DIMU , packet1.sue_estimated_wind_0 , packet1.sue_estimated_wind_1 , packet1.sue_estimated_wind_2 , packet1.sue_magFieldEarth0 , packet1.sue_magFieldEarth1 , packet1.sue_magFieldEarth2 , packet1.sue_svs , packet1.sue_hdop );
-	mavlink_msg_serial_udb_extra_f2_a_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_a_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_time , packet1.sue_status , packet1.sue_latitude , packet1.sue_longitude , packet1.sue_altitude , packet1.sue_waypoint_index , packet1.sue_rmat0 , packet1.sue_rmat1 , packet1.sue_rmat2 , packet1.sue_rmat3 , packet1.sue_rmat4 , packet1.sue_rmat5 , packet1.sue_rmat6 , packet1.sue_rmat7 , packet1.sue_rmat8 , packet1.sue_cog , packet1.sue_sog , packet1.sue_cpu_load , packet1.sue_voltage_milis , packet1.sue_air_speed_3DIMU , packet1.sue_estimated_wind_0 , packet1.sue_estimated_wind_1 , packet1.sue_estimated_wind_2 , packet1.sue_magFieldEarth0 , packet1.sue_magFieldEarth1 , packet1.sue_magFieldEarth2 , packet1.sue_svs , packet1.sue_hdop );
-	mavlink_msg_serial_udb_extra_f2_a_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_serial_udb_extra_f2_a_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_a_send(MAVLINK_COMM_1 , packet1.sue_time , packet1.sue_status , packet1.sue_latitude , packet1.sue_longitude , packet1.sue_altitude , packet1.sue_waypoint_index , packet1.sue_rmat0 , packet1.sue_rmat1 , packet1.sue_rmat2 , packet1.sue_rmat3 , packet1.sue_rmat4 , packet1.sue_rmat5 , packet1.sue_rmat6 , packet1.sue_rmat7 , packet1.sue_rmat8 , packet1.sue_cog , packet1.sue_sog , packet1.sue_cpu_load , packet1.sue_voltage_milis , packet1.sue_air_speed_3DIMU , packet1.sue_estimated_wind_0 , packet1.sue_estimated_wind_1 , packet1.sue_estimated_wind_2 , packet1.sue_magFieldEarth0 , packet1.sue_magFieldEarth1 , packet1.sue_magFieldEarth2 , packet1.sue_svs , packet1.sue_hdop );
-	mavlink_msg_serial_udb_extra_f2_a_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f2_b(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_serial_udb_extra_f2_b_t packet_in = {
-		963497464,
-	}963497672,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	}18067,
-	}18171,
-	}18275,
-	}18379,
-	}18483,
-	}18587,
-	}18691,
-	}18795,
-	}18899,
-	}19003,
-	}19107,
-	}19211,
-	}19315,
-	}19419,
-	}19523,
-	}19627,
-	}19731,
-	}19835,
-	}19939,
-	}20043,
-	}20147,
-	}20251,
-	}20355,
-	}20459,
-	}20563,
-	}20667,
-	}20771,
-	};
-	mavlink_serial_udb_extra_f2_b_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_time = packet_in.sue_time;
-        	packet1.sue_flags = packet_in.sue_flags;
-        	packet1.sue_pwm_input_1 = packet_in.sue_pwm_input_1;
-        	packet1.sue_pwm_input_2 = packet_in.sue_pwm_input_2;
-        	packet1.sue_pwm_input_3 = packet_in.sue_pwm_input_3;
-        	packet1.sue_pwm_input_4 = packet_in.sue_pwm_input_4;
-        	packet1.sue_pwm_input_5 = packet_in.sue_pwm_input_5;
-        	packet1.sue_pwm_input_6 = packet_in.sue_pwm_input_6;
-        	packet1.sue_pwm_input_7 = packet_in.sue_pwm_input_7;
-        	packet1.sue_pwm_input_8 = packet_in.sue_pwm_input_8;
-        	packet1.sue_pwm_input_9 = packet_in.sue_pwm_input_9;
-        	packet1.sue_pwm_input_10 = packet_in.sue_pwm_input_10;
-        	packet1.sue_pwm_output_1 = packet_in.sue_pwm_output_1;
-        	packet1.sue_pwm_output_2 = packet_in.sue_pwm_output_2;
-        	packet1.sue_pwm_output_3 = packet_in.sue_pwm_output_3;
-        	packet1.sue_pwm_output_4 = packet_in.sue_pwm_output_4;
-        	packet1.sue_pwm_output_5 = packet_in.sue_pwm_output_5;
-        	packet1.sue_pwm_output_6 = packet_in.sue_pwm_output_6;
-        	packet1.sue_pwm_output_7 = packet_in.sue_pwm_output_7;
-        	packet1.sue_pwm_output_8 = packet_in.sue_pwm_output_8;
-        	packet1.sue_pwm_output_9 = packet_in.sue_pwm_output_9;
-        	packet1.sue_pwm_output_10 = packet_in.sue_pwm_output_10;
-        	packet1.sue_imu_location_x = packet_in.sue_imu_location_x;
-        	packet1.sue_imu_location_y = packet_in.sue_imu_location_y;
-        	packet1.sue_imu_location_z = packet_in.sue_imu_location_z;
-        	packet1.sue_osc_fails = packet_in.sue_osc_fails;
-        	packet1.sue_imu_velocity_x = packet_in.sue_imu_velocity_x;
-        	packet1.sue_imu_velocity_y = packet_in.sue_imu_velocity_y;
-        	packet1.sue_imu_velocity_z = packet_in.sue_imu_velocity_z;
-        	packet1.sue_waypoint_goal_x = packet_in.sue_waypoint_goal_x;
-        	packet1.sue_waypoint_goal_y = packet_in.sue_waypoint_goal_y;
-        	packet1.sue_waypoint_goal_z = packet_in.sue_waypoint_goal_z;
-        	packet1.sue_memory_stack_free = packet_in.sue_memory_stack_free;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_b_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f2_b_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_b_pack(system_id, component_id, &msg , packet1.sue_time , packet1.sue_pwm_input_1 , packet1.sue_pwm_input_2 , packet1.sue_pwm_input_3 , packet1.sue_pwm_input_4 , packet1.sue_pwm_input_5 , packet1.sue_pwm_input_6 , packet1.sue_pwm_input_7 , packet1.sue_pwm_input_8 , packet1.sue_pwm_input_9 , packet1.sue_pwm_input_10 , packet1.sue_pwm_output_1 , packet1.sue_pwm_output_2 , packet1.sue_pwm_output_3 , packet1.sue_pwm_output_4 , packet1.sue_pwm_output_5 , packet1.sue_pwm_output_6 , packet1.sue_pwm_output_7 , packet1.sue_pwm_output_8 , packet1.sue_pwm_output_9 , packet1.sue_pwm_output_10 , packet1.sue_imu_location_x , packet1.sue_imu_location_y , packet1.sue_imu_location_z , packet1.sue_flags , packet1.sue_osc_fails , packet1.sue_imu_velocity_x , packet1.sue_imu_velocity_y , packet1.sue_imu_velocity_z , packet1.sue_waypoint_goal_x , packet1.sue_waypoint_goal_y , packet1.sue_waypoint_goal_z , packet1.sue_memory_stack_free );
-	mavlink_msg_serial_udb_extra_f2_b_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_b_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_time , packet1.sue_pwm_input_1 , packet1.sue_pwm_input_2 , packet1.sue_pwm_input_3 , packet1.sue_pwm_input_4 , packet1.sue_pwm_input_5 , packet1.sue_pwm_input_6 , packet1.sue_pwm_input_7 , packet1.sue_pwm_input_8 , packet1.sue_pwm_input_9 , packet1.sue_pwm_input_10 , packet1.sue_pwm_output_1 , packet1.sue_pwm_output_2 , packet1.sue_pwm_output_3 , packet1.sue_pwm_output_4 , packet1.sue_pwm_output_5 , packet1.sue_pwm_output_6 , packet1.sue_pwm_output_7 , packet1.sue_pwm_output_8 , packet1.sue_pwm_output_9 , packet1.sue_pwm_output_10 , packet1.sue_imu_location_x , packet1.sue_imu_location_y , packet1.sue_imu_location_z , packet1.sue_flags , packet1.sue_osc_fails , packet1.sue_imu_velocity_x , packet1.sue_imu_velocity_y , packet1.sue_imu_velocity_z , packet1.sue_waypoint_goal_x , packet1.sue_waypoint_goal_y , packet1.sue_waypoint_goal_z , packet1.sue_memory_stack_free );
-	mavlink_msg_serial_udb_extra_f2_b_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_serial_udb_extra_f2_b_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f2_b_send(MAVLINK_COMM_1 , packet1.sue_time , packet1.sue_pwm_input_1 , packet1.sue_pwm_input_2 , packet1.sue_pwm_input_3 , packet1.sue_pwm_input_4 , packet1.sue_pwm_input_5 , packet1.sue_pwm_input_6 , packet1.sue_pwm_input_7 , packet1.sue_pwm_input_8 , packet1.sue_pwm_input_9 , packet1.sue_pwm_input_10 , packet1.sue_pwm_output_1 , packet1.sue_pwm_output_2 , packet1.sue_pwm_output_3 , packet1.sue_pwm_output_4 , packet1.sue_pwm_output_5 , packet1.sue_pwm_output_6 , packet1.sue_pwm_output_7 , packet1.sue_pwm_output_8 , packet1.sue_pwm_output_9 , packet1.sue_pwm_output_10 , packet1.sue_imu_location_x , packet1.sue_imu_location_y , packet1.sue_imu_location_z , packet1.sue_flags , packet1.sue_osc_fails , packet1.sue_imu_velocity_x , packet1.sue_imu_velocity_y , packet1.sue_imu_velocity_z , packet1.sue_waypoint_goal_x , packet1.sue_waypoint_goal_y , packet1.sue_waypoint_goal_z , packet1.sue_memory_stack_free );
-	mavlink_msg_serial_udb_extra_f2_b_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f4(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_serial_udb_extra_f4_t packet_in = {
-		5,
-	}72,
-	}139,
-	}206,
-	}17,
-	}84,
-	}151,
-	}218,
-	}29,
-	}96,
-	};
-	mavlink_serial_udb_extra_f4_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_ROLL_STABILIZATION_AILERONS = packet_in.sue_ROLL_STABILIZATION_AILERONS;
-        	packet1.sue_ROLL_STABILIZATION_RUDDER = packet_in.sue_ROLL_STABILIZATION_RUDDER;
-        	packet1.sue_PITCH_STABILIZATION = packet_in.sue_PITCH_STABILIZATION;
-        	packet1.sue_YAW_STABILIZATION_RUDDER = packet_in.sue_YAW_STABILIZATION_RUDDER;
-        	packet1.sue_YAW_STABILIZATION_AILERON = packet_in.sue_YAW_STABILIZATION_AILERON;
-        	packet1.sue_AILERON_NAVIGATION = packet_in.sue_AILERON_NAVIGATION;
-        	packet1.sue_RUDDER_NAVIGATION = packet_in.sue_RUDDER_NAVIGATION;
-        	packet1.sue_ALTITUDEHOLD_STABILIZED = packet_in.sue_ALTITUDEHOLD_STABILIZED;
-        	packet1.sue_ALTITUDEHOLD_WAYPOINT = packet_in.sue_ALTITUDEHOLD_WAYPOINT;
-        	packet1.sue_RACING_MODE = packet_in.sue_RACING_MODE;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f4_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f4_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f4_pack(system_id, component_id, &msg , packet1.sue_ROLL_STABILIZATION_AILERONS , packet1.sue_ROLL_STABILIZATION_RUDDER , packet1.sue_PITCH_STABILIZATION , packet1.sue_YAW_STABILIZATION_RUDDER , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_NAVIGATION , packet1.sue_RUDDER_NAVIGATION , packet1.sue_ALTITUDEHOLD_STABILIZED , packet1.sue_ALTITUDEHOLD_WAYPOINT , packet1.sue_RACING_MODE );
-	mavlink_msg_serial_udb_extra_f4_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f4_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_ROLL_STABILIZATION_AILERONS , packet1.sue_ROLL_STABILIZATION_RUDDER , packet1.sue_PITCH_STABILIZATION , packet1.sue_YAW_STABILIZATION_RUDDER , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_NAVIGATION , packet1.sue_RUDDER_NAVIGATION , packet1.sue_ALTITUDEHOLD_STABILIZED , packet1.sue_ALTITUDEHOLD_WAYPOINT , packet1.sue_RACING_MODE );
-	mavlink_msg_serial_udb_extra_f4_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_serial_udb_extra_f4_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f4_send(MAVLINK_COMM_1 , packet1.sue_ROLL_STABILIZATION_AILERONS , packet1.sue_ROLL_STABILIZATION_RUDDER , packet1.sue_PITCH_STABILIZATION , packet1.sue_YAW_STABILIZATION_RUDDER , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_NAVIGATION , packet1.sue_RUDDER_NAVIGATION , packet1.sue_ALTITUDEHOLD_STABILIZED , packet1.sue_ALTITUDEHOLD_WAYPOINT , packet1.sue_RACING_MODE );
-	mavlink_msg_serial_udb_extra_f4_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f5(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_serial_udb_extra_f5_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	};
-	mavlink_serial_udb_extra_f5_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_YAWKP_AILERON = packet_in.sue_YAWKP_AILERON;
-        	packet1.sue_YAWKD_AILERON = packet_in.sue_YAWKD_AILERON;
-        	packet1.sue_ROLLKP = packet_in.sue_ROLLKP;
-        	packet1.sue_ROLLKD = packet_in.sue_ROLLKD;
-        	packet1.sue_YAW_STABILIZATION_AILERON = packet_in.sue_YAW_STABILIZATION_AILERON;
-        	packet1.sue_AILERON_BOOST = packet_in.sue_AILERON_BOOST;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f5_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f5_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f5_pack(system_id, component_id, &msg , packet1.sue_YAWKP_AILERON , packet1.sue_YAWKD_AILERON , packet1.sue_ROLLKP , packet1.sue_ROLLKD , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_BOOST );
-	mavlink_msg_serial_udb_extra_f5_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f5_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_YAWKP_AILERON , packet1.sue_YAWKD_AILERON , packet1.sue_ROLLKP , packet1.sue_ROLLKD , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_BOOST );
-	mavlink_msg_serial_udb_extra_f5_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_serial_udb_extra_f5_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f5_send(MAVLINK_COMM_1 , packet1.sue_YAWKP_AILERON , packet1.sue_YAWKD_AILERON , packet1.sue_ROLLKP , packet1.sue_ROLLKD , packet1.sue_YAW_STABILIZATION_AILERON , packet1.sue_AILERON_BOOST );
-	mavlink_msg_serial_udb_extra_f5_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f6(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_serial_udb_extra_f6_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	};
-	mavlink_serial_udb_extra_f6_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_PITCHGAIN = packet_in.sue_PITCHGAIN;
-        	packet1.sue_PITCHKD = packet_in.sue_PITCHKD;
-        	packet1.sue_RUDDER_ELEV_MIX = packet_in.sue_RUDDER_ELEV_MIX;
-        	packet1.sue_ROLL_ELEV_MIX = packet_in.sue_ROLL_ELEV_MIX;
-        	packet1.sue_ELEVATOR_BOOST = packet_in.sue_ELEVATOR_BOOST;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f6_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f6_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f6_pack(system_id, component_id, &msg , packet1.sue_PITCHGAIN , packet1.sue_PITCHKD , packet1.sue_RUDDER_ELEV_MIX , packet1.sue_ROLL_ELEV_MIX , packet1.sue_ELEVATOR_BOOST );
-	mavlink_msg_serial_udb_extra_f6_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f6_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_PITCHGAIN , packet1.sue_PITCHKD , packet1.sue_RUDDER_ELEV_MIX , packet1.sue_ROLL_ELEV_MIX , packet1.sue_ELEVATOR_BOOST );
-	mavlink_msg_serial_udb_extra_f6_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_serial_udb_extra_f6_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f6_send(MAVLINK_COMM_1 , packet1.sue_PITCHGAIN , packet1.sue_PITCHKD , packet1.sue_RUDDER_ELEV_MIX , packet1.sue_ROLL_ELEV_MIX , packet1.sue_ELEVATOR_BOOST );
-	mavlink_msg_serial_udb_extra_f6_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f7(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_serial_udb_extra_f7_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	};
-	mavlink_serial_udb_extra_f7_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_YAWKP_RUDDER = packet_in.sue_YAWKP_RUDDER;
-        	packet1.sue_YAWKD_RUDDER = packet_in.sue_YAWKD_RUDDER;
-        	packet1.sue_ROLLKP_RUDDER = packet_in.sue_ROLLKP_RUDDER;
-        	packet1.sue_ROLLKD_RUDDER = packet_in.sue_ROLLKD_RUDDER;
-        	packet1.sue_RUDDER_BOOST = packet_in.sue_RUDDER_BOOST;
-        	packet1.sue_RTL_PITCH_DOWN = packet_in.sue_RTL_PITCH_DOWN;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f7_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f7_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f7_pack(system_id, component_id, &msg , packet1.sue_YAWKP_RUDDER , packet1.sue_YAWKD_RUDDER , packet1.sue_ROLLKP_RUDDER , packet1.sue_ROLLKD_RUDDER , packet1.sue_RUDDER_BOOST , packet1.sue_RTL_PITCH_DOWN );
-	mavlink_msg_serial_udb_extra_f7_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f7_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_YAWKP_RUDDER , packet1.sue_YAWKD_RUDDER , packet1.sue_ROLLKP_RUDDER , packet1.sue_ROLLKD_RUDDER , packet1.sue_RUDDER_BOOST , packet1.sue_RTL_PITCH_DOWN );
-	mavlink_msg_serial_udb_extra_f7_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_serial_udb_extra_f7_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f7_send(MAVLINK_COMM_1 , packet1.sue_YAWKP_RUDDER , packet1.sue_YAWKD_RUDDER , packet1.sue_ROLLKP_RUDDER , packet1.sue_ROLLKD_RUDDER , packet1.sue_RUDDER_BOOST , packet1.sue_RTL_PITCH_DOWN );
-	mavlink_msg_serial_udb_extra_f7_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f8(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_serial_udb_extra_f8_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	};
-	mavlink_serial_udb_extra_f8_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_HEIGHT_TARGET_MAX = packet_in.sue_HEIGHT_TARGET_MAX;
-        	packet1.sue_HEIGHT_TARGET_MIN = packet_in.sue_HEIGHT_TARGET_MIN;
-        	packet1.sue_ALT_HOLD_THROTTLE_MIN = packet_in.sue_ALT_HOLD_THROTTLE_MIN;
-        	packet1.sue_ALT_HOLD_THROTTLE_MAX = packet_in.sue_ALT_HOLD_THROTTLE_MAX;
-        	packet1.sue_ALT_HOLD_PITCH_MIN = packet_in.sue_ALT_HOLD_PITCH_MIN;
-        	packet1.sue_ALT_HOLD_PITCH_MAX = packet_in.sue_ALT_HOLD_PITCH_MAX;
-        	packet1.sue_ALT_HOLD_PITCH_HIGH = packet_in.sue_ALT_HOLD_PITCH_HIGH;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f8_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f8_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f8_pack(system_id, component_id, &msg , packet1.sue_HEIGHT_TARGET_MAX , packet1.sue_HEIGHT_TARGET_MIN , packet1.sue_ALT_HOLD_THROTTLE_MIN , packet1.sue_ALT_HOLD_THROTTLE_MAX , packet1.sue_ALT_HOLD_PITCH_MIN , packet1.sue_ALT_HOLD_PITCH_MAX , packet1.sue_ALT_HOLD_PITCH_HIGH );
-	mavlink_msg_serial_udb_extra_f8_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f8_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_HEIGHT_TARGET_MAX , packet1.sue_HEIGHT_TARGET_MIN , packet1.sue_ALT_HOLD_THROTTLE_MIN , packet1.sue_ALT_HOLD_THROTTLE_MAX , packet1.sue_ALT_HOLD_PITCH_MIN , packet1.sue_ALT_HOLD_PITCH_MAX , packet1.sue_ALT_HOLD_PITCH_HIGH );
-	mavlink_msg_serial_udb_extra_f8_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_serial_udb_extra_f8_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f8_send(MAVLINK_COMM_1 , packet1.sue_HEIGHT_TARGET_MAX , packet1.sue_HEIGHT_TARGET_MIN , packet1.sue_ALT_HOLD_THROTTLE_MIN , packet1.sue_ALT_HOLD_THROTTLE_MAX , packet1.sue_ALT_HOLD_PITCH_MIN , packet1.sue_ALT_HOLD_PITCH_MAX , packet1.sue_ALT_HOLD_PITCH_HIGH );
-	mavlink_msg_serial_udb_extra_f8_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f13(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_serial_udb_extra_f13_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}17859,
-	};
-	mavlink_serial_udb_extra_f13_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_lat_origin = packet_in.sue_lat_origin;
-        	packet1.sue_lon_origin = packet_in.sue_lon_origin;
-        	packet1.sue_alt_origin = packet_in.sue_alt_origin;
-        	packet1.sue_week_no = packet_in.sue_week_no;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f13_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f13_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f13_pack(system_id, component_id, &msg , packet1.sue_week_no , packet1.sue_lat_origin , packet1.sue_lon_origin , packet1.sue_alt_origin );
-	mavlink_msg_serial_udb_extra_f13_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f13_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_week_no , packet1.sue_lat_origin , packet1.sue_lon_origin , packet1.sue_alt_origin );
-	mavlink_msg_serial_udb_extra_f13_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_serial_udb_extra_f13_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f13_send(MAVLINK_COMM_1 , packet1.sue_week_no , packet1.sue_lat_origin , packet1.sue_lon_origin , packet1.sue_alt_origin );
-	mavlink_msg_serial_udb_extra_f13_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f14(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_serial_udb_extra_f14_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}163,
-	}230,
-	}41,
-	}108,
-	}175,
-	}242,
-	}53,
-	};
-	mavlink_serial_udb_extra_f14_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.sue_TRAP_SOURCE = packet_in.sue_TRAP_SOURCE;
-        	packet1.sue_RCON = packet_in.sue_RCON;
-        	packet1.sue_TRAP_FLAGS = packet_in.sue_TRAP_FLAGS;
-        	packet1.sue_osc_fail_count = packet_in.sue_osc_fail_count;
-        	packet1.sue_WIND_ESTIMATION = packet_in.sue_WIND_ESTIMATION;
-        	packet1.sue_GPS_TYPE = packet_in.sue_GPS_TYPE;
-        	packet1.sue_DR = packet_in.sue_DR;
-        	packet1.sue_BOARD_TYPE = packet_in.sue_BOARD_TYPE;
-        	packet1.sue_AIRFRAME = packet_in.sue_AIRFRAME;
-        	packet1.sue_CLOCK_CONFIG = packet_in.sue_CLOCK_CONFIG;
-        	packet1.sue_FLIGHT_PLAN_TYPE = packet_in.sue_FLIGHT_PLAN_TYPE;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f14_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f14_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f14_pack(system_id, component_id, &msg , packet1.sue_WIND_ESTIMATION , packet1.sue_GPS_TYPE , packet1.sue_DR , packet1.sue_BOARD_TYPE , packet1.sue_AIRFRAME , packet1.sue_RCON , packet1.sue_TRAP_FLAGS , packet1.sue_TRAP_SOURCE , packet1.sue_osc_fail_count , packet1.sue_CLOCK_CONFIG , packet1.sue_FLIGHT_PLAN_TYPE );
-	mavlink_msg_serial_udb_extra_f14_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f14_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_WIND_ESTIMATION , packet1.sue_GPS_TYPE , packet1.sue_DR , packet1.sue_BOARD_TYPE , packet1.sue_AIRFRAME , packet1.sue_RCON , packet1.sue_TRAP_FLAGS , packet1.sue_TRAP_SOURCE , packet1.sue_osc_fail_count , packet1.sue_CLOCK_CONFIG , packet1.sue_FLIGHT_PLAN_TYPE );
-	mavlink_msg_serial_udb_extra_f14_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_serial_udb_extra_f14_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f14_send(MAVLINK_COMM_1 , packet1.sue_WIND_ESTIMATION , packet1.sue_GPS_TYPE , packet1.sue_DR , packet1.sue_BOARD_TYPE , packet1.sue_AIRFRAME , packet1.sue_RCON , packet1.sue_TRAP_FLAGS , packet1.sue_TRAP_SOURCE , packet1.sue_osc_fail_count , packet1.sue_CLOCK_CONFIG , packet1.sue_FLIGHT_PLAN_TYPE );
-	mavlink_msg_serial_udb_extra_f14_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f15(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_serial_udb_extra_f15_t packet_in = {
-		{ 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 },
-	}{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144 },
-	};
-	mavlink_serial_udb_extra_f15_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.sue_ID_VEHICLE_MODEL_NAME, packet_in.sue_ID_VEHICLE_MODEL_NAME, sizeof(uint8_t)*40);
-        	mav_array_memcpy(packet1.sue_ID_VEHICLE_REGISTRATION, packet_in.sue_ID_VEHICLE_REGISTRATION, sizeof(uint8_t)*20);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f15_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f15_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f15_pack(system_id, component_id, &msg , packet1.sue_ID_VEHICLE_MODEL_NAME , packet1.sue_ID_VEHICLE_REGISTRATION );
-	mavlink_msg_serial_udb_extra_f15_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f15_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_ID_VEHICLE_MODEL_NAME , packet1.sue_ID_VEHICLE_REGISTRATION );
-	mavlink_msg_serial_udb_extra_f15_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_serial_udb_extra_f15_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f15_send(MAVLINK_COMM_1 , packet1.sue_ID_VEHICLE_MODEL_NAME , packet1.sue_ID_VEHICLE_REGISTRATION );
-	mavlink_msg_serial_udb_extra_f15_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_serial_udb_extra_f16(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_serial_udb_extra_f16_t packet_in = {
-		{ 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44 },
-	}{ 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 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 },
-	};
-	mavlink_serial_udb_extra_f16_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.sue_ID_LEAD_PILOT, packet_in.sue_ID_LEAD_PILOT, sizeof(uint8_t)*40);
-        	mav_array_memcpy(packet1.sue_ID_DIY_DRONES_URL, packet_in.sue_ID_DIY_DRONES_URL, sizeof(uint8_t)*70);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f16_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_serial_udb_extra_f16_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f16_pack(system_id, component_id, &msg , packet1.sue_ID_LEAD_PILOT , packet1.sue_ID_DIY_DRONES_URL );
-	mavlink_msg_serial_udb_extra_f16_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f16_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sue_ID_LEAD_PILOT , packet1.sue_ID_DIY_DRONES_URL );
-	mavlink_msg_serial_udb_extra_f16_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_serial_udb_extra_f16_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_serial_udb_extra_f16_send(MAVLINK_COMM_1 , packet1.sue_ID_LEAD_PILOT , packet1.sue_ID_DIY_DRONES_URL );
-	mavlink_msg_serial_udb_extra_f16_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_altitudes(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_altitudes_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	}963498088,
-	}963498296,
-	}963498504,
-	}963498712,
-	};
-	mavlink_altitudes_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.alt_gps = packet_in.alt_gps;
-        	packet1.alt_imu = packet_in.alt_imu;
-        	packet1.alt_barometric = packet_in.alt_barometric;
-        	packet1.alt_optical_flow = packet_in.alt_optical_flow;
-        	packet1.alt_range_finder = packet_in.alt_range_finder;
-        	packet1.alt_extra = packet_in.alt_extra;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_altitudes_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_altitudes_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_altitudes_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.alt_gps , packet1.alt_imu , packet1.alt_barometric , packet1.alt_optical_flow , packet1.alt_range_finder , packet1.alt_extra );
-	mavlink_msg_altitudes_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_altitudes_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.alt_gps , packet1.alt_imu , packet1.alt_barometric , packet1.alt_optical_flow , packet1.alt_range_finder , packet1.alt_extra );
-	mavlink_msg_altitudes_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_altitudes_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_altitudes_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.alt_gps , packet1.alt_imu , packet1.alt_barometric , packet1.alt_optical_flow , packet1.alt_range_finder , packet1.alt_extra );
-	mavlink_msg_altitudes_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_airspeeds(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_airspeeds_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	};
-	mavlink_airspeeds_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.time_boot_ms = packet_in.time_boot_ms;
-        	packet1.airspeed_imu = packet_in.airspeed_imu;
-        	packet1.airspeed_pitot = packet_in.airspeed_pitot;
-        	packet1.airspeed_hot_wire = packet_in.airspeed_hot_wire;
-        	packet1.airspeed_ultrasonic = packet_in.airspeed_ultrasonic;
-        	packet1.aoa = packet_in.aoa;
-        	packet1.aoy = packet_in.aoy;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeeds_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_airspeeds_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeeds_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.airspeed_imu , packet1.airspeed_pitot , packet1.airspeed_hot_wire , packet1.airspeed_ultrasonic , packet1.aoa , packet1.aoy );
-	mavlink_msg_airspeeds_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeeds_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.airspeed_imu , packet1.airspeed_pitot , packet1.airspeed_hot_wire , packet1.airspeed_ultrasonic , packet1.aoa , packet1.aoy );
-	mavlink_msg_airspeeds_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_airspeeds_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_airspeeds_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.airspeed_imu , packet1.airspeed_pitot , packet1.airspeed_hot_wire , packet1.airspeed_ultrasonic , packet1.aoa , packet1.aoy );
-	mavlink_msg_airspeeds_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_matrixpilot(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_flexifunction_set(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_read_req(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_buffer_function(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_buffer_function_ack(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_directory(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_directory_ack(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_command(system_id, component_id, last_msg);
-	mavlink_test_flexifunction_command_ack(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f2_a(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f2_b(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f4(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f5(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f6(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f7(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f8(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f13(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f14(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f15(system_id, component_id, last_msg);
-	mavlink_test_serial_udb_extra_f16(system_id, component_id, last_msg);
-	mavlink_test_altitudes(system_id, component_id, last_msg);
-	mavlink_test_airspeeds(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // MATRIXPILOT_TESTSUITE_H
diff --git a/mavlink/include/mavlink/v1.0/matrixpilot/version.h b/mavlink/include/mavlink/v1.0/matrixpilot/version.h
deleted file mode 100644
index a8be16c42..000000000
--- a/mavlink/include/mavlink/v1.0/matrixpilot/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from matrixpilot.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:04 2014"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/include/mavlink/v1.0/mavlink_conversions.h b/mavlink/include/mavlink/v1.0/mavlink_conversions.h
deleted file mode 100644
index 51afac87c..000000000
--- a/mavlink/include/mavlink/v1.0/mavlink_conversions.h
+++ /dev/null
@@ -1,135 +0,0 @@
-#ifndef  _MAVLINK_CONVERSIONS_H_
-#define  _MAVLINK_CONVERSIONS_H_
-
-/* enable math defines on Windows */
-#ifdef _MSC_VER
-#ifndef _USE_MATH_DEFINES
-#define _USE_MATH_DEFINES
-#endif
-#endif
-#include <math.h>
-
-#ifndef M_PI_2
-    #define M_PI_2 ((float)asin(1))
-#endif
-
-/**
- * @file mavlink_conversions.h
- *
- * These conversion functions follow the NASA rotation standards definition file
- * available online.
- *
- * Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free
- * (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free)
- * rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the
- * protocol as widely as possible.
- *
- * @author James Goppert
- */
-
-MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float dcm[3][3])
-{
-    double a = quaternion[0];
-    double b = quaternion[1];
-    double c = quaternion[2];
-    double d = quaternion[3];
-    double aSq = a * a;
-    double bSq = b * b;
-    double cSq = c * c;
-    double dSq = d * d;
-    dcm[0][0] = aSq + bSq - cSq - dSq;
-    dcm[0][1] = 2.0 * (b * c - a * d);
-    dcm[0][2] = 2.0 * (a * c + b * d);
-    dcm[1][0] = 2.0 * (b * c + a * d);
-    dcm[1][1] = aSq - bSq + cSq - dSq;
-    dcm[1][2] = 2.0 * (c * d - a * b);
-    dcm[2][0] = 2.0 * (b * d - a * c);
-    dcm[2][1] = 2.0 * (a * b + c * d);
-    dcm[2][2] = aSq - bSq - cSq + dSq;
-}
-
-MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
-{
-    float phi, theta, psi;
-    theta = asin(-dcm[2][0]);
-
-    if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) {
-        phi = 0.0f;
-        psi = (atan2f(dcm[1][2] - dcm[0][1],
-                dcm[0][2] + dcm[1][1]) + phi);
-
-    } else if (fabsf(theta + (float)M_PI_2) < 1.0e-3f) {
-        phi = 0.0f;
-        psi = atan2f(dcm[1][2] - dcm[0][1],
-                  dcm[0][2] + dcm[1][1] - phi);
-
-    } else {
-        phi = atan2f(dcm[2][1], dcm[2][2]);
-        psi = atan2f(dcm[1][0], dcm[0][0]);
-    }
-
-    *roll = phi;
-    *pitch = theta;
-    *yaw = psi;
-}
-
-MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float* roll, float* pitch, float* yaw)
-{
-    float dcm[3][3];
-    mavlink_quaternion_to_dcm(quaternion, dcm);
-    mavlink_dcm_to_euler(dcm, roll, pitch, yaw);
-}
-
-MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
-{
-    double cosPhi_2 = cos((double)roll / 2.0);
-    double sinPhi_2 = sin((double)roll / 2.0);
-    double cosTheta_2 = cos((double)pitch / 2.0);
-    double sinTheta_2 = sin((double)pitch / 2.0);
-    double cosPsi_2 = cos((double)yaw / 2.0);
-    double sinPsi_2 = sin((double)yaw / 2.0);
-    quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
-            sinPhi_2 * sinTheta_2 * sinPsi_2);
-    quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
-            cosPhi_2 * sinTheta_2 * sinPsi_2);
-    quaternion[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
-            sinPhi_2 * cosTheta_2 * sinPsi_2);
-    quaternion[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
-            sinPhi_2 * sinTheta_2 * cosPsi_2);
-}
-
-MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
-{
-    quaternion[0] = (0.5 * sqrt(1.0 +
-            (double)(dcm[0][0] + dcm[1][1] + dcm[2][2])));
-    quaternion[1] = (0.5 * sqrt(1.0 +
-            (double)(dcm[0][0] - dcm[1][1] - dcm[2][2])));
-    quaternion[2] = (0.5 * sqrt(1.0 +
-            (double)(-dcm[0][0] + dcm[1][1] - dcm[2][2])));
-    quaternion[3] = (0.5 * sqrt(1.0 +
-            (double)(-dcm[0][0] - dcm[1][1] + dcm[2][2])));
-}
-
-MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
-{
-    double cosPhi = cos(roll);
-    double sinPhi = sin(roll);
-    double cosThe = cos(pitch);
-    double sinThe = sin(pitch);
-    double cosPsi = cos(yaw);
-    double sinPsi = sin(yaw);
-
-    dcm[0][0] = cosThe * cosPsi;
-    dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
-    dcm[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
-
-    dcm[1][0] = cosThe * sinPsi;
-    dcm[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
-    dcm[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
-
-    dcm[2][0] = -sinThe;
-    dcm[2][1] = sinPhi * cosThe;
-    dcm[2][2] = cosPhi * cosThe;
-}
-
-#endif
diff --git a/mavlink/include/mavlink/v1.0/mavlink_helpers.h b/mavlink/include/mavlink/v1.0/mavlink_helpers.h
deleted file mode 100644
index 96672f847..000000000
--- a/mavlink/include/mavlink/v1.0/mavlink_helpers.h
+++ /dev/null
@@ -1,567 +0,0 @@
-#ifndef  _MAVLINK_HELPERS_H_
-#define  _MAVLINK_HELPERS_H_
-
-#include "string.h"
-#include "checksum.h"
-#include "mavlink_types.h"
-#include "mavlink_conversions.h"
-
-#ifndef MAVLINK_HELPER
-#define MAVLINK_HELPER
-#endif
-
-/*
- * Internal function to give access to the channel status for each channel
- */
-#ifndef MAVLINK_GET_CHANNEL_STATUS
-MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
-{
-#if MAVLINK_EXTERNAL_RX_STATUS
-	// No m_mavlink_status array defined in function,
-	// has to be defined externally
-#else
-	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-#endif
-	return &m_mavlink_status[chan];
-}
-#endif
-
-/*
- * Internal function to give access to the channel buffer for each channel
- */
-#ifndef MAVLINK_GET_CHANNEL_BUFFER
-MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
-{
-	
-#if MAVLINK_EXTERNAL_RX_BUFFER
-	// No m_mavlink_buffer array defined in function,
-	// has to be defined externally
-#else
-	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
-#endif
-	return &m_mavlink_buffer[chan];
-}
-#endif
-
-/**
- * @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.
- * It assumes that the message id and the payload are already correctly set. This function
- * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
- * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
- *
- * @param msg Message to finalize
- * @param system_id Id of the sending (this) system, 1-127
- * @param length Message length
- */
-#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)
-#else
-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)
-#endif
-{
-	// This code part is the same for all messages;
-	uint16_t checksum;
-	msg->magic = MAVLINK_STX;
-	msg->len = length;
-	msg->sysid = system_id;
-	msg->compid = component_id;
-	// One sequence number per component
-	msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
-	mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
-	checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
-#if MAVLINK_CRC_EXTRA
-	crc_accumulate(crc_extra, &checksum);
-#endif
-	mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
-	mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
-
-	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-
-
-/**
- * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
- */
-#if MAVLINK_CRC_EXTRA
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra)
-{
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
-}
-#else
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length)
-{
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
-}
-#endif
-
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
-
-/**
- * @brief Finalize a MAVLink message with channel assignment and send
- */
-#if MAVLINK_CRC_EXTRA
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra)
-#else
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
-#endif
-{
-	uint16_t checksum;
-	uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
-	uint8_t ck[2];
-	mavlink_status_t *status = mavlink_get_channel_status(chan);
-	buf[0] = MAVLINK_STX;
-	buf[1] = length;
-	buf[2] = status->current_tx_seq;
-	buf[3] = mavlink_system.sysid;
-	buf[4] = mavlink_system.compid;
-	buf[5] = msgid;
-	status->current_tx_seq++;
-	checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
-	crc_accumulate_buffer(&checksum, packet, length);
-#if MAVLINK_CRC_EXTRA
-	crc_accumulate(crc_extra, &checksum);
-#endif
-	ck[0] = (uint8_t)(checksum & 0xFF);
-	ck[1] = (uint8_t)(checksum >> 8);
-
-	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
-	_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
-	_mavlink_send_uart(chan, packet, length);
-	_mavlink_send_uart(chan, (const char *)ck, 2);
-	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
-}
-
-/**
- * @brief re-send a message over a uart channel
- * this is more stack efficient than re-marshalling the message
- */
-MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg)
-{
-	uint8_t ck[2];
-
-	ck[0] = (uint8_t)(msg->checksum & 0xFF);
-	ck[1] = (uint8_t)(msg->checksum >> 8);
-
-	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
-	_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
-	_mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
-	_mavlink_send_uart(chan, (const char *)ck, 2);
-	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
-}
-#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-/**
- * @brief Pack a message to send it over a serial byte stream
- */
-MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
-{
-	memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
-	return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
-}
-
-union __mavlink_bitfield {
-	uint8_t uint8;
-	int8_t int8;
-	uint16_t uint16;
-	int16_t int16;
-	uint32_t uint32;
-	int32_t int32;
-};
-
-
-MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
-{
-	crc_init(&msg->checksum);
-}
-
-MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
-{
-	crc_accumulate(c, &msg->checksum);
-}
-
-/**
- * This is a convenience function which handles the complete MAVLink parsing.
- * the function will parse one byte at a time and return the complete packet once
- * it could be successfully decoded. Checksum and other failures will be silently
- * ignored.
- *
- * @param chan     ID of the current channel. This allows to parse different channels with this function.
- *                 a channel is not a physical message channel like a serial port, but a logic partition of
- *                 the communication streams in this case. COMM_NB is the limit for the number of channels
- *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
- * @param c        The char to barse
- *
- * @param returnMsg NULL if no message could be decoded, the message data else
- * @return 0 if no message could be decoded, 1 else
- *
- * A typical use scenario of this function call is:
- *
- * @code
- * #include <inttypes.h> // For fixed-width uint8_t type
- *
- * mavlink_message_t msg;
- * int chan = 0;
- *
- *
- * while(serial.bytesAvailable > 0)
- * {
- *   uint8_t byte = serial.getNextByte();
- *   if (mavlink_parse_char(chan, byte, &msg))
- *     {
- *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
- *     }
- * }
- *
- *
- * @endcode
- */
-MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
-{
-        /*
-	  default message crc function. You can override this per-system to
-	  put this data in a different memory segment
-	*/
-#if MAVLINK_CRC_EXTRA
-#ifndef MAVLINK_MESSAGE_CRC
-	static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
-#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
-#endif
-#endif
-
-/* Enable this option to check the length of each message.
- This allows invalid messages to be caught much sooner. Use if the transmission
- medium is prone to missing (or extra) characters (e.g. a radio that fades in
- and out). Only use if the channel will only contain messages types listed in
- the headers.
-*/
-#if MAVLINK_CHECK_MESSAGE_LENGTH
-#ifndef MAVLINK_MESSAGE_LENGTH
-	static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
-#define MAVLINK_MESSAGE_LENGTH(msgid) mavlink_message_lengths[msgid]
-#endif
-#endif
-
-	mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
-	mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
-	int bufferIndex = 0;
-
-	status->msg_received = 0;
-
-	switch (status->parse_state)
-	{
-	case MAVLINK_PARSE_STATE_UNINIT:
-	case MAVLINK_PARSE_STATE_IDLE:
-		if (c == MAVLINK_STX)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-			rxmsg->len = 0;
-			rxmsg->magic = c;
-			mavlink_start_checksum(rxmsg);
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_STX:
-			if (status->msg_received 
-/* Support shorter buffers than the
-   default maximum packet size */
-#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
-				|| c > MAVLINK_MAX_PAYLOAD_LEN
-#endif
-				)
-		{
-			status->buffer_overrun++;
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-		}
-		else
-		{
-			// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
-			rxmsg->len = c;
-			status->packet_idx = 0;
-			mavlink_update_checksum(rxmsg, c);
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_LENGTH:
-		rxmsg->seq = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_SEQ:
-		rxmsg->sysid = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_SYSID:
-		rxmsg->compid = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_COMPID:
-#if MAVLINK_CHECK_MESSAGE_LENGTH
-	        if (rxmsg->len != MAVLINK_MESSAGE_LENGTH(c))
-		{
-			status->parse_error++;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			break;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				mavlink_start_checksum(rxmsg);
-			}
-	        }
-#endif
-		rxmsg->msgid = c;
-		mavlink_update_checksum(rxmsg, c);
-		if (rxmsg->len == 0)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
-		}
-		else
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_MSGID:
-		_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
-		mavlink_update_checksum(rxmsg, c);
-		if (status->packet_idx == rxmsg->len)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
-#if MAVLINK_CRC_EXTRA
-		mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
-#endif
-		if (c != (rxmsg->checksum & 0xFF)) {
-			// Check first checksum byte
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				rxmsg->len = 0;
-				mavlink_start_checksum(rxmsg);
-			}
-		}
-		else
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
-			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_CRC1:
-		if (c != (rxmsg->checksum >> 8)) {
-			// Check second checksum byte
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				rxmsg->len = 0;
-				mavlink_start_checksum(rxmsg);
-			}
-		}
-		else
-		{
-			// Successfully got message
-			status->msg_received = 1;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
-			memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
-		}
-		break;
-	}
-
-	bufferIndex++;
-	// If a message has been sucessfully decoded, check index
-	if (status->msg_received == 1)
-	{
-		//while(status->current_seq != rxmsg->seq)
-		//{
-		//	status->packet_rx_drop_count++;
-		//               status->current_seq++;
-		//}
-		status->current_rx_seq = rxmsg->seq;
-		// Initial condition: If no packet has been received so far, drop count is undefined
-		if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
-		// Count this packet as received
-		status->packet_rx_success_count++;
-	}
-
-	r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
-	r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
-	r_mavlink_status->packet_rx_drop_count = status->parse_error;
-	status->parse_error = 0;
-	return status->msg_received;
-}
-
-/**
- * @brief Put a bitfield of length 1-32 bit into the buffer
- *
- * @param b the value to add, will be encoded in the bitfield
- * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
- * @param packet_index the position in the packet (the index of the first byte to use)
- * @param bit_index the position in the byte (the index of the first bit to use)
- * @param buffer packet buffer to write into
- * @return new position of the last used byte in the buffer
- */
-MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
-{
-	uint16_t bits_remain = bits;
-	// Transform number into network order
-	int32_t v;
-	uint8_t i_bit_index, i_byte_index, curr_bits_n;
-#if MAVLINK_NEED_BYTE_SWAP
-	union {
-		int32_t i;
-		uint8_t b[4];
-	} bin, bout;
-	bin.i = b;
-	bout.b[0] = bin.b[3];
-	bout.b[1] = bin.b[2];
-	bout.b[2] = bin.b[1];
-	bout.b[3] = bin.b[0];
-	v = bout.i;
-#else
-	v = b;
-#endif
-
-	// buffer in
-	// 01100000 01000000 00000000 11110001
-	// buffer out
-	// 11110001 00000000 01000000 01100000
-
-	// Existing partly filled byte (four free slots)
-	// 0111xxxx
-
-	// Mask n free bits
-	// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
-	// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
-
-	// Shift n bits into the right position
-	// out = in >> n;
-
-	// Mask and shift bytes
-	i_bit_index = bit_index;
-	i_byte_index = packet_index;
-	if (bit_index > 0)
-	{
-		// If bits were available at start, they were available
-		// in the byte before the current index
-		i_byte_index--;
-	}
-
-	// While bits have not been packed yet
-	while (bits_remain > 0)
-	{
-		// Bits still have to be packed
-		// there can be more than 8 bits, so
-		// we might have to pack them into more than one byte
-
-		// First pack everything we can into the current 'open' byte
-		//curr_bits_n = bits_remain << 3; // Equals  bits_remain mod 8
-		//FIXME
-		if (bits_remain <= (uint8_t)(8 - i_bit_index))
-		{
-			// Enough space
-			curr_bits_n = (uint8_t)bits_remain;
-		}
-		else
-		{
-			curr_bits_n = (8 - i_bit_index);
-		}
-		
-		// Pack these n bits into the current byte
-		// Mask out whatever was at that position with ones (xxx11111)
-		buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
-		// Put content to this position, by masking out the non-used part
-		buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
-		
-		// Increment the bit index
-		i_bit_index += curr_bits_n;
-
-		// Now proceed to the next byte, if necessary
-		bits_remain -= curr_bits_n;
-		if (bits_remain > 0)
-		{
-			// Offer another 8 bits / one byte
-			i_byte_index++;
-			i_bit_index = 0;
-		}
-	}
-	
-	*r_bit_index = i_bit_index;
-	// If a partly filled byte is present, mark this as consumed
-	if (i_bit_index != 7) i_byte_index++;
-	return i_byte_index - packet_index;
-}
-
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-// To make MAVLink work on your MCU, define comm_send_ch() if you wish
-// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
-// whole packet at a time
-
-/*
-
-#include "mavlink_types.h"
-
-void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
-{
-    if (chan == MAVLINK_COMM_0)
-    {
-        uart0_transmit(ch);
-    }
-    if (chan == MAVLINK_COMM_1)
-    {
-    	uart1_transmit(ch);
-    }
-}
- */
-
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
-{
-#ifdef MAVLINK_SEND_UART_BYTES
-	/* this is the more efficient approach, if the platform
-	   defines it */
-	MAVLINK_SEND_UART_BYTES(chan, (const uint8_t *)buf, len);
-#else
-	/* fallback to one byte at a time */
-	uint16_t i;
-	for (i = 0; i < len; i++) {
-		comm_send_ch(chan, (uint8_t)buf[i]);
-	}
-#endif
-}
-#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-#endif /* _MAVLINK_HELPERS_H_ */
diff --git a/mavlink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp b/mavlink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp
deleted file mode 100644
index fd3ddd026..000000000
--- a/mavlink/include/mavlink/v1.0/mavlink_protobuf_manager.hpp
+++ /dev/null
@@ -1,377 +0,0 @@
-#ifndef MAVLINKPROTOBUFMANAGER_HPP
-#define MAVLINKPROTOBUFMANAGER_HPP
-
-#include <deque>
-#include <google/protobuf/message.h>
-#include <iostream>
-#include <tr1/memory>
-
-#include <checksum.h>
-#include <common/mavlink.h>
-#include <mavlink_types.h>
-#include <pixhawk/pixhawk.pb.h>
-
-namespace mavlink
-{
-
-class ProtobufManager
-{
-public:
-	ProtobufManager()
-	 : mRegisteredTypeCount(0)
-	 , mStreamID(0)
-	 , mVerbose(false)
-	 , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
-	 , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
-	{
-		// register GLOverlay
-		{
-			std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
-			registerType(msg);
-		}
-
-		// register ObstacleList
-		{
-			std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
-			registerType(msg);
-		}
-
-		// register ObstacleMap
-		{
-			std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
-			registerType(msg);
-		}
-
-		// register Path
-		{
-			std::tr1::shared_ptr<px::Path> msg(new px::Path);
-                        registerType(msg);
-		}
-
-		// register PointCloudXYZI
-		{
-			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
-			registerType(msg);
-		}
-
-		// register PointCloudXYZRGB
-		{
-			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
-			registerType(msg);
-		}
-
-		// register RGBDImage
-		{
-			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
-			registerType(msg);
-		}
-
-		srand(time(NULL));
-		mStreamID = rand() + 1;
-	}
-
-	bool fragmentMessage(uint8_t system_id, uint8_t component_id,
-						 uint8_t target_system, uint8_t target_component,
-						 const google::protobuf::Message& protobuf_msg,
-						 std::vector<mavlink_extended_message_t>& fragments) const
-	{
-		TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
-		if (it == mTypeMap.end())
-		{
-			std::cout << "# WARNING: Protobuf message with type "
-					  << protobuf_msg.GetTypeName() << " is not registered."
-					  << std::endl;
-			return false;
-		}
-
-		uint8_t typecode = it->second;
-
-		std::string data = protobuf_msg.SerializeAsString();
-
-		int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
-		unsigned int offset = 0;
-
-		for (int i = 0; i < fragmentCount; ++i)
-		{
-			mavlink_extended_message_t fragment;			
-
-			// write extended header data
-			uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
-			unsigned int length = 0;
-			uint8_t flags = 0;
-
-			if (i < fragmentCount - 1)
-			{
-				length = kExtendedPayloadMaxSize;
-				flags |= 0x1;
-			}
-			else
-			{
-				length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
-			}
-
-			memcpy(payload, &target_system, 1);
-			memcpy(payload + 1, &target_component, 1);
-			memcpy(payload + 2, &typecode, 1);
-			memcpy(payload + 3, &length, 4);
-			memcpy(payload + 7, &mStreamID, 2);
-			memcpy(payload + 9, &offset, 4);
-			memcpy(payload + 13, &flags, 1);
-
-			fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
-			mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
-			
-			// write extended payload data
-			fragment.extended_payload_len = length;
-			memcpy(fragment.extended_payload, &data[offset], length);
-
-			fragments.push_back(fragment);
-			offset += length;
-		}
-
-		if (mVerbose)
-		{
-			std::cerr << "# INFO: Split extended message with size "
-					  << protobuf_msg.ByteSize() << " into "
-					  << fragmentCount << " fragments." << std::endl;
-		}
-
-		return true;
-	}
-
-	bool cacheFragment(mavlink_extended_message_t& msg)
-	{
-		if (!validFragment(msg))
-		{
-			if (mVerbose)
-			{
-				std::cerr << "# WARNING: Message is not a valid fragment. "
-						  << "Dropping message..." << std::endl;
-			}
-			return false;
-		}
-
-		// read extended header
-		uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
-		uint8_t typecode = 0;
-		unsigned int length = 0;
-		unsigned short streamID = 0;
-		unsigned int offset = 0;
-		uint8_t flags = 0;
-
-		memcpy(&typecode, payload + 2, 1);
-		memcpy(&length, payload + 3, 4);
-		memcpy(&streamID, payload + 7, 2);
-		memcpy(&offset, payload + 9, 4);
-		memcpy(&flags, payload + 13, 1);
-
-		if (typecode >= mTypeMap.size())
-		{
-			std::cout << "# WARNING: Protobuf message with type code "
-					  << static_cast<int>(typecode) << " is not registered." << std::endl;
-			return false;
-		}
-
-		bool reassemble = false;
-
-		FragmentQueue::iterator it = mFragmentQueue.find(streamID);
-		if (it == mFragmentQueue.end())
-		{
-			if (offset == 0)
-			{
-				mFragmentQueue[streamID].push_back(msg);
-
-				if ((flags & 0x1) != 0x1)
-				{
-					reassemble = true;
-				}
-
-				if (mVerbose)
-				{
-					std::cerr << "# INFO: Added fragment to new queue."
-							  << std::endl;
-				}
-			}
-			else
-			{
-				if (mVerbose)
-				{
-					std::cerr << "# WARNING: Message is not a valid fragment. "
-							  << "Dropping message..." << std::endl;
-				}
-			}
-		}
-		else
-		{
-			std::deque<mavlink_extended_message_t>& queue = it->second;
-
-			if (queue.empty())
-			{
-				if (offset == 0)
-				{
-					queue.push_back(msg);
-
-					if ((flags & 0x1) != 0x1)
-					{
-						reassemble = true;
-					}
-				}
-				else
-				{
-					if (mVerbose)
-					{
-						std::cerr << "# WARNING: Message is not a valid fragment. "
-								  << "Dropping message..." << std::endl;
-					}
-				}
-			}
-			else
-			{
-				if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
-				{
-					if (mVerbose)
-					{
-						std::cerr << "# WARNING: Previous fragment(s) have been lost. "
-								  << "Dropping message and clearing queue..." << std::endl;
-					}
-					queue.clear();
-				}
-				else
-				{
-					queue.push_back(msg);
-
-					if ((flags & 0x1) != 0x1)
-					{
-						reassemble = true;
-					}
-				}
-			}
-		}
-
-		if (reassemble)
-		{
-			std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
-
-			std::string data;
-			for (size_t i = 0; i < queue.size(); ++i)
-			{
-				mavlink_extended_message_t& mavlink_msg = queue.at(i);
-
-				data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
-							static_cast<size_t>(mavlink_msg.extended_payload_len));
-			}
-
-			mMessages.at(typecode)->ParseFromString(data);
-
-			mMessageAvailable.at(typecode) = true;
-
-			queue.clear();
-
-			if (mVerbose)
-			{
-				std::cerr << "# INFO: Reassembled fragments for message with typename "
-						  << mMessages.at(typecode)->GetTypeName() << " and size "
-						  << mMessages.at(typecode)->ByteSize()
-						  << "." << std::endl;
-			}
-		}
-
-		return true;
-	}
-
-	bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
-	{
-		for (size_t i = 0; i < mMessageAvailable.size(); ++i)
-		{
-			if (mMessageAvailable.at(i))
-			{
-				msg = mMessages.at(i);
-				mMessageAvailable.at(i) = false;
-
-				return true;
-			}
-		}
-
-		return false;
-	}
-
-private:
-	void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
-	{
-		mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
-		++mRegisteredTypeCount;
-		mMessages.push_back(msg);
-		mMessageAvailable.push_back(false);
-	}
-
-	bool validFragment(const mavlink_extended_message_t& msg) const
-	{
-		if (msg.base_msg.magic != MAVLINK_STX ||
-			msg.base_msg.len != kExtendedHeaderSize ||
-			msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
-		{
-			return false;
-		}
-
-		uint16_t checksum;
-		checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
-		crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
-#if MAVLINK_CRC_EXTRA
-		static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
-		crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
-#endif
-
-		if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
-		    mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
-		{
-			return false;
-		}
-
-		return true;
-	}
-
-	unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
-	{
-		const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
-
-		return *(reinterpret_cast<const unsigned int*>(payload + 3));
-	}
-
-	unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
-	{
-		const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
-
-		return *(reinterpret_cast<const unsigned int*>(payload + 9));
-	}
-
-	int mRegisteredTypeCount;
-	unsigned short mStreamID;
-	bool mVerbose;
-
-	typedef std::map<std::string, uint8_t> TypeMap;
-	TypeMap mTypeMap;
-	std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
-	std::vector<bool> mMessageAvailable;
-
-	typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
-	FragmentQueue mFragmentQueue;
-
-	const int kExtendedHeaderSize;
-	/**
-	 * Extended header structure
-	 * =========================
-	 *   byte 0 - target_system
-	 *   byte 1 - target_component
-	 *   byte 2 - extended message id (type code)
-	 *   bytes 3-6 - extended payload size in bytes
-	 *   byte 7-8 - stream ID
-	 *   byte 9-12 - fragment offset
-	 *   byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
-	 */
-
-	const int kExtendedPayloadMaxSize;
-};
-
-}
-
-#endif
diff --git a/mavlink/include/mavlink/v1.0/mavlink_types.h b/mavlink/include/mavlink/v1.0/mavlink_types.h
deleted file mode 100644
index 4019c619e..000000000
--- a/mavlink/include/mavlink/v1.0/mavlink_types.h
+++ /dev/null
@@ -1,161 +0,0 @@
-#ifndef MAVLINK_TYPES_H_
-#define MAVLINK_TYPES_H_
-
-#include <inttypes.h>
-
-#ifndef MAVLINK_MAX_PAYLOAD_LEN
-// it is possible to override this, but be careful!
-#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
-#endif
-
-#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
-#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
-#define MAVLINK_NUM_CHECKSUM_BYTES 2
-#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
-
-#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
-
-#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
-#define MAVLINK_EXTENDED_HEADER_LEN 14
-
-#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
-  /* full fledged 32bit++ OS */
-  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
-#else
-  /* small microcontrollers */
-  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
-#endif
-
-#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
-
-typedef struct param_union {
-	union {
-		float param_float;
-		int32_t param_int32;
-		uint32_t param_uint32;
-		int16_t param_int16;
-		uint16_t param_uint16;
-		int8_t param_int8;
-		uint8_t param_uint8;
-		uint8_t bytes[4];
-	};
-	uint8_t type;
-} mavlink_param_union_t;
-
-typedef struct __mavlink_system {
-    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
-    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
-    uint8_t type;    ///< Unused, can be used by user to store the system's type
-    uint8_t state;   ///< Unused, can be used by user to store the system's state
-    uint8_t mode;    ///< Unused, can be used by user to store the system's mode
-    uint32_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
-} mavlink_system_t;
-
-typedef struct __mavlink_message {
-	uint16_t checksum; /// sent at end of packet
-	uint8_t magic;   ///< protocol magic marker
-	uint8_t len;     ///< Length of payload
-	uint8_t seq;     ///< Sequence of packet
-	uint8_t sysid;   ///< ID of message sender system/aircraft
-	uint8_t compid;  ///< ID of the message sender component
-	uint8_t msgid;   ///< ID of message in payload
-	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
-} mavlink_message_t;
-
-
-typedef struct __mavlink_extended_message {
-       mavlink_message_t base_msg;
-       int32_t extended_payload_len;   ///< Length of extended payload if any
-       uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
-} mavlink_extended_message_t;
-
-
-typedef enum {
-	MAVLINK_TYPE_CHAR     = 0,
-	MAVLINK_TYPE_UINT8_T  = 1,
-	MAVLINK_TYPE_INT8_T   = 2,
-	MAVLINK_TYPE_UINT16_T = 3,
-	MAVLINK_TYPE_INT16_T  = 4,
-	MAVLINK_TYPE_UINT32_T = 5,
-	MAVLINK_TYPE_INT32_T  = 6,
-	MAVLINK_TYPE_UINT64_T = 7,
-	MAVLINK_TYPE_INT64_T  = 8,
-	MAVLINK_TYPE_FLOAT    = 9,
-	MAVLINK_TYPE_DOUBLE   = 10
-} mavlink_message_type_t;
-
-#define MAVLINK_MAX_FIELDS 64
-
-typedef struct __mavlink_field_info {
-        const char *name;                 // name of this field
-        const char *print_format;         // printing format hint, or NULL
-        mavlink_message_type_t type;      // type of this field
-        unsigned int array_length;        // if non-zero, field is an array
-        unsigned int wire_offset;         // offset of each field in the payload
-        unsigned int structure_offset;    // offset in a C structure
-} mavlink_field_info_t;
-
-// note that in this structure the order of fields is the order
-// in the XML file, not necessary the wire order
-typedef struct __mavlink_message_info {
-	const char *name;                                      // name of the message
-	unsigned num_fields;                                   // how many fields in this message
-	mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
-} mavlink_message_info_t;
-
-#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
-#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
-
-// checksum is immediately after the payload bytes
-#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
-#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
-
-typedef enum {
-    MAVLINK_COMM_0,
-    MAVLINK_COMM_1,
-    MAVLINK_COMM_2,
-    MAVLINK_COMM_3
-} mavlink_channel_t;
-
-/*
- * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
- * of buffers they will use. If more are used, then the result will be
- * a stack overrun
- */
-#ifndef MAVLINK_COMM_NUM_BUFFERS
-#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
-# define MAVLINK_COMM_NUM_BUFFERS 16
-#else
-# define MAVLINK_COMM_NUM_BUFFERS 4
-#endif
-#endif
-
-typedef enum {
-    MAVLINK_PARSE_STATE_UNINIT=0,
-    MAVLINK_PARSE_STATE_IDLE,
-    MAVLINK_PARSE_STATE_GOT_STX,
-    MAVLINK_PARSE_STATE_GOT_SEQ,
-    MAVLINK_PARSE_STATE_GOT_LENGTH,
-    MAVLINK_PARSE_STATE_GOT_SYSID,
-    MAVLINK_PARSE_STATE_GOT_COMPID,
-    MAVLINK_PARSE_STATE_GOT_MSGID,
-    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
-    MAVLINK_PARSE_STATE_GOT_CRC1
-} mavlink_parse_state_t; ///< The state machine for the comm parser
-
-typedef struct __mavlink_status {
-    uint8_t msg_received;               ///< Number of received messages
-    uint8_t buffer_overrun;             ///< Number of buffer overruns
-    uint8_t parse_error;                ///< Number of parse errors
-    mavlink_parse_state_t parse_state;  ///< Parsing state machine
-    uint8_t packet_idx;                 ///< Index in current packet
-    uint8_t current_rx_seq;             ///< Sequence number of last packet received
-    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
-    uint16_t packet_rx_success_count;   ///< Received packets
-    uint16_t packet_rx_drop_count;      ///< Number of packet drops
-} mavlink_status_t;
-
-#define MAVLINK_BIG_ENDIAN 0
-#define MAVLINK_LITTLE_ENDIAN 1
-
-#endif /* MAVLINK_TYPES_H_ */
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink.h
deleted file mode 100644
index f06223370..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from pixhawk.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "pixhawk.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h
deleted file mode 100644
index ef5354d5e..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_attitude_control.h
+++ /dev/null
@@ -1,353 +0,0 @@
-// MESSAGE ATTITUDE_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_ATTITUDE_CONTROL 200
-
-typedef struct __mavlink_attitude_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
-} mavlink_attitude_control_t;
-
-#define MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN 21
-#define MAVLINK_MSG_ID_200_LEN 21
-
-#define MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC 254
-#define MAVLINK_MSG_ID_200_CRC 254
-
-
-
-#define MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL { \
-	"ATTITUDE_CONTROL", \
-	9, \
-	{  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_attitude_control_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_control_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_control_t, yaw) }, \
-         { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_control_t, thrust) }, \
-         { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_attitude_control_t, target) }, \
-         { "roll_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_attitude_control_t, roll_manual) }, \
-         { "pitch_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_attitude_control_t, pitch_manual) }, \
-         { "yaw_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 19, offsetof(mavlink_attitude_control_t, yaw_manual) }, \
-         { "thrust_manual", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_attitude_control_t, thrust_manual) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a attitude_control 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 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
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_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)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN];
-	_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, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#else
-	mavlink_attitude_control_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	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, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a attitude_control 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 will be 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
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_attitude_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)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN];
-	_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, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#else
-	mavlink_attitude_control_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	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, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a attitude_control struct
- *
- * @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 attitude_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
-{
-	return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
-}
-
-/**
- * @brief Encode a attitude_control struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param attitude_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_attitude_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
-{
-	return mavlink_msg_attitude_control_pack_chan(system_id, component_id, chan, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
-}
-
-/**
- * @brief Send a attitude_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
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_attitude_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)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN];
-	_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);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, buf, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-#else
-	mavlink_attitude_control_t packet;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.thrust = thrust;
-	packet.target = target;
-	packet.roll_manual = roll_manual;
-	packet.pitch_manual = pitch_manual;
-	packet.yaw_manual = yaw_manual;
-	packet.thrust_manual = thrust_manual;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN, MAVLINK_MSG_ID_ATTITUDE_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE ATTITUDE_CONTROL UNPACKING
-
-
-/**
- * @brief Get field target from attitude_control message
- *
- * @return The system to be controlled
- */
-static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field roll from attitude_control message
- *
- * @return roll
- */
-static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field pitch from attitude_control message
- *
- * @return pitch
- */
-static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field yaw from attitude_control message
- *
- * @return yaw
- */
-static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field thrust from attitude_control message
- *
- * @return thrust
- */
-static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field roll_manual from attitude_control message
- *
- * @return roll control enabled auto:0, manual:1
- */
-static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field pitch_manual from attitude_control message
- *
- * @return pitch auto:0, manual:1
- */
-static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  18);
-}
-
-/**
- * @brief Get field yaw_manual from attitude_control message
- *
- * @return yaw auto:0, manual:1
- */
-static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  19);
-}
-
-/**
- * @brief Get field thrust_manual from attitude_control message
- *
- * @return thrust auto:0, manual:1
- */
-static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Decode a attitude_control message into a struct
- *
- * @param msg The message to decode
- * @param attitude_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg);
-	attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg);
-	attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg);
-	attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg);
-	attitude_control->target = mavlink_msg_attitude_control_get_target(msg);
-	attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg);
-	attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg);
-	attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg);
-	attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg);
-#else
-	memcpy(attitude_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_CONTROL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h
deleted file mode 100644
index d41093792..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_brief_feature.h
+++ /dev/null
@@ -1,325 +0,0 @@
-// MESSAGE BRIEF_FEATURE PACKING
-
-#define MAVLINK_MSG_ID_BRIEF_FEATURE 195
-
-typedef struct __mavlink_brief_feature_t
-{
- float x; ///< x position in m
- float y; ///< y position in m
- float z; ///< z position in m
- float response; ///< Harris operator response at this location
- uint16_t size; ///< Size in pixels
- uint16_t orientation; ///< Orientation
- uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
- uint8_t descriptor[32]; ///< Descriptor
-} mavlink_brief_feature_t;
-
-#define MAVLINK_MSG_ID_BRIEF_FEATURE_LEN 53
-#define MAVLINK_MSG_ID_195_LEN 53
-
-#define MAVLINK_MSG_ID_BRIEF_FEATURE_CRC 88
-#define MAVLINK_MSG_ID_195_CRC 88
-
-#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32
-
-#define MAVLINK_MESSAGE_INFO_BRIEF_FEATURE { \
-	"BRIEF_FEATURE", \
-	8, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_brief_feature_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_brief_feature_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_brief_feature_t, z) }, \
-         { "response", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_brief_feature_t, response) }, \
-         { "size", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_brief_feature_t, size) }, \
-         { "orientation", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_brief_feature_t, orientation) }, \
-         { "orientation_assignment", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_brief_feature_t, orientation_assignment) }, \
-         { "descriptor", NULL, MAVLINK_TYPE_UINT8_T, 32, 21, offsetof(mavlink_brief_feature_t, descriptor) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a brief_feature 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 x x position in m
- * @param y y position in m
- * @param z z position in m
- * @param orientation_assignment Orientation assignment 0: false, 1:true
- * @param size Size in pixels
- * @param orientation Orientation
- * @param descriptor Descriptor
- * @param response Harris operator response at this location
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_BRIEF_FEATURE_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, response);
-	_mav_put_uint16_t(buf, 16, size);
-	_mav_put_uint16_t(buf, 18, orientation);
-	_mav_put_uint8_t(buf, 20, orientation_assignment);
-	_mav_put_uint8_t_array(buf, 21, descriptor, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#else
-	mavlink_brief_feature_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.response = response;
-	packet.size = size;
-	packet.orientation = orientation;
-	packet.orientation_assignment = orientation_assignment;
-	mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a brief_feature 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param x x position in m
- * @param y y position in m
- * @param z z position in m
- * @param orientation_assignment Orientation assignment 0: false, 1:true
- * @param size Size in pixels
- * @param orientation Orientation
- * @param descriptor Descriptor
- * @param response Harris operator response at this location
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float x,float y,float z,uint8_t orientation_assignment,uint16_t size,uint16_t orientation,const uint8_t *descriptor,float response)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_BRIEF_FEATURE_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, response);
-	_mav_put_uint16_t(buf, 16, size);
-	_mav_put_uint16_t(buf, 18, orientation);
-	_mav_put_uint8_t(buf, 20, orientation_assignment);
-	_mav_put_uint8_t_array(buf, 21, descriptor, 32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#else
-	mavlink_brief_feature_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.response = response;
-	packet.size = size;
-	packet.orientation = orientation;
-	packet.orientation_assignment = orientation_assignment;
-	mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a brief_feature struct
- *
- * @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 brief_feature C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
-{
-	return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
-}
-
-/**
- * @brief Encode a brief_feature struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param brief_feature C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_brief_feature_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
-{
-	return mavlink_msg_brief_feature_pack_chan(system_id, component_id, chan, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
-}
-
-/**
- * @brief Send a brief_feature message
- * @param chan MAVLink channel to send the message
- *
- * @param x x position in m
- * @param y y position in m
- * @param z z position in m
- * @param orientation_assignment Orientation assignment 0: false, 1:true
- * @param size Size in pixels
- * @param orientation Orientation
- * @param descriptor Descriptor
- * @param response Harris operator response at this location
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t *descriptor, float response)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_BRIEF_FEATURE_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, response);
-	_mav_put_uint16_t(buf, 16, size);
-	_mav_put_uint16_t(buf, 18, orientation);
-	_mav_put_uint8_t(buf, 20, orientation_assignment);
-	_mav_put_uint8_t_array(buf, 21, descriptor, 32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, buf, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-#else
-	mavlink_brief_feature_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.response = response;
-	packet.size = size;
-	packet.orientation = orientation;
-	packet.orientation_assignment = orientation_assignment;
-	mav_array_memcpy(packet.descriptor, descriptor, sizeof(uint8_t)*32);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)&packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN, MAVLINK_MSG_ID_BRIEF_FEATURE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_BRIEF_FEATURE, (const char *)&packet, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE BRIEF_FEATURE UNPACKING
-
-
-/**
- * @brief Get field x from brief_feature message
- *
- * @return x position in m
- */
-static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from brief_feature message
- *
- * @return y position in m
- */
-static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from brief_feature message
- *
- * @return z position in m
- */
-static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field orientation_assignment from brief_feature message
- *
- * @return Orientation assignment 0: false, 1:true
- */
-static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  20);
-}
-
-/**
- * @brief Get field size from brief_feature message
- *
- * @return Size in pixels
- */
-static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field orientation from brief_feature message
- *
- * @return Orientation
- */
-static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  18);
-}
-
-/**
- * @brief Get field descriptor from brief_feature message
- *
- * @return Descriptor
- */
-static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t *descriptor)
-{
-	return _MAV_RETURN_uint8_t_array(msg, descriptor, 32,  21);
-}
-
-/**
- * @brief Get field response from brief_feature message
- *
- * @return Harris operator response at this location
- */
-static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a brief_feature message into a struct
- *
- * @param msg The message to decode
- * @param brief_feature C-struct to decode the message contents into
- */
-static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	brief_feature->x = mavlink_msg_brief_feature_get_x(msg);
-	brief_feature->y = mavlink_msg_brief_feature_get_y(msg);
-	brief_feature->z = mavlink_msg_brief_feature_get_z(msg);
-	brief_feature->response = mavlink_msg_brief_feature_get_response(msg);
-	brief_feature->size = mavlink_msg_brief_feature_get_size(msg);
-	brief_feature->orientation = mavlink_msg_brief_feature_get_orientation(msg);
-	brief_feature->orientation_assignment = mavlink_msg_brief_feature_get_orientation_assignment(msg);
-	mavlink_msg_brief_feature_get_descriptor(msg, brief_feature->descriptor);
-#else
-	memcpy(brief_feature, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h
deleted file mode 100644
index ae4db825d..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_available.h
+++ /dev/null
@@ -1,661 +0,0 @@
-// MESSAGE IMAGE_AVAILABLE PACKING
-
-#define MAVLINK_MSG_ID_IMAGE_AVAILABLE 154
-
-typedef struct __mavlink_image_available_t
-{
- uint64_t cam_id; ///< Camera id
- uint64_t timestamp; ///< Timestamp
- uint64_t valid_until; ///< Until which timestamp this buffer will stay valid
- uint32_t img_seq; ///< The image sequence number
- uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0
- uint32_t key; ///< Shared memory area key
- uint32_t exposure; ///< Exposure time, in microseconds
- float gain; ///< Camera gain
- float roll; ///< Roll angle in rad
- float pitch; ///< Pitch angle in rad
- float yaw; ///< Yaw angle in rad
- float local_z; ///< Local frame Z coordinate (height over ground)
- float lat; ///< GPS X coordinate
- float lon; ///< GPS Y coordinate
- float alt; ///< Global frame altitude
- float ground_x; ///< Ground truth X
- float ground_y; ///< Ground truth Y
- float ground_z; ///< Ground truth Z
- uint16_t width; ///< Image width
- uint16_t height; ///< Image height
- uint16_t depth; ///< Image depth
- uint8_t cam_no; ///< Camera # (starts with 0)
- uint8_t channels; ///< Image channels
-} mavlink_image_available_t;
-
-#define MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN 92
-#define MAVLINK_MSG_ID_154_LEN 92
-
-#define MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC 224
-#define MAVLINK_MSG_ID_154_CRC 224
-
-
-
-#define MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE { \
-	"IMAGE_AVAILABLE", \
-	23, \
-	{  { "cam_id", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_available_t, cam_id) }, \
-         { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_image_available_t, timestamp) }, \
-         { "valid_until", NULL, MAVLINK_TYPE_UINT64_T, 0, 16, offsetof(mavlink_image_available_t, valid_until) }, \
-         { "img_seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_image_available_t, img_seq) }, \
-         { "img_buf_index", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_image_available_t, img_buf_index) }, \
-         { "key", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_image_available_t, key) }, \
-         { "exposure", NULL, MAVLINK_TYPE_UINT32_T, 0, 36, offsetof(mavlink_image_available_t, exposure) }, \
-         { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_available_t, gain) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_available_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_available_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_image_available_t, yaw) }, \
-         { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_image_available_t, local_z) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_image_available_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_image_available_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_image_available_t, alt) }, \
-         { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_image_available_t, ground_x) }, \
-         { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_image_available_t, ground_y) }, \
-         { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_image_available_t, ground_z) }, \
-         { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 84, offsetof(mavlink_image_available_t, width) }, \
-         { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 86, offsetof(mavlink_image_available_t, height) }, \
-         { "depth", NULL, MAVLINK_TYPE_UINT16_T, 0, 88, offsetof(mavlink_image_available_t, depth) }, \
-         { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 90, offsetof(mavlink_image_available_t, cam_no) }, \
-         { "channels", NULL, MAVLINK_TYPE_UINT8_T, 0, 91, offsetof(mavlink_image_available_t, channels) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a image_available 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 cam_id Camera id
- * @param cam_no Camera # (starts with 0)
- * @param timestamp Timestamp
- * @param valid_until Until which timestamp this buffer will stay valid
- * @param img_seq The image sequence number
- * @param img_buf_index Position of the image in the buffer, starts with 0
- * @param width Image width
- * @param height Image height
- * @param depth Image depth
- * @param channels Image channels
- * @param key Shared memory area key
- * @param exposure Exposure time, in microseconds
- * @param gain Camera gain
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @param local_z Local frame Z coordinate (height over ground)
- * @param lat GPS X coordinate
- * @param lon GPS Y coordinate
- * @param alt Global frame altitude
- * @param ground_x Ground truth X
- * @param ground_y Ground truth Y
- * @param ground_z Ground truth Z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN];
-	_mav_put_uint64_t(buf, 0, cam_id);
-	_mav_put_uint64_t(buf, 8, timestamp);
-	_mav_put_uint64_t(buf, 16, valid_until);
-	_mav_put_uint32_t(buf, 24, img_seq);
-	_mav_put_uint32_t(buf, 28, img_buf_index);
-	_mav_put_uint32_t(buf, 32, key);
-	_mav_put_uint32_t(buf, 36, exposure);
-	_mav_put_float(buf, 40, gain);
-	_mav_put_float(buf, 44, roll);
-	_mav_put_float(buf, 48, pitch);
-	_mav_put_float(buf, 52, yaw);
-	_mav_put_float(buf, 56, local_z);
-	_mav_put_float(buf, 60, lat);
-	_mav_put_float(buf, 64, lon);
-	_mav_put_float(buf, 68, alt);
-	_mav_put_float(buf, 72, ground_x);
-	_mav_put_float(buf, 76, ground_y);
-	_mav_put_float(buf, 80, ground_z);
-	_mav_put_uint16_t(buf, 84, width);
-	_mav_put_uint16_t(buf, 86, height);
-	_mav_put_uint16_t(buf, 88, depth);
-	_mav_put_uint8_t(buf, 90, cam_no);
-	_mav_put_uint8_t(buf, 91, channels);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#else
-	mavlink_image_available_t packet;
-	packet.cam_id = cam_id;
-	packet.timestamp = timestamp;
-	packet.valid_until = valid_until;
-	packet.img_seq = img_seq;
-	packet.img_buf_index = img_buf_index;
-	packet.key = key;
-	packet.exposure = exposure;
-	packet.gain = gain;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.local_z = local_z;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.ground_x = ground_x;
-	packet.ground_y = ground_y;
-	packet.ground_z = ground_z;
-	packet.width = width;
-	packet.height = height;
-	packet.depth = depth;
-	packet.cam_no = cam_no;
-	packet.channels = channels;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN, MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a image_available 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param cam_id Camera id
- * @param cam_no Camera # (starts with 0)
- * @param timestamp Timestamp
- * @param valid_until Until which timestamp this buffer will stay valid
- * @param img_seq The image sequence number
- * @param img_buf_index Position of the image in the buffer, starts with 0
- * @param width Image width
- * @param height Image height
- * @param depth Image depth
- * @param channels Image channels
- * @param key Shared memory area key
- * @param exposure Exposure time, in microseconds
- * @param gain Camera gain
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @param local_z Local frame Z coordinate (height over ground)
- * @param lat GPS X coordinate
- * @param lon GPS Y coordinate
- * @param alt Global frame altitude
- * @param ground_x Ground truth X
- * @param ground_y Ground truth Y
- * @param ground_z Ground truth Z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t cam_id,uint8_t cam_no,uint64_t timestamp,uint64_t valid_until,uint32_t img_seq,uint32_t img_buf_index,uint16_t width,uint16_t height,uint16_t depth,uint8_t channels,uint32_t key,uint32_t exposure,float gain,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN];
-	_mav_put_uint64_t(buf, 0, cam_id);
-	_mav_put_uint64_t(buf, 8, timestamp);
-	_mav_put_uint64_t(buf, 16, valid_until);
-	_mav_put_uint32_t(buf, 24, img_seq);
-	_mav_put_uint32_t(buf, 28, img_buf_index);
-	_mav_put_uint32_t(buf, 32, key);
-	_mav_put_uint32_t(buf, 36, exposure);
-	_mav_put_float(buf, 40, gain);
-	_mav_put_float(buf, 44, roll);
-	_mav_put_float(buf, 48, pitch);
-	_mav_put_float(buf, 52, yaw);
-	_mav_put_float(buf, 56, local_z);
-	_mav_put_float(buf, 60, lat);
-	_mav_put_float(buf, 64, lon);
-	_mav_put_float(buf, 68, alt);
-	_mav_put_float(buf, 72, ground_x);
-	_mav_put_float(buf, 76, ground_y);
-	_mav_put_float(buf, 80, ground_z);
-	_mav_put_uint16_t(buf, 84, width);
-	_mav_put_uint16_t(buf, 86, height);
-	_mav_put_uint16_t(buf, 88, depth);
-	_mav_put_uint8_t(buf, 90, cam_no);
-	_mav_put_uint8_t(buf, 91, channels);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#else
-	mavlink_image_available_t packet;
-	packet.cam_id = cam_id;
-	packet.timestamp = timestamp;
-	packet.valid_until = valid_until;
-	packet.img_seq = img_seq;
-	packet.img_buf_index = img_buf_index;
-	packet.key = key;
-	packet.exposure = exposure;
-	packet.gain = gain;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.local_z = local_z;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.ground_x = ground_x;
-	packet.ground_y = ground_y;
-	packet.ground_z = ground_z;
-	packet.width = width;
-	packet.height = height;
-	packet.depth = depth;
-	packet.cam_no = cam_no;
-	packet.channels = channels;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN, MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a image_available struct
- *
- * @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 image_available C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available)
-{
-	return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z);
-}
-
-/**
- * @brief Encode a image_available struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param image_available C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_image_available_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_image_available_t* image_available)
-{
-	return mavlink_msg_image_available_pack_chan(system_id, component_id, chan, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z);
-}
-
-/**
- * @brief Send a image_available message
- * @param chan MAVLink channel to send the message
- *
- * @param cam_id Camera id
- * @param cam_no Camera # (starts with 0)
- * @param timestamp Timestamp
- * @param valid_until Until which timestamp this buffer will stay valid
- * @param img_seq The image sequence number
- * @param img_buf_index Position of the image in the buffer, starts with 0
- * @param width Image width
- * @param height Image height
- * @param depth Image depth
- * @param channels Image channels
- * @param key Shared memory area key
- * @param exposure Exposure time, in microseconds
- * @param gain Camera gain
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @param local_z Local frame Z coordinate (height over ground)
- * @param lat GPS X coordinate
- * @param lon GPS Y coordinate
- * @param alt Global frame altitude
- * @param ground_x Ground truth X
- * @param ground_y Ground truth Y
- * @param ground_z Ground truth Z
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN];
-	_mav_put_uint64_t(buf, 0, cam_id);
-	_mav_put_uint64_t(buf, 8, timestamp);
-	_mav_put_uint64_t(buf, 16, valid_until);
-	_mav_put_uint32_t(buf, 24, img_seq);
-	_mav_put_uint32_t(buf, 28, img_buf_index);
-	_mav_put_uint32_t(buf, 32, key);
-	_mav_put_uint32_t(buf, 36, exposure);
-	_mav_put_float(buf, 40, gain);
-	_mav_put_float(buf, 44, roll);
-	_mav_put_float(buf, 48, pitch);
-	_mav_put_float(buf, 52, yaw);
-	_mav_put_float(buf, 56, local_z);
-	_mav_put_float(buf, 60, lat);
-	_mav_put_float(buf, 64, lon);
-	_mav_put_float(buf, 68, alt);
-	_mav_put_float(buf, 72, ground_x);
-	_mav_put_float(buf, 76, ground_y);
-	_mav_put_float(buf, 80, ground_z);
-	_mav_put_uint16_t(buf, 84, width);
-	_mav_put_uint16_t(buf, 86, height);
-	_mav_put_uint16_t(buf, 88, depth);
-	_mav_put_uint8_t(buf, 90, cam_no);
-	_mav_put_uint8_t(buf, 91, channels);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN, MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-#else
-	mavlink_image_available_t packet;
-	packet.cam_id = cam_id;
-	packet.timestamp = timestamp;
-	packet.valid_until = valid_until;
-	packet.img_seq = img_seq;
-	packet.img_buf_index = img_buf_index;
-	packet.key = key;
-	packet.exposure = exposure;
-	packet.gain = gain;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.local_z = local_z;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.ground_x = ground_x;
-	packet.ground_y = ground_y;
-	packet.ground_z = ground_z;
-	packet.width = width;
-	packet.height = height;
-	packet.depth = depth;
-	packet.cam_no = cam_no;
-	packet.channels = channels;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN, MAVLINK_MSG_ID_IMAGE_AVAILABLE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE IMAGE_AVAILABLE UNPACKING
-
-
-/**
- * @brief Get field cam_id from image_available message
- *
- * @return Camera id
- */
-static inline uint64_t mavlink_msg_image_available_get_cam_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field cam_no from image_available message
- *
- * @return Camera # (starts with 0)
- */
-static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  90);
-}
-
-/**
- * @brief Get field timestamp from image_available message
- *
- * @return Timestamp
- */
-static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  8);
-}
-
-/**
- * @brief Get field valid_until from image_available message
- *
- * @return Until which timestamp this buffer will stay valid
- */
-static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  16);
-}
-
-/**
- * @brief Get field img_seq from image_available message
- *
- * @return The image sequence number
- */
-static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  24);
-}
-
-/**
- * @brief Get field img_buf_index from image_available message
- *
- * @return Position of the image in the buffer, starts with 0
- */
-static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  28);
-}
-
-/**
- * @brief Get field width from image_available message
- *
- * @return Image width
- */
-static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  84);
-}
-
-/**
- * @brief Get field height from image_available message
- *
- * @return Image height
- */
-static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  86);
-}
-
-/**
- * @brief Get field depth from image_available message
- *
- * @return Image depth
- */
-static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  88);
-}
-
-/**
- * @brief Get field channels from image_available message
- *
- * @return Image channels
- */
-static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  91);
-}
-
-/**
- * @brief Get field key from image_available message
- *
- * @return Shared memory area key
- */
-static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  32);
-}
-
-/**
- * @brief Get field exposure from image_available message
- *
- * @return Exposure time, in microseconds
- */
-static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  36);
-}
-
-/**
- * @brief Get field gain from image_available message
- *
- * @return Camera gain
- */
-static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field roll from image_available message
- *
- * @return Roll angle in rad
- */
-static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Get field pitch from image_available message
- *
- * @return Pitch angle in rad
- */
-static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  48);
-}
-
-/**
- * @brief Get field yaw from image_available message
- *
- * @return Yaw angle in rad
- */
-static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  52);
-}
-
-/**
- * @brief Get field local_z from image_available message
- *
- * @return Local frame Z coordinate (height over ground)
- */
-static inline float mavlink_msg_image_available_get_local_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  56);
-}
-
-/**
- * @brief Get field lat from image_available message
- *
- * @return GPS X coordinate
- */
-static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  60);
-}
-
-/**
- * @brief Get field lon from image_available message
- *
- * @return GPS Y coordinate
- */
-static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  64);
-}
-
-/**
- * @brief Get field alt from image_available message
- *
- * @return Global frame altitude
- */
-static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  68);
-}
-
-/**
- * @brief Get field ground_x from image_available message
- *
- * @return Ground truth X
- */
-static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  72);
-}
-
-/**
- * @brief Get field ground_y from image_available message
- *
- * @return Ground truth Y
- */
-static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  76);
-}
-
-/**
- * @brief Get field ground_z from image_available message
- *
- * @return Ground truth Z
- */
-static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  80);
-}
-
-/**
- * @brief Decode a image_available message into a struct
- *
- * @param msg The message to decode
- * @param image_available C-struct to decode the message contents into
- */
-static inline void mavlink_msg_image_available_decode(const mavlink_message_t* msg, mavlink_image_available_t* image_available)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	image_available->cam_id = mavlink_msg_image_available_get_cam_id(msg);
-	image_available->timestamp = mavlink_msg_image_available_get_timestamp(msg);
-	image_available->valid_until = mavlink_msg_image_available_get_valid_until(msg);
-	image_available->img_seq = mavlink_msg_image_available_get_img_seq(msg);
-	image_available->img_buf_index = mavlink_msg_image_available_get_img_buf_index(msg);
-	image_available->key = mavlink_msg_image_available_get_key(msg);
-	image_available->exposure = mavlink_msg_image_available_get_exposure(msg);
-	image_available->gain = mavlink_msg_image_available_get_gain(msg);
-	image_available->roll = mavlink_msg_image_available_get_roll(msg);
-	image_available->pitch = mavlink_msg_image_available_get_pitch(msg);
-	image_available->yaw = mavlink_msg_image_available_get_yaw(msg);
-	image_available->local_z = mavlink_msg_image_available_get_local_z(msg);
-	image_available->lat = mavlink_msg_image_available_get_lat(msg);
-	image_available->lon = mavlink_msg_image_available_get_lon(msg);
-	image_available->alt = mavlink_msg_image_available_get_alt(msg);
-	image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg);
-	image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg);
-	image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg);
-	image_available->width = mavlink_msg_image_available_get_width(msg);
-	image_available->height = mavlink_msg_image_available_get_height(msg);
-	image_available->depth = mavlink_msg_image_available_get_depth(msg);
-	image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg);
-	image_available->channels = mavlink_msg_image_available_get_channels(msg);
-#else
-	memcpy(image_available, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h
deleted file mode 100644
index 664574be9..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_trigger_control.h
+++ /dev/null
@@ -1,177 +0,0 @@
-// MESSAGE IMAGE_TRIGGER_CONTROL PACKING
-
-#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL 153
-
-typedef struct __mavlink_image_trigger_control_t
-{
- uint8_t enable; ///< 0 to disable, 1 to enable
-} mavlink_image_trigger_control_t;
-
-#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN 1
-#define MAVLINK_MSG_ID_153_LEN 1
-
-#define MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC 95
-#define MAVLINK_MSG_ID_153_CRC 95
-
-
-
-#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL { \
-	"IMAGE_TRIGGER_CONTROL", \
-	1, \
-	{  { "enable", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_image_trigger_control_t, enable) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a image_trigger_control 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 enable 0 to disable, 1 to enable
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_image_trigger_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t enable)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN];
-	_mav_put_uint8_t(buf, 0, enable);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#else
-	mavlink_image_trigger_control_t packet;
-	packet.enable = enable;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a image_trigger_control 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param enable 0 to disable, 1 to enable
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_image_trigger_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t enable)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN];
-	_mav_put_uint8_t(buf, 0, enable);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#else
-	mavlink_image_trigger_control_t packet;
-	packet.enable = enable;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a image_trigger_control struct
- *
- * @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 image_trigger_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_image_trigger_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_trigger_control_t* image_trigger_control)
-{
-	return mavlink_msg_image_trigger_control_pack(system_id, component_id, msg, image_trigger_control->enable);
-}
-
-/**
- * @brief Encode a image_trigger_control struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param image_trigger_control C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_image_trigger_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_image_trigger_control_t* image_trigger_control)
-{
-	return mavlink_msg_image_trigger_control_pack_chan(system_id, component_id, chan, msg, image_trigger_control->enable);
-}
-
-/**
- * @brief Send a image_trigger_control message
- * @param chan MAVLink channel to send the message
- *
- * @param enable 0 to disable, 1 to enable
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_image_trigger_control_send(mavlink_channel_t chan, uint8_t enable)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN];
-	_mav_put_uint8_t(buf, 0, enable);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, buf, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-#else
-	mavlink_image_trigger_control_t packet;
-	packet.enable = enable;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE IMAGE_TRIGGER_CONTROL UNPACKING
-
-
-/**
- * @brief Get field enable from image_trigger_control message
- *
- * @return 0 to disable, 1 to enable
- */
-static inline uint8_t mavlink_msg_image_trigger_control_get_enable(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Decode a image_trigger_control message into a struct
- *
- * @param msg The message to decode
- * @param image_trigger_control C-struct to decode the message contents into
- */
-static inline void mavlink_msg_image_trigger_control_decode(const mavlink_message_t* msg, mavlink_image_trigger_control_t* image_trigger_control)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	image_trigger_control->enable = mavlink_msg_image_trigger_control_get_enable(msg);
-#else
-	memcpy(image_trigger_control, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_IMAGE_TRIGGER_CONTROL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h
deleted file mode 100644
index f3a2243af..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h
+++ /dev/null
@@ -1,419 +0,0 @@
-// MESSAGE IMAGE_TRIGGERED PACKING
-
-#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 152
-
-typedef struct __mavlink_image_triggered_t
-{
- uint64_t timestamp; ///< Timestamp
- uint32_t seq; ///< IMU seq
- float roll; ///< Roll angle in rad
- float pitch; ///< Pitch angle in rad
- float yaw; ///< Yaw angle in rad
- float local_z; ///< Local frame Z coordinate (height over ground)
- float lat; ///< GPS X coordinate
- float lon; ///< GPS Y coordinate
- float alt; ///< Global frame altitude
- float ground_x; ///< Ground truth X
- float ground_y; ///< Ground truth Y
- float ground_z; ///< Ground truth Z
-} mavlink_image_triggered_t;
-
-#define MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN 52
-#define MAVLINK_MSG_ID_152_LEN 52
-
-#define MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC 86
-#define MAVLINK_MSG_ID_152_CRC 86
-
-
-
-#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED { \
-	"IMAGE_TRIGGERED", \
-	12, \
-	{  { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_triggered_t, timestamp) }, \
-         { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_image_triggered_t, seq) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_image_triggered_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_image_triggered_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_image_triggered_t, yaw) }, \
-         { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_image_triggered_t, local_z) }, \
-         { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_image_triggered_t, lat) }, \
-         { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_image_triggered_t, lon) }, \
-         { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_image_triggered_t, alt) }, \
-         { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_triggered_t, ground_x) }, \
-         { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_triggered_t, ground_y) }, \
-         { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_triggered_t, ground_z) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a image_triggered 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 timestamp Timestamp
- * @param seq IMU seq
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @param local_z Local frame Z coordinate (height over ground)
- * @param lat GPS X coordinate
- * @param lon GPS Y coordinate
- * @param alt Global frame altitude
- * @param ground_x Ground truth X
- * @param ground_y Ground truth Y
- * @param ground_z Ground truth Z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN];
-	_mav_put_uint64_t(buf, 0, timestamp);
-	_mav_put_uint32_t(buf, 8, seq);
-	_mav_put_float(buf, 12, roll);
-	_mav_put_float(buf, 16, pitch);
-	_mav_put_float(buf, 20, yaw);
-	_mav_put_float(buf, 24, local_z);
-	_mav_put_float(buf, 28, lat);
-	_mav_put_float(buf, 32, lon);
-	_mav_put_float(buf, 36, alt);
-	_mav_put_float(buf, 40, ground_x);
-	_mav_put_float(buf, 44, ground_y);
-	_mav_put_float(buf, 48, ground_z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#else
-	mavlink_image_triggered_t packet;
-	packet.timestamp = timestamp;
-	packet.seq = seq;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.local_z = local_z;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.ground_x = ground_x;
-	packet.ground_y = ground_y;
-	packet.ground_z = ground_z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-}
-
-/**
- * @brief Pack a image_triggered 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param timestamp Timestamp
- * @param seq IMU seq
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @param local_z Local frame Z coordinate (height over ground)
- * @param lat GPS X coordinate
- * @param lon GPS Y coordinate
- * @param alt Global frame altitude
- * @param ground_x Ground truth X
- * @param ground_y Ground truth Y
- * @param ground_z Ground truth Z
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint64_t timestamp,uint32_t seq,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN];
-	_mav_put_uint64_t(buf, 0, timestamp);
-	_mav_put_uint32_t(buf, 8, seq);
-	_mav_put_float(buf, 12, roll);
-	_mav_put_float(buf, 16, pitch);
-	_mav_put_float(buf, 20, yaw);
-	_mav_put_float(buf, 24, local_z);
-	_mav_put_float(buf, 28, lat);
-	_mav_put_float(buf, 32, lon);
-	_mav_put_float(buf, 36, alt);
-	_mav_put_float(buf, 40, ground_x);
-	_mav_put_float(buf, 44, ground_y);
-	_mav_put_float(buf, 48, ground_z);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#else
-	mavlink_image_triggered_t packet;
-	packet.timestamp = timestamp;
-	packet.seq = seq;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.local_z = local_z;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.ground_x = ground_x;
-	packet.ground_y = ground_y;
-	packet.ground_z = ground_z;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-}
-
-/**
- * @brief Encode a image_triggered struct
- *
- * @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 image_triggered C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
-{
-	return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z);
-}
-
-/**
- * @brief Encode a image_triggered struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param image_triggered C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_image_triggered_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
-{
-	return mavlink_msg_image_triggered_pack_chan(system_id, component_id, chan, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z);
-}
-
-/**
- * @brief Send a image_triggered message
- * @param chan MAVLink channel to send the message
- *
- * @param timestamp Timestamp
- * @param seq IMU seq
- * @param roll Roll angle in rad
- * @param pitch Pitch angle in rad
- * @param yaw Yaw angle in rad
- * @param local_z Local frame Z coordinate (height over ground)
- * @param lat GPS X coordinate
- * @param lon GPS Y coordinate
- * @param alt Global frame altitude
- * @param ground_x Ground truth X
- * @param ground_y Ground truth Y
- * @param ground_z Ground truth Z
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN];
-	_mav_put_uint64_t(buf, 0, timestamp);
-	_mav_put_uint32_t(buf, 8, seq);
-	_mav_put_float(buf, 12, roll);
-	_mav_put_float(buf, 16, pitch);
-	_mav_put_float(buf, 20, yaw);
-	_mav_put_float(buf, 24, local_z);
-	_mav_put_float(buf, 28, lat);
-	_mav_put_float(buf, 32, lon);
-	_mav_put_float(buf, 36, alt);
-	_mav_put_float(buf, 40, ground_x);
-	_mav_put_float(buf, 44, ground_y);
-	_mav_put_float(buf, 48, ground_z);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-#else
-	mavlink_image_triggered_t packet;
-	packet.timestamp = timestamp;
-	packet.seq = seq;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.local_z = local_z;
-	packet.lat = lat;
-	packet.lon = lon;
-	packet.alt = alt;
-	packet.ground_x = ground_x;
-	packet.ground_y = ground_y;
-	packet.ground_z = ground_z;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE IMAGE_TRIGGERED UNPACKING
-
-
-/**
- * @brief Get field timestamp from image_triggered message
- *
- * @return Timestamp
- */
-static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field seq from image_triggered message
- *
- * @return IMU seq
- */
-static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  8);
-}
-
-/**
- * @brief Get field roll from image_triggered message
- *
- * @return Roll angle in rad
- */
-static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field pitch from image_triggered message
- *
- * @return Pitch angle in rad
- */
-static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field yaw from image_triggered message
- *
- * @return Yaw angle in rad
- */
-static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field local_z from image_triggered message
- *
- * @return Local frame Z coordinate (height over ground)
- */
-static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  24);
-}
-
-/**
- * @brief Get field lat from image_triggered message
- *
- * @return GPS X coordinate
- */
-static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  28);
-}
-
-/**
- * @brief Get field lon from image_triggered message
- *
- * @return GPS Y coordinate
- */
-static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  32);
-}
-
-/**
- * @brief Get field alt from image_triggered message
- *
- * @return Global frame altitude
- */
-static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  36);
-}
-
-/**
- * @brief Get field ground_x from image_triggered message
- *
- * @return Ground truth X
- */
-static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  40);
-}
-
-/**
- * @brief Get field ground_y from image_triggered message
- *
- * @return Ground truth Y
- */
-static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  44);
-}
-
-/**
- * @brief Get field ground_z from image_triggered message
- *
- * @return Ground truth Z
- */
-static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  48);
-}
-
-/**
- * @brief Decode a image_triggered message into a struct
- *
- * @param msg The message to decode
- * @param image_triggered C-struct to decode the message contents into
- */
-static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg);
-	image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg);
-	image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg);
-	image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg);
-	image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg);
-	image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg);
-	image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg);
-	image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg);
-	image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg);
-	image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg);
-	image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg);
-	image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg);
-#else
-	memcpy(image_triggered, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h
deleted file mode 100644
index 6bdcceaf9..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_marker.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE MARKER PACKING
-
-#define MAVLINK_MSG_ID_MARKER 171
-
-typedef struct __mavlink_marker_t
-{
- float x; ///< x position
- float y; ///< y position
- float z; ///< z position
- float roll; ///< roll orientation
- float pitch; ///< pitch orientation
- float yaw; ///< yaw orientation
- uint16_t id; ///< ID
-} mavlink_marker_t;
-
-#define MAVLINK_MSG_ID_MARKER_LEN 26
-#define MAVLINK_MSG_ID_171_LEN 26
-
-#define MAVLINK_MSG_ID_MARKER_CRC 249
-#define MAVLINK_MSG_ID_171_CRC 249
-
-
-
-#define MAVLINK_MESSAGE_INFO_MARKER { \
-	"MARKER", \
-	7, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_marker_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_marker_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_marker_t, z) }, \
-         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_marker_t, roll) }, \
-         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_marker_t, pitch) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_marker_t, yaw) }, \
-         { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_marker_t, id) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a marker 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 id ID
- * @param x x position
- * @param y y position
- * @param z z position
- * @param roll roll orientation
- * @param pitch pitch orientation
- * @param yaw yaw orientation
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MARKER_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, roll);
-	_mav_put_float(buf, 16, pitch);
-	_mav_put_float(buf, 20, yaw);
-	_mav_put_uint16_t(buf, 24, id);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MARKER_LEN);
-#else
-	mavlink_marker_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.id = id;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MARKER;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MARKER_LEN, MAVLINK_MSG_ID_MARKER_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-}
-
-/**
- * @brief Pack a marker 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param id ID
- * @param x x position
- * @param y y position
- * @param z z position
- * @param roll roll orientation
- * @param pitch pitch orientation
- * @param yaw yaw orientation
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_marker_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t id,float x,float y,float z,float roll,float pitch,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MARKER_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, roll);
-	_mav_put_float(buf, 16, pitch);
-	_mav_put_float(buf, 20, yaw);
-	_mav_put_uint16_t(buf, 24, id);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MARKER_LEN);
-#else
-	mavlink_marker_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.id = id;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_MARKER;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MARKER_LEN, MAVLINK_MSG_ID_MARKER_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-}
-
-/**
- * @brief Encode a marker struct
- *
- * @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 marker C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker)
-{
-	return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
-}
-
-/**
- * @brief Encode a marker struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param marker C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_marker_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_marker_t* marker)
-{
-	return mavlink_msg_marker_pack_chan(system_id, component_id, chan, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
-}
-
-/**
- * @brief Send a marker message
- * @param chan MAVLink channel to send the message
- *
- * @param id ID
- * @param x x position
- * @param y y position
- * @param z z position
- * @param roll roll orientation
- * @param pitch pitch orientation
- * @param yaw yaw orientation
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_MARKER_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, roll);
-	_mav_put_float(buf, 16, pitch);
-	_mav_put_float(buf, 20, yaw);
-	_mav_put_uint16_t(buf, 24, id);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, MAVLINK_MSG_ID_MARKER_LEN, MAVLINK_MSG_ID_MARKER_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-#else
-	mavlink_marker_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.roll = roll;
-	packet.pitch = pitch;
-	packet.yaw = yaw;
-	packet.id = id;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)&packet, MAVLINK_MSG_ID_MARKER_LEN, MAVLINK_MSG_ID_MARKER_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)&packet, MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE MARKER UNPACKING
-
-
-/**
- * @brief Get field id from marker message
- *
- * @return ID
- */
-static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field x from marker message
- *
- * @return x position
- */
-static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from marker message
- *
- * @return y position
- */
-static inline float mavlink_msg_marker_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from marker message
- *
- * @return z position
- */
-static inline float mavlink_msg_marker_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field roll from marker message
- *
- * @return roll orientation
- */
-static inline float mavlink_msg_marker_get_roll(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field pitch from marker message
- *
- * @return pitch orientation
- */
-static inline float mavlink_msg_marker_get_pitch(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field yaw from marker message
- *
- * @return yaw orientation
- */
-static inline float mavlink_msg_marker_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Decode a marker message into a struct
- *
- * @param msg The message to decode
- * @param marker C-struct to decode the message contents into
- */
-static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	marker->x = mavlink_msg_marker_get_x(msg);
-	marker->y = mavlink_msg_marker_get_y(msg);
-	marker->z = mavlink_msg_marker_get_z(msg);
-	marker->roll = mavlink_msg_marker_get_roll(msg);
-	marker->pitch = mavlink_msg_marker_get_pitch(msg);
-	marker->yaw = mavlink_msg_marker_get_yaw(msg);
-	marker->id = mavlink_msg_marker_get_id(msg);
-#else
-	memcpy(marker, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_MARKER_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h
deleted file mode 100644
index aa7b827a3..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_pattern_detected.h
+++ /dev/null
@@ -1,237 +0,0 @@
-// MESSAGE PATTERN_DETECTED PACKING
-
-#define MAVLINK_MSG_ID_PATTERN_DETECTED 190
-
-typedef struct __mavlink_pattern_detected_t
-{
- float confidence; ///< Confidence of detection
- uint8_t type; ///< 0: Pattern, 1: Letter
- char file[100]; ///< Pattern file name
- uint8_t detected; ///< Accepted as true detection, 0 no, 1 yes
-} mavlink_pattern_detected_t;
-
-#define MAVLINK_MSG_ID_PATTERN_DETECTED_LEN 106
-#define MAVLINK_MSG_ID_190_LEN 106
-
-#define MAVLINK_MSG_ID_PATTERN_DETECTED_CRC 90
-#define MAVLINK_MSG_ID_190_CRC 90
-
-#define MAVLINK_MSG_PATTERN_DETECTED_FIELD_FILE_LEN 100
-
-#define MAVLINK_MESSAGE_INFO_PATTERN_DETECTED { \
-	"PATTERN_DETECTED", \
-	4, \
-	{  { "confidence", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pattern_detected_t, confidence) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_pattern_detected_t, type) }, \
-         { "file", NULL, MAVLINK_TYPE_CHAR, 100, 5, offsetof(mavlink_pattern_detected_t, file) }, \
-         { "detected", NULL, MAVLINK_TYPE_UINT8_T, 0, 105, offsetof(mavlink_pattern_detected_t, detected) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a pattern_detected 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 0: Pattern, 1: Letter
- * @param confidence Confidence of detection
- * @param file Pattern file name
- * @param detected Accepted as true detection, 0 no, 1 yes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_pattern_detected_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, float confidence, const char *file, uint8_t detected)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PATTERN_DETECTED_LEN];
-	_mav_put_float(buf, 0, confidence);
-	_mav_put_uint8_t(buf, 4, type);
-	_mav_put_uint8_t(buf, 105, detected);
-	_mav_put_char_array(buf, 5, file, 100);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#else
-	mavlink_pattern_detected_t packet;
-	packet.confidence = confidence;
-	packet.type = type;
-	packet.detected = detected;
-	mav_array_memcpy(packet.file, file, sizeof(char)*100);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN, MAVLINK_MSG_ID_PATTERN_DETECTED_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-}
-
-/**
- * @brief Pack a pattern_detected 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param type 0: Pattern, 1: Letter
- * @param confidence Confidence of detection
- * @param file Pattern file name
- * @param detected Accepted as true detection, 0 no, 1 yes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_pattern_detected_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t type,float confidence,const char *file,uint8_t detected)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PATTERN_DETECTED_LEN];
-	_mav_put_float(buf, 0, confidence);
-	_mav_put_uint8_t(buf, 4, type);
-	_mav_put_uint8_t(buf, 105, detected);
-	_mav_put_char_array(buf, 5, file, 100);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#else
-	mavlink_pattern_detected_t packet;
-	packet.confidence = confidence;
-	packet.type = type;
-	packet.detected = detected;
-	mav_array_memcpy(packet.file, file, sizeof(char)*100);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PATTERN_DETECTED;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN, MAVLINK_MSG_ID_PATTERN_DETECTED_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-}
-
-/**
- * @brief Encode a pattern_detected struct
- *
- * @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 pattern_detected C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_pattern_detected_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pattern_detected_t* pattern_detected)
-{
-	return mavlink_msg_pattern_detected_pack(system_id, component_id, msg, pattern_detected->type, pattern_detected->confidence, pattern_detected->file, pattern_detected->detected);
-}
-
-/**
- * @brief Encode a pattern_detected struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param pattern_detected C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_pattern_detected_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_pattern_detected_t* pattern_detected)
-{
-	return mavlink_msg_pattern_detected_pack_chan(system_id, component_id, chan, msg, pattern_detected->type, pattern_detected->confidence, pattern_detected->file, pattern_detected->detected);
-}
-
-/**
- * @brief Send a pattern_detected message
- * @param chan MAVLink channel to send the message
- *
- * @param type 0: Pattern, 1: Letter
- * @param confidence Confidence of detection
- * @param file Pattern file name
- * @param detected Accepted as true detection, 0 no, 1 yes
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_pattern_detected_send(mavlink_channel_t chan, uint8_t type, float confidence, const char *file, uint8_t detected)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PATTERN_DETECTED_LEN];
-	_mav_put_float(buf, 0, confidence);
-	_mav_put_uint8_t(buf, 4, type);
-	_mav_put_uint8_t(buf, 105, detected);
-	_mav_put_char_array(buf, 5, file, 100);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, buf, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN, MAVLINK_MSG_ID_PATTERN_DETECTED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, buf, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-#else
-	mavlink_pattern_detected_t packet;
-	packet.confidence = confidence;
-	packet.type = type;
-	packet.detected = detected;
-	mav_array_memcpy(packet.file, file, sizeof(char)*100);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, (const char *)&packet, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN, MAVLINK_MSG_ID_PATTERN_DETECTED_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PATTERN_DETECTED, (const char *)&packet, MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PATTERN_DETECTED UNPACKING
-
-
-/**
- * @brief Get field type from pattern_detected message
- *
- * @return 0: Pattern, 1: Letter
- */
-static inline uint8_t mavlink_msg_pattern_detected_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field confidence from pattern_detected message
- *
- * @return Confidence of detection
- */
-static inline float mavlink_msg_pattern_detected_get_confidence(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field file from pattern_detected message
- *
- * @return Pattern file name
- */
-static inline uint16_t mavlink_msg_pattern_detected_get_file(const mavlink_message_t* msg, char *file)
-{
-	return _MAV_RETURN_char_array(msg, file, 100,  5);
-}
-
-/**
- * @brief Get field detected from pattern_detected message
- *
- * @return Accepted as true detection, 0 no, 1 yes
- */
-static inline uint8_t mavlink_msg_pattern_detected_get_detected(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  105);
-}
-
-/**
- * @brief Decode a pattern_detected message into a struct
- *
- * @param msg The message to decode
- * @param pattern_detected C-struct to decode the message contents into
- */
-static inline void mavlink_msg_pattern_detected_decode(const mavlink_message_t* msg, mavlink_pattern_detected_t* pattern_detected)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	pattern_detected->confidence = mavlink_msg_pattern_detected_get_confidence(msg);
-	pattern_detected->type = mavlink_msg_pattern_detected_get_type(msg);
-	mavlink_msg_pattern_detected_get_file(msg, pattern_detected->file);
-	pattern_detected->detected = mavlink_msg_pattern_detected_get_detected(msg);
-#else
-	memcpy(pattern_detected, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PATTERN_DETECTED_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h
deleted file mode 100644
index 913a52897..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest.h
+++ /dev/null
@@ -1,325 +0,0 @@
-// MESSAGE POINT_OF_INTEREST PACKING
-
-#define MAVLINK_MSG_ID_POINT_OF_INTEREST 191
-
-typedef struct __mavlink_point_of_interest_t
-{
- float x; ///< X Position
- float y; ///< Y Position
- float z; ///< Z Position
- uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds
- uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- uint8_t coordinate_system; ///< 0: global, 1:local
- char name[26]; ///< POI name
-} mavlink_point_of_interest_t;
-
-#define MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN 43
-#define MAVLINK_MSG_ID_191_LEN 43
-
-#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC 95
-#define MAVLINK_MSG_ID_191_CRC 95
-
-#define MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN 26
-
-#define MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST { \
-	"POINT_OF_INTEREST", \
-	8, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_point_of_interest_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_point_of_interest_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_point_of_interest_t, z) }, \
-         { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_point_of_interest_t, timeout) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_point_of_interest_t, type) }, \
-         { "color", NULL, MAVLINK_TYPE_UINT8_T, 0, 15, offsetof(mavlink_point_of_interest_t, color) }, \
-         { "coordinate_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_point_of_interest_t, coordinate_system) }, \
-         { "name", NULL, MAVLINK_TYPE_CHAR, 26, 17, offsetof(mavlink_point_of_interest_t, name) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a point_of_interest 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 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- * @param coordinate_system 0: global, 1:local
- * @param timeout 0: no timeout, >1: timeout in seconds
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param name POI name
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_point_of_interest_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_uint16_t(buf, 12, timeout);
-	_mav_put_uint8_t(buf, 14, type);
-	_mav_put_uint8_t(buf, 15, color);
-	_mav_put_uint8_t(buf, 16, coordinate_system);
-	_mav_put_char_array(buf, 17, name, 26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#else
-	mavlink_point_of_interest_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.timeout = timeout;
-	packet.type = type;
-	packet.color = color;
-	packet.coordinate_system = coordinate_system;
-	mav_array_memcpy(packet.name, name, sizeof(char)*26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-}
-
-/**
- * @brief Pack a point_of_interest 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- * @param coordinate_system 0: global, 1:local
- * @param timeout 0: no timeout, >1: timeout in seconds
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param name POI name
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_point_of_interest_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t type,uint8_t color,uint8_t coordinate_system,uint16_t timeout,float x,float y,float z,const char *name)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_uint16_t(buf, 12, timeout);
-	_mav_put_uint8_t(buf, 14, type);
-	_mav_put_uint8_t(buf, 15, color);
-	_mav_put_uint8_t(buf, 16, coordinate_system);
-	_mav_put_char_array(buf, 17, name, 26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#else
-	mavlink_point_of_interest_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.timeout = timeout;
-	packet.type = type;
-	packet.color = color;
-	packet.coordinate_system = coordinate_system;
-	mav_array_memcpy(packet.name, name, sizeof(char)*26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-}
-
-/**
- * @brief Encode a point_of_interest struct
- *
- * @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 point_of_interest C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_point_of_interest_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_point_of_interest_t* point_of_interest)
-{
-	return mavlink_msg_point_of_interest_pack(system_id, component_id, msg, point_of_interest->type, point_of_interest->color, point_of_interest->coordinate_system, point_of_interest->timeout, point_of_interest->x, point_of_interest->y, point_of_interest->z, point_of_interest->name);
-}
-
-/**
- * @brief Encode a point_of_interest struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param point_of_interest C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_point_of_interest_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_point_of_interest_t* point_of_interest)
-{
-	return mavlink_msg_point_of_interest_pack_chan(system_id, component_id, chan, msg, point_of_interest->type, point_of_interest->color, point_of_interest->coordinate_system, point_of_interest->timeout, point_of_interest->x, point_of_interest->y, point_of_interest->z, point_of_interest->name);
-}
-
-/**
- * @brief Send a point_of_interest message
- * @param chan MAVLink channel to send the message
- *
- * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- * @param coordinate_system 0: global, 1:local
- * @param timeout 0: no timeout, >1: timeout in seconds
- * @param x X Position
- * @param y Y Position
- * @param z Z Position
- * @param name POI name
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_point_of_interest_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float x, float y, float z, const char *name)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_uint16_t(buf, 12, timeout);
-	_mav_put_uint8_t(buf, 14, type);
-	_mav_put_uint8_t(buf, 15, color);
-	_mav_put_uint8_t(buf, 16, coordinate_system);
-	_mav_put_char_array(buf, 17, name, 26);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-#else
-	mavlink_point_of_interest_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.timeout = timeout;
-	packet.type = type;
-	packet.color = color;
-	packet.coordinate_system = coordinate_system;
-	mav_array_memcpy(packet.name, name, sizeof(char)*26);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, (const char *)&packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST, (const char *)&packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE POINT_OF_INTEREST UNPACKING
-
-
-/**
- * @brief Get field type from point_of_interest message
- *
- * @return 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- */
-static inline uint8_t mavlink_msg_point_of_interest_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  14);
-}
-
-/**
- * @brief Get field color from point_of_interest message
- *
- * @return 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- */
-static inline uint8_t mavlink_msg_point_of_interest_get_color(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  15);
-}
-
-/**
- * @brief Get field coordinate_system from point_of_interest message
- *
- * @return 0: global, 1:local
- */
-static inline uint8_t mavlink_msg_point_of_interest_get_coordinate_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field timeout from point_of_interest message
- *
- * @return 0: no timeout, >1: timeout in seconds
- */
-static inline uint16_t mavlink_msg_point_of_interest_get_timeout(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field x from point_of_interest message
- *
- * @return X Position
- */
-static inline float mavlink_msg_point_of_interest_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from point_of_interest message
- *
- * @return Y Position
- */
-static inline float mavlink_msg_point_of_interest_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from point_of_interest message
- *
- * @return Z Position
- */
-static inline float mavlink_msg_point_of_interest_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field name from point_of_interest message
- *
- * @return POI name
- */
-static inline uint16_t mavlink_msg_point_of_interest_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 26,  17);
-}
-
-/**
- * @brief Decode a point_of_interest message into a struct
- *
- * @param msg The message to decode
- * @param point_of_interest C-struct to decode the message contents into
- */
-static inline void mavlink_msg_point_of_interest_decode(const mavlink_message_t* msg, mavlink_point_of_interest_t* point_of_interest)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	point_of_interest->x = mavlink_msg_point_of_interest_get_x(msg);
-	point_of_interest->y = mavlink_msg_point_of_interest_get_y(msg);
-	point_of_interest->z = mavlink_msg_point_of_interest_get_z(msg);
-	point_of_interest->timeout = mavlink_msg_point_of_interest_get_timeout(msg);
-	point_of_interest->type = mavlink_msg_point_of_interest_get_type(msg);
-	point_of_interest->color = mavlink_msg_point_of_interest_get_color(msg);
-	point_of_interest->coordinate_system = mavlink_msg_point_of_interest_get_coordinate_system(msg);
-	mavlink_msg_point_of_interest_get_name(msg, point_of_interest->name);
-#else
-	memcpy(point_of_interest, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POINT_OF_INTEREST_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h
deleted file mode 100644
index e24436431..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_point_of_interest_connection.h
+++ /dev/null
@@ -1,391 +0,0 @@
-// MESSAGE POINT_OF_INTEREST_CONNECTION PACKING
-
-#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION 192
-
-typedef struct __mavlink_point_of_interest_connection_t
-{
- float xp1; ///< X1 Position
- float yp1; ///< Y1 Position
- float zp1; ///< Z1 Position
- float xp2; ///< X2 Position
- float yp2; ///< Y2 Position
- float zp2; ///< Z2 Position
- uint16_t timeout; ///< 0: no timeout, >1: timeout in seconds
- uint8_t type; ///< 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- uint8_t color; ///< 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- uint8_t coordinate_system; ///< 0: global, 1:local
- char name[26]; ///< POI connection name
-} mavlink_point_of_interest_connection_t;
-
-#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN 55
-#define MAVLINK_MSG_ID_192_LEN 55
-
-#define MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC 36
-#define MAVLINK_MSG_ID_192_CRC 36
-
-#define MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN 26
-
-#define MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION { \
-	"POINT_OF_INTEREST_CONNECTION", \
-	11, \
-	{  { "xp1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_point_of_interest_connection_t, xp1) }, \
-         { "yp1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_point_of_interest_connection_t, yp1) }, \
-         { "zp1", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_point_of_interest_connection_t, zp1) }, \
-         { "xp2", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_point_of_interest_connection_t, xp2) }, \
-         { "yp2", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_point_of_interest_connection_t, yp2) }, \
-         { "zp2", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_point_of_interest_connection_t, zp2) }, \
-         { "timeout", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_point_of_interest_connection_t, timeout) }, \
-         { "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_point_of_interest_connection_t, type) }, \
-         { "color", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_point_of_interest_connection_t, color) }, \
-         { "coordinate_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_point_of_interest_connection_t, coordinate_system) }, \
-         { "name", NULL, MAVLINK_TYPE_CHAR, 26, 29, offsetof(mavlink_point_of_interest_connection_t, name) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a point_of_interest_connection 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 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- * @param coordinate_system 0: global, 1:local
- * @param timeout 0: no timeout, >1: timeout in seconds
- * @param xp1 X1 Position
- * @param yp1 Y1 Position
- * @param zp1 Z1 Position
- * @param xp2 X2 Position
- * @param yp2 Y2 Position
- * @param zp2 Z2 Position
- * @param name POI connection name
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_point_of_interest_connection_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN];
-	_mav_put_float(buf, 0, xp1);
-	_mav_put_float(buf, 4, yp1);
-	_mav_put_float(buf, 8, zp1);
-	_mav_put_float(buf, 12, xp2);
-	_mav_put_float(buf, 16, yp2);
-	_mav_put_float(buf, 20, zp2);
-	_mav_put_uint16_t(buf, 24, timeout);
-	_mav_put_uint8_t(buf, 26, type);
-	_mav_put_uint8_t(buf, 27, color);
-	_mav_put_uint8_t(buf, 28, coordinate_system);
-	_mav_put_char_array(buf, 29, name, 26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#else
-	mavlink_point_of_interest_connection_t packet;
-	packet.xp1 = xp1;
-	packet.yp1 = yp1;
-	packet.zp1 = zp1;
-	packet.xp2 = xp2;
-	packet.yp2 = yp2;
-	packet.zp2 = zp2;
-	packet.timeout = timeout;
-	packet.type = type;
-	packet.color = color;
-	packet.coordinate_system = coordinate_system;
-	mav_array_memcpy(packet.name, name, sizeof(char)*26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-}
-
-/**
- * @brief Pack a point_of_interest_connection 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- * @param coordinate_system 0: global, 1:local
- * @param timeout 0: no timeout, >1: timeout in seconds
- * @param xp1 X1 Position
- * @param yp1 Y1 Position
- * @param zp1 Z1 Position
- * @param xp2 X2 Position
- * @param yp2 Y2 Position
- * @param zp2 Z2 Position
- * @param name POI connection name
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_point_of_interest_connection_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t type,uint8_t color,uint8_t coordinate_system,uint16_t timeout,float xp1,float yp1,float zp1,float xp2,float yp2,float zp2,const char *name)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN];
-	_mav_put_float(buf, 0, xp1);
-	_mav_put_float(buf, 4, yp1);
-	_mav_put_float(buf, 8, zp1);
-	_mav_put_float(buf, 12, xp2);
-	_mav_put_float(buf, 16, yp2);
-	_mav_put_float(buf, 20, zp2);
-	_mav_put_uint16_t(buf, 24, timeout);
-	_mav_put_uint8_t(buf, 26, type);
-	_mav_put_uint8_t(buf, 27, color);
-	_mav_put_uint8_t(buf, 28, coordinate_system);
-	_mav_put_char_array(buf, 29, name, 26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#else
-	mavlink_point_of_interest_connection_t packet;
-	packet.xp1 = xp1;
-	packet.yp1 = yp1;
-	packet.zp1 = zp1;
-	packet.xp2 = xp2;
-	packet.yp2 = yp2;
-	packet.zp2 = zp2;
-	packet.timeout = timeout;
-	packet.type = type;
-	packet.color = color;
-	packet.coordinate_system = coordinate_system;
-	mav_array_memcpy(packet.name, name, sizeof(char)*26);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-}
-
-/**
- * @brief Encode a point_of_interest_connection struct
- *
- * @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 point_of_interest_connection C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_point_of_interest_connection_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_point_of_interest_connection_t* point_of_interest_connection)
-{
-	return mavlink_msg_point_of_interest_connection_pack(system_id, component_id, msg, point_of_interest_connection->type, point_of_interest_connection->color, point_of_interest_connection->coordinate_system, point_of_interest_connection->timeout, point_of_interest_connection->xp1, point_of_interest_connection->yp1, point_of_interest_connection->zp1, point_of_interest_connection->xp2, point_of_interest_connection->yp2, point_of_interest_connection->zp2, point_of_interest_connection->name);
-}
-
-/**
- * @brief Encode a point_of_interest_connection struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param point_of_interest_connection C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_point_of_interest_connection_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_point_of_interest_connection_t* point_of_interest_connection)
-{
-	return mavlink_msg_point_of_interest_connection_pack_chan(system_id, component_id, chan, msg, point_of_interest_connection->type, point_of_interest_connection->color, point_of_interest_connection->coordinate_system, point_of_interest_connection->timeout, point_of_interest_connection->xp1, point_of_interest_connection->yp1, point_of_interest_connection->zp1, point_of_interest_connection->xp2, point_of_interest_connection->yp2, point_of_interest_connection->zp2, point_of_interest_connection->name);
-}
-
-/**
- * @brief Send a point_of_interest_connection message
- * @param chan MAVLink channel to send the message
- *
- * @param type 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- * @param color 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- * @param coordinate_system 0: global, 1:local
- * @param timeout 0: no timeout, >1: timeout in seconds
- * @param xp1 X1 Position
- * @param yp1 Y1 Position
- * @param zp1 Z1 Position
- * @param xp2 X2 Position
- * @param yp2 Y2 Position
- * @param zp2 Z2 Position
- * @param name POI connection name
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_point_of_interest_connection_send(mavlink_channel_t chan, uint8_t type, uint8_t color, uint8_t coordinate_system, uint16_t timeout, float xp1, float yp1, float zp1, float xp2, float yp2, float zp2, const char *name)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN];
-	_mav_put_float(buf, 0, xp1);
-	_mav_put_float(buf, 4, yp1);
-	_mav_put_float(buf, 8, zp1);
-	_mav_put_float(buf, 12, xp2);
-	_mav_put_float(buf, 16, yp2);
-	_mav_put_float(buf, 20, zp2);
-	_mav_put_uint16_t(buf, 24, timeout);
-	_mav_put_uint8_t(buf, 26, type);
-	_mav_put_uint8_t(buf, 27, color);
-	_mav_put_uint8_t(buf, 28, coordinate_system);
-	_mav_put_char_array(buf, 29, name, 26);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, buf, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-#else
-	mavlink_point_of_interest_connection_t packet;
-	packet.xp1 = xp1;
-	packet.yp1 = yp1;
-	packet.zp1 = zp1;
-	packet.xp2 = xp2;
-	packet.yp2 = yp2;
-	packet.zp2 = zp2;
-	packet.timeout = timeout;
-	packet.type = type;
-	packet.color = color;
-	packet.coordinate_system = coordinate_system;
-	mav_array_memcpy(packet.name, name, sizeof(char)*26);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, (const char *)&packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION, (const char *)&packet, MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE POINT_OF_INTEREST_CONNECTION UNPACKING
-
-
-/**
- * @brief Get field type from point_of_interest_connection message
- *
- * @return 0: Notice, 1: Warning, 2: Critical, 3: Emergency, 4: Debug
- */
-static inline uint8_t mavlink_msg_point_of_interest_connection_get_type(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  26);
-}
-
-/**
- * @brief Get field color from point_of_interest_connection message
- *
- * @return 0: blue, 1: yellow, 2: red, 3: orange, 4: green, 5: magenta
- */
-static inline uint8_t mavlink_msg_point_of_interest_connection_get_color(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  27);
-}
-
-/**
- * @brief Get field coordinate_system from point_of_interest_connection message
- *
- * @return 0: global, 1:local
- */
-static inline uint8_t mavlink_msg_point_of_interest_connection_get_coordinate_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  28);
-}
-
-/**
- * @brief Get field timeout from point_of_interest_connection message
- *
- * @return 0: no timeout, >1: timeout in seconds
- */
-static inline uint16_t mavlink_msg_point_of_interest_connection_get_timeout(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  24);
-}
-
-/**
- * @brief Get field xp1 from point_of_interest_connection message
- *
- * @return X1 Position
- */
-static inline float mavlink_msg_point_of_interest_connection_get_xp1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field yp1 from point_of_interest_connection message
- *
- * @return Y1 Position
- */
-static inline float mavlink_msg_point_of_interest_connection_get_yp1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field zp1 from point_of_interest_connection message
- *
- * @return Z1 Position
- */
-static inline float mavlink_msg_point_of_interest_connection_get_zp1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field xp2 from point_of_interest_connection message
- *
- * @return X2 Position
- */
-static inline float mavlink_msg_point_of_interest_connection_get_xp2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Get field yp2 from point_of_interest_connection message
- *
- * @return Y2 Position
- */
-static inline float mavlink_msg_point_of_interest_connection_get_yp2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  16);
-}
-
-/**
- * @brief Get field zp2 from point_of_interest_connection message
- *
- * @return Z2 Position
- */
-static inline float mavlink_msg_point_of_interest_connection_get_zp2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  20);
-}
-
-/**
- * @brief Get field name from point_of_interest_connection message
- *
- * @return POI connection name
- */
-static inline uint16_t mavlink_msg_point_of_interest_connection_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 26,  29);
-}
-
-/**
- * @brief Decode a point_of_interest_connection message into a struct
- *
- * @param msg The message to decode
- * @param point_of_interest_connection C-struct to decode the message contents into
- */
-static inline void mavlink_msg_point_of_interest_connection_decode(const mavlink_message_t* msg, mavlink_point_of_interest_connection_t* point_of_interest_connection)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	point_of_interest_connection->xp1 = mavlink_msg_point_of_interest_connection_get_xp1(msg);
-	point_of_interest_connection->yp1 = mavlink_msg_point_of_interest_connection_get_yp1(msg);
-	point_of_interest_connection->zp1 = mavlink_msg_point_of_interest_connection_get_zp1(msg);
-	point_of_interest_connection->xp2 = mavlink_msg_point_of_interest_connection_get_xp2(msg);
-	point_of_interest_connection->yp2 = mavlink_msg_point_of_interest_connection_get_yp2(msg);
-	point_of_interest_connection->zp2 = mavlink_msg_point_of_interest_connection_get_zp2(msg);
-	point_of_interest_connection->timeout = mavlink_msg_point_of_interest_connection_get_timeout(msg);
-	point_of_interest_connection->type = mavlink_msg_point_of_interest_connection_get_type(msg);
-	point_of_interest_connection->color = mavlink_msg_point_of_interest_connection_get_color(msg);
-	point_of_interest_connection->coordinate_system = mavlink_msg_point_of_interest_connection_get_coordinate_system(msg);
-	mavlink_msg_point_of_interest_connection_get_name(msg, point_of_interest_connection->name);
-#else
-	memcpy(point_of_interest_connection, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h
deleted file mode 100644
index 6f4ca510a..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_position_control_setpoint.h
+++ /dev/null
@@ -1,265 +0,0 @@
-// MESSAGE POSITION_CONTROL_SETPOINT PACKING
-
-#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT 170
-
-typedef struct __mavlink_position_control_setpoint_t
-{
- float x; ///< x position
- float y; ///< y position
- float z; ///< z position
- float yaw; ///< yaw orientation in radians, 0 = NORTH
- uint16_t id; ///< ID of waypoint, 0 for plain position
-} mavlink_position_control_setpoint_t;
-
-#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN 18
-#define MAVLINK_MSG_ID_170_LEN 18
-
-#define MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC 28
-#define MAVLINK_MSG_ID_170_CRC 28
-
-
-
-#define MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT { \
-	"POSITION_CONTROL_SETPOINT", \
-	5, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_position_control_setpoint_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_control_setpoint_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_control_setpoint_t, z) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_control_setpoint_t, yaw) }, \
-         { "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_position_control_setpoint_t, id) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a position_control_setpoint 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 id ID of waypoint, 0 for plain position
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw yaw orientation in radians, 0 = NORTH
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_position_control_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t id, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint16_t(buf, 16, id);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#else
-	mavlink_position_control_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.id = id;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a position_control_setpoint 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param id ID of waypoint, 0 for plain position
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw yaw orientation in radians, 0 = NORTH
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_position_control_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t id,float x,float y,float z,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint16_t(buf, 16, id);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#else
-	mavlink_position_control_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.id = id;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a position_control_setpoint struct
- *
- * @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 position_control_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_position_control_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
-{
-	return mavlink_msg_position_control_setpoint_pack(system_id, component_id, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
-}
-
-/**
- * @brief Encode a position_control_setpoint struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param position_control_setpoint C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_position_control_setpoint_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_control_setpoint_t* position_control_setpoint)
-{
-	return mavlink_msg_position_control_setpoint_pack_chan(system_id, component_id, chan, msg, position_control_setpoint->id, position_control_setpoint->x, position_control_setpoint->y, position_control_setpoint->z, position_control_setpoint->yaw);
-}
-
-/**
- * @brief Send a position_control_setpoint message
- * @param chan MAVLink channel to send the message
- *
- * @param id ID of waypoint, 0 for plain position
- * @param x x position
- * @param y y position
- * @param z z position
- * @param yaw yaw orientation in radians, 0 = NORTH
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_position_control_setpoint_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint16_t(buf, 16, id);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, buf, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-#else
-	mavlink_position_control_setpoint_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.id = id;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT, (const char *)&packet, MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE POSITION_CONTROL_SETPOINT UNPACKING
-
-
-/**
- * @brief Get field id from position_control_setpoint message
- *
- * @return ID of waypoint, 0 for plain position
- */
-static inline uint16_t mavlink_msg_position_control_setpoint_get_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  16);
-}
-
-/**
- * @brief Get field x from position_control_setpoint message
- *
- * @return x position
- */
-static inline float mavlink_msg_position_control_setpoint_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from position_control_setpoint message
- *
- * @return y position
- */
-static inline float mavlink_msg_position_control_setpoint_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from position_control_setpoint message
- *
- * @return z position
- */
-static inline float mavlink_msg_position_control_setpoint_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from position_control_setpoint message
- *
- * @return yaw orientation in radians, 0 = NORTH
- */
-static inline float mavlink_msg_position_control_setpoint_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a position_control_setpoint message into a struct
- *
- * @param msg The message to decode
- * @param position_control_setpoint C-struct to decode the message contents into
- */
-static inline void mavlink_msg_position_control_setpoint_decode(const mavlink_message_t* msg, mavlink_position_control_setpoint_t* position_control_setpoint)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	position_control_setpoint->x = mavlink_msg_position_control_setpoint_get_x(msg);
-	position_control_setpoint->y = mavlink_msg_position_control_setpoint_get_y(msg);
-	position_control_setpoint->z = mavlink_msg_position_control_setpoint_get_z(msg);
-	position_control_setpoint->yaw = mavlink_msg_position_control_setpoint_get_yaw(msg);
-	position_control_setpoint->id = mavlink_msg_position_control_setpoint_get_id(msg);
-#else
-	memcpy(position_control_setpoint, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_POSITION_CONTROL_SETPOINT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h
deleted file mode 100644
index 08cedbb4b..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_raw_aux.h
+++ /dev/null
@@ -1,309 +0,0 @@
-// MESSAGE RAW_AUX PACKING
-
-#define MAVLINK_MSG_ID_RAW_AUX 172
-
-typedef struct __mavlink_raw_aux_t
-{
- int32_t baro; ///< Barometric pressure (hecto Pascal)
- uint16_t adc1; ///< ADC1 (J405 ADC3, LPC2148 AD0.6)
- uint16_t adc2; ///< ADC2 (J405 ADC5, LPC2148 AD0.2)
- uint16_t adc3; ///< ADC3 (J405 ADC6, LPC2148 AD0.1)
- uint16_t adc4; ///< ADC4 (J405 ADC7, LPC2148 AD1.3)
- uint16_t vbat; ///< Battery voltage
- int16_t temp; ///< Temperature (degrees celcius)
-} mavlink_raw_aux_t;
-
-#define MAVLINK_MSG_ID_RAW_AUX_LEN 16
-#define MAVLINK_MSG_ID_172_LEN 16
-
-#define MAVLINK_MSG_ID_RAW_AUX_CRC 182
-#define MAVLINK_MSG_ID_172_CRC 182
-
-
-
-#define MAVLINK_MESSAGE_INFO_RAW_AUX { \
-	"RAW_AUX", \
-	7, \
-	{  { "baro", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_raw_aux_t, baro) }, \
-         { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_raw_aux_t, adc1) }, \
-         { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_raw_aux_t, adc2) }, \
-         { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_raw_aux_t, adc3) }, \
-         { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_raw_aux_t, adc4) }, \
-         { "vbat", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_raw_aux_t, vbat) }, \
-         { "temp", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_aux_t, temp) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a raw_aux 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 adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
- * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
- * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
- * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
- * @param vbat Battery voltage
- * @param temp Temperature (degrees celcius)
- * @param baro Barometric pressure (hecto Pascal)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_raw_aux_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_AUX_LEN];
-	_mav_put_int32_t(buf, 0, baro);
-	_mav_put_uint16_t(buf, 4, adc1);
-	_mav_put_uint16_t(buf, 6, adc2);
-	_mav_put_uint16_t(buf, 8, adc3);
-	_mav_put_uint16_t(buf, 10, adc4);
-	_mav_put_uint16_t(buf, 12, vbat);
-	_mav_put_int16_t(buf, 14, temp);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#else
-	mavlink_raw_aux_t packet;
-	packet.baro = baro;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.vbat = vbat;
-	packet.temp = temp;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-}
-
-/**
- * @brief Pack a raw_aux 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
- * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
- * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
- * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
- * @param vbat Battery voltage
- * @param temp Temperature (degrees celcius)
- * @param baro Barometric pressure (hecto Pascal)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_raw_aux_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t vbat,int16_t temp,int32_t baro)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_AUX_LEN];
-	_mav_put_int32_t(buf, 0, baro);
-	_mav_put_uint16_t(buf, 4, adc1);
-	_mav_put_uint16_t(buf, 6, adc2);
-	_mav_put_uint16_t(buf, 8, adc3);
-	_mav_put_uint16_t(buf, 10, adc4);
-	_mav_put_uint16_t(buf, 12, vbat);
-	_mav_put_int16_t(buf, 14, temp);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#else
-	mavlink_raw_aux_t packet;
-	packet.baro = baro;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.vbat = vbat;
-	packet.temp = temp;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_RAW_AUX;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-}
-
-/**
- * @brief Encode a raw_aux struct
- *
- * @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 raw_aux C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_raw_aux_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_aux_t* raw_aux)
-{
-	return mavlink_msg_raw_aux_pack(system_id, component_id, msg, raw_aux->adc1, raw_aux->adc2, raw_aux->adc3, raw_aux->adc4, raw_aux->vbat, raw_aux->temp, raw_aux->baro);
-}
-
-/**
- * @brief Encode a raw_aux struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param raw_aux C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_raw_aux_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_aux_t* raw_aux)
-{
-	return mavlink_msg_raw_aux_pack_chan(system_id, component_id, chan, msg, raw_aux->adc1, raw_aux->adc2, raw_aux->adc3, raw_aux->adc4, raw_aux->vbat, raw_aux->temp, raw_aux->baro);
-}
-
-/**
- * @brief Send a raw_aux message
- * @param chan MAVLink channel to send the message
- *
- * @param adc1 ADC1 (J405 ADC3, LPC2148 AD0.6)
- * @param adc2 ADC2 (J405 ADC5, LPC2148 AD0.2)
- * @param adc3 ADC3 (J405 ADC6, LPC2148 AD0.1)
- * @param adc4 ADC4 (J405 ADC7, LPC2148 AD1.3)
- * @param vbat Battery voltage
- * @param temp Temperature (degrees celcius)
- * @param baro Barometric pressure (hecto Pascal)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_raw_aux_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t vbat, int16_t temp, int32_t baro)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_RAW_AUX_LEN];
-	_mav_put_int32_t(buf, 0, baro);
-	_mav_put_uint16_t(buf, 4, adc1);
-	_mav_put_uint16_t(buf, 6, adc2);
-	_mav_put_uint16_t(buf, 8, adc3);
-	_mav_put_uint16_t(buf, 10, adc4);
-	_mav_put_uint16_t(buf, 12, vbat);
-	_mav_put_int16_t(buf, 14, temp);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, buf, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-#else
-	mavlink_raw_aux_t packet;
-	packet.baro = baro;
-	packet.adc1 = adc1;
-	packet.adc2 = adc2;
-	packet.adc3 = adc3;
-	packet.adc4 = adc4;
-	packet.vbat = vbat;
-	packet.temp = temp;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)&packet, MAVLINK_MSG_ID_RAW_AUX_LEN, MAVLINK_MSG_ID_RAW_AUX_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_AUX, (const char *)&packet, MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE RAW_AUX UNPACKING
-
-
-/**
- * @brief Get field adc1 from raw_aux message
- *
- * @return ADC1 (J405 ADC3, LPC2148 AD0.6)
- */
-static inline uint16_t mavlink_msg_raw_aux_get_adc1(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field adc2 from raw_aux message
- *
- * @return ADC2 (J405 ADC5, LPC2148 AD0.2)
- */
-static inline uint16_t mavlink_msg_raw_aux_get_adc2(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field adc3 from raw_aux message
- *
- * @return ADC3 (J405 ADC6, LPC2148 AD0.1)
- */
-static inline uint16_t mavlink_msg_raw_aux_get_adc3(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Get field adc4 from raw_aux message
- *
- * @return ADC4 (J405 ADC7, LPC2148 AD1.3)
- */
-static inline uint16_t mavlink_msg_raw_aux_get_adc4(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  10);
-}
-
-/**
- * @brief Get field vbat from raw_aux message
- *
- * @return Battery voltage
- */
-static inline uint16_t mavlink_msg_raw_aux_get_vbat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field temp from raw_aux message
- *
- * @return Temperature (degrees celcius)
- */
-static inline int16_t mavlink_msg_raw_aux_get_temp(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  14);
-}
-
-/**
- * @brief Get field baro from raw_aux message
- *
- * @return Barometric pressure (hecto Pascal)
- */
-static inline int32_t mavlink_msg_raw_aux_get_baro(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Decode a raw_aux message into a struct
- *
- * @param msg The message to decode
- * @param raw_aux C-struct to decode the message contents into
- */
-static inline void mavlink_msg_raw_aux_decode(const mavlink_message_t* msg, mavlink_raw_aux_t* raw_aux)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	raw_aux->baro = mavlink_msg_raw_aux_get_baro(msg);
-	raw_aux->adc1 = mavlink_msg_raw_aux_get_adc1(msg);
-	raw_aux->adc2 = mavlink_msg_raw_aux_get_adc2(msg);
-	raw_aux->adc3 = mavlink_msg_raw_aux_get_adc3(msg);
-	raw_aux->adc4 = mavlink_msg_raw_aux_get_adc4(msg);
-	raw_aux->vbat = mavlink_msg_raw_aux_get_vbat(msg);
-	raw_aux->temp = mavlink_msg_raw_aux_get_temp(msg);
-#else
-	memcpy(raw_aux, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RAW_AUX_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h
deleted file mode 100644
index b26d748c2..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_cam_shutter.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE SET_CAM_SHUTTER PACKING
-
-#define MAVLINK_MSG_ID_SET_CAM_SHUTTER 151
-
-typedef struct __mavlink_set_cam_shutter_t
-{
- float gain; ///< Camera gain
- uint16_t interval; ///< Shutter interval, in microseconds
- uint16_t exposure; ///< Exposure time, in microseconds
- uint8_t cam_no; ///< Camera id
- uint8_t cam_mode; ///< Camera mode: 0 = auto, 1 = manual
- uint8_t trigger_pin; ///< Trigger pin, 0-3 for PtGrey FireFly
-} mavlink_set_cam_shutter_t;
-
-#define MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN 11
-#define MAVLINK_MSG_ID_151_LEN 11
-
-#define MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC 108
-#define MAVLINK_MSG_ID_151_CRC 108
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER { \
-	"SET_CAM_SHUTTER", \
-	6, \
-	{  { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_cam_shutter_t, gain) }, \
-         { "interval", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_set_cam_shutter_t, interval) }, \
-         { "exposure", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_set_cam_shutter_t, exposure) }, \
-         { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_set_cam_shutter_t, cam_no) }, \
-         { "cam_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 9, offsetof(mavlink_set_cam_shutter_t, cam_mode) }, \
-         { "trigger_pin", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_set_cam_shutter_t, trigger_pin) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_cam_shutter 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 cam_no Camera id
- * @param cam_mode Camera mode: 0 = auto, 1 = manual
- * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
- * @param interval Shutter interval, in microseconds
- * @param exposure Exposure time, in microseconds
- * @param gain Camera gain
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_cam_shutter_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN];
-	_mav_put_float(buf, 0, gain);
-	_mav_put_uint16_t(buf, 4, interval);
-	_mav_put_uint16_t(buf, 6, exposure);
-	_mav_put_uint8_t(buf, 8, cam_no);
-	_mav_put_uint8_t(buf, 9, cam_mode);
-	_mav_put_uint8_t(buf, 10, trigger_pin);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#else
-	mavlink_set_cam_shutter_t packet;
-	packet.gain = gain;
-	packet.interval = interval;
-	packet.exposure = exposure;
-	packet.cam_no = cam_no;
-	packet.cam_mode = cam_mode;
-	packet.trigger_pin = trigger_pin;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN, MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_cam_shutter 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param cam_no Camera id
- * @param cam_mode Camera mode: 0 = auto, 1 = manual
- * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
- * @param interval Shutter interval, in microseconds
- * @param exposure Exposure time, in microseconds
- * @param gain Camera gain
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_cam_shutter_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t cam_no,uint8_t cam_mode,uint8_t trigger_pin,uint16_t interval,uint16_t exposure,float gain)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN];
-	_mav_put_float(buf, 0, gain);
-	_mav_put_uint16_t(buf, 4, interval);
-	_mav_put_uint16_t(buf, 6, exposure);
-	_mav_put_uint8_t(buf, 8, cam_no);
-	_mav_put_uint8_t(buf, 9, cam_mode);
-	_mav_put_uint8_t(buf, 10, trigger_pin);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#else
-	mavlink_set_cam_shutter_t packet;
-	packet.gain = gain;
-	packet.interval = interval;
-	packet.exposure = exposure;
-	packet.cam_no = cam_no;
-	packet.cam_mode = cam_mode;
-	packet.trigger_pin = trigger_pin;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_CAM_SHUTTER;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN, MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_cam_shutter struct
- *
- * @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 set_cam_shutter C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_cam_shutter_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter)
-{
-	return mavlink_msg_set_cam_shutter_pack(system_id, component_id, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain);
-}
-
-/**
- * @brief Encode a set_cam_shutter struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_cam_shutter C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_cam_shutter_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_cam_shutter_t* set_cam_shutter)
-{
-	return mavlink_msg_set_cam_shutter_pack_chan(system_id, component_id, chan, msg, set_cam_shutter->cam_no, set_cam_shutter->cam_mode, set_cam_shutter->trigger_pin, set_cam_shutter->interval, set_cam_shutter->exposure, set_cam_shutter->gain);
-}
-
-/**
- * @brief Send a set_cam_shutter message
- * @param chan MAVLink channel to send the message
- *
- * @param cam_no Camera id
- * @param cam_mode Camera mode: 0 = auto, 1 = manual
- * @param trigger_pin Trigger pin, 0-3 for PtGrey FireFly
- * @param interval Shutter interval, in microseconds
- * @param exposure Exposure time, in microseconds
- * @param gain Camera gain
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_cam_shutter_send(mavlink_channel_t chan, uint8_t cam_no, uint8_t cam_mode, uint8_t trigger_pin, uint16_t interval, uint16_t exposure, float gain)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN];
-	_mav_put_float(buf, 0, gain);
-	_mav_put_uint16_t(buf, 4, interval);
-	_mav_put_uint16_t(buf, 6, exposure);
-	_mav_put_uint8_t(buf, 8, cam_no);
-	_mav_put_uint8_t(buf, 9, cam_mode);
-	_mav_put_uint8_t(buf, 10, trigger_pin);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN, MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, buf, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-#else
-	mavlink_set_cam_shutter_t packet;
-	packet.gain = gain;
-	packet.interval = interval;
-	packet.exposure = exposure;
-	packet.cam_no = cam_no;
-	packet.cam_mode = cam_mode;
-	packet.trigger_pin = trigger_pin;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)&packet, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN, MAVLINK_MSG_ID_SET_CAM_SHUTTER_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_CAM_SHUTTER, (const char *)&packet, MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_CAM_SHUTTER UNPACKING
-
-
-/**
- * @brief Get field cam_no from set_cam_shutter message
- *
- * @return Camera id
- */
-static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_no(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  8);
-}
-
-/**
- * @brief Get field cam_mode from set_cam_shutter message
- *
- * @return Camera mode: 0 = auto, 1 = manual
- */
-static inline uint8_t mavlink_msg_set_cam_shutter_get_cam_mode(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  9);
-}
-
-/**
- * @brief Get field trigger_pin from set_cam_shutter message
- *
- * @return Trigger pin, 0-3 for PtGrey FireFly
- */
-static inline uint8_t mavlink_msg_set_cam_shutter_get_trigger_pin(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field interval from set_cam_shutter message
- *
- * @return Shutter interval, in microseconds
- */
-static inline uint16_t mavlink_msg_set_cam_shutter_get_interval(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field exposure from set_cam_shutter message
- *
- * @return Exposure time, in microseconds
- */
-static inline uint16_t mavlink_msg_set_cam_shutter_get_exposure(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field gain from set_cam_shutter message
- *
- * @return Camera gain
- */
-static inline float mavlink_msg_set_cam_shutter_get_gain(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a set_cam_shutter message into a struct
- *
- * @param msg The message to decode
- * @param set_cam_shutter C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_cam_shutter_decode(const mavlink_message_t* msg, mavlink_set_cam_shutter_t* set_cam_shutter)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_cam_shutter->gain = mavlink_msg_set_cam_shutter_get_gain(msg);
-	set_cam_shutter->interval = mavlink_msg_set_cam_shutter_get_interval(msg);
-	set_cam_shutter->exposure = mavlink_msg_set_cam_shutter_get_exposure(msg);
-	set_cam_shutter->cam_no = mavlink_msg_set_cam_shutter_get_cam_no(msg);
-	set_cam_shutter->cam_mode = mavlink_msg_set_cam_shutter_get_cam_mode(msg);
-	set_cam_shutter->trigger_pin = mavlink_msg_set_cam_shutter_get_trigger_pin(msg);
-#else
-	memcpy(set_cam_shutter, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_CAM_SHUTTER_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h
deleted file mode 100644
index f1f9e698f..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_set_position_control_offset.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE SET_POSITION_CONTROL_OFFSET PACKING
-
-#define MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET 160
-
-typedef struct __mavlink_set_position_control_offset_t
-{
- float x; ///< x position offset
- float y; ///< y position offset
- float z; ///< z position offset
- float yaw; ///< yaw orientation offset in radians, 0 = NORTH
- uint8_t target_system; ///< System ID
- uint8_t target_component; ///< Component ID
-} mavlink_set_position_control_offset_t;
-
-#define MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN 18
-#define MAVLINK_MSG_ID_160_LEN 18
-
-#define MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC 22
-#define MAVLINK_MSG_ID_160_CRC 22
-
-
-
-#define MAVLINK_MESSAGE_INFO_SET_POSITION_CONTROL_OFFSET { \
-	"SET_POSITION_CONTROL_OFFSET", \
-	6, \
-	{  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_position_control_offset_t, x) }, \
-         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_position_control_offset_t, y) }, \
-         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_position_control_offset_t, z) }, \
-         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_position_control_offset_t, yaw) }, \
-         { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_position_control_offset_t, target_system) }, \
-         { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_position_control_offset_t, target_component) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a set_position_control_offset 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 target_system System ID
- * @param target_component Component ID
- * @param x x position offset
- * @param y y position offset
- * @param z z position offset
- * @param yaw yaw orientation offset in radians, 0 = NORTH
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_position_control_offset_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#else
-	mavlink_set_position_control_offset_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-}
-
-/**
- * @brief Pack a set_position_control_offset 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system System ID
- * @param target_component Component ID
- * @param x x position offset
- * @param y y position offset
- * @param z z position offset
- * @param yaw yaw orientation offset in radians, 0 = NORTH
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_set_position_control_offset_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system,uint8_t target_component,float x,float y,float z,float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#else
-	mavlink_set_position_control_offset_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-}
-
-/**
- * @brief Encode a set_position_control_offset struct
- *
- * @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 set_position_control_offset C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_position_control_offset_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_position_control_offset_t* set_position_control_offset)
-{
-	return mavlink_msg_set_position_control_offset_pack(system_id, component_id, msg, set_position_control_offset->target_system, set_position_control_offset->target_component, set_position_control_offset->x, set_position_control_offset->y, set_position_control_offset->z, set_position_control_offset->yaw);
-}
-
-/**
- * @brief Encode a set_position_control_offset struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param set_position_control_offset C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_set_position_control_offset_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_position_control_offset_t* set_position_control_offset)
-{
-	return mavlink_msg_set_position_control_offset_pack_chan(system_id, component_id, chan, msg, set_position_control_offset->target_system, set_position_control_offset->target_component, set_position_control_offset->x, set_position_control_offset->y, set_position_control_offset->z, set_position_control_offset->yaw);
-}
-
-/**
- * @brief Send a set_position_control_offset message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system System ID
- * @param target_component Component ID
- * @param x x position offset
- * @param y y position offset
- * @param z z position offset
- * @param yaw yaw orientation offset in radians, 0 = NORTH
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_set_position_control_offset_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float x, float y, float z, float yaw)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN];
-	_mav_put_float(buf, 0, x);
-	_mav_put_float(buf, 4, y);
-	_mav_put_float(buf, 8, z);
-	_mav_put_float(buf, 12, yaw);
-	_mav_put_uint8_t(buf, 16, target_system);
-	_mav_put_uint8_t(buf, 17, target_component);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, buf, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, buf, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-#else
-	mavlink_set_position_control_offset_t packet;
-	packet.x = x;
-	packet.y = y;
-	packet.z = z;
-	packet.yaw = yaw;
-	packet.target_system = target_system;
-	packet.target_component = target_component;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET, (const char *)&packet, MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SET_POSITION_CONTROL_OFFSET UNPACKING
-
-
-/**
- * @brief Get field target_system from set_position_control_offset message
- *
- * @return System ID
- */
-static inline uint8_t mavlink_msg_set_position_control_offset_get_target_system(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  16);
-}
-
-/**
- * @brief Get field target_component from set_position_control_offset message
- *
- * @return Component ID
- */
-static inline uint8_t mavlink_msg_set_position_control_offset_get_target_component(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  17);
-}
-
-/**
- * @brief Get field x from set_position_control_offset message
- *
- * @return x position offset
- */
-static inline float mavlink_msg_set_position_control_offset_get_x(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field y from set_position_control_offset message
- *
- * @return y position offset
- */
-static inline float mavlink_msg_set_position_control_offset_get_y(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field z from set_position_control_offset message
- *
- * @return z position offset
- */
-static inline float mavlink_msg_set_position_control_offset_get_z(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Get field yaw from set_position_control_offset message
- *
- * @return yaw orientation offset in radians, 0 = NORTH
- */
-static inline float mavlink_msg_set_position_control_offset_get_yaw(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  12);
-}
-
-/**
- * @brief Decode a set_position_control_offset message into a struct
- *
- * @param msg The message to decode
- * @param set_position_control_offset C-struct to decode the message contents into
- */
-static inline void mavlink_msg_set_position_control_offset_decode(const mavlink_message_t* msg, mavlink_set_position_control_offset_t* set_position_control_offset)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	set_position_control_offset->x = mavlink_msg_set_position_control_offset_get_x(msg);
-	set_position_control_offset->y = mavlink_msg_set_position_control_offset_get_y(msg);
-	set_position_control_offset->z = mavlink_msg_set_position_control_offset_get_z(msg);
-	set_position_control_offset->yaw = mavlink_msg_set_position_control_offset_get_yaw(msg);
-	set_position_control_offset->target_system = mavlink_msg_set_position_control_offset_get_target_system(msg);
-	set_position_control_offset->target_component = mavlink_msg_set_position_control_offset_get_target_component(msg);
-#else
-	memcpy(set_position_control_offset, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SET_POSITION_CONTROL_OFFSET_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h
deleted file mode 100644
index 9458087da..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_command.h
+++ /dev/null
@@ -1,243 +0,0 @@
-// MESSAGE WATCHDOG_COMMAND PACKING
-
-#define MAVLINK_MSG_ID_WATCHDOG_COMMAND 183
-
-typedef struct __mavlink_watchdog_command_t
-{
- uint16_t watchdog_id; ///< Watchdog ID
- uint16_t process_id; ///< Process ID
- uint8_t target_system_id; ///< Target system ID
- uint8_t command_id; ///< Command ID
-} mavlink_watchdog_command_t;
-
-#define MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN 6
-#define MAVLINK_MSG_ID_183_LEN 6
-
-#define MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC 162
-#define MAVLINK_MSG_ID_183_CRC 162
-
-
-
-#define MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND { \
-	"WATCHDOG_COMMAND", \
-	4, \
-	{  { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_command_t, watchdog_id) }, \
-         { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_command_t, process_id) }, \
-         { "target_system_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_watchdog_command_t, target_system_id) }, \
-         { "command_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_watchdog_command_t, command_id) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a watchdog_command 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 target_system_id Target system ID
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param command_id Command ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN];
-	_mav_put_uint16_t(buf, 0, watchdog_id);
-	_mav_put_uint16_t(buf, 2, process_id);
-	_mav_put_uint8_t(buf, 4, target_system_id);
-	_mav_put_uint8_t(buf, 5, command_id);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#else
-	mavlink_watchdog_command_t packet;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	packet.target_system_id = target_system_id;
-	packet.command_id = command_id;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN, MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-}
-
-/**
- * @brief Pack a watchdog_command 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target_system_id Target system ID
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param command_id Command ID
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target_system_id,uint16_t watchdog_id,uint16_t process_id,uint8_t command_id)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN];
-	_mav_put_uint16_t(buf, 0, watchdog_id);
-	_mav_put_uint16_t(buf, 2, process_id);
-	_mav_put_uint8_t(buf, 4, target_system_id);
-	_mav_put_uint8_t(buf, 5, command_id);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#else
-	mavlink_watchdog_command_t packet;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	packet.target_system_id = target_system_id;
-	packet.command_id = command_id;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_COMMAND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN, MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-}
-
-/**
- * @brief Encode a watchdog_command struct
- *
- * @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 watchdog_command C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_command_t* watchdog_command)
-{
-	return mavlink_msg_watchdog_command_pack(system_id, component_id, msg, watchdog_command->target_system_id, watchdog_command->watchdog_id, watchdog_command->process_id, watchdog_command->command_id);
-}
-
-/**
- * @brief Encode a watchdog_command struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_command C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_command_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_watchdog_command_t* watchdog_command)
-{
-	return mavlink_msg_watchdog_command_pack_chan(system_id, component_id, chan, msg, watchdog_command->target_system_id, watchdog_command->watchdog_id, watchdog_command->process_id, watchdog_command->command_id);
-}
-
-/**
- * @brief Send a watchdog_command message
- * @param chan MAVLink channel to send the message
- *
- * @param target_system_id Target system ID
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param command_id Command ID
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_watchdog_command_send(mavlink_channel_t chan, uint8_t target_system_id, uint16_t watchdog_id, uint16_t process_id, uint8_t command_id)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN];
-	_mav_put_uint16_t(buf, 0, watchdog_id);
-	_mav_put_uint16_t(buf, 2, process_id);
-	_mav_put_uint8_t(buf, 4, target_system_id);
-	_mav_put_uint8_t(buf, 5, command_id);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, buf, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN, MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, buf, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-#else
-	mavlink_watchdog_command_t packet;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	packet.target_system_id = target_system_id;
-	packet.command_id = command_id;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN, MAVLINK_MSG_ID_WATCHDOG_COMMAND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_COMMAND, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE WATCHDOG_COMMAND UNPACKING
-
-
-/**
- * @brief Get field target_system_id from watchdog_command message
- *
- * @return Target system ID
- */
-static inline uint8_t mavlink_msg_watchdog_command_get_target_system_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field watchdog_id from watchdog_command message
- *
- * @return Watchdog ID
- */
-static inline uint16_t mavlink_msg_watchdog_command_get_watchdog_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field process_id from watchdog_command message
- *
- * @return Process ID
- */
-static inline uint16_t mavlink_msg_watchdog_command_get_process_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Get field command_id from watchdog_command message
- *
- * @return Command ID
- */
-static inline uint8_t mavlink_msg_watchdog_command_get_command_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  5);
-}
-
-/**
- * @brief Decode a watchdog_command message into a struct
- *
- * @param msg The message to decode
- * @param watchdog_command C-struct to decode the message contents into
- */
-static inline void mavlink_msg_watchdog_command_decode(const mavlink_message_t* msg, mavlink_watchdog_command_t* watchdog_command)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	watchdog_command->watchdog_id = mavlink_msg_watchdog_command_get_watchdog_id(msg);
-	watchdog_command->process_id = mavlink_msg_watchdog_command_get_process_id(msg);
-	watchdog_command->target_system_id = mavlink_msg_watchdog_command_get_target_system_id(msg);
-	watchdog_command->command_id = mavlink_msg_watchdog_command_get_command_id(msg);
-#else
-	memcpy(watchdog_command, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_WATCHDOG_COMMAND_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h
deleted file mode 100644
index 3f4295ee5..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_heartbeat.h
+++ /dev/null
@@ -1,199 +0,0 @@
-// MESSAGE WATCHDOG_HEARTBEAT PACKING
-
-#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT 180
-
-typedef struct __mavlink_watchdog_heartbeat_t
-{
- uint16_t watchdog_id; ///< Watchdog ID
- uint16_t process_count; ///< Number of processes
-} mavlink_watchdog_heartbeat_t;
-
-#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN 4
-#define MAVLINK_MSG_ID_180_LEN 4
-
-#define MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC 153
-#define MAVLINK_MSG_ID_180_CRC 153
-
-
-
-#define MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT { \
-	"WATCHDOG_HEARTBEAT", \
-	2, \
-	{  { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_watchdog_heartbeat_t, watchdog_id) }, \
-         { "process_count", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_watchdog_heartbeat_t, process_count) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a watchdog_heartbeat 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 watchdog_id Watchdog ID
- * @param process_count Number of processes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_heartbeat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t watchdog_id, uint16_t process_count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN];
-	_mav_put_uint16_t(buf, 0, watchdog_id);
-	_mav_put_uint16_t(buf, 2, process_count);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#else
-	mavlink_watchdog_heartbeat_t packet;
-	packet.watchdog_id = watchdog_id;
-	packet.process_count = process_count;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a watchdog_heartbeat 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_id Watchdog ID
- * @param process_count Number of processes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_heartbeat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t watchdog_id,uint16_t process_count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN];
-	_mav_put_uint16_t(buf, 0, watchdog_id);
-	_mav_put_uint16_t(buf, 2, process_count);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#else
-	mavlink_watchdog_heartbeat_t packet;
-	packet.watchdog_id = watchdog_id;
-	packet.process_count = process_count;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a watchdog_heartbeat struct
- *
- * @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 watchdog_heartbeat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_heartbeat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat)
-{
-	return mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count);
-}
-
-/**
- * @brief Encode a watchdog_heartbeat struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_heartbeat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_heartbeat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_watchdog_heartbeat_t* watchdog_heartbeat)
-{
-	return mavlink_msg_watchdog_heartbeat_pack_chan(system_id, component_id, chan, msg, watchdog_heartbeat->watchdog_id, watchdog_heartbeat->process_count);
-}
-
-/**
- * @brief Send a watchdog_heartbeat message
- * @param chan MAVLink channel to send the message
- *
- * @param watchdog_id Watchdog ID
- * @param process_count Number of processes
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_watchdog_heartbeat_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_count)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN];
-	_mav_put_uint16_t(buf, 0, watchdog_id);
-	_mav_put_uint16_t(buf, 2, process_count);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, buf, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-#else
-	mavlink_watchdog_heartbeat_t packet;
-	packet.watchdog_id = watchdog_id;
-	packet.process_count = process_count;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE WATCHDOG_HEARTBEAT UNPACKING
-
-
-/**
- * @brief Get field watchdog_id from watchdog_heartbeat message
- *
- * @return Watchdog ID
- */
-static inline uint16_t mavlink_msg_watchdog_heartbeat_get_watchdog_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  0);
-}
-
-/**
- * @brief Get field process_count from watchdog_heartbeat message
- *
- * @return Number of processes
- */
-static inline uint16_t mavlink_msg_watchdog_heartbeat_get_process_count(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  2);
-}
-
-/**
- * @brief Decode a watchdog_heartbeat message into a struct
- *
- * @param msg The message to decode
- * @param watchdog_heartbeat C-struct to decode the message contents into
- */
-static inline void mavlink_msg_watchdog_heartbeat_decode(const mavlink_message_t* msg, mavlink_watchdog_heartbeat_t* watchdog_heartbeat)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	watchdog_heartbeat->watchdog_id = mavlink_msg_watchdog_heartbeat_get_watchdog_id(msg);
-	watchdog_heartbeat->process_count = mavlink_msg_watchdog_heartbeat_get_process_count(msg);
-#else
-	memcpy(watchdog_heartbeat, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_WATCHDOG_HEARTBEAT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h
deleted file mode 100644
index 55853cdde..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_info.h
+++ /dev/null
@@ -1,260 +0,0 @@
-// MESSAGE WATCHDOG_PROCESS_INFO PACKING
-
-#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO 181
-
-typedef struct __mavlink_watchdog_process_info_t
-{
- int32_t timeout; ///< Timeout (seconds)
- uint16_t watchdog_id; ///< Watchdog ID
- uint16_t process_id; ///< Process ID
- char name[100]; ///< Process name
- char arguments[147]; ///< Process arguments
-} mavlink_watchdog_process_info_t;
-
-#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN 255
-#define MAVLINK_MSG_ID_181_LEN 255
-
-#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC 16
-#define MAVLINK_MSG_ID_181_CRC 16
-
-#define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_NAME_LEN 100
-#define MAVLINK_MSG_WATCHDOG_PROCESS_INFO_FIELD_ARGUMENTS_LEN 147
-
-#define MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO { \
-	"WATCHDOG_PROCESS_INFO", \
-	5, \
-	{  { "timeout", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_watchdog_process_info_t, timeout) }, \
-         { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_watchdog_process_info_t, watchdog_id) }, \
-         { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_watchdog_process_info_t, process_id) }, \
-         { "name", NULL, MAVLINK_TYPE_CHAR, 100, 8, offsetof(mavlink_watchdog_process_info_t, name) }, \
-         { "arguments", NULL, MAVLINK_TYPE_CHAR, 147, 108, offsetof(mavlink_watchdog_process_info_t, arguments) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a watchdog_process_info 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 watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param name Process name
- * @param arguments Process arguments
- * @param timeout Timeout (seconds)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN];
-	_mav_put_int32_t(buf, 0, timeout);
-	_mav_put_uint16_t(buf, 4, watchdog_id);
-	_mav_put_uint16_t(buf, 6, process_id);
-	_mav_put_char_array(buf, 8, name, 100);
-	_mav_put_char_array(buf, 108, arguments, 147);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#else
-	mavlink_watchdog_process_info_t packet;
-	packet.timeout = timeout;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	mav_array_memcpy(packet.name, name, sizeof(char)*100);
-	mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-}
-
-/**
- * @brief Pack a watchdog_process_info 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param name Process name
- * @param arguments Process arguments
- * @param timeout Timeout (seconds)
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t watchdog_id,uint16_t process_id,const char *name,const char *arguments,int32_t timeout)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN];
-	_mav_put_int32_t(buf, 0, timeout);
-	_mav_put_uint16_t(buf, 4, watchdog_id);
-	_mav_put_uint16_t(buf, 6, process_id);
-	_mav_put_char_array(buf, 8, name, 100);
-	_mav_put_char_array(buf, 108, arguments, 147);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#else
-	mavlink_watchdog_process_info_t packet;
-	packet.timeout = timeout;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	mav_array_memcpy(packet.name, name, sizeof(char)*100);
-	mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-}
-
-/**
- * @brief Encode a watchdog_process_info struct
- *
- * @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 watchdog_process_info C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_info_t* watchdog_process_info)
-{
-	return mavlink_msg_watchdog_process_info_pack(system_id, component_id, msg, watchdog_process_info->watchdog_id, watchdog_process_info->process_id, watchdog_process_info->name, watchdog_process_info->arguments, watchdog_process_info->timeout);
-}
-
-/**
- * @brief Encode a watchdog_process_info struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_process_info C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_watchdog_process_info_t* watchdog_process_info)
-{
-	return mavlink_msg_watchdog_process_info_pack_chan(system_id, component_id, chan, msg, watchdog_process_info->watchdog_id, watchdog_process_info->process_id, watchdog_process_info->name, watchdog_process_info->arguments, watchdog_process_info->timeout);
-}
-
-/**
- * @brief Send a watchdog_process_info message
- * @param chan MAVLink channel to send the message
- *
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param name Process name
- * @param arguments Process arguments
- * @param timeout Timeout (seconds)
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_watchdog_process_info_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, const char *name, const char *arguments, int32_t timeout)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN];
-	_mav_put_int32_t(buf, 0, timeout);
-	_mav_put_uint16_t(buf, 4, watchdog_id);
-	_mav_put_uint16_t(buf, 6, process_id);
-	_mav_put_char_array(buf, 8, name, 100);
-	_mav_put_char_array(buf, 108, arguments, 147);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-#else
-	mavlink_watchdog_process_info_t packet;
-	packet.timeout = timeout;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	mav_array_memcpy(packet.name, name, sizeof(char)*100);
-	mav_array_memcpy(packet.arguments, arguments, sizeof(char)*147);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE WATCHDOG_PROCESS_INFO UNPACKING
-
-
-/**
- * @brief Get field watchdog_id from watchdog_process_info message
- *
- * @return Watchdog ID
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_get_watchdog_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field process_id from watchdog_process_info message
- *
- * @return Process ID
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_get_process_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field name from watchdog_process_info message
- *
- * @return Process name
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_get_name(const mavlink_message_t* msg, char *name)
-{
-	return _MAV_RETURN_char_array(msg, name, 100,  8);
-}
-
-/**
- * @brief Get field arguments from watchdog_process_info message
- *
- * @return Process arguments
- */
-static inline uint16_t mavlink_msg_watchdog_process_info_get_arguments(const mavlink_message_t* msg, char *arguments)
-{
-	return _MAV_RETURN_char_array(msg, arguments, 147,  108);
-}
-
-/**
- * @brief Get field timeout from watchdog_process_info message
- *
- * @return Timeout (seconds)
- */
-static inline int32_t mavlink_msg_watchdog_process_info_get_timeout(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Decode a watchdog_process_info message into a struct
- *
- * @param msg The message to decode
- * @param watchdog_process_info C-struct to decode the message contents into
- */
-static inline void mavlink_msg_watchdog_process_info_decode(const mavlink_message_t* msg, mavlink_watchdog_process_info_t* watchdog_process_info)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	watchdog_process_info->timeout = mavlink_msg_watchdog_process_info_get_timeout(msg);
-	watchdog_process_info->watchdog_id = mavlink_msg_watchdog_process_info_get_watchdog_id(msg);
-	watchdog_process_info->process_id = mavlink_msg_watchdog_process_info_get_process_id(msg);
-	mavlink_msg_watchdog_process_info_get_name(msg, watchdog_process_info->name);
-	mavlink_msg_watchdog_process_info_get_arguments(msg, watchdog_process_info->arguments);
-#else
-	memcpy(watchdog_process_info, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_WATCHDOG_PROCESS_INFO_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h
deleted file mode 100644
index a0410d803..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_watchdog_process_status.h
+++ /dev/null
@@ -1,287 +0,0 @@
-// MESSAGE WATCHDOG_PROCESS_STATUS PACKING
-
-#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS 182
-
-typedef struct __mavlink_watchdog_process_status_t
-{
- int32_t pid; ///< PID
- uint16_t watchdog_id; ///< Watchdog ID
- uint16_t process_id; ///< Process ID
- uint16_t crashes; ///< Number of crashes
- uint8_t state; ///< Is running / finished / suspended / crashed
- uint8_t muted; ///< Is muted
-} mavlink_watchdog_process_status_t;
-
-#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN 12
-#define MAVLINK_MSG_ID_182_LEN 12
-
-#define MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC 29
-#define MAVLINK_MSG_ID_182_CRC 29
-
-
-
-#define MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS { \
-	"WATCHDOG_PROCESS_STATUS", \
-	6, \
-	{  { "pid", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_watchdog_process_status_t, pid) }, \
-         { "watchdog_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_watchdog_process_status_t, watchdog_id) }, \
-         { "process_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_watchdog_process_status_t, process_id) }, \
-         { "crashes", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_watchdog_process_status_t, crashes) }, \
-         { "state", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_watchdog_process_status_t, state) }, \
-         { "muted", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_watchdog_process_status_t, muted) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a watchdog_process_status 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 watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param state Is running / finished / suspended / crashed
- * @param muted Is muted
- * @param pid PID
- * @param crashes Number of crashes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, pid);
-	_mav_put_uint16_t(buf, 4, watchdog_id);
-	_mav_put_uint16_t(buf, 6, process_id);
-	_mav_put_uint16_t(buf, 8, crashes);
-	_mav_put_uint8_t(buf, 10, state);
-	_mav_put_uint8_t(buf, 11, muted);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#else
-	mavlink_watchdog_process_status_t packet;
-	packet.pid = pid;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	packet.crashes = crashes;
-	packet.state = state;
-	packet.muted = muted;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a watchdog_process_status 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param state Is running / finished / suspended / crashed
- * @param muted Is muted
- * @param pid PID
- * @param crashes Number of crashes
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint16_t watchdog_id,uint16_t process_id,uint8_t state,uint8_t muted,int32_t pid,uint16_t crashes)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, pid);
-	_mav_put_uint16_t(buf, 4, watchdog_id);
-	_mav_put_uint16_t(buf, 6, process_id);
-	_mav_put_uint16_t(buf, 8, crashes);
-	_mav_put_uint8_t(buf, 10, state);
-	_mav_put_uint8_t(buf, 11, muted);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#else
-	mavlink_watchdog_process_status_t packet;
-	packet.pid = pid;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	packet.crashes = crashes;
-	packet.state = state;
-	packet.muted = muted;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a watchdog_process_status struct
- *
- * @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 watchdog_process_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_watchdog_process_status_t* watchdog_process_status)
-{
-	return mavlink_msg_watchdog_process_status_pack(system_id, component_id, msg, watchdog_process_status->watchdog_id, watchdog_process_status->process_id, watchdog_process_status->state, watchdog_process_status->muted, watchdog_process_status->pid, watchdog_process_status->crashes);
-}
-
-/**
- * @brief Encode a watchdog_process_status struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param watchdog_process_status C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_watchdog_process_status_t* watchdog_process_status)
-{
-	return mavlink_msg_watchdog_process_status_pack_chan(system_id, component_id, chan, msg, watchdog_process_status->watchdog_id, watchdog_process_status->process_id, watchdog_process_status->state, watchdog_process_status->muted, watchdog_process_status->pid, watchdog_process_status->crashes);
-}
-
-/**
- * @brief Send a watchdog_process_status message
- * @param chan MAVLink channel to send the message
- *
- * @param watchdog_id Watchdog ID
- * @param process_id Process ID
- * @param state Is running / finished / suspended / crashed
- * @param muted Is muted
- * @param pid PID
- * @param crashes Number of crashes
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_watchdog_process_status_send(mavlink_channel_t chan, uint16_t watchdog_id, uint16_t process_id, uint8_t state, uint8_t muted, int32_t pid, uint16_t crashes)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN];
-	_mav_put_int32_t(buf, 0, pid);
-	_mav_put_uint16_t(buf, 4, watchdog_id);
-	_mav_put_uint16_t(buf, 6, process_id);
-	_mav_put_uint16_t(buf, 8, crashes);
-	_mav_put_uint8_t(buf, 10, state);
-	_mav_put_uint8_t(buf, 11, muted);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, buf, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-#else
-	mavlink_watchdog_process_status_t packet;
-	packet.pid = pid;
-	packet.watchdog_id = watchdog_id;
-	packet.process_id = process_id;
-	packet.crashes = crashes;
-	packet.state = state;
-	packet.muted = muted;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE WATCHDOG_PROCESS_STATUS UNPACKING
-
-
-/**
- * @brief Get field watchdog_id from watchdog_process_status message
- *
- * @return Watchdog ID
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_get_watchdog_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  4);
-}
-
-/**
- * @brief Get field process_id from watchdog_process_status message
- *
- * @return Process ID
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_get_process_id(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  6);
-}
-
-/**
- * @brief Get field state from watchdog_process_status message
- *
- * @return Is running / finished / suspended / crashed
- */
-static inline uint8_t mavlink_msg_watchdog_process_status_get_state(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  10);
-}
-
-/**
- * @brief Get field muted from watchdog_process_status message
- *
- * @return Is muted
- */
-static inline uint8_t mavlink_msg_watchdog_process_status_get_muted(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field pid from watchdog_process_status message
- *
- * @return PID
- */
-static inline int32_t mavlink_msg_watchdog_process_status_get_pid(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field crashes from watchdog_process_status message
- *
- * @return Number of crashes
- */
-static inline uint16_t mavlink_msg_watchdog_process_status_get_crashes(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  8);
-}
-
-/**
- * @brief Decode a watchdog_process_status message into a struct
- *
- * @param msg The message to decode
- * @param watchdog_process_status C-struct to decode the message contents into
- */
-static inline void mavlink_msg_watchdog_process_status_decode(const mavlink_message_t* msg, mavlink_watchdog_process_status_t* watchdog_process_status)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	watchdog_process_status->pid = mavlink_msg_watchdog_process_status_get_pid(msg);
-	watchdog_process_status->watchdog_id = mavlink_msg_watchdog_process_status_get_watchdog_id(msg);
-	watchdog_process_status->process_id = mavlink_msg_watchdog_process_status_get_process_id(msg);
-	watchdog_process_status->crashes = mavlink_msg_watchdog_process_status_get_crashes(msg);
-	watchdog_process_status->state = mavlink_msg_watchdog_process_status_get_state(msg);
-	watchdog_process_status->muted = mavlink_msg_watchdog_process_status_get_muted(msg);
-#else
-	memcpy(watchdog_process_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_WATCHDOG_PROCESS_STATUS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
deleted file mode 100644
index 428619eed..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.h
+++ /dev/null
@@ -1,127 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from pixhawk.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef PIXHAWK_H
-#define PIXHAWK_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 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, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 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, 0, 0, 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, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 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, 0, 0, 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
-#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}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_POSITION_CONTROL_OFFSET, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_ATTITUDE_CONTROL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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"
-
-#define MAVLINK_ENABLED_PIXHAWK
-
-// ENUM DEFINITIONS
-
-
-/** @brief Content Types for data transmission handshake */
-#ifndef HAVE_ENUM_DATA_TYPES
-#define HAVE_ENUM_DATA_TYPES
-enum DATA_TYPES
-{
-	DATA_TYPE_JPEG_IMAGE=1, /*  | */
-	DATA_TYPE_RAW_IMAGE=2, /*  | */
-	DATA_TYPE_KINECT=3, /*  | */
-	DATA_TYPES_ENUM_END=4, /*  | */
-};
-#endif
-
-/** @brief  */
-#ifndef HAVE_ENUM_MAV_CMD
-#define HAVE_ENUM_MAV_CMD
-enum MAV_CMD
-{
-	MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	MAV_CMD_DO_SET_ROI=201, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	MAV_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	MAV_CMD_ENUM_END=501, /*  | */
-	MAV_CMD_DO_START_SEARCH=10001, /* Starts a search |1 to arm, 0 to disarm|  */
-	MAV_CMD_DO_FINISH_SEARCH=10002, /* Starts a search |1 to arm, 0 to disarm|  */
-	MAV_CMD_NAV_SWEEP=10003, /* Starts a search |1 to arm, 0 to disarm|  */
-};
-#endif
-
-#include "../common/common.h"
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_set_cam_shutter.h"
-#include "./mavlink_msg_image_triggered.h"
-#include "./mavlink_msg_image_trigger_control.h"
-#include "./mavlink_msg_image_available.h"
-#include "./mavlink_msg_set_position_control_offset.h"
-#include "./mavlink_msg_position_control_setpoint.h"
-#include "./mavlink_msg_marker.h"
-#include "./mavlink_msg_raw_aux.h"
-#include "./mavlink_msg_watchdog_heartbeat.h"
-#include "./mavlink_msg_watchdog_process_info.h"
-#include "./mavlink_msg_watchdog_process_status.h"
-#include "./mavlink_msg_watchdog_command.h"
-#include "./mavlink_msg_pattern_detected.h"
-#include "./mavlink_msg_point_of_interest.h"
-#include "./mavlink_msg_point_of_interest_connection.h"
-#include "./mavlink_msg_brief_feature.h"
-#include "./mavlink_msg_attitude_control.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // PIXHAWK_H
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h b/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h
deleted file mode 100644
index 7556606e9..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/pixhawk.pb.h
+++ /dev/null
@@ -1,3663 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: pixhawk.proto
-
-#ifndef PROTOBUF_pixhawk_2eproto__INCLUDED
-#define PROTOBUF_pixhawk_2eproto__INCLUDED
-
-#include <string>
-
-#include <google/protobuf/stubs/common.h>
-
-#if GOOGLE_PROTOBUF_VERSION < 2004000
-#error This file was generated by a newer version of protoc which is
-#error incompatible with your Protocol Buffer headers.  Please update
-#error your headers.
-#endif
-#if 2004001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
-#error This file was generated by an older version of protoc which is
-#error incompatible with your Protocol Buffer headers.  Please
-#error regenerate this file with a newer version of protoc.
-#endif
-
-#include <google/protobuf/generated_message_util.h>
-#include <google/protobuf/repeated_field.h>
-#include <google/protobuf/extension_set.h>
-#include <google/protobuf/generated_message_reflection.h>
-// @@protoc_insertion_point(includes)
-
-namespace px {
-
-// Internal implementation detail -- do not call these.
-void  protobuf_AddDesc_pixhawk_2eproto();
-void protobuf_AssignDesc_pixhawk_2eproto();
-void protobuf_ShutdownFile_pixhawk_2eproto();
-
-class HeaderInfo;
-class GLOverlay;
-class Obstacle;
-class ObstacleList;
-class ObstacleMap;
-class Path;
-class PointCloudXYZI;
-class PointCloudXYZI_PointXYZI;
-class PointCloudXYZRGB;
-class PointCloudXYZRGB_PointXYZRGB;
-class RGBDImage;
-class Waypoint;
-
-enum GLOverlay_CoordinateFrameType {
-  GLOverlay_CoordinateFrameType_GLOBAL = 0,
-  GLOverlay_CoordinateFrameType_LOCAL = 1
-};
-bool GLOverlay_CoordinateFrameType_IsValid(int value);
-const GLOverlay_CoordinateFrameType GLOverlay_CoordinateFrameType_CoordinateFrameType_MIN = GLOverlay_CoordinateFrameType_GLOBAL;
-const GLOverlay_CoordinateFrameType GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX = GLOverlay_CoordinateFrameType_LOCAL;
-const int GLOverlay_CoordinateFrameType_CoordinateFrameType_ARRAYSIZE = GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX + 1;
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor();
-inline const ::std::string& GLOverlay_CoordinateFrameType_Name(GLOverlay_CoordinateFrameType value) {
-  return ::google::protobuf::internal::NameOfEnum(
-    GLOverlay_CoordinateFrameType_descriptor(), value);
-}
-inline bool GLOverlay_CoordinateFrameType_Parse(
-    const ::std::string& name, GLOverlay_CoordinateFrameType* value) {
-  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_CoordinateFrameType>(
-    GLOverlay_CoordinateFrameType_descriptor(), name, value);
-}
-enum GLOverlay_Mode {
-  GLOverlay_Mode_POINTS = 0,
-  GLOverlay_Mode_LINES = 1,
-  GLOverlay_Mode_LINE_STRIP = 2,
-  GLOverlay_Mode_LINE_LOOP = 3,
-  GLOverlay_Mode_TRIANGLES = 4,
-  GLOverlay_Mode_TRIANGLE_STRIP = 5,
-  GLOverlay_Mode_TRIANGLE_FAN = 6,
-  GLOverlay_Mode_QUADS = 7,
-  GLOverlay_Mode_QUAD_STRIP = 8,
-  GLOverlay_Mode_POLYGON = 9,
-  GLOverlay_Mode_SOLID_CIRCLE = 10,
-  GLOverlay_Mode_WIRE_CIRCLE = 11,
-  GLOverlay_Mode_SOLID_CUBE = 12,
-  GLOverlay_Mode_WIRE_CUBE = 13
-};
-bool GLOverlay_Mode_IsValid(int value);
-const GLOverlay_Mode GLOverlay_Mode_Mode_MIN = GLOverlay_Mode_POINTS;
-const GLOverlay_Mode GLOverlay_Mode_Mode_MAX = GLOverlay_Mode_WIRE_CUBE;
-const int GLOverlay_Mode_Mode_ARRAYSIZE = GLOverlay_Mode_Mode_MAX + 1;
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor();
-inline const ::std::string& GLOverlay_Mode_Name(GLOverlay_Mode value) {
-  return ::google::protobuf::internal::NameOfEnum(
-    GLOverlay_Mode_descriptor(), value);
-}
-inline bool GLOverlay_Mode_Parse(
-    const ::std::string& name, GLOverlay_Mode* value) {
-  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_Mode>(
-    GLOverlay_Mode_descriptor(), name, value);
-}
-enum GLOverlay_Identifier {
-  GLOverlay_Identifier_END = 14,
-  GLOverlay_Identifier_VERTEX2F = 15,
-  GLOverlay_Identifier_VERTEX3F = 16,
-  GLOverlay_Identifier_ROTATEF = 17,
-  GLOverlay_Identifier_TRANSLATEF = 18,
-  GLOverlay_Identifier_SCALEF = 19,
-  GLOverlay_Identifier_PUSH_MATRIX = 20,
-  GLOverlay_Identifier_POP_MATRIX = 21,
-  GLOverlay_Identifier_COLOR3F = 22,
-  GLOverlay_Identifier_COLOR4F = 23,
-  GLOverlay_Identifier_POINTSIZE = 24,
-  GLOverlay_Identifier_LINEWIDTH = 25
-};
-bool GLOverlay_Identifier_IsValid(int value);
-const GLOverlay_Identifier GLOverlay_Identifier_Identifier_MIN = GLOverlay_Identifier_END;
-const GLOverlay_Identifier GLOverlay_Identifier_Identifier_MAX = GLOverlay_Identifier_LINEWIDTH;
-const int GLOverlay_Identifier_Identifier_ARRAYSIZE = GLOverlay_Identifier_Identifier_MAX + 1;
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor();
-inline const ::std::string& GLOverlay_Identifier_Name(GLOverlay_Identifier value) {
-  return ::google::protobuf::internal::NameOfEnum(
-    GLOverlay_Identifier_descriptor(), value);
-}
-inline bool GLOverlay_Identifier_Parse(
-    const ::std::string& name, GLOverlay_Identifier* value) {
-  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_Identifier>(
-    GLOverlay_Identifier_descriptor(), name, value);
-}
-// ===================================================================
-
-class HeaderInfo : public ::google::protobuf::Message {
- public:
-  HeaderInfo();
-  virtual ~HeaderInfo();
-  
-  HeaderInfo(const HeaderInfo& from);
-  
-  inline HeaderInfo& operator=(const HeaderInfo& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const HeaderInfo& default_instance();
-  
-  void Swap(HeaderInfo* other);
-  
-  // implements Message ----------------------------------------------
-  
-  HeaderInfo* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const HeaderInfo& from);
-  void MergeFrom(const HeaderInfo& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required int32 source_sysid = 1;
-  inline bool has_source_sysid() const;
-  inline void clear_source_sysid();
-  static const int kSourceSysidFieldNumber = 1;
-  inline ::google::protobuf::int32 source_sysid() const;
-  inline void set_source_sysid(::google::protobuf::int32 value);
-  
-  // required int32 source_compid = 2;
-  inline bool has_source_compid() const;
-  inline void clear_source_compid();
-  static const int kSourceCompidFieldNumber = 2;
-  inline ::google::protobuf::int32 source_compid() const;
-  inline void set_source_compid(::google::protobuf::int32 value);
-  
-  // required double timestamp = 3;
-  inline bool has_timestamp() const;
-  inline void clear_timestamp();
-  static const int kTimestampFieldNumber = 3;
-  inline double timestamp() const;
-  inline void set_timestamp(double value);
-  
-  // @@protoc_insertion_point(class_scope:px.HeaderInfo)
- private:
-  inline void set_has_source_sysid();
-  inline void clear_has_source_sysid();
-  inline void set_has_source_compid();
-  inline void clear_has_source_compid();
-  inline void set_has_timestamp();
-  inline void clear_has_timestamp();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::google::protobuf::int32 source_sysid_;
-  ::google::protobuf::int32 source_compid_;
-  double timestamp_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(3 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static HeaderInfo* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class GLOverlay : public ::google::protobuf::Message {
- public:
-  GLOverlay();
-  virtual ~GLOverlay();
-  
-  GLOverlay(const GLOverlay& from);
-  
-  inline GLOverlay& operator=(const GLOverlay& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const GLOverlay& default_instance();
-  
-  void Swap(GLOverlay* other);
-  
-  // implements Message ----------------------------------------------
-  
-  GLOverlay* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const GLOverlay& from);
-  void MergeFrom(const GLOverlay& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  typedef GLOverlay_CoordinateFrameType CoordinateFrameType;
-  static const CoordinateFrameType GLOBAL = GLOverlay_CoordinateFrameType_GLOBAL;
-  static const CoordinateFrameType LOCAL = GLOverlay_CoordinateFrameType_LOCAL;
-  static inline bool CoordinateFrameType_IsValid(int value) {
-    return GLOverlay_CoordinateFrameType_IsValid(value);
-  }
-  static const CoordinateFrameType CoordinateFrameType_MIN =
-    GLOverlay_CoordinateFrameType_CoordinateFrameType_MIN;
-  static const CoordinateFrameType CoordinateFrameType_MAX =
-    GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX;
-  static const int CoordinateFrameType_ARRAYSIZE =
-    GLOverlay_CoordinateFrameType_CoordinateFrameType_ARRAYSIZE;
-  static inline const ::google::protobuf::EnumDescriptor*
-  CoordinateFrameType_descriptor() {
-    return GLOverlay_CoordinateFrameType_descriptor();
-  }
-  static inline const ::std::string& CoordinateFrameType_Name(CoordinateFrameType value) {
-    return GLOverlay_CoordinateFrameType_Name(value);
-  }
-  static inline bool CoordinateFrameType_Parse(const ::std::string& name,
-      CoordinateFrameType* value) {
-    return GLOverlay_CoordinateFrameType_Parse(name, value);
-  }
-  
-  typedef GLOverlay_Mode Mode;
-  static const Mode POINTS = GLOverlay_Mode_POINTS;
-  static const Mode LINES = GLOverlay_Mode_LINES;
-  static const Mode LINE_STRIP = GLOverlay_Mode_LINE_STRIP;
-  static const Mode LINE_LOOP = GLOverlay_Mode_LINE_LOOP;
-  static const Mode TRIANGLES = GLOverlay_Mode_TRIANGLES;
-  static const Mode TRIANGLE_STRIP = GLOverlay_Mode_TRIANGLE_STRIP;
-  static const Mode TRIANGLE_FAN = GLOverlay_Mode_TRIANGLE_FAN;
-  static const Mode QUADS = GLOverlay_Mode_QUADS;
-  static const Mode QUAD_STRIP = GLOverlay_Mode_QUAD_STRIP;
-  static const Mode POLYGON = GLOverlay_Mode_POLYGON;
-  static const Mode SOLID_CIRCLE = GLOverlay_Mode_SOLID_CIRCLE;
-  static const Mode WIRE_CIRCLE = GLOverlay_Mode_WIRE_CIRCLE;
-  static const Mode SOLID_CUBE = GLOverlay_Mode_SOLID_CUBE;
-  static const Mode WIRE_CUBE = GLOverlay_Mode_WIRE_CUBE;
-  static inline bool Mode_IsValid(int value) {
-    return GLOverlay_Mode_IsValid(value);
-  }
-  static const Mode Mode_MIN =
-    GLOverlay_Mode_Mode_MIN;
-  static const Mode Mode_MAX =
-    GLOverlay_Mode_Mode_MAX;
-  static const int Mode_ARRAYSIZE =
-    GLOverlay_Mode_Mode_ARRAYSIZE;
-  static inline const ::google::protobuf::EnumDescriptor*
-  Mode_descriptor() {
-    return GLOverlay_Mode_descriptor();
-  }
-  static inline const ::std::string& Mode_Name(Mode value) {
-    return GLOverlay_Mode_Name(value);
-  }
-  static inline bool Mode_Parse(const ::std::string& name,
-      Mode* value) {
-    return GLOverlay_Mode_Parse(name, value);
-  }
-  
-  typedef GLOverlay_Identifier Identifier;
-  static const Identifier END = GLOverlay_Identifier_END;
-  static const Identifier VERTEX2F = GLOverlay_Identifier_VERTEX2F;
-  static const Identifier VERTEX3F = GLOverlay_Identifier_VERTEX3F;
-  static const Identifier ROTATEF = GLOverlay_Identifier_ROTATEF;
-  static const Identifier TRANSLATEF = GLOverlay_Identifier_TRANSLATEF;
-  static const Identifier SCALEF = GLOverlay_Identifier_SCALEF;
-  static const Identifier PUSH_MATRIX = GLOverlay_Identifier_PUSH_MATRIX;
-  static const Identifier POP_MATRIX = GLOverlay_Identifier_POP_MATRIX;
-  static const Identifier COLOR3F = GLOverlay_Identifier_COLOR3F;
-  static const Identifier COLOR4F = GLOverlay_Identifier_COLOR4F;
-  static const Identifier POINTSIZE = GLOverlay_Identifier_POINTSIZE;
-  static const Identifier LINEWIDTH = GLOverlay_Identifier_LINEWIDTH;
-  static inline bool Identifier_IsValid(int value) {
-    return GLOverlay_Identifier_IsValid(value);
-  }
-  static const Identifier Identifier_MIN =
-    GLOverlay_Identifier_Identifier_MIN;
-  static const Identifier Identifier_MAX =
-    GLOverlay_Identifier_Identifier_MAX;
-  static const int Identifier_ARRAYSIZE =
-    GLOverlay_Identifier_Identifier_ARRAYSIZE;
-  static inline const ::google::protobuf::EnumDescriptor*
-  Identifier_descriptor() {
-    return GLOverlay_Identifier_descriptor();
-  }
-  static inline const ::std::string& Identifier_Name(Identifier value) {
-    return GLOverlay_Identifier_Name(value);
-  }
-  static inline bool Identifier_Parse(const ::std::string& name,
-      Identifier* value) {
-    return GLOverlay_Identifier_Parse(name, value);
-  }
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // optional string name = 2;
-  inline bool has_name() const;
-  inline void clear_name();
-  static const int kNameFieldNumber = 2;
-  inline const ::std::string& name() const;
-  inline void set_name(const ::std::string& value);
-  inline void set_name(const char* value);
-  inline void set_name(const char* value, size_t size);
-  inline ::std::string* mutable_name();
-  inline ::std::string* release_name();
-  
-  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-  inline bool has_coordinateframetype() const;
-  inline void clear_coordinateframetype();
-  static const int kCoordinateFrameTypeFieldNumber = 3;
-  inline ::px::GLOverlay_CoordinateFrameType coordinateframetype() const;
-  inline void set_coordinateframetype(::px::GLOverlay_CoordinateFrameType value);
-  
-  // optional double origin_x = 4;
-  inline bool has_origin_x() const;
-  inline void clear_origin_x();
-  static const int kOriginXFieldNumber = 4;
-  inline double origin_x() const;
-  inline void set_origin_x(double value);
-  
-  // optional double origin_y = 5;
-  inline bool has_origin_y() const;
-  inline void clear_origin_y();
-  static const int kOriginYFieldNumber = 5;
-  inline double origin_y() const;
-  inline void set_origin_y(double value);
-  
-  // optional double origin_z = 6;
-  inline bool has_origin_z() const;
-  inline void clear_origin_z();
-  static const int kOriginZFieldNumber = 6;
-  inline double origin_z() const;
-  inline void set_origin_z(double value);
-  
-  // optional bytes data = 7;
-  inline bool has_data() const;
-  inline void clear_data();
-  static const int kDataFieldNumber = 7;
-  inline const ::std::string& data() const;
-  inline void set_data(const ::std::string& value);
-  inline void set_data(const char* value);
-  inline void set_data(const void* value, size_t size);
-  inline ::std::string* mutable_data();
-  inline ::std::string* release_data();
-  
-  // @@protoc_insertion_point(class_scope:px.GLOverlay)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  inline void set_has_name();
-  inline void clear_has_name();
-  inline void set_has_coordinateframetype();
-  inline void clear_has_coordinateframetype();
-  inline void set_has_origin_x();
-  inline void clear_has_origin_x();
-  inline void set_has_origin_y();
-  inline void clear_has_origin_y();
-  inline void set_has_origin_z();
-  inline void clear_has_origin_z();
-  inline void set_has_data();
-  inline void clear_has_data();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::std::string* name_;
-  double origin_x_;
-  double origin_y_;
-  double origin_z_;
-  ::std::string* data_;
-  int coordinateframetype_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(7 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static GLOverlay* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class Obstacle : public ::google::protobuf::Message {
- public:
-  Obstacle();
-  virtual ~Obstacle();
-  
-  Obstacle(const Obstacle& from);
-  
-  inline Obstacle& operator=(const Obstacle& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const Obstacle& default_instance();
-  
-  void Swap(Obstacle* other);
-  
-  // implements Message ----------------------------------------------
-  
-  Obstacle* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const Obstacle& from);
-  void MergeFrom(const Obstacle& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // optional float x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline float x() const;
-  inline void set_x(float value);
-  
-  // optional float y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline float y() const;
-  inline void set_y(float value);
-  
-  // optional float z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline float z() const;
-  inline void set_z(float value);
-  
-  // optional float length = 4;
-  inline bool has_length() const;
-  inline void clear_length();
-  static const int kLengthFieldNumber = 4;
-  inline float length() const;
-  inline void set_length(float value);
-  
-  // optional float width = 5;
-  inline bool has_width() const;
-  inline void clear_width();
-  static const int kWidthFieldNumber = 5;
-  inline float width() const;
-  inline void set_width(float value);
-  
-  // optional float height = 6;
-  inline bool has_height() const;
-  inline void clear_height();
-  static const int kHeightFieldNumber = 6;
-  inline float height() const;
-  inline void set_height(float value);
-  
-  // @@protoc_insertion_point(class_scope:px.Obstacle)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_length();
-  inline void clear_has_length();
-  inline void set_has_width();
-  inline void clear_has_width();
-  inline void set_has_height();
-  inline void clear_has_height();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  float x_;
-  float y_;
-  float z_;
-  float length_;
-  float width_;
-  float height_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static Obstacle* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class ObstacleList : public ::google::protobuf::Message {
- public:
-  ObstacleList();
-  virtual ~ObstacleList();
-  
-  ObstacleList(const ObstacleList& from);
-  
-  inline ObstacleList& operator=(const ObstacleList& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const ObstacleList& default_instance();
-  
-  void Swap(ObstacleList* other);
-  
-  // implements Message ----------------------------------------------
-  
-  ObstacleList* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const ObstacleList& from);
-  void MergeFrom(const ObstacleList& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.Obstacle obstacles = 2;
-  inline int obstacles_size() const;
-  inline void clear_obstacles();
-  static const int kObstaclesFieldNumber = 2;
-  inline const ::px::Obstacle& obstacles(int index) const;
-  inline ::px::Obstacle* mutable_obstacles(int index);
-  inline ::px::Obstacle* add_obstacles();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >&
-      obstacles() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >*
-      mutable_obstacles();
-  
-  // @@protoc_insertion_point(class_scope:px.ObstacleList)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::Obstacle > obstacles_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static ObstacleList* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class ObstacleMap : public ::google::protobuf::Message {
- public:
-  ObstacleMap();
-  virtual ~ObstacleMap();
-  
-  ObstacleMap(const ObstacleMap& from);
-  
-  inline ObstacleMap& operator=(const ObstacleMap& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const ObstacleMap& default_instance();
-  
-  void Swap(ObstacleMap* other);
-  
-  // implements Message ----------------------------------------------
-  
-  ObstacleMap* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const ObstacleMap& from);
-  void MergeFrom(const ObstacleMap& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // required int32 type = 2;
-  inline bool has_type() const;
-  inline void clear_type();
-  static const int kTypeFieldNumber = 2;
-  inline ::google::protobuf::int32 type() const;
-  inline void set_type(::google::protobuf::int32 value);
-  
-  // optional float resolution = 3;
-  inline bool has_resolution() const;
-  inline void clear_resolution();
-  static const int kResolutionFieldNumber = 3;
-  inline float resolution() const;
-  inline void set_resolution(float value);
-  
-  // optional int32 rows = 4;
-  inline bool has_rows() const;
-  inline void clear_rows();
-  static const int kRowsFieldNumber = 4;
-  inline ::google::protobuf::int32 rows() const;
-  inline void set_rows(::google::protobuf::int32 value);
-  
-  // optional int32 cols = 5;
-  inline bool has_cols() const;
-  inline void clear_cols();
-  static const int kColsFieldNumber = 5;
-  inline ::google::protobuf::int32 cols() const;
-  inline void set_cols(::google::protobuf::int32 value);
-  
-  // optional int32 mapR0 = 6;
-  inline bool has_mapr0() const;
-  inline void clear_mapr0();
-  static const int kMapR0FieldNumber = 6;
-  inline ::google::protobuf::int32 mapr0() const;
-  inline void set_mapr0(::google::protobuf::int32 value);
-  
-  // optional int32 mapC0 = 7;
-  inline bool has_mapc0() const;
-  inline void clear_mapc0();
-  static const int kMapC0FieldNumber = 7;
-  inline ::google::protobuf::int32 mapc0() const;
-  inline void set_mapc0(::google::protobuf::int32 value);
-  
-  // optional int32 arrayR0 = 8;
-  inline bool has_arrayr0() const;
-  inline void clear_arrayr0();
-  static const int kArrayR0FieldNumber = 8;
-  inline ::google::protobuf::int32 arrayr0() const;
-  inline void set_arrayr0(::google::protobuf::int32 value);
-  
-  // optional int32 arrayC0 = 9;
-  inline bool has_arrayc0() const;
-  inline void clear_arrayc0();
-  static const int kArrayC0FieldNumber = 9;
-  inline ::google::protobuf::int32 arrayc0() const;
-  inline void set_arrayc0(::google::protobuf::int32 value);
-  
-  // optional bytes data = 10;
-  inline bool has_data() const;
-  inline void clear_data();
-  static const int kDataFieldNumber = 10;
-  inline const ::std::string& data() const;
-  inline void set_data(const ::std::string& value);
-  inline void set_data(const char* value);
-  inline void set_data(const void* value, size_t size);
-  inline ::std::string* mutable_data();
-  inline ::std::string* release_data();
-  
-  // @@protoc_insertion_point(class_scope:px.ObstacleMap)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  inline void set_has_type();
-  inline void clear_has_type();
-  inline void set_has_resolution();
-  inline void clear_has_resolution();
-  inline void set_has_rows();
-  inline void clear_has_rows();
-  inline void set_has_cols();
-  inline void clear_has_cols();
-  inline void set_has_mapr0();
-  inline void clear_has_mapr0();
-  inline void set_has_mapc0();
-  inline void clear_has_mapc0();
-  inline void set_has_arrayr0();
-  inline void clear_has_arrayr0();
-  inline void set_has_arrayc0();
-  inline void clear_has_arrayc0();
-  inline void set_has_data();
-  inline void clear_has_data();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::int32 type_;
-  float resolution_;
-  ::google::protobuf::int32 rows_;
-  ::google::protobuf::int32 cols_;
-  ::google::protobuf::int32 mapr0_;
-  ::google::protobuf::int32 mapc0_;
-  ::google::protobuf::int32 arrayr0_;
-  ::google::protobuf::int32 arrayc0_;
-  ::std::string* data_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(10 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static ObstacleMap* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class Path : public ::google::protobuf::Message {
- public:
-  Path();
-  virtual ~Path();
-  
-  Path(const Path& from);
-  
-  inline Path& operator=(const Path& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const Path& default_instance();
-  
-  void Swap(Path* other);
-  
-  // implements Message ----------------------------------------------
-  
-  Path* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const Path& from);
-  void MergeFrom(const Path& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.Waypoint waypoints = 2;
-  inline int waypoints_size() const;
-  inline void clear_waypoints();
-  static const int kWaypointsFieldNumber = 2;
-  inline const ::px::Waypoint& waypoints(int index) const;
-  inline ::px::Waypoint* mutable_waypoints(int index);
-  inline ::px::Waypoint* add_waypoints();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >&
-      waypoints() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >*
-      mutable_waypoints();
-  
-  // @@protoc_insertion_point(class_scope:px.Path)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::Waypoint > waypoints_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static Path* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZI_PointXYZI : public ::google::protobuf::Message {
- public:
-  PointCloudXYZI_PointXYZI();
-  virtual ~PointCloudXYZI_PointXYZI();
-  
-  PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from);
-  
-  inline PointCloudXYZI_PointXYZI& operator=(const PointCloudXYZI_PointXYZI& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZI_PointXYZI& default_instance();
-  
-  void Swap(PointCloudXYZI_PointXYZI* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZI_PointXYZI* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZI_PointXYZI& from);
-  void MergeFrom(const PointCloudXYZI_PointXYZI& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required float x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline float x() const;
-  inline void set_x(float value);
-  
-  // required float y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline float y() const;
-  inline void set_y(float value);
-  
-  // required float z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline float z() const;
-  inline void set_z(float value);
-  
-  // required float intensity = 4;
-  inline bool has_intensity() const;
-  inline void clear_intensity();
-  static const int kIntensityFieldNumber = 4;
-  inline float intensity() const;
-  inline void set_intensity(float value);
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZI.PointXYZI)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_intensity();
-  inline void clear_has_intensity();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  float x_;
-  float y_;
-  float z_;
-  float intensity_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZI_PointXYZI* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZI : public ::google::protobuf::Message {
- public:
-  PointCloudXYZI();
-  virtual ~PointCloudXYZI();
-  
-  PointCloudXYZI(const PointCloudXYZI& from);
-  
-  inline PointCloudXYZI& operator=(const PointCloudXYZI& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZI& default_instance();
-  
-  void Swap(PointCloudXYZI* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZI* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZI& from);
-  void MergeFrom(const PointCloudXYZI& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  typedef PointCloudXYZI_PointXYZI PointXYZI;
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  inline int points_size() const;
-  inline void clear_points();
-  static const int kPointsFieldNumber = 2;
-  inline const ::px::PointCloudXYZI_PointXYZI& points(int index) const;
-  inline ::px::PointCloudXYZI_PointXYZI* mutable_points(int index);
-  inline ::px::PointCloudXYZI_PointXYZI* add_points();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >&
-      points() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >*
-      mutable_points();
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZI)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI > points_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZI* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZRGB_PointXYZRGB : public ::google::protobuf::Message {
- public:
-  PointCloudXYZRGB_PointXYZRGB();
-  virtual ~PointCloudXYZRGB_PointXYZRGB();
-  
-  PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from);
-  
-  inline PointCloudXYZRGB_PointXYZRGB& operator=(const PointCloudXYZRGB_PointXYZRGB& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZRGB_PointXYZRGB& default_instance();
-  
-  void Swap(PointCloudXYZRGB_PointXYZRGB* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZRGB_PointXYZRGB* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from);
-  void MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required float x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline float x() const;
-  inline void set_x(float value);
-  
-  // required float y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline float y() const;
-  inline void set_y(float value);
-  
-  // required float z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline float z() const;
-  inline void set_z(float value);
-  
-  // required float rgb = 4;
-  inline bool has_rgb() const;
-  inline void clear_rgb();
-  static const int kRgbFieldNumber = 4;
-  inline float rgb() const;
-  inline void set_rgb(float value);
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB.PointXYZRGB)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_rgb();
-  inline void clear_has_rgb();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  float x_;
-  float y_;
-  float z_;
-  float rgb_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZRGB_PointXYZRGB* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZRGB : public ::google::protobuf::Message {
- public:
-  PointCloudXYZRGB();
-  virtual ~PointCloudXYZRGB();
-  
-  PointCloudXYZRGB(const PointCloudXYZRGB& from);
-  
-  inline PointCloudXYZRGB& operator=(const PointCloudXYZRGB& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZRGB& default_instance();
-  
-  void Swap(PointCloudXYZRGB* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZRGB* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZRGB& from);
-  void MergeFrom(const PointCloudXYZRGB& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  typedef PointCloudXYZRGB_PointXYZRGB PointXYZRGB;
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  inline int points_size() const;
-  inline void clear_points();
-  static const int kPointsFieldNumber = 2;
-  inline const ::px::PointCloudXYZRGB_PointXYZRGB& points(int index) const;
-  inline ::px::PointCloudXYZRGB_PointXYZRGB* mutable_points(int index);
-  inline ::px::PointCloudXYZRGB_PointXYZRGB* add_points();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >&
-      points() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >*
-      mutable_points();
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB > points_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZRGB* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class RGBDImage : public ::google::protobuf::Message {
- public:
-  RGBDImage();
-  virtual ~RGBDImage();
-  
-  RGBDImage(const RGBDImage& from);
-  
-  inline RGBDImage& operator=(const RGBDImage& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const RGBDImage& default_instance();
-  
-  void Swap(RGBDImage* other);
-  
-  // implements Message ----------------------------------------------
-  
-  RGBDImage* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const RGBDImage& from);
-  void MergeFrom(const RGBDImage& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // required uint32 cols = 2;
-  inline bool has_cols() const;
-  inline void clear_cols();
-  static const int kColsFieldNumber = 2;
-  inline ::google::protobuf::uint32 cols() const;
-  inline void set_cols(::google::protobuf::uint32 value);
-  
-  // required uint32 rows = 3;
-  inline bool has_rows() const;
-  inline void clear_rows();
-  static const int kRowsFieldNumber = 3;
-  inline ::google::protobuf::uint32 rows() const;
-  inline void set_rows(::google::protobuf::uint32 value);
-  
-  // required uint32 step1 = 4;
-  inline bool has_step1() const;
-  inline void clear_step1();
-  static const int kStep1FieldNumber = 4;
-  inline ::google::protobuf::uint32 step1() const;
-  inline void set_step1(::google::protobuf::uint32 value);
-  
-  // required uint32 type1 = 5;
-  inline bool has_type1() const;
-  inline void clear_type1();
-  static const int kType1FieldNumber = 5;
-  inline ::google::protobuf::uint32 type1() const;
-  inline void set_type1(::google::protobuf::uint32 value);
-  
-  // required bytes imageData1 = 6;
-  inline bool has_imagedata1() const;
-  inline void clear_imagedata1();
-  static const int kImageData1FieldNumber = 6;
-  inline const ::std::string& imagedata1() const;
-  inline void set_imagedata1(const ::std::string& value);
-  inline void set_imagedata1(const char* value);
-  inline void set_imagedata1(const void* value, size_t size);
-  inline ::std::string* mutable_imagedata1();
-  inline ::std::string* release_imagedata1();
-  
-  // required uint32 step2 = 7;
-  inline bool has_step2() const;
-  inline void clear_step2();
-  static const int kStep2FieldNumber = 7;
-  inline ::google::protobuf::uint32 step2() const;
-  inline void set_step2(::google::protobuf::uint32 value);
-  
-  // required uint32 type2 = 8;
-  inline bool has_type2() const;
-  inline void clear_type2();
-  static const int kType2FieldNumber = 8;
-  inline ::google::protobuf::uint32 type2() const;
-  inline void set_type2(::google::protobuf::uint32 value);
-  
-  // required bytes imageData2 = 9;
-  inline bool has_imagedata2() const;
-  inline void clear_imagedata2();
-  static const int kImageData2FieldNumber = 9;
-  inline const ::std::string& imagedata2() const;
-  inline void set_imagedata2(const ::std::string& value);
-  inline void set_imagedata2(const char* value);
-  inline void set_imagedata2(const void* value, size_t size);
-  inline ::std::string* mutable_imagedata2();
-  inline ::std::string* release_imagedata2();
-  
-  // optional uint32 camera_config = 10;
-  inline bool has_camera_config() const;
-  inline void clear_camera_config();
-  static const int kCameraConfigFieldNumber = 10;
-  inline ::google::protobuf::uint32 camera_config() const;
-  inline void set_camera_config(::google::protobuf::uint32 value);
-  
-  // optional uint32 camera_type = 11;
-  inline bool has_camera_type() const;
-  inline void clear_camera_type();
-  static const int kCameraTypeFieldNumber = 11;
-  inline ::google::protobuf::uint32 camera_type() const;
-  inline void set_camera_type(::google::protobuf::uint32 value);
-  
-  // optional float roll = 12;
-  inline bool has_roll() const;
-  inline void clear_roll();
-  static const int kRollFieldNumber = 12;
-  inline float roll() const;
-  inline void set_roll(float value);
-  
-  // optional float pitch = 13;
-  inline bool has_pitch() const;
-  inline void clear_pitch();
-  static const int kPitchFieldNumber = 13;
-  inline float pitch() const;
-  inline void set_pitch(float value);
-  
-  // optional float yaw = 14;
-  inline bool has_yaw() const;
-  inline void clear_yaw();
-  static const int kYawFieldNumber = 14;
-  inline float yaw() const;
-  inline void set_yaw(float value);
-  
-  // optional float lon = 15;
-  inline bool has_lon() const;
-  inline void clear_lon();
-  static const int kLonFieldNumber = 15;
-  inline float lon() const;
-  inline void set_lon(float value);
-  
-  // optional float lat = 16;
-  inline bool has_lat() const;
-  inline void clear_lat();
-  static const int kLatFieldNumber = 16;
-  inline float lat() const;
-  inline void set_lat(float value);
-  
-  // optional float alt = 17;
-  inline bool has_alt() const;
-  inline void clear_alt();
-  static const int kAltFieldNumber = 17;
-  inline float alt() const;
-  inline void set_alt(float value);
-  
-  // optional float ground_x = 18;
-  inline bool has_ground_x() const;
-  inline void clear_ground_x();
-  static const int kGroundXFieldNumber = 18;
-  inline float ground_x() const;
-  inline void set_ground_x(float value);
-  
-  // optional float ground_y = 19;
-  inline bool has_ground_y() const;
-  inline void clear_ground_y();
-  static const int kGroundYFieldNumber = 19;
-  inline float ground_y() const;
-  inline void set_ground_y(float value);
-  
-  // optional float ground_z = 20;
-  inline bool has_ground_z() const;
-  inline void clear_ground_z();
-  static const int kGroundZFieldNumber = 20;
-  inline float ground_z() const;
-  inline void set_ground_z(float value);
-  
-  // repeated float camera_matrix = 21;
-  inline int camera_matrix_size() const;
-  inline void clear_camera_matrix();
-  static const int kCameraMatrixFieldNumber = 21;
-  inline float camera_matrix(int index) const;
-  inline void set_camera_matrix(int index, float value);
-  inline void add_camera_matrix(float value);
-  inline const ::google::protobuf::RepeatedField< float >&
-      camera_matrix() const;
-  inline ::google::protobuf::RepeatedField< float >*
-      mutable_camera_matrix();
-  
-  // @@protoc_insertion_point(class_scope:px.RGBDImage)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  inline void set_has_cols();
-  inline void clear_has_cols();
-  inline void set_has_rows();
-  inline void clear_has_rows();
-  inline void set_has_step1();
-  inline void clear_has_step1();
-  inline void set_has_type1();
-  inline void clear_has_type1();
-  inline void set_has_imagedata1();
-  inline void clear_has_imagedata1();
-  inline void set_has_step2();
-  inline void clear_has_step2();
-  inline void set_has_type2();
-  inline void clear_has_type2();
-  inline void set_has_imagedata2();
-  inline void clear_has_imagedata2();
-  inline void set_has_camera_config();
-  inline void clear_has_camera_config();
-  inline void set_has_camera_type();
-  inline void clear_has_camera_type();
-  inline void set_has_roll();
-  inline void clear_has_roll();
-  inline void set_has_pitch();
-  inline void clear_has_pitch();
-  inline void set_has_yaw();
-  inline void clear_has_yaw();
-  inline void set_has_lon();
-  inline void clear_has_lon();
-  inline void set_has_lat();
-  inline void clear_has_lat();
-  inline void set_has_alt();
-  inline void clear_has_alt();
-  inline void set_has_ground_x();
-  inline void clear_has_ground_x();
-  inline void set_has_ground_y();
-  inline void clear_has_ground_y();
-  inline void set_has_ground_z();
-  inline void clear_has_ground_z();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::uint32 cols_;
-  ::google::protobuf::uint32 rows_;
-  ::google::protobuf::uint32 step1_;
-  ::google::protobuf::uint32 type1_;
-  ::std::string* imagedata1_;
-  ::google::protobuf::uint32 step2_;
-  ::google::protobuf::uint32 type2_;
-  ::std::string* imagedata2_;
-  ::google::protobuf::uint32 camera_config_;
-  ::google::protobuf::uint32 camera_type_;
-  float roll_;
-  float pitch_;
-  float yaw_;
-  float lon_;
-  float lat_;
-  float alt_;
-  float ground_x_;
-  float ground_y_;
-  ::google::protobuf::RepeatedField< float > camera_matrix_;
-  float ground_z_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(21 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static RGBDImage* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class Waypoint : public ::google::protobuf::Message {
- public:
-  Waypoint();
-  virtual ~Waypoint();
-  
-  Waypoint(const Waypoint& from);
-  
-  inline Waypoint& operator=(const Waypoint& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const Waypoint& default_instance();
-  
-  void Swap(Waypoint* other);
-  
-  // implements Message ----------------------------------------------
-  
-  Waypoint* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const Waypoint& from);
-  void MergeFrom(const Waypoint& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required double x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline double x() const;
-  inline void set_x(double value);
-  
-  // required double y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline double y() const;
-  inline void set_y(double value);
-  
-  // optional double z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline double z() const;
-  inline void set_z(double value);
-  
-  // optional double roll = 4;
-  inline bool has_roll() const;
-  inline void clear_roll();
-  static const int kRollFieldNumber = 4;
-  inline double roll() const;
-  inline void set_roll(double value);
-  
-  // optional double pitch = 5;
-  inline bool has_pitch() const;
-  inline void clear_pitch();
-  static const int kPitchFieldNumber = 5;
-  inline double pitch() const;
-  inline void set_pitch(double value);
-  
-  // optional double yaw = 6;
-  inline bool has_yaw() const;
-  inline void clear_yaw();
-  static const int kYawFieldNumber = 6;
-  inline double yaw() const;
-  inline void set_yaw(double value);
-  
-  // @@protoc_insertion_point(class_scope:px.Waypoint)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_roll();
-  inline void clear_has_roll();
-  inline void set_has_pitch();
-  inline void clear_has_pitch();
-  inline void set_has_yaw();
-  inline void clear_has_yaw();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  double x_;
-  double y_;
-  double z_;
-  double roll_;
-  double pitch_;
-  double yaw_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static Waypoint* default_instance_;
-};
-// ===================================================================
-
-
-// ===================================================================
-
-// HeaderInfo
-
-// required int32 source_sysid = 1;
-inline bool HeaderInfo::has_source_sysid() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void HeaderInfo::set_has_source_sysid() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void HeaderInfo::clear_has_source_sysid() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void HeaderInfo::clear_source_sysid() {
-  source_sysid_ = 0;
-  clear_has_source_sysid();
-}
-inline ::google::protobuf::int32 HeaderInfo::source_sysid() const {
-  return source_sysid_;
-}
-inline void HeaderInfo::set_source_sysid(::google::protobuf::int32 value) {
-  set_has_source_sysid();
-  source_sysid_ = value;
-}
-
-// required int32 source_compid = 2;
-inline bool HeaderInfo::has_source_compid() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void HeaderInfo::set_has_source_compid() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void HeaderInfo::clear_has_source_compid() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void HeaderInfo::clear_source_compid() {
-  source_compid_ = 0;
-  clear_has_source_compid();
-}
-inline ::google::protobuf::int32 HeaderInfo::source_compid() const {
-  return source_compid_;
-}
-inline void HeaderInfo::set_source_compid(::google::protobuf::int32 value) {
-  set_has_source_compid();
-  source_compid_ = value;
-}
-
-// required double timestamp = 3;
-inline bool HeaderInfo::has_timestamp() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void HeaderInfo::set_has_timestamp() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void HeaderInfo::clear_has_timestamp() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void HeaderInfo::clear_timestamp() {
-  timestamp_ = 0;
-  clear_has_timestamp();
-}
-inline double HeaderInfo::timestamp() const {
-  return timestamp_;
-}
-inline void HeaderInfo::set_timestamp(double value) {
-  set_has_timestamp();
-  timestamp_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// GLOverlay
-
-// required .px.HeaderInfo header = 1;
-inline bool GLOverlay::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void GLOverlay::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void GLOverlay::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void GLOverlay::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& GLOverlay::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* GLOverlay::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* GLOverlay::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// optional string name = 2;
-inline bool GLOverlay::has_name() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void GLOverlay::set_has_name() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void GLOverlay::clear_has_name() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void GLOverlay::clear_name() {
-  if (name_ != &::google::protobuf::internal::kEmptyString) {
-    name_->clear();
-  }
-  clear_has_name();
-}
-inline const ::std::string& GLOverlay::name() const {
-  return *name_;
-}
-inline void GLOverlay::set_name(const ::std::string& value) {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  name_->assign(value);
-}
-inline void GLOverlay::set_name(const char* value) {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  name_->assign(value);
-}
-inline void GLOverlay::set_name(const char* value, size_t size) {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  name_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* GLOverlay::mutable_name() {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  return name_;
-}
-inline ::std::string* GLOverlay::release_name() {
-  clear_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = name_;
-    name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-inline bool GLOverlay::has_coordinateframetype() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void GLOverlay::set_has_coordinateframetype() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void GLOverlay::clear_has_coordinateframetype() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void GLOverlay::clear_coordinateframetype() {
-  coordinateframetype_ = 0;
-  clear_has_coordinateframetype();
-}
-inline ::px::GLOverlay_CoordinateFrameType GLOverlay::coordinateframetype() const {
-  return static_cast< ::px::GLOverlay_CoordinateFrameType >(coordinateframetype_);
-}
-inline void GLOverlay::set_coordinateframetype(::px::GLOverlay_CoordinateFrameType value) {
-  GOOGLE_DCHECK(::px::GLOverlay_CoordinateFrameType_IsValid(value));
-  set_has_coordinateframetype();
-  coordinateframetype_ = value;
-}
-
-// optional double origin_x = 4;
-inline bool GLOverlay::has_origin_x() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void GLOverlay::set_has_origin_x() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void GLOverlay::clear_has_origin_x() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void GLOverlay::clear_origin_x() {
-  origin_x_ = 0;
-  clear_has_origin_x();
-}
-inline double GLOverlay::origin_x() const {
-  return origin_x_;
-}
-inline void GLOverlay::set_origin_x(double value) {
-  set_has_origin_x();
-  origin_x_ = value;
-}
-
-// optional double origin_y = 5;
-inline bool GLOverlay::has_origin_y() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void GLOverlay::set_has_origin_y() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void GLOverlay::clear_has_origin_y() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void GLOverlay::clear_origin_y() {
-  origin_y_ = 0;
-  clear_has_origin_y();
-}
-inline double GLOverlay::origin_y() const {
-  return origin_y_;
-}
-inline void GLOverlay::set_origin_y(double value) {
-  set_has_origin_y();
-  origin_y_ = value;
-}
-
-// optional double origin_z = 6;
-inline bool GLOverlay::has_origin_z() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void GLOverlay::set_has_origin_z() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void GLOverlay::clear_has_origin_z() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void GLOverlay::clear_origin_z() {
-  origin_z_ = 0;
-  clear_has_origin_z();
-}
-inline double GLOverlay::origin_z() const {
-  return origin_z_;
-}
-inline void GLOverlay::set_origin_z(double value) {
-  set_has_origin_z();
-  origin_z_ = value;
-}
-
-// optional bytes data = 7;
-inline bool GLOverlay::has_data() const {
-  return (_has_bits_[0] & 0x00000040u) != 0;
-}
-inline void GLOverlay::set_has_data() {
-  _has_bits_[0] |= 0x00000040u;
-}
-inline void GLOverlay::clear_has_data() {
-  _has_bits_[0] &= ~0x00000040u;
-}
-inline void GLOverlay::clear_data() {
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    data_->clear();
-  }
-  clear_has_data();
-}
-inline const ::std::string& GLOverlay::data() const {
-  return *data_;
-}
-inline void GLOverlay::set_data(const ::std::string& value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void GLOverlay::set_data(const char* value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void GLOverlay::set_data(const void* value, size_t size) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* GLOverlay::mutable_data() {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  return data_;
-}
-inline ::std::string* GLOverlay::release_data() {
-  clear_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = data_;
-    data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// -------------------------------------------------------------------
-
-// Obstacle
-
-// optional float x = 1;
-inline bool Obstacle::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void Obstacle::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void Obstacle::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void Obstacle::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline float Obstacle::x() const {
-  return x_;
-}
-inline void Obstacle::set_x(float value) {
-  set_has_x();
-  x_ = value;
-}
-
-// optional float y = 2;
-inline bool Obstacle::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void Obstacle::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void Obstacle::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void Obstacle::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline float Obstacle::y() const {
-  return y_;
-}
-inline void Obstacle::set_y(float value) {
-  set_has_y();
-  y_ = value;
-}
-
-// optional float z = 3;
-inline bool Obstacle::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void Obstacle::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void Obstacle::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void Obstacle::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline float Obstacle::z() const {
-  return z_;
-}
-inline void Obstacle::set_z(float value) {
-  set_has_z();
-  z_ = value;
-}
-
-// optional float length = 4;
-inline bool Obstacle::has_length() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void Obstacle::set_has_length() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void Obstacle::clear_has_length() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void Obstacle::clear_length() {
-  length_ = 0;
-  clear_has_length();
-}
-inline float Obstacle::length() const {
-  return length_;
-}
-inline void Obstacle::set_length(float value) {
-  set_has_length();
-  length_ = value;
-}
-
-// optional float width = 5;
-inline bool Obstacle::has_width() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void Obstacle::set_has_width() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void Obstacle::clear_has_width() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void Obstacle::clear_width() {
-  width_ = 0;
-  clear_has_width();
-}
-inline float Obstacle::width() const {
-  return width_;
-}
-inline void Obstacle::set_width(float value) {
-  set_has_width();
-  width_ = value;
-}
-
-// optional float height = 6;
-inline bool Obstacle::has_height() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void Obstacle::set_has_height() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void Obstacle::clear_has_height() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void Obstacle::clear_height() {
-  height_ = 0;
-  clear_has_height();
-}
-inline float Obstacle::height() const {
-  return height_;
-}
-inline void Obstacle::set_height(float value) {
-  set_has_height();
-  height_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// ObstacleList
-
-// required .px.HeaderInfo header = 1;
-inline bool ObstacleList::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void ObstacleList::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void ObstacleList::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void ObstacleList::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& ObstacleList::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* ObstacleList::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* ObstacleList::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.Obstacle obstacles = 2;
-inline int ObstacleList::obstacles_size() const {
-  return obstacles_.size();
-}
-inline void ObstacleList::clear_obstacles() {
-  obstacles_.Clear();
-}
-inline const ::px::Obstacle& ObstacleList::obstacles(int index) const {
-  return obstacles_.Get(index);
-}
-inline ::px::Obstacle* ObstacleList::mutable_obstacles(int index) {
-  return obstacles_.Mutable(index);
-}
-inline ::px::Obstacle* ObstacleList::add_obstacles() {
-  return obstacles_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >&
-ObstacleList::obstacles() const {
-  return obstacles_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >*
-ObstacleList::mutable_obstacles() {
-  return &obstacles_;
-}
-
-// -------------------------------------------------------------------
-
-// ObstacleMap
-
-// required .px.HeaderInfo header = 1;
-inline bool ObstacleMap::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void ObstacleMap::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void ObstacleMap::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void ObstacleMap::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& ObstacleMap::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* ObstacleMap::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* ObstacleMap::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// required int32 type = 2;
-inline bool ObstacleMap::has_type() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void ObstacleMap::set_has_type() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void ObstacleMap::clear_has_type() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void ObstacleMap::clear_type() {
-  type_ = 0;
-  clear_has_type();
-}
-inline ::google::protobuf::int32 ObstacleMap::type() const {
-  return type_;
-}
-inline void ObstacleMap::set_type(::google::protobuf::int32 value) {
-  set_has_type();
-  type_ = value;
-}
-
-// optional float resolution = 3;
-inline bool ObstacleMap::has_resolution() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void ObstacleMap::set_has_resolution() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void ObstacleMap::clear_has_resolution() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void ObstacleMap::clear_resolution() {
-  resolution_ = 0;
-  clear_has_resolution();
-}
-inline float ObstacleMap::resolution() const {
-  return resolution_;
-}
-inline void ObstacleMap::set_resolution(float value) {
-  set_has_resolution();
-  resolution_ = value;
-}
-
-// optional int32 rows = 4;
-inline bool ObstacleMap::has_rows() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void ObstacleMap::set_has_rows() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void ObstacleMap::clear_has_rows() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void ObstacleMap::clear_rows() {
-  rows_ = 0;
-  clear_has_rows();
-}
-inline ::google::protobuf::int32 ObstacleMap::rows() const {
-  return rows_;
-}
-inline void ObstacleMap::set_rows(::google::protobuf::int32 value) {
-  set_has_rows();
-  rows_ = value;
-}
-
-// optional int32 cols = 5;
-inline bool ObstacleMap::has_cols() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void ObstacleMap::set_has_cols() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void ObstacleMap::clear_has_cols() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void ObstacleMap::clear_cols() {
-  cols_ = 0;
-  clear_has_cols();
-}
-inline ::google::protobuf::int32 ObstacleMap::cols() const {
-  return cols_;
-}
-inline void ObstacleMap::set_cols(::google::protobuf::int32 value) {
-  set_has_cols();
-  cols_ = value;
-}
-
-// optional int32 mapR0 = 6;
-inline bool ObstacleMap::has_mapr0() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void ObstacleMap::set_has_mapr0() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void ObstacleMap::clear_has_mapr0() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void ObstacleMap::clear_mapr0() {
-  mapr0_ = 0;
-  clear_has_mapr0();
-}
-inline ::google::protobuf::int32 ObstacleMap::mapr0() const {
-  return mapr0_;
-}
-inline void ObstacleMap::set_mapr0(::google::protobuf::int32 value) {
-  set_has_mapr0();
-  mapr0_ = value;
-}
-
-// optional int32 mapC0 = 7;
-inline bool ObstacleMap::has_mapc0() const {
-  return (_has_bits_[0] & 0x00000040u) != 0;
-}
-inline void ObstacleMap::set_has_mapc0() {
-  _has_bits_[0] |= 0x00000040u;
-}
-inline void ObstacleMap::clear_has_mapc0() {
-  _has_bits_[0] &= ~0x00000040u;
-}
-inline void ObstacleMap::clear_mapc0() {
-  mapc0_ = 0;
-  clear_has_mapc0();
-}
-inline ::google::protobuf::int32 ObstacleMap::mapc0() const {
-  return mapc0_;
-}
-inline void ObstacleMap::set_mapc0(::google::protobuf::int32 value) {
-  set_has_mapc0();
-  mapc0_ = value;
-}
-
-// optional int32 arrayR0 = 8;
-inline bool ObstacleMap::has_arrayr0() const {
-  return (_has_bits_[0] & 0x00000080u) != 0;
-}
-inline void ObstacleMap::set_has_arrayr0() {
-  _has_bits_[0] |= 0x00000080u;
-}
-inline void ObstacleMap::clear_has_arrayr0() {
-  _has_bits_[0] &= ~0x00000080u;
-}
-inline void ObstacleMap::clear_arrayr0() {
-  arrayr0_ = 0;
-  clear_has_arrayr0();
-}
-inline ::google::protobuf::int32 ObstacleMap::arrayr0() const {
-  return arrayr0_;
-}
-inline void ObstacleMap::set_arrayr0(::google::protobuf::int32 value) {
-  set_has_arrayr0();
-  arrayr0_ = value;
-}
-
-// optional int32 arrayC0 = 9;
-inline bool ObstacleMap::has_arrayc0() const {
-  return (_has_bits_[0] & 0x00000100u) != 0;
-}
-inline void ObstacleMap::set_has_arrayc0() {
-  _has_bits_[0] |= 0x00000100u;
-}
-inline void ObstacleMap::clear_has_arrayc0() {
-  _has_bits_[0] &= ~0x00000100u;
-}
-inline void ObstacleMap::clear_arrayc0() {
-  arrayc0_ = 0;
-  clear_has_arrayc0();
-}
-inline ::google::protobuf::int32 ObstacleMap::arrayc0() const {
-  return arrayc0_;
-}
-inline void ObstacleMap::set_arrayc0(::google::protobuf::int32 value) {
-  set_has_arrayc0();
-  arrayc0_ = value;
-}
-
-// optional bytes data = 10;
-inline bool ObstacleMap::has_data() const {
-  return (_has_bits_[0] & 0x00000200u) != 0;
-}
-inline void ObstacleMap::set_has_data() {
-  _has_bits_[0] |= 0x00000200u;
-}
-inline void ObstacleMap::clear_has_data() {
-  _has_bits_[0] &= ~0x00000200u;
-}
-inline void ObstacleMap::clear_data() {
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    data_->clear();
-  }
-  clear_has_data();
-}
-inline const ::std::string& ObstacleMap::data() const {
-  return *data_;
-}
-inline void ObstacleMap::set_data(const ::std::string& value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void ObstacleMap::set_data(const char* value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void ObstacleMap::set_data(const void* value, size_t size) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* ObstacleMap::mutable_data() {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  return data_;
-}
-inline ::std::string* ObstacleMap::release_data() {
-  clear_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = data_;
-    data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// -------------------------------------------------------------------
-
-// Path
-
-// required .px.HeaderInfo header = 1;
-inline bool Path::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void Path::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void Path::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void Path::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& Path::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* Path::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* Path::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.Waypoint waypoints = 2;
-inline int Path::waypoints_size() const {
-  return waypoints_.size();
-}
-inline void Path::clear_waypoints() {
-  waypoints_.Clear();
-}
-inline const ::px::Waypoint& Path::waypoints(int index) const {
-  return waypoints_.Get(index);
-}
-inline ::px::Waypoint* Path::mutable_waypoints(int index) {
-  return waypoints_.Mutable(index);
-}
-inline ::px::Waypoint* Path::add_waypoints() {
-  return waypoints_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >&
-Path::waypoints() const {
-  return waypoints_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >*
-Path::mutable_waypoints() {
-  return &waypoints_;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZI_PointXYZI
-
-// required float x = 1;
-inline bool PointCloudXYZI_PointXYZI::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline float PointCloudXYZI_PointXYZI::x() const {
-  return x_;
-}
-inline void PointCloudXYZI_PointXYZI::set_x(float value) {
-  set_has_x();
-  x_ = value;
-}
-
-// required float y = 2;
-inline bool PointCloudXYZI_PointXYZI::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline float PointCloudXYZI_PointXYZI::y() const {
-  return y_;
-}
-inline void PointCloudXYZI_PointXYZI::set_y(float value) {
-  set_has_y();
-  y_ = value;
-}
-
-// required float z = 3;
-inline bool PointCloudXYZI_PointXYZI::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline float PointCloudXYZI_PointXYZI::z() const {
-  return z_;
-}
-inline void PointCloudXYZI_PointXYZI::set_z(float value) {
-  set_has_z();
-  z_ = value;
-}
-
-// required float intensity = 4;
-inline bool PointCloudXYZI_PointXYZI::has_intensity() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_intensity() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_intensity() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_intensity() {
-  intensity_ = 0;
-  clear_has_intensity();
-}
-inline float PointCloudXYZI_PointXYZI::intensity() const {
-  return intensity_;
-}
-inline void PointCloudXYZI_PointXYZI::set_intensity(float value) {
-  set_has_intensity();
-  intensity_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZI
-
-// required .px.HeaderInfo header = 1;
-inline bool PointCloudXYZI::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZI::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZI::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZI::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& PointCloudXYZI::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZI::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZI::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.PointCloudXYZI.PointXYZI points = 2;
-inline int PointCloudXYZI::points_size() const {
-  return points_.size();
-}
-inline void PointCloudXYZI::clear_points() {
-  points_.Clear();
-}
-inline const ::px::PointCloudXYZI_PointXYZI& PointCloudXYZI::points(int index) const {
-  return points_.Get(index);
-}
-inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::mutable_points(int index) {
-  return points_.Mutable(index);
-}
-inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::add_points() {
-  return points_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >&
-PointCloudXYZI::points() const {
-  return points_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >*
-PointCloudXYZI::mutable_points() {
-  return &points_;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZRGB_PointXYZRGB
-
-// required float x = 1;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::x() const {
-  return x_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_x(float value) {
-  set_has_x();
-  x_ = value;
-}
-
-// required float y = 2;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::y() const {
-  return y_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_y(float value) {
-  set_has_y();
-  y_ = value;
-}
-
-// required float z = 3;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::z() const {
-  return z_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_z(float value) {
-  set_has_z();
-  z_ = value;
-}
-
-// required float rgb = 4;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_rgb() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_rgb() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_rgb() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_rgb() {
-  rgb_ = 0;
-  clear_has_rgb();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::rgb() const {
-  return rgb_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_rgb(float value) {
-  set_has_rgb();
-  rgb_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZRGB
-
-// required .px.HeaderInfo header = 1;
-inline bool PointCloudXYZRGB::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZRGB::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZRGB::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZRGB::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& PointCloudXYZRGB::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZRGB::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZRGB::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-inline int PointCloudXYZRGB::points_size() const {
-  return points_.size();
-}
-inline void PointCloudXYZRGB::clear_points() {
-  points_.Clear();
-}
-inline const ::px::PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB::points(int index) const {
-  return points_.Get(index);
-}
-inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::mutable_points(int index) {
-  return points_.Mutable(index);
-}
-inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::add_points() {
-  return points_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >&
-PointCloudXYZRGB::points() const {
-  return points_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >*
-PointCloudXYZRGB::mutable_points() {
-  return &points_;
-}
-
-// -------------------------------------------------------------------
-
-// RGBDImage
-
-// required .px.HeaderInfo header = 1;
-inline bool RGBDImage::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void RGBDImage::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void RGBDImage::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void RGBDImage::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& RGBDImage::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* RGBDImage::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* RGBDImage::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// required uint32 cols = 2;
-inline bool RGBDImage::has_cols() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void RGBDImage::set_has_cols() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void RGBDImage::clear_has_cols() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void RGBDImage::clear_cols() {
-  cols_ = 0u;
-  clear_has_cols();
-}
-inline ::google::protobuf::uint32 RGBDImage::cols() const {
-  return cols_;
-}
-inline void RGBDImage::set_cols(::google::protobuf::uint32 value) {
-  set_has_cols();
-  cols_ = value;
-}
-
-// required uint32 rows = 3;
-inline bool RGBDImage::has_rows() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void RGBDImage::set_has_rows() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void RGBDImage::clear_has_rows() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void RGBDImage::clear_rows() {
-  rows_ = 0u;
-  clear_has_rows();
-}
-inline ::google::protobuf::uint32 RGBDImage::rows() const {
-  return rows_;
-}
-inline void RGBDImage::set_rows(::google::protobuf::uint32 value) {
-  set_has_rows();
-  rows_ = value;
-}
-
-// required uint32 step1 = 4;
-inline bool RGBDImage::has_step1() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void RGBDImage::set_has_step1() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void RGBDImage::clear_has_step1() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void RGBDImage::clear_step1() {
-  step1_ = 0u;
-  clear_has_step1();
-}
-inline ::google::protobuf::uint32 RGBDImage::step1() const {
-  return step1_;
-}
-inline void RGBDImage::set_step1(::google::protobuf::uint32 value) {
-  set_has_step1();
-  step1_ = value;
-}
-
-// required uint32 type1 = 5;
-inline bool RGBDImage::has_type1() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void RGBDImage::set_has_type1() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void RGBDImage::clear_has_type1() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void RGBDImage::clear_type1() {
-  type1_ = 0u;
-  clear_has_type1();
-}
-inline ::google::protobuf::uint32 RGBDImage::type1() const {
-  return type1_;
-}
-inline void RGBDImage::set_type1(::google::protobuf::uint32 value) {
-  set_has_type1();
-  type1_ = value;
-}
-
-// required bytes imageData1 = 6;
-inline bool RGBDImage::has_imagedata1() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void RGBDImage::set_has_imagedata1() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void RGBDImage::clear_has_imagedata1() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void RGBDImage::clear_imagedata1() {
-  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
-    imagedata1_->clear();
-  }
-  clear_has_imagedata1();
-}
-inline const ::std::string& RGBDImage::imagedata1() const {
-  return *imagedata1_;
-}
-inline void RGBDImage::set_imagedata1(const ::std::string& value) {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  imagedata1_->assign(value);
-}
-inline void RGBDImage::set_imagedata1(const char* value) {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  imagedata1_->assign(value);
-}
-inline void RGBDImage::set_imagedata1(const void* value, size_t size) {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  imagedata1_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* RGBDImage::mutable_imagedata1() {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  return imagedata1_;
-}
-inline ::std::string* RGBDImage::release_imagedata1() {
-  clear_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = imagedata1_;
-    imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// required uint32 step2 = 7;
-inline bool RGBDImage::has_step2() const {
-  return (_has_bits_[0] & 0x00000040u) != 0;
-}
-inline void RGBDImage::set_has_step2() {
-  _has_bits_[0] |= 0x00000040u;
-}
-inline void RGBDImage::clear_has_step2() {
-  _has_bits_[0] &= ~0x00000040u;
-}
-inline void RGBDImage::clear_step2() {
-  step2_ = 0u;
-  clear_has_step2();
-}
-inline ::google::protobuf::uint32 RGBDImage::step2() const {
-  return step2_;
-}
-inline void RGBDImage::set_step2(::google::protobuf::uint32 value) {
-  set_has_step2();
-  step2_ = value;
-}
-
-// required uint32 type2 = 8;
-inline bool RGBDImage::has_type2() const {
-  return (_has_bits_[0] & 0x00000080u) != 0;
-}
-inline void RGBDImage::set_has_type2() {
-  _has_bits_[0] |= 0x00000080u;
-}
-inline void RGBDImage::clear_has_type2() {
-  _has_bits_[0] &= ~0x00000080u;
-}
-inline void RGBDImage::clear_type2() {
-  type2_ = 0u;
-  clear_has_type2();
-}
-inline ::google::protobuf::uint32 RGBDImage::type2() const {
-  return type2_;
-}
-inline void RGBDImage::set_type2(::google::protobuf::uint32 value) {
-  set_has_type2();
-  type2_ = value;
-}
-
-// required bytes imageData2 = 9;
-inline bool RGBDImage::has_imagedata2() const {
-  return (_has_bits_[0] & 0x00000100u) != 0;
-}
-inline void RGBDImage::set_has_imagedata2() {
-  _has_bits_[0] |= 0x00000100u;
-}
-inline void RGBDImage::clear_has_imagedata2() {
-  _has_bits_[0] &= ~0x00000100u;
-}
-inline void RGBDImage::clear_imagedata2() {
-  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
-    imagedata2_->clear();
-  }
-  clear_has_imagedata2();
-}
-inline const ::std::string& RGBDImage::imagedata2() const {
-  return *imagedata2_;
-}
-inline void RGBDImage::set_imagedata2(const ::std::string& value) {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  imagedata2_->assign(value);
-}
-inline void RGBDImage::set_imagedata2(const char* value) {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  imagedata2_->assign(value);
-}
-inline void RGBDImage::set_imagedata2(const void* value, size_t size) {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  imagedata2_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* RGBDImage::mutable_imagedata2() {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  return imagedata2_;
-}
-inline ::std::string* RGBDImage::release_imagedata2() {
-  clear_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = imagedata2_;
-    imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// optional uint32 camera_config = 10;
-inline bool RGBDImage::has_camera_config() const {
-  return (_has_bits_[0] & 0x00000200u) != 0;
-}
-inline void RGBDImage::set_has_camera_config() {
-  _has_bits_[0] |= 0x00000200u;
-}
-inline void RGBDImage::clear_has_camera_config() {
-  _has_bits_[0] &= ~0x00000200u;
-}
-inline void RGBDImage::clear_camera_config() {
-  camera_config_ = 0u;
-  clear_has_camera_config();
-}
-inline ::google::protobuf::uint32 RGBDImage::camera_config() const {
-  return camera_config_;
-}
-inline void RGBDImage::set_camera_config(::google::protobuf::uint32 value) {
-  set_has_camera_config();
-  camera_config_ = value;
-}
-
-// optional uint32 camera_type = 11;
-inline bool RGBDImage::has_camera_type() const {
-  return (_has_bits_[0] & 0x00000400u) != 0;
-}
-inline void RGBDImage::set_has_camera_type() {
-  _has_bits_[0] |= 0x00000400u;
-}
-inline void RGBDImage::clear_has_camera_type() {
-  _has_bits_[0] &= ~0x00000400u;
-}
-inline void RGBDImage::clear_camera_type() {
-  camera_type_ = 0u;
-  clear_has_camera_type();
-}
-inline ::google::protobuf::uint32 RGBDImage::camera_type() const {
-  return camera_type_;
-}
-inline void RGBDImage::set_camera_type(::google::protobuf::uint32 value) {
-  set_has_camera_type();
-  camera_type_ = value;
-}
-
-// optional float roll = 12;
-inline bool RGBDImage::has_roll() const {
-  return (_has_bits_[0] & 0x00000800u) != 0;
-}
-inline void RGBDImage::set_has_roll() {
-  _has_bits_[0] |= 0x00000800u;
-}
-inline void RGBDImage::clear_has_roll() {
-  _has_bits_[0] &= ~0x00000800u;
-}
-inline void RGBDImage::clear_roll() {
-  roll_ = 0;
-  clear_has_roll();
-}
-inline float RGBDImage::roll() const {
-  return roll_;
-}
-inline void RGBDImage::set_roll(float value) {
-  set_has_roll();
-  roll_ = value;
-}
-
-// optional float pitch = 13;
-inline bool RGBDImage::has_pitch() const {
-  return (_has_bits_[0] & 0x00001000u) != 0;
-}
-inline void RGBDImage::set_has_pitch() {
-  _has_bits_[0] |= 0x00001000u;
-}
-inline void RGBDImage::clear_has_pitch() {
-  _has_bits_[0] &= ~0x00001000u;
-}
-inline void RGBDImage::clear_pitch() {
-  pitch_ = 0;
-  clear_has_pitch();
-}
-inline float RGBDImage::pitch() const {
-  return pitch_;
-}
-inline void RGBDImage::set_pitch(float value) {
-  set_has_pitch();
-  pitch_ = value;
-}
-
-// optional float yaw = 14;
-inline bool RGBDImage::has_yaw() const {
-  return (_has_bits_[0] & 0x00002000u) != 0;
-}
-inline void RGBDImage::set_has_yaw() {
-  _has_bits_[0] |= 0x00002000u;
-}
-inline void RGBDImage::clear_has_yaw() {
-  _has_bits_[0] &= ~0x00002000u;
-}
-inline void RGBDImage::clear_yaw() {
-  yaw_ = 0;
-  clear_has_yaw();
-}
-inline float RGBDImage::yaw() const {
-  return yaw_;
-}
-inline void RGBDImage::set_yaw(float value) {
-  set_has_yaw();
-  yaw_ = value;
-}
-
-// optional float lon = 15;
-inline bool RGBDImage::has_lon() const {
-  return (_has_bits_[0] & 0x00004000u) != 0;
-}
-inline void RGBDImage::set_has_lon() {
-  _has_bits_[0] |= 0x00004000u;
-}
-inline void RGBDImage::clear_has_lon() {
-  _has_bits_[0] &= ~0x00004000u;
-}
-inline void RGBDImage::clear_lon() {
-  lon_ = 0;
-  clear_has_lon();
-}
-inline float RGBDImage::lon() const {
-  return lon_;
-}
-inline void RGBDImage::set_lon(float value) {
-  set_has_lon();
-  lon_ = value;
-}
-
-// optional float lat = 16;
-inline bool RGBDImage::has_lat() const {
-  return (_has_bits_[0] & 0x00008000u) != 0;
-}
-inline void RGBDImage::set_has_lat() {
-  _has_bits_[0] |= 0x00008000u;
-}
-inline void RGBDImage::clear_has_lat() {
-  _has_bits_[0] &= ~0x00008000u;
-}
-inline void RGBDImage::clear_lat() {
-  lat_ = 0;
-  clear_has_lat();
-}
-inline float RGBDImage::lat() const {
-  return lat_;
-}
-inline void RGBDImage::set_lat(float value) {
-  set_has_lat();
-  lat_ = value;
-}
-
-// optional float alt = 17;
-inline bool RGBDImage::has_alt() const {
-  return (_has_bits_[0] & 0x00010000u) != 0;
-}
-inline void RGBDImage::set_has_alt() {
-  _has_bits_[0] |= 0x00010000u;
-}
-inline void RGBDImage::clear_has_alt() {
-  _has_bits_[0] &= ~0x00010000u;
-}
-inline void RGBDImage::clear_alt() {
-  alt_ = 0;
-  clear_has_alt();
-}
-inline float RGBDImage::alt() const {
-  return alt_;
-}
-inline void RGBDImage::set_alt(float value) {
-  set_has_alt();
-  alt_ = value;
-}
-
-// optional float ground_x = 18;
-inline bool RGBDImage::has_ground_x() const {
-  return (_has_bits_[0] & 0x00020000u) != 0;
-}
-inline void RGBDImage::set_has_ground_x() {
-  _has_bits_[0] |= 0x00020000u;
-}
-inline void RGBDImage::clear_has_ground_x() {
-  _has_bits_[0] &= ~0x00020000u;
-}
-inline void RGBDImage::clear_ground_x() {
-  ground_x_ = 0;
-  clear_has_ground_x();
-}
-inline float RGBDImage::ground_x() const {
-  return ground_x_;
-}
-inline void RGBDImage::set_ground_x(float value) {
-  set_has_ground_x();
-  ground_x_ = value;
-}
-
-// optional float ground_y = 19;
-inline bool RGBDImage::has_ground_y() const {
-  return (_has_bits_[0] & 0x00040000u) != 0;
-}
-inline void RGBDImage::set_has_ground_y() {
-  _has_bits_[0] |= 0x00040000u;
-}
-inline void RGBDImage::clear_has_ground_y() {
-  _has_bits_[0] &= ~0x00040000u;
-}
-inline void RGBDImage::clear_ground_y() {
-  ground_y_ = 0;
-  clear_has_ground_y();
-}
-inline float RGBDImage::ground_y() const {
-  return ground_y_;
-}
-inline void RGBDImage::set_ground_y(float value) {
-  set_has_ground_y();
-  ground_y_ = value;
-}
-
-// optional float ground_z = 20;
-inline bool RGBDImage::has_ground_z() const {
-  return (_has_bits_[0] & 0x00080000u) != 0;
-}
-inline void RGBDImage::set_has_ground_z() {
-  _has_bits_[0] |= 0x00080000u;
-}
-inline void RGBDImage::clear_has_ground_z() {
-  _has_bits_[0] &= ~0x00080000u;
-}
-inline void RGBDImage::clear_ground_z() {
-  ground_z_ = 0;
-  clear_has_ground_z();
-}
-inline float RGBDImage::ground_z() const {
-  return ground_z_;
-}
-inline void RGBDImage::set_ground_z(float value) {
-  set_has_ground_z();
-  ground_z_ = value;
-}
-
-// repeated float camera_matrix = 21;
-inline int RGBDImage::camera_matrix_size() const {
-  return camera_matrix_.size();
-}
-inline void RGBDImage::clear_camera_matrix() {
-  camera_matrix_.Clear();
-}
-inline float RGBDImage::camera_matrix(int index) const {
-  return camera_matrix_.Get(index);
-}
-inline void RGBDImage::set_camera_matrix(int index, float value) {
-  camera_matrix_.Set(index, value);
-}
-inline void RGBDImage::add_camera_matrix(float value) {
-  camera_matrix_.Add(value);
-}
-inline const ::google::protobuf::RepeatedField< float >&
-RGBDImage::camera_matrix() const {
-  return camera_matrix_;
-}
-inline ::google::protobuf::RepeatedField< float >*
-RGBDImage::mutable_camera_matrix() {
-  return &camera_matrix_;
-}
-
-// -------------------------------------------------------------------
-
-// Waypoint
-
-// required double x = 1;
-inline bool Waypoint::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void Waypoint::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void Waypoint::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void Waypoint::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline double Waypoint::x() const {
-  return x_;
-}
-inline void Waypoint::set_x(double value) {
-  set_has_x();
-  x_ = value;
-}
-
-// required double y = 2;
-inline bool Waypoint::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void Waypoint::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void Waypoint::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void Waypoint::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline double Waypoint::y() const {
-  return y_;
-}
-inline void Waypoint::set_y(double value) {
-  set_has_y();
-  y_ = value;
-}
-
-// optional double z = 3;
-inline bool Waypoint::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void Waypoint::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void Waypoint::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void Waypoint::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline double Waypoint::z() const {
-  return z_;
-}
-inline void Waypoint::set_z(double value) {
-  set_has_z();
-  z_ = value;
-}
-
-// optional double roll = 4;
-inline bool Waypoint::has_roll() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void Waypoint::set_has_roll() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void Waypoint::clear_has_roll() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void Waypoint::clear_roll() {
-  roll_ = 0;
-  clear_has_roll();
-}
-inline double Waypoint::roll() const {
-  return roll_;
-}
-inline void Waypoint::set_roll(double value) {
-  set_has_roll();
-  roll_ = value;
-}
-
-// optional double pitch = 5;
-inline bool Waypoint::has_pitch() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void Waypoint::set_has_pitch() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void Waypoint::clear_has_pitch() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void Waypoint::clear_pitch() {
-  pitch_ = 0;
-  clear_has_pitch();
-}
-inline double Waypoint::pitch() const {
-  return pitch_;
-}
-inline void Waypoint::set_pitch(double value) {
-  set_has_pitch();
-  pitch_ = value;
-}
-
-// optional double yaw = 6;
-inline bool Waypoint::has_yaw() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void Waypoint::set_has_yaw() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void Waypoint::clear_has_yaw() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void Waypoint::clear_yaw() {
-  yaw_ = 0;
-  clear_has_yaw();
-}
-inline double Waypoint::yaw() const {
-  return yaw_;
-}
-inline void Waypoint::set_yaw(double value) {
-  set_has_yaw();
-  yaw_ = value;
-}
-
-
-// @@protoc_insertion_point(namespace_scope)
-
-}  // namespace px
-
-#ifndef SWIG
-namespace google {
-namespace protobuf {
-
-template <>
-inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_CoordinateFrameType>() {
-  return ::px::GLOverlay_CoordinateFrameType_descriptor();
-}
-template <>
-inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_Mode>() {
-  return ::px::GLOverlay_Mode_descriptor();
-}
-template <>
-inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_Identifier>() {
-  return ::px::GLOverlay_Identifier_descriptor();
-}
-
-}  // namespace google
-}  // namespace protobuf
-#endif  // SWIG
-
-// @@protoc_insertion_point(global_scope)
-
-#endif  // PROTOBUF_pixhawk_2eproto__INCLUDED
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h b/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h
deleted file mode 100644
index caa4d3dcb..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/testsuite.h
+++ /dev/null
@@ -1,996 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from pixhawk.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef PIXHAWK_TESTSUITE_H
-#define PIXHAWK_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-static void mavlink_test_pixhawk(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_common(system_id, component_id, last_msg);
-	mavlink_test_pixhawk(system_id, component_id, last_msg);
-}
-#endif
-
-#include "../common/testsuite.h"
-
-
-static void mavlink_test_set_cam_shutter(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_set_cam_shutter_t packet_in = {
-		17.0,
-	}17443,
-	}17547,
-	}29,
-	}96,
-	}163,
-	};
-	mavlink_set_cam_shutter_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.gain = packet_in.gain;
-        	packet1.interval = packet_in.interval;
-        	packet1.exposure = packet_in.exposure;
-        	packet1.cam_no = packet_in.cam_no;
-        	packet1.cam_mode = packet_in.cam_mode;
-        	packet1.trigger_pin = packet_in.trigger_pin;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_cam_shutter_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_cam_shutter_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_cam_shutter_pack(system_id, component_id, &msg , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain );
-	mavlink_msg_set_cam_shutter_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_cam_shutter_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain );
-	mavlink_msg_set_cam_shutter_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_set_cam_shutter_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_cam_shutter_send(MAVLINK_COMM_1 , packet1.cam_no , packet1.cam_mode , packet1.trigger_pin , packet1.interval , packet1.exposure , packet1.gain );
-	mavlink_msg_set_cam_shutter_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_image_triggered(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_image_triggered_t packet_in = {
-		93372036854775807ULL,
-	}963497880,
-	}101.0,
-	}129.0,
-	}157.0,
-	}185.0,
-	}213.0,
-	}241.0,
-	}269.0,
-	}297.0,
-	}325.0,
-	}353.0,
-	};
-	mavlink_image_triggered_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.timestamp = packet_in.timestamp;
-        	packet1.seq = packet_in.seq;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.local_z = packet_in.local_z;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.ground_x = packet_in.ground_x;
-        	packet1.ground_y = packet_in.ground_y;
-        	packet1.ground_z = packet_in.ground_z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_triggered_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_image_triggered_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_triggered_pack(system_id, component_id, &msg , packet1.timestamp , packet1.seq , packet1.roll , packet1.pitch , packet1.yaw , packet1.local_z , packet1.lat , packet1.lon , packet1.alt , packet1.ground_x , packet1.ground_y , packet1.ground_z );
-	mavlink_msg_image_triggered_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_triggered_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.timestamp , packet1.seq , packet1.roll , packet1.pitch , packet1.yaw , packet1.local_z , packet1.lat , packet1.lon , packet1.alt , packet1.ground_x , packet1.ground_y , packet1.ground_z );
-	mavlink_msg_image_triggered_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_image_triggered_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_triggered_send(MAVLINK_COMM_1 , packet1.timestamp , packet1.seq , packet1.roll , packet1.pitch , packet1.yaw , packet1.local_z , packet1.lat , packet1.lon , packet1.alt , packet1.ground_x , packet1.ground_y , packet1.ground_z );
-	mavlink_msg_image_triggered_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_image_trigger_control(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_image_trigger_control_t packet_in = {
-		5,
-	};
-	mavlink_image_trigger_control_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.enable = packet_in.enable;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_trigger_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_image_trigger_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_trigger_control_pack(system_id, component_id, &msg , packet1.enable );
-	mavlink_msg_image_trigger_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_trigger_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.enable );
-	mavlink_msg_image_trigger_control_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_image_trigger_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_trigger_control_send(MAVLINK_COMM_1 , packet1.enable );
-	mavlink_msg_image_trigger_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_image_available(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_image_available_t packet_in = {
-		93372036854775807ULL,
-	}93372036854776311ULL,
-	}93372036854776815ULL,
-	}963498712,
-	}963498920,
-	}963499128,
-	}963499336,
-	}297.0,
-	}325.0,
-	}353.0,
-	}381.0,
-	}409.0,
-	}437.0,
-	}465.0,
-	}493.0,
-	}521.0,
-	}549.0,
-	}577.0,
-	}21603,
-	}21707,
-	}21811,
-	}147,
-	}214,
-	};
-	mavlink_image_available_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.cam_id = packet_in.cam_id;
-        	packet1.timestamp = packet_in.timestamp;
-        	packet1.valid_until = packet_in.valid_until;
-        	packet1.img_seq = packet_in.img_seq;
-        	packet1.img_buf_index = packet_in.img_buf_index;
-        	packet1.key = packet_in.key;
-        	packet1.exposure = packet_in.exposure;
-        	packet1.gain = packet_in.gain;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.local_z = packet_in.local_z;
-        	packet1.lat = packet_in.lat;
-        	packet1.lon = packet_in.lon;
-        	packet1.alt = packet_in.alt;
-        	packet1.ground_x = packet_in.ground_x;
-        	packet1.ground_y = packet_in.ground_y;
-        	packet1.ground_z = packet_in.ground_z;
-        	packet1.width = packet_in.width;
-        	packet1.height = packet_in.height;
-        	packet1.depth = packet_in.depth;
-        	packet1.cam_no = packet_in.cam_no;
-        	packet1.channels = packet_in.channels;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_available_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_image_available_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_available_pack(system_id, component_id, &msg , packet1.cam_id , packet1.cam_no , packet1.timestamp , packet1.valid_until , packet1.img_seq , packet1.img_buf_index , packet1.width , packet1.height , packet1.depth , packet1.channels , packet1.key , packet1.exposure , packet1.gain , packet1.roll , packet1.pitch , packet1.yaw , packet1.local_z , packet1.lat , packet1.lon , packet1.alt , packet1.ground_x , packet1.ground_y , packet1.ground_z );
-	mavlink_msg_image_available_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_available_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.cam_id , packet1.cam_no , packet1.timestamp , packet1.valid_until , packet1.img_seq , packet1.img_buf_index , packet1.width , packet1.height , packet1.depth , packet1.channels , packet1.key , packet1.exposure , packet1.gain , packet1.roll , packet1.pitch , packet1.yaw , packet1.local_z , packet1.lat , packet1.lon , packet1.alt , packet1.ground_x , packet1.ground_y , packet1.ground_z );
-	mavlink_msg_image_available_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_image_available_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_image_available_send(MAVLINK_COMM_1 , packet1.cam_id , packet1.cam_no , packet1.timestamp , packet1.valid_until , packet1.img_seq , packet1.img_buf_index , packet1.width , packet1.height , packet1.depth , packet1.channels , packet1.key , packet1.exposure , packet1.gain , packet1.roll , packet1.pitch , packet1.yaw , packet1.local_z , packet1.lat , packet1.lon , packet1.alt , packet1.ground_x , packet1.ground_y , packet1.ground_z );
-	mavlink_msg_image_available_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_set_position_control_offset(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_set_position_control_offset_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}53,
-	}120,
-	};
-	mavlink_set_position_control_offset_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.target_system = packet_in.target_system;
-        	packet1.target_component = packet_in.target_component;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_position_control_offset_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_set_position_control_offset_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_position_control_offset_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_set_position_control_offset_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_position_control_offset_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_set_position_control_offset_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_set_position_control_offset_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_set_position_control_offset_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_set_position_control_offset_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_position_control_setpoint(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_position_control_setpoint_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}18067,
-	};
-	mavlink_position_control_setpoint_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.id = packet_in.id;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_position_control_setpoint_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_position_control_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_position_control_setpoint_pack(system_id, component_id, &msg , packet1.id , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_position_control_setpoint_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_position_control_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_position_control_setpoint_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_position_control_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_position_control_setpoint_send(MAVLINK_COMM_1 , packet1.id , packet1.x , packet1.y , packet1.z , packet1.yaw );
-	mavlink_msg_position_control_setpoint_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_marker(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_marker_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}18483,
-	};
-	mavlink_marker_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        	packet1.id = packet_in.id;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_marker_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_marker_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_marker_pack(system_id, component_id, &msg , packet1.id , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_marker_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_marker_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_marker_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_marker_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_marker_send(MAVLINK_COMM_1 , packet1.id , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_marker_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_raw_aux(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_raw_aux_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}17755,
-	}17859,
-	}17963,
-	};
-	mavlink_raw_aux_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.baro = packet_in.baro;
-        	packet1.adc1 = packet_in.adc1;
-        	packet1.adc2 = packet_in.adc2;
-        	packet1.adc3 = packet_in.adc3;
-        	packet1.adc4 = packet_in.adc4;
-        	packet1.vbat = packet_in.vbat;
-        	packet1.temp = packet_in.temp;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_aux_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_raw_aux_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_aux_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.vbat , packet1.temp , packet1.baro );
-	mavlink_msg_raw_aux_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_aux_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.vbat , packet1.temp , packet1.baro );
-	mavlink_msg_raw_aux_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_raw_aux_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_raw_aux_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.vbat , packet1.temp , packet1.baro );
-	mavlink_msg_raw_aux_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_watchdog_heartbeat(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_watchdog_heartbeat_t packet_in = {
-		17235,
-	}17339,
-	};
-	mavlink_watchdog_heartbeat_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.watchdog_id = packet_in.watchdog_id;
-        	packet1.process_count = packet_in.process_count;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_heartbeat_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_watchdog_heartbeat_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_heartbeat_pack(system_id, component_id, &msg , packet1.watchdog_id , packet1.process_count );
-	mavlink_msg_watchdog_heartbeat_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.watchdog_id , packet1.process_count );
-	mavlink_msg_watchdog_heartbeat_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_watchdog_heartbeat_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_heartbeat_send(MAVLINK_COMM_1 , packet1.watchdog_id , packet1.process_count );
-	mavlink_msg_watchdog_heartbeat_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_watchdog_process_info(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_watchdog_process_info_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC",
-	}"EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST",
-	};
-	mavlink_watchdog_process_info_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.timeout = packet_in.timeout;
-        	packet1.watchdog_id = packet_in.watchdog_id;
-        	packet1.process_id = packet_in.process_id;
-        
-        	mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*100);
-        	mav_array_memcpy(packet1.arguments, packet_in.arguments, sizeof(char)*147);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_info_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_watchdog_process_info_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_info_pack(system_id, component_id, &msg , packet1.watchdog_id , packet1.process_id , packet1.name , packet1.arguments , packet1.timeout );
-	mavlink_msg_watchdog_process_info_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_info_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.watchdog_id , packet1.process_id , packet1.name , packet1.arguments , packet1.timeout );
-	mavlink_msg_watchdog_process_info_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_watchdog_process_info_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_info_send(MAVLINK_COMM_1 , packet1.watchdog_id , packet1.process_id , packet1.name , packet1.arguments , packet1.timeout );
-	mavlink_msg_watchdog_process_info_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_watchdog_process_status(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_watchdog_process_status_t packet_in = {
-		963497464,
-	}17443,
-	}17547,
-	}17651,
-	}163,
-	}230,
-	};
-	mavlink_watchdog_process_status_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.pid = packet_in.pid;
-        	packet1.watchdog_id = packet_in.watchdog_id;
-        	packet1.process_id = packet_in.process_id;
-        	packet1.crashes = packet_in.crashes;
-        	packet1.state = packet_in.state;
-        	packet1.muted = packet_in.muted;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_status_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_watchdog_process_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_status_pack(system_id, component_id, &msg , packet1.watchdog_id , packet1.process_id , packet1.state , packet1.muted , packet1.pid , packet1.crashes );
-	mavlink_msg_watchdog_process_status_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.watchdog_id , packet1.process_id , packet1.state , packet1.muted , packet1.pid , packet1.crashes );
-	mavlink_msg_watchdog_process_status_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_watchdog_process_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_process_status_send(MAVLINK_COMM_1 , packet1.watchdog_id , packet1.process_id , packet1.state , packet1.muted , packet1.pid , packet1.crashes );
-	mavlink_msg_watchdog_process_status_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_watchdog_command(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_watchdog_command_t packet_in = {
-		17235,
-	}17339,
-	}17,
-	}84,
-	};
-	mavlink_watchdog_command_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.watchdog_id = packet_in.watchdog_id;
-        	packet1.process_id = packet_in.process_id;
-        	packet1.target_system_id = packet_in.target_system_id;
-        	packet1.command_id = packet_in.command_id;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_command_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_watchdog_command_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_command_pack(system_id, component_id, &msg , packet1.target_system_id , packet1.watchdog_id , packet1.process_id , packet1.command_id );
-	mavlink_msg_watchdog_command_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_command_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system_id , packet1.watchdog_id , packet1.process_id , packet1.command_id );
-	mavlink_msg_watchdog_command_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_watchdog_command_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_watchdog_command_send(MAVLINK_COMM_1 , packet1.target_system_id , packet1.watchdog_id , packet1.process_id , packet1.command_id );
-	mavlink_msg_watchdog_command_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_pattern_detected(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_pattern_detected_t packet_in = {
-		17.0,
-	}17,
-	}"FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ",
-	}128,
-	};
-	mavlink_pattern_detected_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.confidence = packet_in.confidence;
-        	packet1.type = packet_in.type;
-        	packet1.detected = packet_in.detected;
-        
-        	mav_array_memcpy(packet1.file, packet_in.file, sizeof(char)*100);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pattern_detected_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_pattern_detected_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pattern_detected_pack(system_id, component_id, &msg , packet1.type , packet1.confidence , packet1.file , packet1.detected );
-	mavlink_msg_pattern_detected_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pattern_detected_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.confidence , packet1.file , packet1.detected );
-	mavlink_msg_pattern_detected_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_pattern_detected_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pattern_detected_send(MAVLINK_COMM_1 , packet1.type , packet1.confidence , packet1.file , packet1.detected );
-	mavlink_msg_pattern_detected_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_point_of_interest(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_point_of_interest_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}17859,
-	}175,
-	}242,
-	}53,
-	}"RSTUVWXYZABCDEFGHIJKLMNOP",
-	};
-	mavlink_point_of_interest_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.timeout = packet_in.timeout;
-        	packet1.type = packet_in.type;
-        	packet1.color = packet_in.color;
-        	packet1.coordinate_system = packet_in.coordinate_system;
-        
-        	mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*26);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_point_of_interest_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_pack(system_id, component_id, &msg , packet1.type , packet1.color , packet1.coordinate_system , packet1.timeout , packet1.x , packet1.y , packet1.z , packet1.name );
-	mavlink_msg_point_of_interest_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.color , packet1.coordinate_system , packet1.timeout , packet1.x , packet1.y , packet1.z , packet1.name );
-	mavlink_msg_point_of_interest_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_point_of_interest_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_send(MAVLINK_COMM_1 , packet1.type , packet1.color , packet1.coordinate_system , packet1.timeout , packet1.x , packet1.y , packet1.z , packet1.name );
-	mavlink_msg_point_of_interest_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_point_of_interest_connection(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_point_of_interest_connection_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}129.0,
-	}157.0,
-	}18483,
-	}211,
-	}22,
-	}89,
-	}"DEFGHIJKLMNOPQRSTUVWXYZAB",
-	};
-	mavlink_point_of_interest_connection_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.xp1 = packet_in.xp1;
-        	packet1.yp1 = packet_in.yp1;
-        	packet1.zp1 = packet_in.zp1;
-        	packet1.xp2 = packet_in.xp2;
-        	packet1.yp2 = packet_in.yp2;
-        	packet1.zp2 = packet_in.zp2;
-        	packet1.timeout = packet_in.timeout;
-        	packet1.type = packet_in.type;
-        	packet1.color = packet_in.color;
-        	packet1.coordinate_system = packet_in.coordinate_system;
-        
-        	mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*26);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_connection_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_point_of_interest_connection_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_connection_pack(system_id, component_id, &msg , packet1.type , packet1.color , packet1.coordinate_system , packet1.timeout , packet1.xp1 , packet1.yp1 , packet1.zp1 , packet1.xp2 , packet1.yp2 , packet1.zp2 , packet1.name );
-	mavlink_msg_point_of_interest_connection_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_connection_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.color , packet1.coordinate_system , packet1.timeout , packet1.xp1 , packet1.yp1 , packet1.zp1 , packet1.xp2 , packet1.yp2 , packet1.zp2 , packet1.name );
-	mavlink_msg_point_of_interest_connection_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_point_of_interest_connection_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_point_of_interest_connection_send(MAVLINK_COMM_1 , packet1.type , packet1.color , packet1.coordinate_system , packet1.timeout , packet1.xp1 , packet1.yp1 , packet1.zp1 , packet1.xp2 , packet1.yp2 , packet1.zp2 , packet1.name );
-	mavlink_msg_point_of_interest_connection_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_brief_feature(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_brief_feature_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}18067,
-	}18171,
-	}65,
-	}{ 132, 133, 134, 135, 136, 137, 138, 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 },
-	};
-	mavlink_brief_feature_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.response = packet_in.response;
-        	packet1.size = packet_in.size;
-        	packet1.orientation = packet_in.orientation;
-        	packet1.orientation_assignment = packet_in.orientation_assignment;
-        
-        	mav_array_memcpy(packet1.descriptor, packet_in.descriptor, sizeof(uint8_t)*32);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_brief_feature_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_brief_feature_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_brief_feature_pack(system_id, component_id, &msg , packet1.x , packet1.y , packet1.z , packet1.orientation_assignment , packet1.size , packet1.orientation , packet1.descriptor , packet1.response );
-	mavlink_msg_brief_feature_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_brief_feature_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.x , packet1.y , packet1.z , packet1.orientation_assignment , packet1.size , packet1.orientation , packet1.descriptor , packet1.response );
-	mavlink_msg_brief_feature_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_brief_feature_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_brief_feature_send(MAVLINK_COMM_1 , packet1.x , packet1.y , packet1.z , packet1.orientation_assignment , packet1.size , packet1.orientation , packet1.descriptor , packet1.response );
-	mavlink_msg_brief_feature_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_attitude_control(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_attitude_control_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	}101.0,
-	}53,
-	}120,
-	}187,
-	}254,
-	}65,
-	};
-	mavlink_attitude_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.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;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_control_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_attitude_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_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_attitude_control_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_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_attitude_control_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_attitude_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_attitude_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_attitude_control_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_pixhawk(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_set_cam_shutter(system_id, component_id, last_msg);
-	mavlink_test_image_triggered(system_id, component_id, last_msg);
-	mavlink_test_image_trigger_control(system_id, component_id, last_msg);
-	mavlink_test_image_available(system_id, component_id, last_msg);
-	mavlink_test_set_position_control_offset(system_id, component_id, last_msg);
-	mavlink_test_position_control_setpoint(system_id, component_id, last_msg);
-	mavlink_test_marker(system_id, component_id, last_msg);
-	mavlink_test_raw_aux(system_id, component_id, last_msg);
-	mavlink_test_watchdog_heartbeat(system_id, component_id, last_msg);
-	mavlink_test_watchdog_process_info(system_id, component_id, last_msg);
-	mavlink_test_watchdog_process_status(system_id, component_id, last_msg);
-	mavlink_test_watchdog_command(system_id, component_id, last_msg);
-	mavlink_test_pattern_detected(system_id, component_id, last_msg);
-	mavlink_test_point_of_interest(system_id, component_id, last_msg);
-	mavlink_test_point_of_interest_connection(system_id, component_id, last_msg);
-	mavlink_test_brief_feature(system_id, component_id, last_msg);
-	mavlink_test_attitude_control(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // PIXHAWK_TESTSUITE_H
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/version.h b/mavlink/include/mavlink/v1.0/pixhawk/version.h
deleted file mode 100644
index aa79f6ffb..000000000
--- a/mavlink/include/mavlink/v1.0/pixhawk/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from pixhawk.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:16 2014"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/include/mavlink/v1.0/protocol.h b/mavlink/include/mavlink/v1.0/protocol.h
deleted file mode 100644
index 86e7ff588..000000000
--- a/mavlink/include/mavlink/v1.0/protocol.h
+++ /dev/null
@@ -1,328 +0,0 @@
-#ifndef  _MAVLINK_PROTOCOL_H_
-#define  _MAVLINK_PROTOCOL_H_
-
-#include "string.h"
-#include "mavlink_types.h"
-
-/* 
-   If you want MAVLink on a system that is native big-endian,
-   you need to define NATIVE_BIG_ENDIAN
-*/
-#ifdef NATIVE_BIG_ENDIAN
-# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
-#else
-# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
-#endif
-
-#ifndef MAVLINK_STACK_BUFFER
-#define MAVLINK_STACK_BUFFER 0
-#endif
-
-#ifndef MAVLINK_AVOID_GCC_STACK_BUG
-# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
-#endif
-
-#ifndef MAVLINK_ASSERT
-#define MAVLINK_ASSERT(x)
-#endif
-
-#ifndef MAVLINK_START_UART_SEND
-#define MAVLINK_START_UART_SEND(chan, length)
-#endif
-
-#ifndef MAVLINK_END_UART_SEND
-#define MAVLINK_END_UART_SEND(chan, length)
-#endif
-
-#ifdef MAVLINK_SEPARATE_HELPERS
-#define MAVLINK_HELPER
-#else
-#define MAVLINK_HELPER static inline
-#include "mavlink_helpers.h"
-#endif // MAVLINK_SEPARATE_HELPERS
-
-/* always include the prototypes to ensure we don't get out of sync */
-#ifndef MAVLINK_GET_CHANNEL_STATUS
-MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan);
-#endif
-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);
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra);
-#endif
-#else
-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);
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
-#endif
-#endif // MAVLINK_CRC_EXTRA
-MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
-MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
-MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
-MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
-MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, 
-					       uint8_t* r_bit_index, uint8_t* buffer);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
-MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg);
-#endif
-
-/**
- * @brief Get the required buffer size for this message
- */
-static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
-{
-	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-static inline void byte_swap_2(char *dst, const char *src)
-{
-	dst[0] = src[1];
-	dst[1] = src[0];
-}
-static inline void byte_swap_4(char *dst, const char *src)
-{
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-}
-static inline void byte_swap_8(char *dst, const char *src)
-{
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-}
-#elif !MAVLINK_ALIGNED_FIELDS
-static inline void byte_copy_2(char *dst, const char *src)
-{
-	dst[0] = src[0];
-	dst[1] = src[1];
-}
-static inline void byte_copy_4(char *dst, const char *src)
-{
-	dst[0] = src[0];
-	dst[1] = src[1];
-	dst[2] = src[2];
-	dst[3] = src[3];
-}
-static inline void byte_copy_8(char *dst, const char *src)
-{
-	memcpy(dst, src, 8);
-}
-#endif
-
-#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
-#define _mav_put_int8_t(buf, wire_offset, b)  buf[wire_offset] = (int8_t)b
-#define _mav_put_char(buf, wire_offset, b)    buf[wire_offset] = b
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int16_t(buf, wire_offset, b)  byte_swap_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int32_t(buf, wire_offset, b)  byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int64_t(buf, wire_offset, b)  byte_swap_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_float(buf, wire_offset, b)    byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_double(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
-#elif !MAVLINK_ALIGNED_FIELDS
-#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int16_t(buf, wire_offset, b)  byte_copy_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int32_t(buf, wire_offset, b)  byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int64_t(buf, wire_offset, b)  byte_copy_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_float(buf, wire_offset, b)    byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_double(buf, wire_offset, b)   byte_copy_8(&buf[wire_offset], (const char *)&b)
-#else
-#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
-#define _mav_put_int16_t(buf, wire_offset, b)  *(int16_t *)&buf[wire_offset] = b
-#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
-#define _mav_put_int32_t(buf, wire_offset, b)  *(int32_t *)&buf[wire_offset] = b
-#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
-#define _mav_put_int64_t(buf, wire_offset, b)  *(int64_t *)&buf[wire_offset] = b
-#define _mav_put_float(buf, wire_offset, b)    *(float *)&buf[wire_offset] = b
-#define _mav_put_double(buf, wire_offset, b)   *(double *)&buf[wire_offset] = b
-#endif
-
-/*
-  like memcpy(), but if src is NULL, do a memset to zero
-*/
-static inline void mav_array_memcpy(void *dest, const void *src, size_t n)
-{
-	if (src == NULL) {
-		memset(dest, 0, n);
-	} else {
-		memcpy(dest, src, n);
-	}
-}
-
-/*
- * Place a char array into a buffer
- */
-static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-
-}
-
-/*
- * Place a uint8_t array into a buffer
- */
-static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-
-}
-
-/*
- * Place a int8_t array into a buffer
- */
-static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_PUT_ARRAY(TYPE, V) \
-static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
-{ \
-	if (b == NULL) { \
-		memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
-	} else { \
-		uint16_t i; \
-		for (i=0; i<array_length; i++) { \
-			_mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
-		} \
-	} \
-}
-#else
-#define _MAV_PUT_ARRAY(TYPE, V)					\
-static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
-{ \
-	mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
-}
-#endif
-
-_MAV_PUT_ARRAY(uint16_t, u16)
-_MAV_PUT_ARRAY(uint32_t, u32)
-_MAV_PUT_ARRAY(uint64_t, u64)
-_MAV_PUT_ARRAY(int16_t,  i16)
-_MAV_PUT_ARRAY(int32_t,  i32)
-_MAV_PUT_ARRAY(int64_t,  i64)
-_MAV_PUT_ARRAY(float,    f)
-_MAV_PUT_ARRAY(double,   d)
-
-#define _MAV_RETURN_char(msg, wire_offset)             (const char)_MAV_PAYLOAD(msg)[wire_offset]
-#define _MAV_RETURN_int8_t(msg, wire_offset)   (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
-#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
-
-_MAV_MSG_RETURN_TYPE(uint16_t, 2)
-_MAV_MSG_RETURN_TYPE(int16_t,  2)
-_MAV_MSG_RETURN_TYPE(uint32_t, 4)
-_MAV_MSG_RETURN_TYPE(int32_t,  4)
-_MAV_MSG_RETURN_TYPE(uint64_t, 8)
-_MAV_MSG_RETURN_TYPE(int64_t,  8)
-_MAV_MSG_RETURN_TYPE(float,    4)
-_MAV_MSG_RETURN_TYPE(double,   8)
-
-#elif !MAVLINK_ALIGNED_FIELDS
-#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
-
-_MAV_MSG_RETURN_TYPE(uint16_t, 2)
-_MAV_MSG_RETURN_TYPE(int16_t,  2)
-_MAV_MSG_RETURN_TYPE(uint32_t, 4)
-_MAV_MSG_RETURN_TYPE(int32_t,  4)
-_MAV_MSG_RETURN_TYPE(uint64_t, 8)
-_MAV_MSG_RETURN_TYPE(int64_t,  8)
-_MAV_MSG_RETURN_TYPE(float,    4)
-_MAV_MSG_RETURN_TYPE(double,   8)
-#else // nicely aligned, no swap
-#define _MAV_MSG_RETURN_TYPE(TYPE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
-
-_MAV_MSG_RETURN_TYPE(uint16_t)
-_MAV_MSG_RETURN_TYPE(int16_t)
-_MAV_MSG_RETURN_TYPE(uint32_t)
-_MAV_MSG_RETURN_TYPE(int32_t)
-_MAV_MSG_RETURN_TYPE(uint64_t)
-_MAV_MSG_RETURN_TYPE(int64_t)
-_MAV_MSG_RETURN_TYPE(float)
-_MAV_MSG_RETURN_TYPE(double)
-#endif // MAVLINK_NEED_BYTE_SWAP
-
-static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, 
-						     uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, 
-							uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, 
-						       uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_RETURN_ARRAY(TYPE, V) \
-static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
-							 uint8_t array_length, uint8_t wire_offset) \
-{ \
-	uint16_t i; \
-	for (i=0; i<array_length; i++) { \
-		value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
-	} \
-	return array_length*sizeof(value[0]); \
-}
-#else
-#define _MAV_RETURN_ARRAY(TYPE, V)					\
-static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
-							 uint8_t array_length, uint8_t wire_offset) \
-{ \
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
-	return array_length*sizeof(TYPE); \
-}
-#endif
-
-_MAV_RETURN_ARRAY(uint16_t, u16)
-_MAV_RETURN_ARRAY(uint32_t, u32)
-_MAV_RETURN_ARRAY(uint64_t, u64)
-_MAV_RETURN_ARRAY(int16_t,  i16)
-_MAV_RETURN_ARRAY(int32_t,  i32)
-_MAV_RETURN_ARRAY(int64_t,  i64)
-_MAV_RETURN_ARRAY(float,    f)
-_MAV_RETURN_ARRAY(double,   d)
-
-#endif // _MAVLINK_PROTOCOL_H_
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink.h
deleted file mode 100644
index c0a0a8967..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from sensesoar.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "sensesoar.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h
deleted file mode 100644
index 73e9d75db..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_ack.h
+++ /dev/null
@@ -1,219 +0,0 @@
-// MESSAGE CMD_AIRSPEED_ACK PACKING
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK 194
-
-typedef struct __mavlink_cmd_airspeed_ack_t
-{
- float spCmd; ///< 
-                
-            
- uint8_t ack; ///< 
-                
-            
-} mavlink_cmd_airspeed_ack_t;
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN 5
-#define MAVLINK_MSG_ID_194_LEN 5
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC 243
-#define MAVLINK_MSG_ID_194_CRC 243
-
-
-
-#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_ACK { \
-	"CMD_AIRSPEED_ACK", \
-	2, \
-	{  { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_ack_t, spCmd) }, \
-         { "ack", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_ack_t, ack) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a cmd_airspeed_ack 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 spCmd 
-                
-            
- * @param ack 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float spCmd, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, ack);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#else
-	mavlink_cmd_airspeed_ack_t packet;
-	packet.spCmd = spCmd;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Pack a cmd_airspeed_ack 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param spCmd 
-                
-            
- * @param ack 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float spCmd,uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, ack);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#else
-	mavlink_cmd_airspeed_ack_t packet;
-	packet.spCmd = spCmd;
-	packet.ack = ack;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_ACK;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-}
-
-/**
- * @brief Encode a cmd_airspeed_ack struct
- *
- * @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 cmd_airspeed_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
-{
-	return mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack);
-}
-
-/**
- * @brief Encode a cmd_airspeed_ack struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param cmd_airspeed_ack C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
-{
-	return mavlink_msg_cmd_airspeed_ack_pack_chan(system_id, component_id, chan, msg, cmd_airspeed_ack->spCmd, cmd_airspeed_ack->ack);
-}
-
-/**
- * @brief Send a cmd_airspeed_ack message
- * @param chan MAVLink channel to send the message
- *
- * @param spCmd 
-                
-            
- * @param ack 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_cmd_airspeed_ack_send(mavlink_channel_t chan, float spCmd, uint8_t ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, ack);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-#else
-	mavlink_cmd_airspeed_ack_t packet;
-	packet.spCmd = spCmd;
-	packet.ack = ack;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)&packet, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK, (const char *)&packet, MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE CMD_AIRSPEED_ACK UNPACKING
-
-
-/**
- * @brief Get field spCmd from cmd_airspeed_ack message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_cmd_airspeed_ack_get_spCmd(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field ack from cmd_airspeed_ack message
- *
- * @return 
-                
-            
- */
-static inline uint8_t mavlink_msg_cmd_airspeed_ack_get_ack(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Decode a cmd_airspeed_ack message into a struct
- *
- * @param msg The message to decode
- * @param cmd_airspeed_ack C-struct to decode the message contents into
- */
-static inline void mavlink_msg_cmd_airspeed_ack_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_ack_t* cmd_airspeed_ack)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	cmd_airspeed_ack->spCmd = mavlink_msg_cmd_airspeed_ack_get_spCmd(msg);
-	cmd_airspeed_ack->ack = mavlink_msg_cmd_airspeed_ack_get_ack(msg);
-#else
-	memcpy(cmd_airspeed_ack, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CMD_AIRSPEED_ACK_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h
deleted file mode 100644
index b6b567f99..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_cmd_airspeed_chng.h
+++ /dev/null
@@ -1,219 +0,0 @@
-// MESSAGE CMD_AIRSPEED_CHNG PACKING
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG 192
-
-typedef struct __mavlink_cmd_airspeed_chng_t
-{
- float spCmd; ///< 
-                
-            
- uint8_t target; ///< 
-                
-            
-} mavlink_cmd_airspeed_chng_t;
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN 5
-#define MAVLINK_MSG_ID_192_LEN 5
-
-#define MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC 209
-#define MAVLINK_MSG_ID_192_CRC 209
-
-
-
-#define MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG { \
-	"CMD_AIRSPEED_CHNG", \
-	2, \
-	{  { "spCmd", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_cmd_airspeed_chng_t, spCmd) }, \
-         { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_cmd_airspeed_chng_t, target) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a cmd_airspeed_chng 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 target 
-                
-            
- * @param spCmd 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t target, float spCmd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, target);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#else
-	mavlink_cmd_airspeed_chng_t packet;
-	packet.spCmd = spCmd;
-	packet.target = target;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-}
-
-/**
- * @brief Pack a cmd_airspeed_chng 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param target 
-                
-            
- * @param spCmd 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t target,float spCmd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, target);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#else
-	mavlink_cmd_airspeed_chng_t packet;
-	packet.spCmd = spCmd;
-	packet.target = target;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-}
-
-/**
- * @brief Encode a cmd_airspeed_chng struct
- *
- * @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 cmd_airspeed_chng C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
-{
-	return mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd);
-}
-
-/**
- * @brief Encode a cmd_airspeed_chng struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param cmd_airspeed_chng C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_cmd_airspeed_chng_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
-{
-	return mavlink_msg_cmd_airspeed_chng_pack_chan(system_id, component_id, chan, msg, cmd_airspeed_chng->target, cmd_airspeed_chng->spCmd);
-}
-
-/**
- * @brief Send a cmd_airspeed_chng message
- * @param chan MAVLink channel to send the message
- *
- * @param target 
-                
-            
- * @param spCmd 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_cmd_airspeed_chng_send(mavlink_channel_t chan, uint8_t target, float spCmd)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN];
-	_mav_put_float(buf, 0, spCmd);
-	_mav_put_uint8_t(buf, 4, target);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, buf, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-#else
-	mavlink_cmd_airspeed_chng_t packet;
-	packet.spCmd = spCmd;
-	packet.target = target;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)&packet, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG, (const char *)&packet, MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE CMD_AIRSPEED_CHNG UNPACKING
-
-
-/**
- * @brief Get field target from cmd_airspeed_chng message
- *
- * @return 
-                
-            
- */
-static inline uint8_t mavlink_msg_cmd_airspeed_chng_get_target(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  4);
-}
-
-/**
- * @brief Get field spCmd from cmd_airspeed_chng message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_cmd_airspeed_chng_get_spCmd(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a cmd_airspeed_chng message into a struct
- *
- * @param msg The message to decode
- * @param cmd_airspeed_chng C-struct to decode the message contents into
- */
-static inline void mavlink_msg_cmd_airspeed_chng_decode(const mavlink_message_t* msg, mavlink_cmd_airspeed_chng_t* cmd_airspeed_chng)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	cmd_airspeed_chng->spCmd = mavlink_msg_cmd_airspeed_chng_get_spCmd(msg);
-	cmd_airspeed_chng->target = mavlink_msg_cmd_airspeed_chng_get_target(msg);
-#else
-	memcpy(cmd_airspeed_chng, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CMD_AIRSPEED_CHNG_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h
deleted file mode 100644
index 642f7aab9..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_filt_rot_vel.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// MESSAGE FILT_ROT_VEL PACKING
-
-#define MAVLINK_MSG_ID_FILT_ROT_VEL 184
-
-typedef struct __mavlink_filt_rot_vel_t
-{
- float rotVel[3]; ///< 
-                
-            
-} mavlink_filt_rot_vel_t;
-
-#define MAVLINK_MSG_ID_FILT_ROT_VEL_LEN 12
-#define MAVLINK_MSG_ID_184_LEN 12
-
-#define MAVLINK_MSG_ID_FILT_ROT_VEL_CRC 79
-#define MAVLINK_MSG_ID_184_CRC 79
-
-#define MAVLINK_MSG_FILT_ROT_VEL_FIELD_ROTVEL_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_FILT_ROT_VEL { \
-	"FILT_ROT_VEL", \
-	1, \
-	{  { "rotVel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_filt_rot_vel_t, rotVel) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a filt_rot_vel 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 rotVel 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *rotVel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILT_ROT_VEL_LEN];
-
-	_mav_put_float_array(buf, 0, rotVel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#else
-	mavlink_filt_rot_vel_t packet;
-
-	mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN, MAVLINK_MSG_ID_FILT_ROT_VEL_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-}
-
-/**
- * @brief Pack a filt_rot_vel 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param rotVel 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *rotVel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILT_ROT_VEL_LEN];
-
-	_mav_put_float_array(buf, 0, rotVel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#else
-	mavlink_filt_rot_vel_t packet;
-
-	mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_FILT_ROT_VEL;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN, MAVLINK_MSG_ID_FILT_ROT_VEL_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-}
-
-/**
- * @brief Encode a filt_rot_vel struct
- *
- * @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 filt_rot_vel C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_filt_rot_vel_t* filt_rot_vel)
-{
-	return mavlink_msg_filt_rot_vel_pack(system_id, component_id, msg, filt_rot_vel->rotVel);
-}
-
-/**
- * @brief Encode a filt_rot_vel struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param filt_rot_vel C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_filt_rot_vel_t* filt_rot_vel)
-{
-	return mavlink_msg_filt_rot_vel_pack_chan(system_id, component_id, chan, msg, filt_rot_vel->rotVel);
-}
-
-/**
- * @brief Send a filt_rot_vel message
- * @param chan MAVLink channel to send the message
- *
- * @param rotVel 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_filt_rot_vel_send(mavlink_channel_t chan, const float *rotVel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_FILT_ROT_VEL_LEN];
-
-	_mav_put_float_array(buf, 0, rotVel, 3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN, MAVLINK_MSG_ID_FILT_ROT_VEL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, buf, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-#else
-	mavlink_filt_rot_vel_t packet;
-
-	mav_array_memcpy(packet.rotVel, rotVel, sizeof(float)*3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)&packet, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN, MAVLINK_MSG_ID_FILT_ROT_VEL_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FILT_ROT_VEL, (const char *)&packet, MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE FILT_ROT_VEL UNPACKING
-
-
-/**
- * @brief Get field rotVel from filt_rot_vel message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_filt_rot_vel_get_rotVel(const mavlink_message_t* msg, float *rotVel)
-{
-	return _MAV_RETURN_float_array(msg, rotVel, 3,  0);
-}
-
-/**
- * @brief Decode a filt_rot_vel message into a struct
- *
- * @param msg The message to decode
- * @param filt_rot_vel C-struct to decode the message contents into
- */
-static inline void mavlink_msg_filt_rot_vel_decode(const mavlink_message_t* msg, mavlink_filt_rot_vel_t* filt_rot_vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_filt_rot_vel_get_rotVel(msg, filt_rot_vel->rotVel);
-#else
-	memcpy(filt_rot_vel, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_FILT_ROT_VEL_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h
deleted file mode 100644
index 0f8369881..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_llc_out.h
+++ /dev/null
@@ -1,220 +0,0 @@
-// MESSAGE LLC_OUT PACKING
-
-#define MAVLINK_MSG_ID_LLC_OUT 186
-
-typedef struct __mavlink_llc_out_t
-{
- int16_t servoOut[4]; ///< 
-                
-            
- int16_t MotorOut[2]; ///< 
-                
-            
-} mavlink_llc_out_t;
-
-#define MAVLINK_MSG_ID_LLC_OUT_LEN 12
-#define MAVLINK_MSG_ID_186_LEN 12
-
-#define MAVLINK_MSG_ID_LLC_OUT_CRC 5
-#define MAVLINK_MSG_ID_186_CRC 5
-
-#define MAVLINK_MSG_LLC_OUT_FIELD_SERVOOUT_LEN 4
-#define MAVLINK_MSG_LLC_OUT_FIELD_MOTOROUT_LEN 2
-
-#define MAVLINK_MESSAGE_INFO_LLC_OUT { \
-	"LLC_OUT", \
-	2, \
-	{  { "servoOut", NULL, MAVLINK_TYPE_INT16_T, 4, 0, offsetof(mavlink_llc_out_t, servoOut) }, \
-         { "MotorOut", NULL, MAVLINK_TYPE_INT16_T, 2, 8, offsetof(mavlink_llc_out_t, MotorOut) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a llc_out 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 servoOut 
-                
-            
- * @param MotorOut 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_llc_out_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const int16_t *servoOut, const int16_t *MotorOut)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LLC_OUT_LEN];
-
-	_mav_put_int16_t_array(buf, 0, servoOut, 4);
-	_mav_put_int16_t_array(buf, 8, MotorOut, 2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#else
-	mavlink_llc_out_t packet;
-
-	mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LLC_OUT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LLC_OUT_LEN, MAVLINK_MSG_ID_LLC_OUT_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-}
-
-/**
- * @brief Pack a llc_out 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param servoOut 
-                
-            
- * @param MotorOut 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_llc_out_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const int16_t *servoOut,const int16_t *MotorOut)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LLC_OUT_LEN];
-
-	_mav_put_int16_t_array(buf, 0, servoOut, 4);
-	_mav_put_int16_t_array(buf, 8, MotorOut, 2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#else
-	mavlink_llc_out_t packet;
-
-	mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_LLC_OUT;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LLC_OUT_LEN, MAVLINK_MSG_ID_LLC_OUT_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-}
-
-/**
- * @brief Encode a llc_out struct
- *
- * @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 llc_out C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_llc_out_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_llc_out_t* llc_out)
-{
-	return mavlink_msg_llc_out_pack(system_id, component_id, msg, llc_out->servoOut, llc_out->MotorOut);
-}
-
-/**
- * @brief Encode a llc_out struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param llc_out C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_llc_out_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_llc_out_t* llc_out)
-{
-	return mavlink_msg_llc_out_pack_chan(system_id, component_id, chan, msg, llc_out->servoOut, llc_out->MotorOut);
-}
-
-/**
- * @brief Send a llc_out message
- * @param chan MAVLink channel to send the message
- *
- * @param servoOut 
-                
-            
- * @param MotorOut 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_llc_out_send(mavlink_channel_t chan, const int16_t *servoOut, const int16_t *MotorOut)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_LLC_OUT_LEN];
-
-	_mav_put_int16_t_array(buf, 0, servoOut, 4);
-	_mav_put_int16_t_array(buf, 8, MotorOut, 2);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, MAVLINK_MSG_ID_LLC_OUT_LEN, MAVLINK_MSG_ID_LLC_OUT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, buf, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-#else
-	mavlink_llc_out_t packet;
-
-	mav_array_memcpy(packet.servoOut, servoOut, sizeof(int16_t)*4);
-	mav_array_memcpy(packet.MotorOut, MotorOut, sizeof(int16_t)*2);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)&packet, MAVLINK_MSG_ID_LLC_OUT_LEN, MAVLINK_MSG_ID_LLC_OUT_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LLC_OUT, (const char *)&packet, MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE LLC_OUT UNPACKING
-
-
-/**
- * @brief Get field servoOut from llc_out message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_llc_out_get_servoOut(const mavlink_message_t* msg, int16_t *servoOut)
-{
-	return _MAV_RETURN_int16_t_array(msg, servoOut, 4,  0);
-}
-
-/**
- * @brief Get field MotorOut from llc_out message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_llc_out_get_MotorOut(const mavlink_message_t* msg, int16_t *MotorOut)
-{
-	return _MAV_RETURN_int16_t_array(msg, MotorOut, 2,  8);
-}
-
-/**
- * @brief Decode a llc_out message into a struct
- *
- * @param msg The message to decode
- * @param llc_out C-struct to decode the message contents into
- */
-static inline void mavlink_msg_llc_out_decode(const mavlink_message_t* msg, mavlink_llc_out_t* llc_out)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_llc_out_get_servoOut(msg, llc_out->servoOut);
-	mavlink_msg_llc_out_get_MotorOut(msg, llc_out->MotorOut);
-#else
-	memcpy(llc_out, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LLC_OUT_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h
deleted file mode 100644
index 5d9382326..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_temp.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// MESSAGE OBS_AIR_TEMP PACKING
-
-#define MAVLINK_MSG_ID_OBS_AIR_TEMP 183
-
-typedef struct __mavlink_obs_air_temp_t
-{
- float airT; ///< 
-                
-            
-} mavlink_obs_air_temp_t;
-
-#define MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN 4
-#define MAVLINK_MSG_ID_183_LEN 4
-
-#define MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC 248
-#define MAVLINK_MSG_ID_183_CRC 248
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP { \
-	"OBS_AIR_TEMP", \
-	1, \
-	{  { "airT", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_temp_t, airT) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_air_temp 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 airT 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_temp_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float airT)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN];
-	_mav_put_float(buf, 0, airT);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#else
-	mavlink_obs_air_temp_t packet;
-	packet.airT = airT;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN, MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_air_temp 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param airT 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_temp_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float airT)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN];
-	_mav_put_float(buf, 0, airT);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#else
-	mavlink_obs_air_temp_t packet;
-	packet.airT = airT;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_TEMP;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN, MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_air_temp struct
- *
- * @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 obs_air_temp C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_air_temp_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_temp_t* obs_air_temp)
-{
-	return mavlink_msg_obs_air_temp_pack(system_id, component_id, msg, obs_air_temp->airT);
-}
-
-/**
- * @brief Encode a obs_air_temp struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_air_temp C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_air_temp_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_air_temp_t* obs_air_temp)
-{
-	return mavlink_msg_obs_air_temp_pack_chan(system_id, component_id, chan, msg, obs_air_temp->airT);
-}
-
-/**
- * @brief Send a obs_air_temp message
- * @param chan MAVLink channel to send the message
- *
- * @param airT 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_air_temp_send(mavlink_channel_t chan, float airT)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN];
-	_mav_put_float(buf, 0, airT);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN, MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, buf, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-#else
-	mavlink_obs_air_temp_t packet;
-	packet.airT = airT;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)&packet, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN, MAVLINK_MSG_ID_OBS_AIR_TEMP_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_TEMP, (const char *)&packet, MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_AIR_TEMP UNPACKING
-
-
-/**
- * @brief Get field airT from obs_air_temp message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_obs_air_temp_get_airT(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a obs_air_temp message into a struct
- *
- * @param msg The message to decode
- * @param obs_air_temp C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_air_temp_decode(const mavlink_message_t* msg, mavlink_obs_air_temp_t* obs_air_temp)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_air_temp->airT = mavlink_msg_obs_air_temp_get_airT(msg);
-#else
-	memcpy(obs_air_temp, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_AIR_TEMP_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h
deleted file mode 100644
index 35d813ca1..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h
+++ /dev/null
@@ -1,251 +0,0 @@
-// MESSAGE OBS_AIR_VELOCITY PACKING
-
-#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY 178
-
-typedef struct __mavlink_obs_air_velocity_t
-{
- float magnitude; ///< 
-                
-            
- float aoa; ///< 
-                
-            
- float slip; ///< 
-                
-            
-} mavlink_obs_air_velocity_t;
-
-#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12
-#define MAVLINK_MSG_ID_178_LEN 12
-
-#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC 32
-#define MAVLINK_MSG_ID_178_CRC 32
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY { \
-	"OBS_AIR_VELOCITY", \
-	3, \
-	{  { "magnitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_velocity_t, magnitude) }, \
-         { "aoa", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obs_air_velocity_t, aoa) }, \
-         { "slip", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obs_air_velocity_t, slip) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_air_velocity 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 magnitude 
-                
-            
- * @param aoa 
-                
-            
- * @param slip 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float magnitude, float aoa, float slip)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN];
-	_mav_put_float(buf, 0, magnitude);
-	_mav_put_float(buf, 4, aoa);
-	_mav_put_float(buf, 8, slip);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#else
-	mavlink_obs_air_velocity_t packet;
-	packet.magnitude = magnitude;
-	packet.aoa = aoa;
-	packet.slip = slip;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_air_velocity 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param magnitude 
-                
-            
- * @param aoa 
-                
-            
- * @param slip 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float magnitude,float aoa,float slip)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN];
-	_mav_put_float(buf, 0, magnitude);
-	_mav_put_float(buf, 4, aoa);
-	_mav_put_float(buf, 8, slip);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#else
-	mavlink_obs_air_velocity_t packet;
-	packet.magnitude = magnitude;
-	packet.aoa = aoa;
-	packet.slip = slip;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_air_velocity struct
- *
- * @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 obs_air_velocity C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity)
-{
-	return mavlink_msg_obs_air_velocity_pack(system_id, component_id, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip);
-}
-
-/**
- * @brief Encode a obs_air_velocity struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_air_velocity C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_air_velocity_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity)
-{
-	return mavlink_msg_obs_air_velocity_pack_chan(system_id, component_id, chan, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip);
-}
-
-/**
- * @brief Send a obs_air_velocity message
- * @param chan MAVLink channel to send the message
- *
- * @param magnitude 
-                
-            
- * @param aoa 
-                
-            
- * @param slip 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, float magnitude, float aoa, float slip)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN];
-	_mav_put_float(buf, 0, magnitude);
-	_mav_put_float(buf, 4, aoa);
-	_mav_put_float(buf, 8, slip);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-#else
-	mavlink_obs_air_velocity_t packet;
-	packet.magnitude = magnitude;
-	packet.aoa = aoa;
-	packet.slip = slip;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_AIR_VELOCITY UNPACKING
-
-
-/**
- * @brief Get field magnitude from obs_air_velocity message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field aoa from obs_air_velocity message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field slip from obs_air_velocity message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  8);
-}
-
-/**
- * @brief Decode a obs_air_velocity message into a struct
- *
- * @param msg The message to decode
- * @param obs_air_velocity C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_air_velocity_decode(const mavlink_message_t* msg, mavlink_obs_air_velocity_t* obs_air_velocity)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_air_velocity->magnitude = mavlink_msg_obs_air_velocity_get_magnitude(msg);
-	obs_air_velocity->aoa = mavlink_msg_obs_air_velocity_get_aoa(msg);
-	obs_air_velocity->slip = mavlink_msg_obs_air_velocity_get_slip(msg);
-#else
-	memcpy(obs_air_velocity, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h
deleted file mode 100644
index 9c80cd66e..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_attitude.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// MESSAGE OBS_ATTITUDE PACKING
-
-#define MAVLINK_MSG_ID_OBS_ATTITUDE 174
-
-typedef struct __mavlink_obs_attitude_t
-{
- double quat[4]; ///< 
-                
-            
-} mavlink_obs_attitude_t;
-
-#define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32
-#define MAVLINK_MSG_ID_174_LEN 32
-
-#define MAVLINK_MSG_ID_OBS_ATTITUDE_CRC 146
-#define MAVLINK_MSG_ID_174_CRC 146
-
-#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4
-
-#define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \
-	"OBS_ATTITUDE", \
-	1, \
-	{  { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_attitude 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 quat 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const double *quat)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
-
-	_mav_put_double_array(buf, 0, quat, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#else
-	mavlink_obs_attitude_t packet;
-
-	mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_attitude 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param quat 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const double *quat)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
-
-	_mav_put_double_array(buf, 0, quat, 4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#else
-	mavlink_obs_attitude_t packet;
-
-	mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_attitude struct
- *
- * @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 obs_attitude C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
-{
-	return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat);
-}
-
-/**
- * @brief Encode a obs_attitude struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_attitude C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
-{
-	return mavlink_msg_obs_attitude_pack_chan(system_id, component_id, chan, msg, obs_attitude->quat);
-}
-
-/**
- * @brief Send a obs_attitude message
- * @param chan MAVLink channel to send the message
- *
- * @param quat 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
-
-	_mav_put_double_array(buf, 0, quat, 4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-#else
-	mavlink_obs_attitude_t packet;
-
-	mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_ATTITUDE UNPACKING
-
-
-/**
- * @brief Get field quat from obs_attitude message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat)
-{
-	return _MAV_RETURN_double_array(msg, quat, 4,  0);
-}
-
-/**
- * @brief Decode a obs_attitude message into a struct
- *
- * @param msg The message to decode
- * @param obs_attitude C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat);
-#else
-	memcpy(obs_attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h
deleted file mode 100644
index 24dd43b57..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h
+++ /dev/null
@@ -1,220 +0,0 @@
-// MESSAGE OBS_BIAS PACKING
-
-#define MAVLINK_MSG_ID_OBS_BIAS 180
-
-typedef struct __mavlink_obs_bias_t
-{
- float accBias[3]; ///< 
-                
-            
- float gyroBias[3]; ///< 
-                
-            
-} mavlink_obs_bias_t;
-
-#define MAVLINK_MSG_ID_OBS_BIAS_LEN 24
-#define MAVLINK_MSG_ID_180_LEN 24
-
-#define MAVLINK_MSG_ID_OBS_BIAS_CRC 159
-#define MAVLINK_MSG_ID_180_CRC 159
-
-#define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3
-#define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_OBS_BIAS { \
-	"OBS_BIAS", \
-	2, \
-	{  { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \
-         { "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_bias 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 accBias 
-                
-            
- * @param gyroBias 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *accBias, const float *gyroBias)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_BIAS_LEN];
-
-	_mav_put_float_array(buf, 0, accBias, 3);
-	_mav_put_float_array(buf, 12, gyroBias, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#else
-	mavlink_obs_bias_t packet;
-
-	mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
-	mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_bias 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param accBias 
-                
-            
- * @param gyroBias 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *accBias,const float *gyroBias)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_BIAS_LEN];
-
-	_mav_put_float_array(buf, 0, accBias, 3);
-	_mav_put_float_array(buf, 12, gyroBias, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#else
-	mavlink_obs_bias_t packet;
-
-	mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
-	mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_bias struct
- *
- * @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 obs_bias C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias)
-{
-	return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias);
-}
-
-/**
- * @brief Encode a obs_bias struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_bias C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_bias_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias)
-{
-	return mavlink_msg_obs_bias_pack_chan(system_id, component_id, chan, msg, obs_bias->accBias, obs_bias->gyroBias);
-}
-
-/**
- * @brief Send a obs_bias message
- * @param chan MAVLink channel to send the message
- *
- * @param accBias 
-                
-            
- * @param gyroBias 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_BIAS_LEN];
-
-	_mav_put_float_array(buf, 0, accBias, 3);
-	_mav_put_float_array(buf, 12, gyroBias, 3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-#else
-	mavlink_obs_bias_t packet;
-
-	mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
-	mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_BIAS UNPACKING
-
-
-/**
- * @brief Get field accBias from obs_bias message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias)
-{
-	return _MAV_RETURN_float_array(msg, accBias, 3,  0);
-}
-
-/**
- * @brief Get field gyroBias from obs_bias message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias)
-{
-	return _MAV_RETURN_float_array(msg, gyroBias, 3,  12);
-}
-
-/**
- * @brief Decode a obs_bias message into a struct
- *
- * @param msg The message to decode
- * @param obs_bias C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias);
-	mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias);
-#else
-	memcpy(obs_bias, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_BIAS_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h
deleted file mode 100644
index cfc2fe7e1..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_position.h
+++ /dev/null
@@ -1,251 +0,0 @@
-// MESSAGE OBS_POSITION PACKING
-
-#define MAVLINK_MSG_ID_OBS_POSITION 170
-
-typedef struct __mavlink_obs_position_t
-{
- int32_t lon; ///< 
-                
-            
- int32_t lat; ///< 
-                
-            
- int32_t alt; ///< 
-                
-            
-} mavlink_obs_position_t;
-
-#define MAVLINK_MSG_ID_OBS_POSITION_LEN 12
-#define MAVLINK_MSG_ID_170_LEN 12
-
-#define MAVLINK_MSG_ID_OBS_POSITION_CRC 15
-#define MAVLINK_MSG_ID_170_CRC 15
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_POSITION { \
-	"OBS_POSITION", \
-	3, \
-	{  { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_obs_position_t, lon) }, \
-         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_obs_position_t, lat) }, \
-         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_obs_position_t, alt) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_position 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 lon 
-                
-            
- * @param lat 
-                
-            
- * @param alt 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       int32_t lon, int32_t lat, int32_t alt)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_POSITION_LEN];
-	_mav_put_int32_t(buf, 0, lon);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, alt);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#else
-	mavlink_obs_position_t packet;
-	packet.lon = lon;
-	packet.lat = lat;
-	packet.alt = alt;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_POSITION_LEN, MAVLINK_MSG_ID_OBS_POSITION_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_position 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param lon 
-                
-            
- * @param lat 
-                
-            
- * @param alt 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           int32_t lon,int32_t lat,int32_t alt)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_POSITION_LEN];
-	_mav_put_int32_t(buf, 0, lon);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, alt);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#else
-	mavlink_obs_position_t packet;
-	packet.lon = lon;
-	packet.lat = lat;
-	packet.alt = alt;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_POSITION;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_POSITION_LEN, MAVLINK_MSG_ID_OBS_POSITION_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_position struct
- *
- * @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 obs_position C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position)
-{
-	return mavlink_msg_obs_position_pack(system_id, component_id, msg, obs_position->lon, obs_position->lat, obs_position->alt);
-}
-
-/**
- * @brief Encode a obs_position struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_position C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_position_t* obs_position)
-{
-	return mavlink_msg_obs_position_pack_chan(system_id, component_id, chan, msg, obs_position->lon, obs_position->lat, obs_position->alt);
-}
-
-/**
- * @brief Send a obs_position message
- * @param chan MAVLink channel to send the message
- *
- * @param lon 
-                
-            
- * @param lat 
-                
-            
- * @param alt 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_position_send(mavlink_channel_t chan, int32_t lon, int32_t lat, int32_t alt)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_POSITION_LEN];
-	_mav_put_int32_t(buf, 0, lon);
-	_mav_put_int32_t(buf, 4, lat);
-	_mav_put_int32_t(buf, 8, alt);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, MAVLINK_MSG_ID_OBS_POSITION_LEN, MAVLINK_MSG_ID_OBS_POSITION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, buf, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-#else
-	mavlink_obs_position_t packet;
-	packet.lon = lon;
-	packet.lat = lat;
-	packet.alt = alt;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)&packet, MAVLINK_MSG_ID_OBS_POSITION_LEN, MAVLINK_MSG_ID_OBS_POSITION_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_POSITION, (const char *)&packet, MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_POSITION UNPACKING
-
-
-/**
- * @brief Get field lon from obs_position message
- *
- * @return 
-                
-            
- */
-static inline int32_t mavlink_msg_obs_position_get_lon(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  0);
-}
-
-/**
- * @brief Get field lat from obs_position message
- *
- * @return 
-                
-            
- */
-static inline int32_t mavlink_msg_obs_position_get_lat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  4);
-}
-
-/**
- * @brief Get field alt from obs_position message
- *
- * @return 
-                
-            
- */
-static inline int32_t mavlink_msg_obs_position_get_alt(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  8);
-}
-
-/**
- * @brief Decode a obs_position message into a struct
- *
- * @param msg The message to decode
- * @param obs_position C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_position_decode(const mavlink_message_t* msg, mavlink_obs_position_t* obs_position)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_position->lon = mavlink_msg_obs_position_get_lon(msg);
-	obs_position->lat = mavlink_msg_obs_position_get_lat(msg);
-	obs_position->alt = mavlink_msg_obs_position_get_alt(msg);
-#else
-	memcpy(obs_position, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_POSITION_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h
deleted file mode 100644
index 24e272bf7..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_qff.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// MESSAGE OBS_QFF PACKING
-
-#define MAVLINK_MSG_ID_OBS_QFF 182
-
-typedef struct __mavlink_obs_qff_t
-{
- float qff; ///< 
-                
-            
-} mavlink_obs_qff_t;
-
-#define MAVLINK_MSG_ID_OBS_QFF_LEN 4
-#define MAVLINK_MSG_ID_182_LEN 4
-
-#define MAVLINK_MSG_ID_OBS_QFF_CRC 24
-#define MAVLINK_MSG_ID_182_CRC 24
-
-
-
-#define MAVLINK_MESSAGE_INFO_OBS_QFF { \
-	"OBS_QFF", \
-	1, \
-	{  { "qff", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_qff_t, qff) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_qff 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 qff 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_qff_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_QFF_LEN];
-	_mav_put_float(buf, 0, qff);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#else
-	mavlink_obs_qff_t packet;
-	packet.qff = qff;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_QFF;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_QFF_LEN, MAVLINK_MSG_ID_OBS_QFF_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_qff 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param qff 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_qff_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_QFF_LEN];
-	_mav_put_float(buf, 0, qff);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#else
-	mavlink_obs_qff_t packet;
-	packet.qff = qff;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_QFF;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_QFF_LEN, MAVLINK_MSG_ID_OBS_QFF_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_qff struct
- *
- * @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 obs_qff C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_qff_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_qff_t* obs_qff)
-{
-	return mavlink_msg_obs_qff_pack(system_id, component_id, msg, obs_qff->qff);
-}
-
-/**
- * @brief Encode a obs_qff struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_qff C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_qff_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_qff_t* obs_qff)
-{
-	return mavlink_msg_obs_qff_pack_chan(system_id, component_id, chan, msg, obs_qff->qff);
-}
-
-/**
- * @brief Send a obs_qff message
- * @param chan MAVLink channel to send the message
- *
- * @param qff 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_qff_send(mavlink_channel_t chan, float qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_QFF_LEN];
-	_mav_put_float(buf, 0, qff);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, MAVLINK_MSG_ID_OBS_QFF_LEN, MAVLINK_MSG_ID_OBS_QFF_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, buf, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-#else
-	mavlink_obs_qff_t packet;
-	packet.qff = qff;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)&packet, MAVLINK_MSG_ID_OBS_QFF_LEN, MAVLINK_MSG_ID_OBS_QFF_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_QFF, (const char *)&packet, MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_QFF UNPACKING
-
-
-/**
- * @brief Get field qff from obs_qff message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_obs_qff_get_qff(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Decode a obs_qff message into a struct
- *
- * @param msg The message to decode
- * @param obs_qff C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_qff_decode(const mavlink_message_t* msg, mavlink_obs_qff_t* obs_qff)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	obs_qff->qff = mavlink_msg_obs_qff_get_qff(msg);
-#else
-	memcpy(obs_qff, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_QFF_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h
deleted file mode 100644
index 6e3776632..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_velocity.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// MESSAGE OBS_VELOCITY PACKING
-
-#define MAVLINK_MSG_ID_OBS_VELOCITY 172
-
-typedef struct __mavlink_obs_velocity_t
-{
- float vel[3]; ///< 
-                
-            
-} mavlink_obs_velocity_t;
-
-#define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12
-#define MAVLINK_MSG_ID_172_LEN 12
-
-#define MAVLINK_MSG_ID_OBS_VELOCITY_CRC 108
-#define MAVLINK_MSG_ID_172_CRC 108
-
-#define MAVLINK_MSG_OBS_VELOCITY_FIELD_VEL_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_OBS_VELOCITY { \
-	"OBS_VELOCITY", \
-	1, \
-	{  { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_velocity_t, vel) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_velocity 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 vel 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_VELOCITY_LEN];
-
-	_mav_put_float_array(buf, 0, vel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#else
-	mavlink_obs_velocity_t packet;
-
-	mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_VELOCITY_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_velocity 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param vel 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_VELOCITY_LEN];
-
-	_mav_put_float_array(buf, 0, vel, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#else
-	mavlink_obs_velocity_t packet;
-
-	mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_VELOCITY_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_velocity struct
- *
- * @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 obs_velocity C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity)
-{
-	return mavlink_msg_obs_velocity_pack(system_id, component_id, msg, obs_velocity->vel);
-}
-
-/**
- * @brief Encode a obs_velocity struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_velocity C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_velocity_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity)
-{
-	return mavlink_msg_obs_velocity_pack_chan(system_id, component_id, chan, msg, obs_velocity->vel);
-}
-
-/**
- * @brief Send a obs_velocity message
- * @param chan MAVLink channel to send the message
- *
- * @param vel 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const float *vel)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_VELOCITY_LEN];
-
-	_mav_put_float_array(buf, 0, vel, 3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, MAVLINK_MSG_ID_OBS_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_VELOCITY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-#else
-	mavlink_obs_velocity_t packet;
-
-	mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, MAVLINK_MSG_ID_OBS_VELOCITY_LEN, MAVLINK_MSG_ID_OBS_VELOCITY_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_VELOCITY UNPACKING
-
-
-/**
- * @brief Get field vel from obs_velocity message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel)
-{
-	return _MAV_RETURN_float_array(msg, vel, 3,  0);
-}
-
-/**
- * @brief Decode a obs_velocity message into a struct
- *
- * @param msg The message to decode
- * @param obs_velocity C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_velocity_decode(const mavlink_message_t* msg, mavlink_obs_velocity_t* obs_velocity)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_velocity_get_vel(msg, obs_velocity->vel);
-#else
-	memcpy(obs_velocity, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_VELOCITY_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h
deleted file mode 100644
index 55f7cb2ae..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_wind.h
+++ /dev/null
@@ -1,187 +0,0 @@
-// MESSAGE OBS_WIND PACKING
-
-#define MAVLINK_MSG_ID_OBS_WIND 176
-
-typedef struct __mavlink_obs_wind_t
-{
- float wind[3]; ///< 
-                
-            
-} mavlink_obs_wind_t;
-
-#define MAVLINK_MSG_ID_OBS_WIND_LEN 12
-#define MAVLINK_MSG_ID_176_LEN 12
-
-#define MAVLINK_MSG_ID_OBS_WIND_CRC 16
-#define MAVLINK_MSG_ID_176_CRC 16
-
-#define MAVLINK_MSG_OBS_WIND_FIELD_WIND_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_OBS_WIND { \
-	"OBS_WIND", \
-	1, \
-	{  { "wind", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_wind_t, wind) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a obs_wind 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 wind 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_wind_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       const float *wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_WIND_LEN];
-
-	_mav_put_float_array(buf, 0, wind, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#else
-	mavlink_obs_wind_t packet;
-
-	mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_WIND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_WIND_LEN, MAVLINK_MSG_ID_OBS_WIND_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-}
-
-/**
- * @brief Pack a obs_wind 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param wind 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_obs_wind_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           const float *wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_WIND_LEN];
-
-	_mav_put_float_array(buf, 0, wind, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#else
-	mavlink_obs_wind_t packet;
-
-	mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_OBS_WIND;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_WIND_LEN, MAVLINK_MSG_ID_OBS_WIND_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-}
-
-/**
- * @brief Encode a obs_wind struct
- *
- * @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 obs_wind C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_wind_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_wind_t* obs_wind)
-{
-	return mavlink_msg_obs_wind_pack(system_id, component_id, msg, obs_wind->wind);
-}
-
-/**
- * @brief Encode a obs_wind struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param obs_wind C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_obs_wind_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_wind_t* obs_wind)
-{
-	return mavlink_msg_obs_wind_pack_chan(system_id, component_id, chan, msg, obs_wind->wind);
-}
-
-/**
- * @brief Send a obs_wind message
- * @param chan MAVLink channel to send the message
- *
- * @param wind 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_obs_wind_send(mavlink_channel_t chan, const float *wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_OBS_WIND_LEN];
-
-	_mav_put_float_array(buf, 0, wind, 3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, MAVLINK_MSG_ID_OBS_WIND_LEN, MAVLINK_MSG_ID_OBS_WIND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, buf, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-#else
-	mavlink_obs_wind_t packet;
-
-	mav_array_memcpy(packet.wind, wind, sizeof(float)*3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)&packet, MAVLINK_MSG_ID_OBS_WIND_LEN, MAVLINK_MSG_ID_OBS_WIND_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_WIND, (const char *)&packet, MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE OBS_WIND UNPACKING
-
-
-/**
- * @brief Get field wind from obs_wind message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_obs_wind_get_wind(const mavlink_message_t* msg, float *wind)
-{
-	return _MAV_RETURN_float_array(msg, wind, 3,  0);
-}
-
-/**
- * @brief Decode a obs_wind message into a struct
- *
- * @param msg The message to decode
- * @param obs_wind C-struct to decode the message contents into
- */
-static inline void mavlink_msg_obs_wind_decode(const mavlink_message_t* msg, mavlink_obs_wind_t* obs_wind)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	mavlink_msg_obs_wind_get_wind(msg, obs_wind->wind);
-#else
-	memcpy(obs_wind, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_WIND_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h
deleted file mode 100644
index e0963ece7..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_pm_elec.h
+++ /dev/null
@@ -1,245 +0,0 @@
-// MESSAGE PM_ELEC PACKING
-
-#define MAVLINK_MSG_ID_PM_ELEC 188
-
-typedef struct __mavlink_pm_elec_t
-{
- float PwCons; ///< 
-                
-            
- float BatStat; ///< 
-                
-            
- float PwGen[3]; ///< 
-                
-            
-} mavlink_pm_elec_t;
-
-#define MAVLINK_MSG_ID_PM_ELEC_LEN 20
-#define MAVLINK_MSG_ID_188_LEN 20
-
-#define MAVLINK_MSG_ID_PM_ELEC_CRC 170
-#define MAVLINK_MSG_ID_188_CRC 170
-
-#define MAVLINK_MSG_PM_ELEC_FIELD_PWGEN_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_PM_ELEC { \
-	"PM_ELEC", \
-	3, \
-	{  { "PwCons", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_pm_elec_t, PwCons) }, \
-         { "BatStat", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_pm_elec_t, BatStat) }, \
-         { "PwGen", NULL, MAVLINK_TYPE_FLOAT, 3, 8, offsetof(mavlink_pm_elec_t, PwGen) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a pm_elec 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 PwCons 
-                
-            
- * @param BatStat 
-                
-            
- * @param PwGen 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_pm_elec_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float PwCons, float BatStat, const float *PwGen)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PM_ELEC_LEN];
-	_mav_put_float(buf, 0, PwCons);
-	_mav_put_float(buf, 4, BatStat);
-	_mav_put_float_array(buf, 8, PwGen, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#else
-	mavlink_pm_elec_t packet;
-	packet.PwCons = PwCons;
-	packet.BatStat = BatStat;
-	mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PM_ELEC;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PM_ELEC_LEN, MAVLINK_MSG_ID_PM_ELEC_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-}
-
-/**
- * @brief Pack a pm_elec 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param PwCons 
-                
-            
- * @param BatStat 
-                
-            
- * @param PwGen 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_pm_elec_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           float PwCons,float BatStat,const float *PwGen)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PM_ELEC_LEN];
-	_mav_put_float(buf, 0, PwCons);
-	_mav_put_float(buf, 4, BatStat);
-	_mav_put_float_array(buf, 8, PwGen, 3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#else
-	mavlink_pm_elec_t packet;
-	packet.PwCons = PwCons;
-	packet.BatStat = BatStat;
-	mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3);
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_PM_ELEC;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PM_ELEC_LEN, MAVLINK_MSG_ID_PM_ELEC_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-}
-
-/**
- * @brief Encode a pm_elec struct
- *
- * @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 pm_elec C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_pm_elec_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_pm_elec_t* pm_elec)
-{
-	return mavlink_msg_pm_elec_pack(system_id, component_id, msg, pm_elec->PwCons, pm_elec->BatStat, pm_elec->PwGen);
-}
-
-/**
- * @brief Encode a pm_elec struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param pm_elec C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_pm_elec_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_pm_elec_t* pm_elec)
-{
-	return mavlink_msg_pm_elec_pack_chan(system_id, component_id, chan, msg, pm_elec->PwCons, pm_elec->BatStat, pm_elec->PwGen);
-}
-
-/**
- * @brief Send a pm_elec message
- * @param chan MAVLink channel to send the message
- *
- * @param PwCons 
-                
-            
- * @param BatStat 
-                
-            
- * @param PwGen 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_pm_elec_send(mavlink_channel_t chan, float PwCons, float BatStat, const float *PwGen)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_PM_ELEC_LEN];
-	_mav_put_float(buf, 0, PwCons);
-	_mav_put_float(buf, 4, BatStat);
-	_mav_put_float_array(buf, 8, PwGen, 3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, MAVLINK_MSG_ID_PM_ELEC_LEN, MAVLINK_MSG_ID_PM_ELEC_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, buf, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-#else
-	mavlink_pm_elec_t packet;
-	packet.PwCons = PwCons;
-	packet.BatStat = BatStat;
-	mav_array_memcpy(packet.PwGen, PwGen, sizeof(float)*3);
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)&packet, MAVLINK_MSG_ID_PM_ELEC_LEN, MAVLINK_MSG_ID_PM_ELEC_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_PM_ELEC, (const char *)&packet, MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE PM_ELEC UNPACKING
-
-
-/**
- * @brief Get field PwCons from pm_elec message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_pm_elec_get_PwCons(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  0);
-}
-
-/**
- * @brief Get field BatStat from pm_elec message
- *
- * @return 
-                
-            
- */
-static inline float mavlink_msg_pm_elec_get_BatStat(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  4);
-}
-
-/**
- * @brief Get field PwGen from pm_elec message
- *
- * @return 
-                
-            
- */
-static inline uint16_t mavlink_msg_pm_elec_get_PwGen(const mavlink_message_t* msg, float *PwGen)
-{
-	return _MAV_RETURN_float_array(msg, PwGen, 3,  8);
-}
-
-/**
- * @brief Decode a pm_elec message into a struct
- *
- * @param msg The message to decode
- * @param pm_elec C-struct to decode the message contents into
- */
-static inline void mavlink_msg_pm_elec_decode(const mavlink_message_t* msg, mavlink_pm_elec_t* pm_elec)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	pm_elec->PwCons = mavlink_msg_pm_elec_get_PwCons(msg);
-	pm_elec->BatStat = mavlink_msg_pm_elec_get_BatStat(msg);
-	mavlink_msg_pm_elec_get_PwGen(msg, pm_elec->PwGen);
-#else
-	memcpy(pm_elec, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_PM_ELEC_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h
deleted file mode 100644
index 94f3e58bb..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_sys_stat.h
+++ /dev/null
@@ -1,283 +0,0 @@
-// MESSAGE SYS_Stat PACKING
-
-#define MAVLINK_MSG_ID_SYS_Stat 190
-
-typedef struct __mavlink_sys_stat_t
-{
- uint8_t gps; ///< 
-                
-            
- uint8_t act; ///< 
-                
-            
- uint8_t mod; ///< 
-                
-            
- uint8_t commRssi; ///< 
-                
-            
-} mavlink_sys_stat_t;
-
-#define MAVLINK_MSG_ID_SYS_Stat_LEN 4
-#define MAVLINK_MSG_ID_190_LEN 4
-
-#define MAVLINK_MSG_ID_SYS_Stat_CRC 157
-#define MAVLINK_MSG_ID_190_CRC 157
-
-
-
-#define MAVLINK_MESSAGE_INFO_SYS_Stat { \
-	"SYS_Stat", \
-	4, \
-	{  { "gps", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_sys_stat_t, gps) }, \
-         { "act", NULL, MAVLINK_TYPE_UINT8_T, 0, 1, offsetof(mavlink_sys_stat_t, act) }, \
-         { "mod", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_sys_stat_t, mod) }, \
-         { "commRssi", NULL, MAVLINK_TYPE_UINT8_T, 0, 3, offsetof(mavlink_sys_stat_t, commRssi) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a sys_stat 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 gps 
-                
-            
- * @param act 
-                
-            
- * @param mod 
-                
-            
- * @param commRssi 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sys_stat_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYS_Stat_LEN];
-	_mav_put_uint8_t(buf, 0, gps);
-	_mav_put_uint8_t(buf, 1, act);
-	_mav_put_uint8_t(buf, 2, mod);
-	_mav_put_uint8_t(buf, 3, commRssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#else
-	mavlink_sys_stat_t packet;
-	packet.gps = gps;
-	packet.act = act;
-	packet.mod = mod;
-	packet.commRssi = commRssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SYS_Stat;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_Stat_LEN, MAVLINK_MSG_ID_SYS_Stat_CRC);
-#else
-    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-}
-
-/**
- * @brief Pack a sys_stat 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param gps 
-                
-            
- * @param act 
-                
-            
- * @param mod 
-                
-            
- * @param commRssi 
-                
-            
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_sys_stat_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           uint8_t gps,uint8_t act,uint8_t mod,uint8_t commRssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYS_Stat_LEN];
-	_mav_put_uint8_t(buf, 0, gps);
-	_mav_put_uint8_t(buf, 1, act);
-	_mav_put_uint8_t(buf, 2, mod);
-	_mav_put_uint8_t(buf, 3, commRssi);
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#else
-	mavlink_sys_stat_t packet;
-	packet.gps = gps;
-	packet.act = act;
-	packet.mod = mod;
-	packet.commRssi = commRssi;
-
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_SYS_Stat;
-#if MAVLINK_CRC_EXTRA
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_Stat_LEN, MAVLINK_MSG_ID_SYS_Stat_CRC);
-#else
-    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-}
-
-/**
- * @brief Encode a sys_stat struct
- *
- * @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 sys_stat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sys_stat_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sys_stat_t* sys_stat)
-{
-	return mavlink_msg_sys_stat_pack(system_id, component_id, msg, sys_stat->gps, sys_stat->act, sys_stat->mod, sys_stat->commRssi);
-}
-
-/**
- * @brief Encode a sys_stat struct 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 will be sent over
- * @param msg The MAVLink message to compress the data into
- * @param sys_stat C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_sys_stat_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sys_stat_t* sys_stat)
-{
-	return mavlink_msg_sys_stat_pack_chan(system_id, component_id, chan, msg, sys_stat->gps, sys_stat->act, sys_stat->mod, sys_stat->commRssi);
-}
-
-/**
- * @brief Send a sys_stat message
- * @param chan MAVLink channel to send the message
- *
- * @param gps 
-                
-            
- * @param act 
-                
-            
- * @param mod 
-                
-            
- * @param commRssi 
-                
-            
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_sys_stat_send(mavlink_channel_t chan, uint8_t gps, uint8_t act, uint8_t mod, uint8_t commRssi)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[MAVLINK_MSG_ID_SYS_Stat_LEN];
-	_mav_put_uint8_t(buf, 0, gps);
-	_mav_put_uint8_t(buf, 1, act);
-	_mav_put_uint8_t(buf, 2, mod);
-	_mav_put_uint8_t(buf, 3, commRssi);
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, MAVLINK_MSG_ID_SYS_Stat_LEN, MAVLINK_MSG_ID_SYS_Stat_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, buf, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-#else
-	mavlink_sys_stat_t packet;
-	packet.gps = gps;
-	packet.act = act;
-	packet.mod = mod;
-	packet.commRssi = commRssi;
-
-#if MAVLINK_CRC_EXTRA
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)&packet, MAVLINK_MSG_ID_SYS_Stat_LEN, MAVLINK_MSG_ID_SYS_Stat_CRC);
-#else
-    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SYS_Stat, (const char *)&packet, MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-#endif
-}
-
-#endif
-
-// MESSAGE SYS_Stat UNPACKING
-
-
-/**
- * @brief Get field gps from sys_stat message
- *
- * @return 
-                
-            
- */
-static inline uint8_t mavlink_msg_sys_stat_get_gps(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  0);
-}
-
-/**
- * @brief Get field act from sys_stat message
- *
- * @return 
-                
-            
- */
-static inline uint8_t mavlink_msg_sys_stat_get_act(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  1);
-}
-
-/**
- * @brief Get field mod from sys_stat message
- *
- * @return 
-                
-            
- */
-static inline uint8_t mavlink_msg_sys_stat_get_mod(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  2);
-}
-
-/**
- * @brief Get field commRssi from sys_stat message
- *
- * @return 
-                
-            
- */
-static inline uint8_t mavlink_msg_sys_stat_get_commRssi(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  3);
-}
-
-/**
- * @brief Decode a sys_stat message into a struct
- *
- * @param msg The message to decode
- * @param sys_stat C-struct to decode the message contents into
- */
-static inline void mavlink_msg_sys_stat_decode(const mavlink_message_t* msg, mavlink_sys_stat_t* sys_stat)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	sys_stat->gps = mavlink_msg_sys_stat_get_gps(msg);
-	sys_stat->act = mavlink_msg_sys_stat_get_act(msg);
-	sys_stat->mod = mavlink_msg_sys_stat_get_mod(msg);
-	sys_stat->commRssi = mavlink_msg_sys_stat_get_commRssi(msg);
-#else
-	memcpy(sys_stat, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SYS_Stat_LEN);
-#endif
-}
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h b/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
deleted file mode 100644
index 26666b0cc..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/sensesoar.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from sensesoar.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef SENSESOAR_H
-#define SENSESOAR_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 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, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 64, 22, 6, 14, 12, 97, 2, 2, 113, 35, 0, 0, 0, 0, 0, 13, 255, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 24, 33, 25, 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, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 4, 76, 128, 56, 116, 134, 237, 203, 250, 87, 0, 0, 0, 0, 0, 29, 223, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 177, 241, 15, 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
-#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}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION, MAVLINK_MESSAGE_INFO_SCALED_IMU2, MAVLINK_MESSAGE_INFO_LOG_REQUEST_LIST, MAVLINK_MESSAGE_INFO_LOG_ENTRY, MAVLINK_MESSAGE_INFO_LOG_REQUEST_DATA, MAVLINK_MESSAGE_INFO_LOG_DATA, MAVLINK_MESSAGE_INFO_LOG_ERASE, MAVLINK_MESSAGE_INFO_LOG_REQUEST_END, MAVLINK_MESSAGE_INFO_GPS_INJECT_DATA, MAVLINK_MESSAGE_INFO_GPS2_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}}}, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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_OBS_POSITION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_ATTITUDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_WIND, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_BIAS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OBS_QFF, MAVLINK_MESSAGE_INFO_OBS_AIR_TEMP, MAVLINK_MESSAGE_INFO_FILT_ROT_VEL, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LLC_OUT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PM_ELEC, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SYS_Stat, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_CHNG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_CMD_AIRSPEED_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}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"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"
-
-#define MAVLINK_ENABLED_SENSESOAR
-
-// ENUM DEFINITIONS
-
-
-/** @brief  Different flight modes  */
-#ifndef HAVE_ENUM_SENSESOAR_MODE
-#define HAVE_ENUM_SENSESOAR_MODE
-enum SENSESOAR_MODE
-{
-	SENSESOAR_MODE_GLIDING=1, /* Gliding mode with motors off | */
-	SENSESOAR_MODE_AUTONOMOUS=2, /* Autonomous flight | */
-	SENSESOAR_MODE_MANUAL=3, /* RC controlled | */
-	SENSESOAR_MODE_ENUM_END=4, /*  | */
-};
-#endif
-
-#include "../common/common.h"
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 2
-#endif
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_obs_position.h"
-#include "./mavlink_msg_obs_velocity.h"
-#include "./mavlink_msg_obs_attitude.h"
-#include "./mavlink_msg_obs_wind.h"
-#include "./mavlink_msg_obs_air_velocity.h"
-#include "./mavlink_msg_obs_bias.h"
-#include "./mavlink_msg_obs_qff.h"
-#include "./mavlink_msg_obs_air_temp.h"
-#include "./mavlink_msg_filt_rot_vel.h"
-#include "./mavlink_msg_llc_out.h"
-#include "./mavlink_msg_pm_elec.h"
-#include "./mavlink_msg_sys_stat.h"
-#include "./mavlink_msg_cmd_airspeed_chng.h"
-#include "./mavlink_msg_cmd_airspeed_ack.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // SENSESOAR_H
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/testsuite.h b/mavlink/include/mavlink/v1.0/sensesoar/testsuite.h
deleted file mode 100644
index 67ffca799..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/testsuite.h
+++ /dev/null
@@ -1,676 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from sensesoar.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef SENSESOAR_TESTSUITE_H
-#define SENSESOAR_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
-static void mavlink_test_sensesoar(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_common(system_id, component_id, last_msg);
-	mavlink_test_sensesoar(system_id, component_id, last_msg);
-}
-#endif
-
-#include "../common/testsuite.h"
-
-
-static void mavlink_test_obs_position(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_obs_position_t packet_in = {
-		963497464,
-	}963497672,
-	}963497880,
-	};
-	mavlink_obs_position_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.lon = packet_in.lon;
-        	packet1.lat = packet_in.lat;
-        	packet1.alt = packet_in.alt;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_position_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_position_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_position_pack(system_id, component_id, &msg , packet1.lon , packet1.lat , packet1.alt );
-	mavlink_msg_obs_position_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lon , packet1.lat , packet1.alt );
-	mavlink_msg_obs_position_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_obs_position_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_position_send(MAVLINK_COMM_1 , packet1.lon , packet1.lat , packet1.alt );
-	mavlink_msg_obs_position_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_velocity(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_obs_velocity_t packet_in = {
-		{ 17.0, 18.0, 19.0 },
-	};
-	mavlink_obs_velocity_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.vel, packet_in.vel, sizeof(float)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_velocity_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_velocity_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_velocity_pack(system_id, component_id, &msg , packet1.vel );
-	mavlink_msg_obs_velocity_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vel );
-	mavlink_msg_obs_velocity_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_obs_velocity_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_velocity_send(MAVLINK_COMM_1 , packet1.vel );
-	mavlink_msg_obs_velocity_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_attitude(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_obs_attitude_t packet_in = {
-		{ 123.0, 124.0, 125.0, 126.0 },
-	};
-	mavlink_obs_attitude_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.quat, packet_in.quat, sizeof(double)*4);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_attitude_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_attitude_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_attitude_pack(system_id, component_id, &msg , packet1.quat );
-	mavlink_msg_obs_attitude_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.quat );
-	mavlink_msg_obs_attitude_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_obs_attitude_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_attitude_send(MAVLINK_COMM_1 , packet1.quat );
-	mavlink_msg_obs_attitude_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_wind(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_obs_wind_t packet_in = {
-		{ 17.0, 18.0, 19.0 },
-	};
-	mavlink_obs_wind_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.wind, packet_in.wind, sizeof(float)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_wind_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_wind_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_wind_pack(system_id, component_id, &msg , packet1.wind );
-	mavlink_msg_obs_wind_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.wind );
-	mavlink_msg_obs_wind_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_obs_wind_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_wind_send(MAVLINK_COMM_1 , packet1.wind );
-	mavlink_msg_obs_wind_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_air_velocity(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_obs_air_velocity_t packet_in = {
-		17.0,
-	}45.0,
-	}73.0,
-	};
-	mavlink_obs_air_velocity_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.magnitude = packet_in.magnitude;
-        	packet1.aoa = packet_in.aoa;
-        	packet1.slip = packet_in.slip;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_velocity_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_air_velocity_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_velocity_pack(system_id, component_id, &msg , packet1.magnitude , packet1.aoa , packet1.slip );
-	mavlink_msg_obs_air_velocity_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.magnitude , packet1.aoa , packet1.slip );
-	mavlink_msg_obs_air_velocity_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_obs_air_velocity_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_velocity_send(MAVLINK_COMM_1 , packet1.magnitude , packet1.aoa , packet1.slip );
-	mavlink_msg_obs_air_velocity_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_bias(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_obs_bias_t packet_in = {
-		{ 17.0, 18.0, 19.0 },
-	}{ 101.0, 102.0, 103.0 },
-	};
-	mavlink_obs_bias_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.accBias, packet_in.accBias, sizeof(float)*3);
-        	mav_array_memcpy(packet1.gyroBias, packet_in.gyroBias, sizeof(float)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_bias_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_bias_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_bias_pack(system_id, component_id, &msg , packet1.accBias , packet1.gyroBias );
-	mavlink_msg_obs_bias_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accBias , packet1.gyroBias );
-	mavlink_msg_obs_bias_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_obs_bias_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_bias_send(MAVLINK_COMM_1 , packet1.accBias , packet1.gyroBias );
-	mavlink_msg_obs_bias_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_qff(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_obs_qff_t packet_in = {
-		17.0,
-	};
-	mavlink_obs_qff_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.qff = packet_in.qff;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_qff_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_qff_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_qff_pack(system_id, component_id, &msg , packet1.qff );
-	mavlink_msg_obs_qff_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_qff_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.qff );
-	mavlink_msg_obs_qff_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_obs_qff_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_qff_send(MAVLINK_COMM_1 , packet1.qff );
-	mavlink_msg_obs_qff_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_obs_air_temp(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_obs_air_temp_t packet_in = {
-		17.0,
-	};
-	mavlink_obs_air_temp_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.airT = packet_in.airT;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_temp_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_obs_air_temp_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_temp_pack(system_id, component_id, &msg , packet1.airT );
-	mavlink_msg_obs_air_temp_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_temp_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airT );
-	mavlink_msg_obs_air_temp_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_obs_air_temp_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_obs_air_temp_send(MAVLINK_COMM_1 , packet1.airT );
-	mavlink_msg_obs_air_temp_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_filt_rot_vel(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_filt_rot_vel_t packet_in = {
-		{ 17.0, 18.0, 19.0 },
-	};
-	mavlink_filt_rot_vel_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.rotVel, packet_in.rotVel, sizeof(float)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_filt_rot_vel_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_filt_rot_vel_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_filt_rot_vel_pack(system_id, component_id, &msg , packet1.rotVel );
-	mavlink_msg_filt_rot_vel_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_filt_rot_vel_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rotVel );
-	mavlink_msg_filt_rot_vel_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_filt_rot_vel_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_filt_rot_vel_send(MAVLINK_COMM_1 , packet1.rotVel );
-	mavlink_msg_filt_rot_vel_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_llc_out(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_llc_out_t packet_in = {
-		{ 17235, 17236, 17237, 17238 },
-	}{ 17651, 17652 },
-	};
-	mavlink_llc_out_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        
-        	mav_array_memcpy(packet1.servoOut, packet_in.servoOut, sizeof(int16_t)*4);
-        	mav_array_memcpy(packet1.MotorOut, packet_in.MotorOut, sizeof(int16_t)*2);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_llc_out_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_llc_out_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_llc_out_pack(system_id, component_id, &msg , packet1.servoOut , packet1.MotorOut );
-	mavlink_msg_llc_out_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_llc_out_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.servoOut , packet1.MotorOut );
-	mavlink_msg_llc_out_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_llc_out_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_llc_out_send(MAVLINK_COMM_1 , packet1.servoOut , packet1.MotorOut );
-	mavlink_msg_llc_out_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_pm_elec(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_pm_elec_t packet_in = {
-		17.0,
-	}45.0,
-	}{ 73.0, 74.0, 75.0 },
-	};
-	mavlink_pm_elec_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.PwCons = packet_in.PwCons;
-        	packet1.BatStat = packet_in.BatStat;
-        
-        	mav_array_memcpy(packet1.PwGen, packet_in.PwGen, sizeof(float)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pm_elec_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_pm_elec_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pm_elec_pack(system_id, component_id, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen );
-	mavlink_msg_pm_elec_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pm_elec_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen );
-	mavlink_msg_pm_elec_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_pm_elec_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_pm_elec_send(MAVLINK_COMM_1 , packet1.PwCons , packet1.BatStat , packet1.PwGen );
-	mavlink_msg_pm_elec_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_sys_stat(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_sys_stat_t packet_in = {
-		5,
-	}72,
-	}139,
-	}206,
-	};
-	mavlink_sys_stat_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.gps = packet_in.gps;
-        	packet1.act = packet_in.act;
-        	packet1.mod = packet_in.mod;
-        	packet1.commRssi = packet_in.commRssi;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_stat_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_sys_stat_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_stat_pack(system_id, component_id, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi );
-	mavlink_msg_sys_stat_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_stat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi );
-	mavlink_msg_sys_stat_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_sys_stat_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_sys_stat_send(MAVLINK_COMM_1 , packet1.gps , packet1.act , packet1.mod , packet1.commRssi );
-	mavlink_msg_sys_stat_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_cmd_airspeed_chng(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_cmd_airspeed_chng_t packet_in = {
-		17.0,
-	}17,
-	};
-	mavlink_cmd_airspeed_chng_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.spCmd = packet_in.spCmd;
-        	packet1.target = packet_in.target;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_chng_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, &msg , packet1.target , packet1.spCmd );
-	mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_chng_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.spCmd );
-	mavlink_msg_cmd_airspeed_chng_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_cmd_airspeed_chng_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_chng_send(MAVLINK_COMM_1 , packet1.target , packet1.spCmd );
-	mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_cmd_airspeed_ack(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_cmd_airspeed_ack_t packet_in = {
-		17.0,
-	}17,
-	};
-	mavlink_cmd_airspeed_ack_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.spCmd = packet_in.spCmd;
-        	packet1.ack = packet_in.ack;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_ack_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, &msg , packet1.spCmd , packet1.ack );
-	mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.spCmd , packet1.ack );
-	mavlink_msg_cmd_airspeed_ack_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_cmd_airspeed_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_cmd_airspeed_ack_send(MAVLINK_COMM_1 , packet1.spCmd , packet1.ack );
-	mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_sensesoar(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_obs_position(system_id, component_id, last_msg);
-	mavlink_test_obs_velocity(system_id, component_id, last_msg);
-	mavlink_test_obs_attitude(system_id, component_id, last_msg);
-	mavlink_test_obs_wind(system_id, component_id, last_msg);
-	mavlink_test_obs_air_velocity(system_id, component_id, last_msg);
-	mavlink_test_obs_bias(system_id, component_id, last_msg);
-	mavlink_test_obs_qff(system_id, component_id, last_msg);
-	mavlink_test_obs_air_temp(system_id, component_id, last_msg);
-	mavlink_test_filt_rot_vel(system_id, component_id, last_msg);
-	mavlink_test_llc_out(system_id, component_id, last_msg);
-	mavlink_test_pm_elec(system_id, component_id, last_msg);
-	mavlink_test_sys_stat(system_id, component_id, last_msg);
-	mavlink_test_cmd_airspeed_chng(system_id, component_id, last_msg);
-	mavlink_test_cmd_airspeed_ack(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // SENSESOAR_TESTSUITE_H
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/version.h b/mavlink/include/mavlink/v1.0/sensesoar/version.h
deleted file mode 100644
index cdd683949..000000000
--- a/mavlink/include/mavlink/v1.0/sensesoar/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from sensesoar.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Tue Feb  4 15:28:27 2014"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/lib/pkgconfig/mavlink.pc b/mavlink/lib/pkgconfig/mavlink.pc
deleted file mode 100644
index be9036495..000000000
--- a/mavlink/lib/pkgconfig/mavlink.pc
+++ /dev/null
@@ -1,7 +0,0 @@
-prefix=/
-exec_prefix=/
-
-Name: mavlink
-Description: 
-Version: 
-Cflags: -I//include/mavlink
diff --git a/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc b/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc
deleted file mode 100644
index e984f512a..000000000
--- a/mavlink/share/mavlink/src/v1.0/pixhawk/pixhawk.pb.cc
+++ /dev/null
@@ -1,5431 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-
-#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION
-#include "pixhawk.pb.h"
-
-#include <algorithm>
-
-#include <google/protobuf/stubs/once.h>
-#include <google/protobuf/io/coded_stream.h>
-#include <google/protobuf/wire_format_lite_inl.h>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/reflection_ops.h>
-#include <google/protobuf/wire_format.h>
-// @@protoc_insertion_point(includes)
-
-namespace px {
-
-namespace {
-
-const ::google::protobuf::Descriptor* HeaderInfo_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  HeaderInfo_reflection_ = NULL;
-const ::google::protobuf::Descriptor* GLOverlay_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  GLOverlay_reflection_ = NULL;
-const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor_ = NULL;
-const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor_ = NULL;
-const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor_ = NULL;
-const ::google::protobuf::Descriptor* Obstacle_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  Obstacle_reflection_ = NULL;
-const ::google::protobuf::Descriptor* ObstacleList_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  ObstacleList_reflection_ = NULL;
-const ::google::protobuf::Descriptor* ObstacleMap_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  ObstacleMap_reflection_ = NULL;
-const ::google::protobuf::Descriptor* Path_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  Path_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZI_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZI_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZI_PointXYZI_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZRGB_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZRGB_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZRGB_PointXYZRGB_reflection_ = NULL;
-const ::google::protobuf::Descriptor* RGBDImage_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  RGBDImage_reflection_ = NULL;
-const ::google::protobuf::Descriptor* Waypoint_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  Waypoint_reflection_ = NULL;
-
-}  // namespace
-
-
-void protobuf_AssignDesc_pixhawk_2eproto() {
-  protobuf_AddDesc_pixhawk_2eproto();
-  const ::google::protobuf::FileDescriptor* file =
-    ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
-      "pixhawk.proto");
-  GOOGLE_CHECK(file != NULL);
-  HeaderInfo_descriptor_ = file->message_type(0);
-  static const int HeaderInfo_offsets_[3] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_sysid_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_compid_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, timestamp_),
-  };
-  HeaderInfo_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      HeaderInfo_descriptor_,
-      HeaderInfo::default_instance_,
-      HeaderInfo_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(HeaderInfo));
-  GLOverlay_descriptor_ = file->message_type(1);
-  static const int GLOverlay_offsets_[7] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, name_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, coordinateframetype_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, data_),
-  };
-  GLOverlay_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      GLOverlay_descriptor_,
-      GLOverlay::default_instance_,
-      GLOverlay_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(GLOverlay));
-  GLOverlay_CoordinateFrameType_descriptor_ = GLOverlay_descriptor_->enum_type(0);
-  GLOverlay_Mode_descriptor_ = GLOverlay_descriptor_->enum_type(1);
-  GLOverlay_Identifier_descriptor_ = GLOverlay_descriptor_->enum_type(2);
-  Obstacle_descriptor_ = file->message_type(2);
-  static const int Obstacle_offsets_[6] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, length_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, width_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, height_),
-  };
-  Obstacle_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      Obstacle_descriptor_,
-      Obstacle::default_instance_,
-      Obstacle_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(Obstacle));
-  ObstacleList_descriptor_ = file->message_type(3);
-  static const int ObstacleList_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, obstacles_),
-  };
-  ObstacleList_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      ObstacleList_descriptor_,
-      ObstacleList::default_instance_,
-      ObstacleList_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(ObstacleList));
-  ObstacleMap_descriptor_ = file->message_type(4);
-  static const int ObstacleMap_offsets_[10] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, type_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, resolution_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, rows_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, cols_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapr0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapc0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayr0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayc0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, data_),
-  };
-  ObstacleMap_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      ObstacleMap_descriptor_,
-      ObstacleMap::default_instance_,
-      ObstacleMap_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(ObstacleMap));
-  Path_descriptor_ = file->message_type(5);
-  static const int Path_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, waypoints_),
-  };
-  Path_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      Path_descriptor_,
-      Path::default_instance_,
-      Path_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(Path));
-  PointCloudXYZI_descriptor_ = file->message_type(6);
-  static const int PointCloudXYZI_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, points_),
-  };
-  PointCloudXYZI_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZI_descriptor_,
-      PointCloudXYZI::default_instance_,
-      PointCloudXYZI_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZI));
-  PointCloudXYZI_PointXYZI_descriptor_ = PointCloudXYZI_descriptor_->nested_type(0);
-  static const int PointCloudXYZI_PointXYZI_offsets_[4] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, intensity_),
-  };
-  PointCloudXYZI_PointXYZI_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZI_PointXYZI_descriptor_,
-      PointCloudXYZI_PointXYZI::default_instance_,
-      PointCloudXYZI_PointXYZI_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZI_PointXYZI));
-  PointCloudXYZRGB_descriptor_ = file->message_type(7);
-  static const int PointCloudXYZRGB_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, points_),
-  };
-  PointCloudXYZRGB_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZRGB_descriptor_,
-      PointCloudXYZRGB::default_instance_,
-      PointCloudXYZRGB_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZRGB));
-  PointCloudXYZRGB_PointXYZRGB_descriptor_ = PointCloudXYZRGB_descriptor_->nested_type(0);
-  static const int PointCloudXYZRGB_PointXYZRGB_offsets_[4] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, rgb_),
-  };
-  PointCloudXYZRGB_PointXYZRGB_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZRGB_PointXYZRGB_descriptor_,
-      PointCloudXYZRGB_PointXYZRGB::default_instance_,
-      PointCloudXYZRGB_PointXYZRGB_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZRGB_PointXYZRGB));
-  RGBDImage_descriptor_ = file->message_type(8);
-  static const int RGBDImage_offsets_[21] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, cols_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, rows_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step1_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type1_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata1_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step2_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type2_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata2_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_config_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_type_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, roll_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, pitch_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, yaw_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lon_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lat_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, alt_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_matrix_),
-  };
-  RGBDImage_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      RGBDImage_descriptor_,
-      RGBDImage::default_instance_,
-      RGBDImage_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(RGBDImage));
-  Waypoint_descriptor_ = file->message_type(9);
-  static const int Waypoint_offsets_[6] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, roll_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, pitch_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, yaw_),
-  };
-  Waypoint_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      Waypoint_descriptor_,
-      Waypoint::default_instance_,
-      Waypoint_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(Waypoint));
-}
-
-namespace {
-
-GOOGLE_PROTOBUF_DECLARE_ONCE(protobuf_AssignDescriptors_once_);
-inline void protobuf_AssignDescriptorsOnce() {
-  ::google::protobuf::GoogleOnceInit(&protobuf_AssignDescriptors_once_,
-                 &protobuf_AssignDesc_pixhawk_2eproto);
-}
-
-void protobuf_RegisterTypes(const ::std::string&) {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    HeaderInfo_descriptor_, &HeaderInfo::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    GLOverlay_descriptor_, &GLOverlay::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    Obstacle_descriptor_, &Obstacle::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    ObstacleList_descriptor_, &ObstacleList::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    ObstacleMap_descriptor_, &ObstacleMap::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    Path_descriptor_, &Path::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZI_descriptor_, &PointCloudXYZI::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZI_PointXYZI_descriptor_, &PointCloudXYZI_PointXYZI::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZRGB_descriptor_, &PointCloudXYZRGB::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZRGB_PointXYZRGB_descriptor_, &PointCloudXYZRGB_PointXYZRGB::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    RGBDImage_descriptor_, &RGBDImage::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    Waypoint_descriptor_, &Waypoint::default_instance());
-}
-
-}  // namespace
-
-void protobuf_ShutdownFile_pixhawk_2eproto() {
-  delete HeaderInfo::default_instance_;
-  delete HeaderInfo_reflection_;
-  delete GLOverlay::default_instance_;
-  delete GLOverlay_reflection_;
-  delete Obstacle::default_instance_;
-  delete Obstacle_reflection_;
-  delete ObstacleList::default_instance_;
-  delete ObstacleList_reflection_;
-  delete ObstacleMap::default_instance_;
-  delete ObstacleMap_reflection_;
-  delete Path::default_instance_;
-  delete Path_reflection_;
-  delete PointCloudXYZI::default_instance_;
-  delete PointCloudXYZI_reflection_;
-  delete PointCloudXYZI_PointXYZI::default_instance_;
-  delete PointCloudXYZI_PointXYZI_reflection_;
-  delete PointCloudXYZRGB::default_instance_;
-  delete PointCloudXYZRGB_reflection_;
-  delete PointCloudXYZRGB_PointXYZRGB::default_instance_;
-  delete PointCloudXYZRGB_PointXYZRGB_reflection_;
-  delete RGBDImage::default_instance_;
-  delete RGBDImage_reflection_;
-  delete Waypoint::default_instance_;
-  delete Waypoint_reflection_;
-}
-
-void protobuf_AddDesc_pixhawk_2eproto() {
-  static bool already_here = false;
-  if (already_here) return;
-  already_here = true;
-  GOOGLE_PROTOBUF_VERIFY_VERSION;
-
-  ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
-    "\n\rpixhawk.proto\022\002px\"L\n\nHeaderInfo\022\024\n\014sou"
-    "rce_sysid\030\001 \002(\005\022\025\n\rsource_compid\030\002 \002(\005\022\021"
-    "\n\ttimestamp\030\003 \002(\001\"\377\004\n\tGLOverlay\022\036\n\006heade"
-    "r\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004name\030\002 \001(\t\022>\n"
-    "\023coordinateFrameType\030\003 \001(\0162!.px.GLOverla"
-    "y.CoordinateFrameType\022\020\n\010origin_x\030\004 \001(\001\022"
-    "\020\n\010origin_y\030\005 \001(\001\022\020\n\010origin_z\030\006 \001(\001\022\014\n\004d"
-    "ata\030\007 \001(\014\",\n\023CoordinateFrameType\022\n\n\006GLOB"
-    "AL\020\000\022\t\n\005LOCAL\020\001\"\333\001\n\004Mode\022\n\n\006POINTS\020\000\022\t\n\005"
-    "LINES\020\001\022\016\n\nLINE_STRIP\020\002\022\r\n\tLINE_LOOP\020\003\022\r"
-    "\n\tTRIANGLES\020\004\022\022\n\016TRIANGLE_STRIP\020\005\022\020\n\014TRI"
-    "ANGLE_FAN\020\006\022\t\n\005QUADS\020\007\022\016\n\nQUAD_STRIP\020\010\022\013"
-    "\n\007POLYGON\020\t\022\020\n\014SOLID_CIRCLE\020\n\022\017\n\013WIRE_CI"
-    "RCLE\020\013\022\016\n\nSOLID_CUBE\020\014\022\r\n\tWIRE_CUBE\020\r\"\263\001"
-    "\n\nIdentifier\022\007\n\003END\020\016\022\014\n\010VERTEX2F\020\017\022\014\n\010V"
-    "ERTEX3F\020\020\022\013\n\007ROTATEF\020\021\022\016\n\nTRANSLATEF\020\022\022\n"
-    "\n\006SCALEF\020\023\022\017\n\013PUSH_MATRIX\020\024\022\016\n\nPOP_MATRI"
-    "X\020\025\022\013\n\007COLOR3F\020\026\022\013\n\007COLOR4F\020\027\022\r\n\tPOINTSI"
-    "ZE\020\030\022\r\n\tLINEWIDTH\020\031\"Z\n\010Obstacle\022\t\n\001x\030\001 \001"
-    "(\002\022\t\n\001y\030\002 \001(\002\022\t\n\001z\030\003 \001(\002\022\016\n\006length\030\004 \001(\002"
-    "\022\r\n\005width\030\005 \001(\002\022\016\n\006height\030\006 \001(\002\"O\n\014Obsta"
-    "cleList\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo\022"
-    "\037\n\tobstacles\030\002 \003(\0132\014.px.Obstacle\"\271\001\n\013Obs"
-    "tacleMap\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo"
-    "\022\014\n\004type\030\002 \002(\005\022\022\n\nresolution\030\003 \001(\002\022\014\n\004ro"
-    "ws\030\004 \001(\005\022\014\n\004cols\030\005 \001(\005\022\r\n\005mapR0\030\006 \001(\005\022\r\n"
-    "\005mapC0\030\007 \001(\005\022\017\n\007arrayR0\030\010 \001(\005\022\017\n\007arrayC0"
-    "\030\t \001(\005\022\014\n\004data\030\n \001(\014\"G\n\004Path\022\036\n\006header\030\001"
-    " \002(\0132\016.px.HeaderInfo\022\037\n\twaypoints\030\002 \003(\0132"
-    "\014.px.Waypoint\"\237\001\n\016PointCloudXYZI\022\036\n\006head"
-    "er\030\001 \002(\0132\016.px.HeaderInfo\022,\n\006points\030\002 \003(\013"
-    "2\034.px.PointCloudXYZI.PointXYZI\032\?\n\tPointX"
-    "YZI\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z\030\003 \002(\002\022\021\n\t"
-    "intensity\030\004 \002(\002\"\241\001\n\020PointCloudXYZRGB\022\036\n\006"
-    "header\030\001 \002(\0132\016.px.HeaderInfo\0220\n\006points\030\002"
-    " \003(\0132 .px.PointCloudXYZRGB.PointXYZRGB\032;"
-    "\n\013PointXYZRGB\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z"
-    "\030\003 \002(\002\022\013\n\003rgb\030\004 \002(\002\"\365\002\n\tRGBDImage\022\036\n\006hea"
-    "der\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004cols\030\002 \002(\r\022"
-    "\014\n\004rows\030\003 \002(\r\022\r\n\005step1\030\004 \002(\r\022\r\n\005type1\030\005 "
-    "\002(\r\022\022\n\nimageData1\030\006 \002(\014\022\r\n\005step2\030\007 \002(\r\022\r"
-    "\n\005type2\030\010 \002(\r\022\022\n\nimageData2\030\t \002(\014\022\025\n\rcam"
-    "era_config\030\n \001(\r\022\023\n\013camera_type\030\013 \001(\r\022\014\n"
-    "\004roll\030\014 \001(\002\022\r\n\005pitch\030\r \001(\002\022\013\n\003yaw\030\016 \001(\002\022"
-    "\013\n\003lon\030\017 \001(\002\022\013\n\003lat\030\020 \001(\002\022\013\n\003alt\030\021 \001(\002\022\020"
-    "\n\010ground_x\030\022 \001(\002\022\020\n\010ground_y\030\023 \001(\002\022\020\n\010gr"
-    "ound_z\030\024 \001(\002\022\025\n\rcamera_matrix\030\025 \003(\002\"U\n\010W"
-    "aypoint\022\t\n\001x\030\001 \002(\001\022\t\n\001y\030\002 \002(\001\022\t\n\001z\030\003 \001(\001"
-    "\022\014\n\004roll\030\004 \001(\001\022\r\n\005pitch\030\005 \001(\001\022\013\n\003yaw\030\006 \001"
-    "(\001", 1962);
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
-    "pixhawk.proto", &protobuf_RegisterTypes);
-  HeaderInfo::default_instance_ = new HeaderInfo();
-  GLOverlay::default_instance_ = new GLOverlay();
-  Obstacle::default_instance_ = new Obstacle();
-  ObstacleList::default_instance_ = new ObstacleList();
-  ObstacleMap::default_instance_ = new ObstacleMap();
-  Path::default_instance_ = new Path();
-  PointCloudXYZI::default_instance_ = new PointCloudXYZI();
-  PointCloudXYZI_PointXYZI::default_instance_ = new PointCloudXYZI_PointXYZI();
-  PointCloudXYZRGB::default_instance_ = new PointCloudXYZRGB();
-  PointCloudXYZRGB_PointXYZRGB::default_instance_ = new PointCloudXYZRGB_PointXYZRGB();
-  RGBDImage::default_instance_ = new RGBDImage();
-  Waypoint::default_instance_ = new Waypoint();
-  HeaderInfo::default_instance_->InitAsDefaultInstance();
-  GLOverlay::default_instance_->InitAsDefaultInstance();
-  Obstacle::default_instance_->InitAsDefaultInstance();
-  ObstacleList::default_instance_->InitAsDefaultInstance();
-  ObstacleMap::default_instance_->InitAsDefaultInstance();
-  Path::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZI::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZI_PointXYZI::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZRGB::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZRGB_PointXYZRGB::default_instance_->InitAsDefaultInstance();
-  RGBDImage::default_instance_->InitAsDefaultInstance();
-  Waypoint::default_instance_->InitAsDefaultInstance();
-  ::google::protobuf::internal::OnShutdown(&protobuf_ShutdownFile_pixhawk_2eproto);
-}
-
-// Force AddDescriptors() to be called at static initialization time.
-struct StaticDescriptorInitializer_pixhawk_2eproto {
-  StaticDescriptorInitializer_pixhawk_2eproto() {
-    protobuf_AddDesc_pixhawk_2eproto();
-  }
-} static_descriptor_initializer_pixhawk_2eproto_;
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int HeaderInfo::kSourceSysidFieldNumber;
-const int HeaderInfo::kSourceCompidFieldNumber;
-const int HeaderInfo::kTimestampFieldNumber;
-#endif  // !_MSC_VER
-
-HeaderInfo::HeaderInfo()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void HeaderInfo::InitAsDefaultInstance() {
-}
-
-HeaderInfo::HeaderInfo(const HeaderInfo& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void HeaderInfo::SharedCtor() {
-  _cached_size_ = 0;
-  source_sysid_ = 0;
-  source_compid_ = 0;
-  timestamp_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-HeaderInfo::~HeaderInfo() {
-  SharedDtor();
-}
-
-void HeaderInfo::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void HeaderInfo::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* HeaderInfo::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return HeaderInfo_descriptor_;
-}
-
-const HeaderInfo& HeaderInfo::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-HeaderInfo* HeaderInfo::default_instance_ = NULL;
-
-HeaderInfo* HeaderInfo::New() const {
-  return new HeaderInfo;
-}
-
-void HeaderInfo::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    source_sysid_ = 0;
-    source_compid_ = 0;
-    timestamp_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool HeaderInfo::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required int32 source_sysid = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &source_sysid_)));
-          set_has_source_sysid();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(16)) goto parse_source_compid;
-        break;
-      }
-      
-      // required int32 source_compid = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_source_compid:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &source_compid_)));
-          set_has_source_compid();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(25)) goto parse_timestamp;
-        break;
-      }
-      
-      // required double timestamp = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_timestamp:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &timestamp_)));
-          set_has_timestamp();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void HeaderInfo::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required int32 source_sysid = 1;
-  if (has_source_sysid()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->source_sysid(), output);
-  }
-  
-  // required int32 source_compid = 2;
-  if (has_source_compid()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->source_compid(), output);
-  }
-  
-  // required double timestamp = 3;
-  if (has_timestamp()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->timestamp(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* HeaderInfo::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required int32 source_sysid = 1;
-  if (has_source_sysid()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->source_sysid(), target);
-  }
-  
-  // required int32 source_compid = 2;
-  if (has_source_compid()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->source_compid(), target);
-  }
-  
-  // required double timestamp = 3;
-  if (has_timestamp()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->timestamp(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int HeaderInfo::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required int32 source_sysid = 1;
-    if (has_source_sysid()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->source_sysid());
-    }
-    
-    // required int32 source_compid = 2;
-    if (has_source_compid()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->source_compid());
-    }
-    
-    // required double timestamp = 3;
-    if (has_timestamp()) {
-      total_size += 1 + 8;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void HeaderInfo::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const HeaderInfo* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const HeaderInfo*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void HeaderInfo::MergeFrom(const HeaderInfo& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_source_sysid()) {
-      set_source_sysid(from.source_sysid());
-    }
-    if (from.has_source_compid()) {
-      set_source_compid(from.source_compid());
-    }
-    if (from.has_timestamp()) {
-      set_timestamp(from.timestamp());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void HeaderInfo::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void HeaderInfo::CopyFrom(const HeaderInfo& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool HeaderInfo::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000007) != 0x00000007) return false;
-  
-  return true;
-}
-
-void HeaderInfo::Swap(HeaderInfo* other) {
-  if (other != this) {
-    std::swap(source_sysid_, other->source_sysid_);
-    std::swap(source_compid_, other->source_compid_);
-    std::swap(timestamp_, other->timestamp_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata HeaderInfo::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = HeaderInfo_descriptor_;
-  metadata.reflection = HeaderInfo_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_CoordinateFrameType_descriptor_;
-}
-bool GLOverlay_CoordinateFrameType_IsValid(int value) {
-  switch(value) {
-    case 0:
-    case 1:
-      return true;
-    default:
-      return false;
-  }
-}
-
-#ifndef _MSC_VER
-const GLOverlay_CoordinateFrameType GLOverlay::GLOBAL;
-const GLOverlay_CoordinateFrameType GLOverlay::LOCAL;
-const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MIN;
-const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MAX;
-const int GLOverlay::CoordinateFrameType_ARRAYSIZE;
-#endif  // _MSC_VER
-const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_Mode_descriptor_;
-}
-bool GLOverlay_Mode_IsValid(int value) {
-  switch(value) {
-    case 0:
-    case 1:
-    case 2:
-    case 3:
-    case 4:
-    case 5:
-    case 6:
-    case 7:
-    case 8:
-    case 9:
-    case 10:
-    case 11:
-    case 12:
-    case 13:
-      return true;
-    default:
-      return false;
-  }
-}
-
-#ifndef _MSC_VER
-const GLOverlay_Mode GLOverlay::POINTS;
-const GLOverlay_Mode GLOverlay::LINES;
-const GLOverlay_Mode GLOverlay::LINE_STRIP;
-const GLOverlay_Mode GLOverlay::LINE_LOOP;
-const GLOverlay_Mode GLOverlay::TRIANGLES;
-const GLOverlay_Mode GLOverlay::TRIANGLE_STRIP;
-const GLOverlay_Mode GLOverlay::TRIANGLE_FAN;
-const GLOverlay_Mode GLOverlay::QUADS;
-const GLOverlay_Mode GLOverlay::QUAD_STRIP;
-const GLOverlay_Mode GLOverlay::POLYGON;
-const GLOverlay_Mode GLOverlay::SOLID_CIRCLE;
-const GLOverlay_Mode GLOverlay::WIRE_CIRCLE;
-const GLOverlay_Mode GLOverlay::SOLID_CUBE;
-const GLOverlay_Mode GLOverlay::WIRE_CUBE;
-const GLOverlay_Mode GLOverlay::Mode_MIN;
-const GLOverlay_Mode GLOverlay::Mode_MAX;
-const int GLOverlay::Mode_ARRAYSIZE;
-#endif  // _MSC_VER
-const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_Identifier_descriptor_;
-}
-bool GLOverlay_Identifier_IsValid(int value) {
-  switch(value) {
-    case 14:
-    case 15:
-    case 16:
-    case 17:
-    case 18:
-    case 19:
-    case 20:
-    case 21:
-    case 22:
-    case 23:
-    case 24:
-    case 25:
-      return true;
-    default:
-      return false;
-  }
-}
-
-#ifndef _MSC_VER
-const GLOverlay_Identifier GLOverlay::END;
-const GLOverlay_Identifier GLOverlay::VERTEX2F;
-const GLOverlay_Identifier GLOverlay::VERTEX3F;
-const GLOverlay_Identifier GLOverlay::ROTATEF;
-const GLOverlay_Identifier GLOverlay::TRANSLATEF;
-const GLOverlay_Identifier GLOverlay::SCALEF;
-const GLOverlay_Identifier GLOverlay::PUSH_MATRIX;
-const GLOverlay_Identifier GLOverlay::POP_MATRIX;
-const GLOverlay_Identifier GLOverlay::COLOR3F;
-const GLOverlay_Identifier GLOverlay::COLOR4F;
-const GLOverlay_Identifier GLOverlay::POINTSIZE;
-const GLOverlay_Identifier GLOverlay::LINEWIDTH;
-const GLOverlay_Identifier GLOverlay::Identifier_MIN;
-const GLOverlay_Identifier GLOverlay::Identifier_MAX;
-const int GLOverlay::Identifier_ARRAYSIZE;
-#endif  // _MSC_VER
-#ifndef _MSC_VER
-const int GLOverlay::kHeaderFieldNumber;
-const int GLOverlay::kNameFieldNumber;
-const int GLOverlay::kCoordinateFrameTypeFieldNumber;
-const int GLOverlay::kOriginXFieldNumber;
-const int GLOverlay::kOriginYFieldNumber;
-const int GLOverlay::kOriginZFieldNumber;
-const int GLOverlay::kDataFieldNumber;
-#endif  // !_MSC_VER
-
-GLOverlay::GLOverlay()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void GLOverlay::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-GLOverlay::GLOverlay(const GLOverlay& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void GLOverlay::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  coordinateframetype_ = 0;
-  origin_x_ = 0;
-  origin_y_ = 0;
-  origin_z_ = 0;
-  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-GLOverlay::~GLOverlay() {
-  SharedDtor();
-}
-
-void GLOverlay::SharedDtor() {
-  if (name_ != &::google::protobuf::internal::kEmptyString) {
-    delete name_;
-  }
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    delete data_;
-  }
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void GLOverlay::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* GLOverlay::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_descriptor_;
-}
-
-const GLOverlay& GLOverlay::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-GLOverlay* GLOverlay::default_instance_ = NULL;
-
-GLOverlay* GLOverlay::New() const {
-  return new GLOverlay;
-}
-
-void GLOverlay::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-    if (has_name()) {
-      if (name_ != &::google::protobuf::internal::kEmptyString) {
-        name_->clear();
-      }
-    }
-    coordinateframetype_ = 0;
-    origin_x_ = 0;
-    origin_y_ = 0;
-    origin_z_ = 0;
-    if (has_data()) {
-      if (data_ != &::google::protobuf::internal::kEmptyString) {
-        data_->clear();
-      }
-    }
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool GLOverlay::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_name;
-        break;
-      }
-      
-      // optional string name = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_name:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadString(
-                input, this->mutable_name()));
-          ::google::protobuf::internal::WireFormat::VerifyUTF8String(
-            this->name().data(), this->name().length(),
-            ::google::protobuf::internal::WireFormat::PARSE);
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(24)) goto parse_coordinateFrameType;
-        break;
-      }
-      
-      // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_coordinateFrameType:
-          int value;
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>(
-                 input, &value)));
-          if (::px::GLOverlay_CoordinateFrameType_IsValid(value)) {
-            set_coordinateframetype(static_cast< ::px::GLOverlay_CoordinateFrameType >(value));
-          } else {
-            mutable_unknown_fields()->AddVarint(3, value);
-          }
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(33)) goto parse_origin_x;
-        break;
-      }
-      
-      // optional double origin_x = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_origin_x:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &origin_x_)));
-          set_has_origin_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(41)) goto parse_origin_y;
-        break;
-      }
-      
-      // optional double origin_y = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_origin_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &origin_y_)));
-          set_has_origin_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(49)) goto parse_origin_z;
-        break;
-      }
-      
-      // optional double origin_z = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_origin_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &origin_z_)));
-          set_has_origin_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(58)) goto parse_data;
-        break;
-      }
-      
-      // optional bytes data = 7;
-      case 7: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_data:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_data()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void GLOverlay::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // optional string name = 2;
-  if (has_name()) {
-    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
-      this->name().data(), this->name().length(),
-      ::google::protobuf::internal::WireFormat::SERIALIZE);
-    ::google::protobuf::internal::WireFormatLite::WriteString(
-      2, this->name(), output);
-  }
-  
-  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-  if (has_coordinateframetype()) {
-    ::google::protobuf::internal::WireFormatLite::WriteEnum(
-      3, this->coordinateframetype(), output);
-  }
-  
-  // optional double origin_x = 4;
-  if (has_origin_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->origin_x(), output);
-  }
-  
-  // optional double origin_y = 5;
-  if (has_origin_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->origin_y(), output);
-  }
-  
-  // optional double origin_z = 6;
-  if (has_origin_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->origin_z(), output);
-  }
-  
-  // optional bytes data = 7;
-  if (has_data()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      7, this->data(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* GLOverlay::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // optional string name = 2;
-  if (has_name()) {
-    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
-      this->name().data(), this->name().length(),
-      ::google::protobuf::internal::WireFormat::SERIALIZE);
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteStringToArray(
-        2, this->name(), target);
-  }
-  
-  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-  if (has_coordinateframetype()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray(
-      3, this->coordinateframetype(), target);
-  }
-  
-  // optional double origin_x = 4;
-  if (has_origin_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->origin_x(), target);
-  }
-  
-  // optional double origin_y = 5;
-  if (has_origin_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->origin_y(), target);
-  }
-  
-  // optional double origin_z = 6;
-  if (has_origin_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->origin_z(), target);
-  }
-  
-  // optional bytes data = 7;
-  if (has_data()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        7, this->data(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int GLOverlay::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-    // optional string name = 2;
-    if (has_name()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::StringSize(
-          this->name());
-    }
-    
-    // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-    if (has_coordinateframetype()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::EnumSize(this->coordinateframetype());
-    }
-    
-    // optional double origin_x = 4;
-    if (has_origin_x()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double origin_y = 5;
-    if (has_origin_y()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double origin_z = 6;
-    if (has_origin_z()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional bytes data = 7;
-    if (has_data()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->data());
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void GLOverlay::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const GLOverlay* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const GLOverlay*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void GLOverlay::MergeFrom(const GLOverlay& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-    if (from.has_name()) {
-      set_name(from.name());
-    }
-    if (from.has_coordinateframetype()) {
-      set_coordinateframetype(from.coordinateframetype());
-    }
-    if (from.has_origin_x()) {
-      set_origin_x(from.origin_x());
-    }
-    if (from.has_origin_y()) {
-      set_origin_y(from.origin_y());
-    }
-    if (from.has_origin_z()) {
-      set_origin_z(from.origin_z());
-    }
-    if (from.has_data()) {
-      set_data(from.data());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void GLOverlay::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void GLOverlay::CopyFrom(const GLOverlay& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool GLOverlay::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void GLOverlay::Swap(GLOverlay* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    std::swap(name_, other->name_);
-    std::swap(coordinateframetype_, other->coordinateframetype_);
-    std::swap(origin_x_, other->origin_x_);
-    std::swap(origin_y_, other->origin_y_);
-    std::swap(origin_z_, other->origin_z_);
-    std::swap(data_, other->data_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata GLOverlay::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = GLOverlay_descriptor_;
-  metadata.reflection = GLOverlay_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int Obstacle::kXFieldNumber;
-const int Obstacle::kYFieldNumber;
-const int Obstacle::kZFieldNumber;
-const int Obstacle::kLengthFieldNumber;
-const int Obstacle::kWidthFieldNumber;
-const int Obstacle::kHeightFieldNumber;
-#endif  // !_MSC_VER
-
-Obstacle::Obstacle()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void Obstacle::InitAsDefaultInstance() {
-}
-
-Obstacle::Obstacle(const Obstacle& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void Obstacle::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  length_ = 0;
-  width_ = 0;
-  height_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-Obstacle::~Obstacle() {
-  SharedDtor();
-}
-
-void Obstacle::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void Obstacle::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* Obstacle::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return Obstacle_descriptor_;
-}
-
-const Obstacle& Obstacle::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-Obstacle* Obstacle::default_instance_ = NULL;
-
-Obstacle* Obstacle::New() const {
-  return new Obstacle;
-}
-
-void Obstacle::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    length_ = 0;
-    width_ = 0;
-    height_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool Obstacle::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // optional float x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(21)) goto parse_y;
-        break;
-      }
-      
-      // optional float y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_z;
-        break;
-      }
-      
-      // optional float z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(37)) goto parse_length;
-        break;
-      }
-      
-      // optional float length = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_length:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &length_)));
-          set_has_length();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(45)) goto parse_width;
-        break;
-      }
-      
-      // optional float width = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_width:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &width_)));
-          set_has_width();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(53)) goto parse_height;
-        break;
-      }
-      
-      // optional float height = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_height:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &height_)));
-          set_has_height();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void Obstacle::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // optional float x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
-  }
-  
-  // optional float y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
-  }
-  
-  // optional float z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
-  }
-  
-  // optional float length = 4;
-  if (has_length()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->length(), output);
-  }
-  
-  // optional float width = 5;
-  if (has_width()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(5, this->width(), output);
-  }
-  
-  // optional float height = 6;
-  if (has_height()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(6, this->height(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* Obstacle::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // optional float x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
-  }
-  
-  // optional float y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
-  }
-  
-  // optional float z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
-  }
-  
-  // optional float length = 4;
-  if (has_length()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->length(), target);
-  }
-  
-  // optional float width = 5;
-  if (has_width()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(5, this->width(), target);
-  }
-  
-  // optional float height = 6;
-  if (has_height()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(6, this->height(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int Obstacle::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // optional float x = 1;
-    if (has_x()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float y = 2;
-    if (has_y()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float z = 3;
-    if (has_z()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float length = 4;
-    if (has_length()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float width = 5;
-    if (has_width()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float height = 6;
-    if (has_height()) {
-      total_size += 1 + 4;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void Obstacle::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const Obstacle* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const Obstacle*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void Obstacle::MergeFrom(const Obstacle& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_length()) {
-      set_length(from.length());
-    }
-    if (from.has_width()) {
-      set_width(from.width());
-    }
-    if (from.has_height()) {
-      set_height(from.height());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void Obstacle::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Obstacle::CopyFrom(const Obstacle& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Obstacle::IsInitialized() const {
-  
-  return true;
-}
-
-void Obstacle::Swap(Obstacle* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(length_, other->length_);
-    std::swap(width_, other->width_);
-    std::swap(height_, other->height_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata Obstacle::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = Obstacle_descriptor_;
-  metadata.reflection = Obstacle_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int ObstacleList::kHeaderFieldNumber;
-const int ObstacleList::kObstaclesFieldNumber;
-#endif  // !_MSC_VER
-
-ObstacleList::ObstacleList()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void ObstacleList::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-ObstacleList::ObstacleList(const ObstacleList& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void ObstacleList::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-ObstacleList::~ObstacleList() {
-  SharedDtor();
-}
-
-void ObstacleList::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void ObstacleList::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* ObstacleList::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return ObstacleList_descriptor_;
-}
-
-const ObstacleList& ObstacleList::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-ObstacleList* ObstacleList::default_instance_ = NULL;
-
-ObstacleList* ObstacleList::New() const {
-  return new ObstacleList;
-}
-
-void ObstacleList::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  obstacles_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool ObstacleList::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_obstacles;
-        break;
-      }
-      
-      // repeated .px.Obstacle obstacles = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_obstacles:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_obstacles()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_obstacles;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void ObstacleList::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.Obstacle obstacles = 2;
-  for (int i = 0; i < this->obstacles_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->obstacles(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* ObstacleList::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.Obstacle obstacles = 2;
-  for (int i = 0; i < this->obstacles_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->obstacles(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int ObstacleList::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.Obstacle obstacles = 2;
-  total_size += 1 * this->obstacles_size();
-  for (int i = 0; i < this->obstacles_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->obstacles(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void ObstacleList::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const ObstacleList* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleList*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void ObstacleList::MergeFrom(const ObstacleList& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  obstacles_.MergeFrom(from.obstacles_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void ObstacleList::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void ObstacleList::CopyFrom(const ObstacleList& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool ObstacleList::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void ObstacleList::Swap(ObstacleList* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    obstacles_.Swap(&other->obstacles_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata ObstacleList::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = ObstacleList_descriptor_;
-  metadata.reflection = ObstacleList_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int ObstacleMap::kHeaderFieldNumber;
-const int ObstacleMap::kTypeFieldNumber;
-const int ObstacleMap::kResolutionFieldNumber;
-const int ObstacleMap::kRowsFieldNumber;
-const int ObstacleMap::kColsFieldNumber;
-const int ObstacleMap::kMapR0FieldNumber;
-const int ObstacleMap::kMapC0FieldNumber;
-const int ObstacleMap::kArrayR0FieldNumber;
-const int ObstacleMap::kArrayC0FieldNumber;
-const int ObstacleMap::kDataFieldNumber;
-#endif  // !_MSC_VER
-
-ObstacleMap::ObstacleMap()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void ObstacleMap::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-ObstacleMap::ObstacleMap(const ObstacleMap& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void ObstacleMap::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  type_ = 0;
-  resolution_ = 0;
-  rows_ = 0;
-  cols_ = 0;
-  mapr0_ = 0;
-  mapc0_ = 0;
-  arrayr0_ = 0;
-  arrayc0_ = 0;
-  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-ObstacleMap::~ObstacleMap() {
-  SharedDtor();
-}
-
-void ObstacleMap::SharedDtor() {
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    delete data_;
-  }
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void ObstacleMap::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* ObstacleMap::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return ObstacleMap_descriptor_;
-}
-
-const ObstacleMap& ObstacleMap::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-ObstacleMap* ObstacleMap::default_instance_ = NULL;
-
-ObstacleMap* ObstacleMap::New() const {
-  return new ObstacleMap;
-}
-
-void ObstacleMap::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-    type_ = 0;
-    resolution_ = 0;
-    rows_ = 0;
-    cols_ = 0;
-    mapr0_ = 0;
-    mapc0_ = 0;
-    arrayr0_ = 0;
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    arrayc0_ = 0;
-    if (has_data()) {
-      if (data_ != &::google::protobuf::internal::kEmptyString) {
-        data_->clear();
-      }
-    }
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool ObstacleMap::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(16)) goto parse_type;
-        break;
-      }
-      
-      // required int32 type = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_type:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &type_)));
-          set_has_type();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_resolution;
-        break;
-      }
-      
-      // optional float resolution = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_resolution:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &resolution_)));
-          set_has_resolution();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(32)) goto parse_rows;
-        break;
-      }
-      
-      // optional int32 rows = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_rows:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &rows_)));
-          set_has_rows();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(40)) goto parse_cols;
-        break;
-      }
-      
-      // optional int32 cols = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_cols:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &cols_)));
-          set_has_cols();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(48)) goto parse_mapR0;
-        break;
-      }
-      
-      // optional int32 mapR0 = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_mapR0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &mapr0_)));
-          set_has_mapr0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(56)) goto parse_mapC0;
-        break;
-      }
-      
-      // optional int32 mapC0 = 7;
-      case 7: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_mapC0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &mapc0_)));
-          set_has_mapc0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(64)) goto parse_arrayR0;
-        break;
-      }
-      
-      // optional int32 arrayR0 = 8;
-      case 8: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_arrayR0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &arrayr0_)));
-          set_has_arrayr0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(72)) goto parse_arrayC0;
-        break;
-      }
-      
-      // optional int32 arrayC0 = 9;
-      case 9: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_arrayC0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &arrayc0_)));
-          set_has_arrayc0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(82)) goto parse_data;
-        break;
-      }
-      
-      // optional bytes data = 10;
-      case 10: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_data:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_data()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void ObstacleMap::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // required int32 type = 2;
-  if (has_type()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->type(), output);
-  }
-  
-  // optional float resolution = 3;
-  if (has_resolution()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->resolution(), output);
-  }
-  
-  // optional int32 rows = 4;
-  if (has_rows()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(4, this->rows(), output);
-  }
-  
-  // optional int32 cols = 5;
-  if (has_cols()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->cols(), output);
-  }
-  
-  // optional int32 mapR0 = 6;
-  if (has_mapr0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->mapr0(), output);
-  }
-  
-  // optional int32 mapC0 = 7;
-  if (has_mapc0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->mapc0(), output);
-  }
-  
-  // optional int32 arrayR0 = 8;
-  if (has_arrayr0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->arrayr0(), output);
-  }
-  
-  // optional int32 arrayC0 = 9;
-  if (has_arrayc0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->arrayc0(), output);
-  }
-  
-  // optional bytes data = 10;
-  if (has_data()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      10, this->data(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* ObstacleMap::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // required int32 type = 2;
-  if (has_type()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->type(), target);
-  }
-  
-  // optional float resolution = 3;
-  if (has_resolution()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->resolution(), target);
-  }
-  
-  // optional int32 rows = 4;
-  if (has_rows()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(4, this->rows(), target);
-  }
-  
-  // optional int32 cols = 5;
-  if (has_cols()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->cols(), target);
-  }
-  
-  // optional int32 mapR0 = 6;
-  if (has_mapr0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->mapr0(), target);
-  }
-  
-  // optional int32 mapC0 = 7;
-  if (has_mapc0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->mapc0(), target);
-  }
-  
-  // optional int32 arrayR0 = 8;
-  if (has_arrayr0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->arrayr0(), target);
-  }
-  
-  // optional int32 arrayC0 = 9;
-  if (has_arrayc0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->arrayc0(), target);
-  }
-  
-  // optional bytes data = 10;
-  if (has_data()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        10, this->data(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int ObstacleMap::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-    // required int32 type = 2;
-    if (has_type()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->type());
-    }
-    
-    // optional float resolution = 3;
-    if (has_resolution()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional int32 rows = 4;
-    if (has_rows()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->rows());
-    }
-    
-    // optional int32 cols = 5;
-    if (has_cols()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->cols());
-    }
-    
-    // optional int32 mapR0 = 6;
-    if (has_mapr0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->mapr0());
-    }
-    
-    // optional int32 mapC0 = 7;
-    if (has_mapc0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->mapc0());
-    }
-    
-    // optional int32 arrayR0 = 8;
-    if (has_arrayr0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->arrayr0());
-    }
-    
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    // optional int32 arrayC0 = 9;
-    if (has_arrayc0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->arrayc0());
-    }
-    
-    // optional bytes data = 10;
-    if (has_data()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->data());
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void ObstacleMap::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const ObstacleMap* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleMap*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void ObstacleMap::MergeFrom(const ObstacleMap& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-    if (from.has_type()) {
-      set_type(from.type());
-    }
-    if (from.has_resolution()) {
-      set_resolution(from.resolution());
-    }
-    if (from.has_rows()) {
-      set_rows(from.rows());
-    }
-    if (from.has_cols()) {
-      set_cols(from.cols());
-    }
-    if (from.has_mapr0()) {
-      set_mapr0(from.mapr0());
-    }
-    if (from.has_mapc0()) {
-      set_mapc0(from.mapc0());
-    }
-    if (from.has_arrayr0()) {
-      set_arrayr0(from.arrayr0());
-    }
-  }
-  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    if (from.has_arrayc0()) {
-      set_arrayc0(from.arrayc0());
-    }
-    if (from.has_data()) {
-      set_data(from.data());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void ObstacleMap::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void ObstacleMap::CopyFrom(const ObstacleMap& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool ObstacleMap::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void ObstacleMap::Swap(ObstacleMap* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    std::swap(type_, other->type_);
-    std::swap(resolution_, other->resolution_);
-    std::swap(rows_, other->rows_);
-    std::swap(cols_, other->cols_);
-    std::swap(mapr0_, other->mapr0_);
-    std::swap(mapc0_, other->mapc0_);
-    std::swap(arrayr0_, other->arrayr0_);
-    std::swap(arrayc0_, other->arrayc0_);
-    std::swap(data_, other->data_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata ObstacleMap::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = ObstacleMap_descriptor_;
-  metadata.reflection = ObstacleMap_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int Path::kHeaderFieldNumber;
-const int Path::kWaypointsFieldNumber;
-#endif  // !_MSC_VER
-
-Path::Path()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void Path::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-Path::Path(const Path& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void Path::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-Path::~Path() {
-  SharedDtor();
-}
-
-void Path::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void Path::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* Path::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return Path_descriptor_;
-}
-
-const Path& Path::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-Path* Path::default_instance_ = NULL;
-
-Path* Path::New() const {
-  return new Path;
-}
-
-void Path::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  waypoints_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool Path::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_waypoints;
-        break;
-      }
-      
-      // repeated .px.Waypoint waypoints = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_waypoints:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_waypoints()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_waypoints;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void Path::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.Waypoint waypoints = 2;
-  for (int i = 0; i < this->waypoints_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->waypoints(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* Path::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.Waypoint waypoints = 2;
-  for (int i = 0; i < this->waypoints_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->waypoints(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int Path::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.Waypoint waypoints = 2;
-  total_size += 1 * this->waypoints_size();
-  for (int i = 0; i < this->waypoints_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->waypoints(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void Path::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const Path* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const Path*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void Path::MergeFrom(const Path& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  waypoints_.MergeFrom(from.waypoints_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void Path::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Path::CopyFrom(const Path& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Path::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  for (int i = 0; i < waypoints_size(); i++) {
-    if (!this->waypoints(i).IsInitialized()) return false;
-  }
-  return true;
-}
-
-void Path::Swap(Path* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    waypoints_.Swap(&other->waypoints_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata Path::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = Path_descriptor_;
-  metadata.reflection = Path_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int PointCloudXYZI_PointXYZI::kXFieldNumber;
-const int PointCloudXYZI_PointXYZI::kYFieldNumber;
-const int PointCloudXYZI_PointXYZI::kZFieldNumber;
-const int PointCloudXYZI_PointXYZI::kIntensityFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZI_PointXYZI::InitAsDefaultInstance() {
-}
-
-PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI_PointXYZI::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  intensity_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZI_PointXYZI::~PointCloudXYZI_PointXYZI() {
-  SharedDtor();
-}
-
-void PointCloudXYZI_PointXYZI::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void PointCloudXYZI_PointXYZI::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZI_PointXYZI_descriptor_;
-}
-
-const PointCloudXYZI_PointXYZI& PointCloudXYZI_PointXYZI::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::default_instance_ = NULL;
-
-PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::New() const {
-  return new PointCloudXYZI_PointXYZI;
-}
-
-void PointCloudXYZI_PointXYZI::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    intensity_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZI_PointXYZI::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required float x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(21)) goto parse_y;
-        break;
-      }
-      
-      // required float y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_z;
-        break;
-      }
-      
-      // required float z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(37)) goto parse_intensity;
-        break;
-      }
-      
-      // required float intensity = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_intensity:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &intensity_)));
-          set_has_intensity();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZI_PointXYZI::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required float x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
-  }
-  
-  // required float intensity = 4;
-  if (has_intensity()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->intensity(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZI_PointXYZI::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required float x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
-  }
-  
-  // required float intensity = 4;
-  if (has_intensity()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->intensity(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZI_PointXYZI::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required float x = 1;
-    if (has_x()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float y = 2;
-    if (has_y()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float z = 3;
-    if (has_z()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float intensity = 4;
-    if (has_intensity()) {
-      total_size += 1 + 4;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZI_PointXYZI::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZI_PointXYZI* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI_PointXYZI*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZI_PointXYZI::MergeFrom(const PointCloudXYZI_PointXYZI& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_intensity()) {
-      set_intensity(from.intensity());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZI_PointXYZI::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI_PointXYZI::CopyFrom(const PointCloudXYZI_PointXYZI& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZI_PointXYZI::IsInitialized() const {
-  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
-  
-  return true;
-}
-
-void PointCloudXYZI_PointXYZI::Swap(PointCloudXYZI_PointXYZI* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(intensity_, other->intensity_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZI_PointXYZI::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZI_PointXYZI_descriptor_;
-  metadata.reflection = PointCloudXYZI_PointXYZI_reflection_;
-  return metadata;
-}
-
-
-// -------------------------------------------------------------------
-
-#ifndef _MSC_VER
-const int PointCloudXYZI::kHeaderFieldNumber;
-const int PointCloudXYZI::kPointsFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZI::PointCloudXYZI()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZI::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-PointCloudXYZI::PointCloudXYZI(const PointCloudXYZI& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZI::~PointCloudXYZI() {
-  SharedDtor();
-}
-
-void PointCloudXYZI::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void PointCloudXYZI::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZI::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZI_descriptor_;
-}
-
-const PointCloudXYZI& PointCloudXYZI::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZI* PointCloudXYZI::default_instance_ = NULL;
-
-PointCloudXYZI* PointCloudXYZI::New() const {
-  return new PointCloudXYZI;
-}
-
-void PointCloudXYZI::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  points_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZI::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        break;
-      }
-      
-      // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_points:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_points()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZI::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->points(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZI::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->points(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZI::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  total_size += 1 * this->points_size();
-  for (int i = 0; i < this->points_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->points(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZI::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZI* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZI::MergeFrom(const PointCloudXYZI& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  points_.MergeFrom(from.points_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZI::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI::CopyFrom(const PointCloudXYZI& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZI::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  for (int i = 0; i < points_size(); i++) {
-    if (!this->points(i).IsInitialized()) return false;
-  }
-  return true;
-}
-
-void PointCloudXYZI::Swap(PointCloudXYZI* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    points_.Swap(&other->points_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZI::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZI_descriptor_;
-  metadata.reflection = PointCloudXYZI_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int PointCloudXYZRGB_PointXYZRGB::kXFieldNumber;
-const int PointCloudXYZRGB_PointXYZRGB::kYFieldNumber;
-const int PointCloudXYZRGB_PointXYZRGB::kZFieldNumber;
-const int PointCloudXYZRGB_PointXYZRGB::kRgbFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZRGB_PointXYZRGB::InitAsDefaultInstance() {
-}
-
-PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  rgb_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZRGB_PointXYZRGB::~PointCloudXYZRGB_PointXYZRGB() {
-  SharedDtor();
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZRGB_PointXYZRGB_descriptor_;
-}
-
-const PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB_PointXYZRGB::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::default_instance_ = NULL;
-
-PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::New() const {
-  return new PointCloudXYZRGB_PointXYZRGB;
-}
-
-void PointCloudXYZRGB_PointXYZRGB::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    rgb_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZRGB_PointXYZRGB::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required float x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(21)) goto parse_y;
-        break;
-      }
-      
-      // required float y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_z;
-        break;
-      }
-      
-      // required float z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(37)) goto parse_rgb;
-        break;
-      }
-      
-      // required float rgb = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_rgb:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &rgb_)));
-          set_has_rgb();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required float x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
-  }
-  
-  // required float rgb = 4;
-  if (has_rgb()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->rgb(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required float x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
-  }
-  
-  // required float rgb = 4;
-  if (has_rgb()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->rgb(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZRGB_PointXYZRGB::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required float x = 1;
-    if (has_x()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float y = 2;
-    if (has_y()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float z = 3;
-    if (has_z()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float rgb = 4;
-    if (has_rgb()) {
-      total_size += 1 + 4;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZRGB_PointXYZRGB* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB_PointXYZRGB*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_rgb()) {
-      set_rgb(from.rgb());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZRGB_PointXYZRGB::IsInitialized() const {
-  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
-  
-  return true;
-}
-
-void PointCloudXYZRGB_PointXYZRGB::Swap(PointCloudXYZRGB_PointXYZRGB* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(rgb_, other->rgb_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZRGB_PointXYZRGB::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZRGB_PointXYZRGB_descriptor_;
-  metadata.reflection = PointCloudXYZRGB_PointXYZRGB_reflection_;
-  return metadata;
-}
-
-
-// -------------------------------------------------------------------
-
-#ifndef _MSC_VER
-const int PointCloudXYZRGB::kHeaderFieldNumber;
-const int PointCloudXYZRGB::kPointsFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZRGB::PointCloudXYZRGB()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZRGB::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-PointCloudXYZRGB::PointCloudXYZRGB(const PointCloudXYZRGB& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZRGB::~PointCloudXYZRGB() {
-  SharedDtor();
-}
-
-void PointCloudXYZRGB::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void PointCloudXYZRGB::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZRGB::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZRGB_descriptor_;
-}
-
-const PointCloudXYZRGB& PointCloudXYZRGB::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZRGB* PointCloudXYZRGB::default_instance_ = NULL;
-
-PointCloudXYZRGB* PointCloudXYZRGB::New() const {
-  return new PointCloudXYZRGB;
-}
-
-void PointCloudXYZRGB::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  points_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZRGB::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        break;
-      }
-      
-      // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_points:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_points()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZRGB::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->points(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZRGB::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->points(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZRGB::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  total_size += 1 * this->points_size();
-  for (int i = 0; i < this->points_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->points(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZRGB* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZRGB::MergeFrom(const PointCloudXYZRGB& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  points_.MergeFrom(from.points_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB::CopyFrom(const PointCloudXYZRGB& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZRGB::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  for (int i = 0; i < points_size(); i++) {
-    if (!this->points(i).IsInitialized()) return false;
-  }
-  return true;
-}
-
-void PointCloudXYZRGB::Swap(PointCloudXYZRGB* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    points_.Swap(&other->points_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZRGB::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZRGB_descriptor_;
-  metadata.reflection = PointCloudXYZRGB_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int RGBDImage::kHeaderFieldNumber;
-const int RGBDImage::kColsFieldNumber;
-const int RGBDImage::kRowsFieldNumber;
-const int RGBDImage::kStep1FieldNumber;
-const int RGBDImage::kType1FieldNumber;
-const int RGBDImage::kImageData1FieldNumber;
-const int RGBDImage::kStep2FieldNumber;
-const int RGBDImage::kType2FieldNumber;
-const int RGBDImage::kImageData2FieldNumber;
-const int RGBDImage::kCameraConfigFieldNumber;
-const int RGBDImage::kCameraTypeFieldNumber;
-const int RGBDImage::kRollFieldNumber;
-const int RGBDImage::kPitchFieldNumber;
-const int RGBDImage::kYawFieldNumber;
-const int RGBDImage::kLonFieldNumber;
-const int RGBDImage::kLatFieldNumber;
-const int RGBDImage::kAltFieldNumber;
-const int RGBDImage::kGroundXFieldNumber;
-const int RGBDImage::kGroundYFieldNumber;
-const int RGBDImage::kGroundZFieldNumber;
-const int RGBDImage::kCameraMatrixFieldNumber;
-#endif  // !_MSC_VER
-
-RGBDImage::RGBDImage()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void RGBDImage::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-RGBDImage::RGBDImage(const RGBDImage& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void RGBDImage::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  cols_ = 0u;
-  rows_ = 0u;
-  step1_ = 0u;
-  type1_ = 0u;
-  imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  step2_ = 0u;
-  type2_ = 0u;
-  imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  camera_config_ = 0u;
-  camera_type_ = 0u;
-  roll_ = 0;
-  pitch_ = 0;
-  yaw_ = 0;
-  lon_ = 0;
-  lat_ = 0;
-  alt_ = 0;
-  ground_x_ = 0;
-  ground_y_ = 0;
-  ground_z_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-RGBDImage::~RGBDImage() {
-  SharedDtor();
-}
-
-void RGBDImage::SharedDtor() {
-  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
-    delete imagedata1_;
-  }
-  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
-    delete imagedata2_;
-  }
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void RGBDImage::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* RGBDImage::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return RGBDImage_descriptor_;
-}
-
-const RGBDImage& RGBDImage::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-RGBDImage* RGBDImage::default_instance_ = NULL;
-
-RGBDImage* RGBDImage::New() const {
-  return new RGBDImage;
-}
-
-void RGBDImage::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-    cols_ = 0u;
-    rows_ = 0u;
-    step1_ = 0u;
-    type1_ = 0u;
-    if (has_imagedata1()) {
-      if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
-        imagedata1_->clear();
-      }
-    }
-    step2_ = 0u;
-    type2_ = 0u;
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    if (has_imagedata2()) {
-      if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
-        imagedata2_->clear();
-      }
-    }
-    camera_config_ = 0u;
-    camera_type_ = 0u;
-    roll_ = 0;
-    pitch_ = 0;
-    yaw_ = 0;
-    lon_ = 0;
-    lat_ = 0;
-  }
-  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
-    alt_ = 0;
-    ground_x_ = 0;
-    ground_y_ = 0;
-    ground_z_ = 0;
-  }
-  camera_matrix_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool RGBDImage::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(16)) goto parse_cols;
-        break;
-      }
-      
-      // required uint32 cols = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_cols:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &cols_)));
-          set_has_cols();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(24)) goto parse_rows;
-        break;
-      }
-      
-      // required uint32 rows = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_rows:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &rows_)));
-          set_has_rows();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(32)) goto parse_step1;
-        break;
-      }
-      
-      // required uint32 step1 = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_step1:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &step1_)));
-          set_has_step1();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(40)) goto parse_type1;
-        break;
-      }
-      
-      // required uint32 type1 = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_type1:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &type1_)));
-          set_has_type1();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(50)) goto parse_imageData1;
-        break;
-      }
-      
-      // required bytes imageData1 = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_imageData1:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_imagedata1()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(56)) goto parse_step2;
-        break;
-      }
-      
-      // required uint32 step2 = 7;
-      case 7: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_step2:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &step2_)));
-          set_has_step2();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(64)) goto parse_type2;
-        break;
-      }
-      
-      // required uint32 type2 = 8;
-      case 8: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_type2:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &type2_)));
-          set_has_type2();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(74)) goto parse_imageData2;
-        break;
-      }
-      
-      // required bytes imageData2 = 9;
-      case 9: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_imageData2:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_imagedata2()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(80)) goto parse_camera_config;
-        break;
-      }
-      
-      // optional uint32 camera_config = 10;
-      case 10: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_camera_config:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &camera_config_)));
-          set_has_camera_config();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(88)) goto parse_camera_type;
-        break;
-      }
-      
-      // optional uint32 camera_type = 11;
-      case 11: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_camera_type:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &camera_type_)));
-          set_has_camera_type();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(101)) goto parse_roll;
-        break;
-      }
-      
-      // optional float roll = 12;
-      case 12: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_roll:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &roll_)));
-          set_has_roll();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(109)) goto parse_pitch;
-        break;
-      }
-      
-      // optional float pitch = 13;
-      case 13: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_pitch:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &pitch_)));
-          set_has_pitch();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(117)) goto parse_yaw;
-        break;
-      }
-      
-      // optional float yaw = 14;
-      case 14: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_yaw:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &yaw_)));
-          set_has_yaw();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(125)) goto parse_lon;
-        break;
-      }
-      
-      // optional float lon = 15;
-      case 15: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_lon:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &lon_)));
-          set_has_lon();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(133)) goto parse_lat;
-        break;
-      }
-      
-      // optional float lat = 16;
-      case 16: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_lat:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &lat_)));
-          set_has_lat();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(141)) goto parse_alt;
-        break;
-      }
-      
-      // optional float alt = 17;
-      case 17: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_alt:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &alt_)));
-          set_has_alt();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(149)) goto parse_ground_x;
-        break;
-      }
-      
-      // optional float ground_x = 18;
-      case 18: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_ground_x:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &ground_x_)));
-          set_has_ground_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(157)) goto parse_ground_y;
-        break;
-      }
-      
-      // optional float ground_y = 19;
-      case 19: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_ground_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &ground_y_)));
-          set_has_ground_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(165)) goto parse_ground_z;
-        break;
-      }
-      
-      // optional float ground_z = 20;
-      case 20: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_ground_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &ground_z_)));
-          set_has_ground_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(173)) goto parse_camera_matrix;
-        break;
-      }
-      
-      // repeated float camera_matrix = 21;
-      case 21: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_camera_matrix:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 2, 173, input, this->mutable_camera_matrix())));
-        } else if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag)
-                   == ::google::protobuf::internal::WireFormatLite::
-                      WIRETYPE_LENGTH_DELIMITED) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitiveNoInline<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, this->mutable_camera_matrix())));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(173)) goto parse_camera_matrix;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void RGBDImage::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // required uint32 cols = 2;
-  if (has_cols()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(2, this->cols(), output);
-  }
-  
-  // required uint32 rows = 3;
-  if (has_rows()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->rows(), output);
-  }
-  
-  // required uint32 step1 = 4;
-  if (has_step1()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->step1(), output);
-  }
-  
-  // required uint32 type1 = 5;
-  if (has_type1()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(5, this->type1(), output);
-  }
-  
-  // required bytes imageData1 = 6;
-  if (has_imagedata1()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      6, this->imagedata1(), output);
-  }
-  
-  // required uint32 step2 = 7;
-  if (has_step2()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(7, this->step2(), output);
-  }
-  
-  // required uint32 type2 = 8;
-  if (has_type2()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(8, this->type2(), output);
-  }
-  
-  // required bytes imageData2 = 9;
-  if (has_imagedata2()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      9, this->imagedata2(), output);
-  }
-  
-  // optional uint32 camera_config = 10;
-  if (has_camera_config()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(10, this->camera_config(), output);
-  }
-  
-  // optional uint32 camera_type = 11;
-  if (has_camera_type()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(11, this->camera_type(), output);
-  }
-  
-  // optional float roll = 12;
-  if (has_roll()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(12, this->roll(), output);
-  }
-  
-  // optional float pitch = 13;
-  if (has_pitch()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(13, this->pitch(), output);
-  }
-  
-  // optional float yaw = 14;
-  if (has_yaw()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(14, this->yaw(), output);
-  }
-  
-  // optional float lon = 15;
-  if (has_lon()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(15, this->lon(), output);
-  }
-  
-  // optional float lat = 16;
-  if (has_lat()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(16, this->lat(), output);
-  }
-  
-  // optional float alt = 17;
-  if (has_alt()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(17, this->alt(), output);
-  }
-  
-  // optional float ground_x = 18;
-  if (has_ground_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(18, this->ground_x(), output);
-  }
-  
-  // optional float ground_y = 19;
-  if (has_ground_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(19, this->ground_y(), output);
-  }
-  
-  // optional float ground_z = 20;
-  if (has_ground_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(20, this->ground_z(), output);
-  }
-  
-  // repeated float camera_matrix = 21;
-  for (int i = 0; i < this->camera_matrix_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(
-      21, this->camera_matrix(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* RGBDImage::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // required uint32 cols = 2;
-  if (has_cols()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(2, this->cols(), target);
-  }
-  
-  // required uint32 rows = 3;
-  if (has_rows()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->rows(), target);
-  }
-  
-  // required uint32 step1 = 4;
-  if (has_step1()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->step1(), target);
-  }
-  
-  // required uint32 type1 = 5;
-  if (has_type1()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(5, this->type1(), target);
-  }
-  
-  // required bytes imageData1 = 6;
-  if (has_imagedata1()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        6, this->imagedata1(), target);
-  }
-  
-  // required uint32 step2 = 7;
-  if (has_step2()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(7, this->step2(), target);
-  }
-  
-  // required uint32 type2 = 8;
-  if (has_type2()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(8, this->type2(), target);
-  }
-  
-  // required bytes imageData2 = 9;
-  if (has_imagedata2()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        9, this->imagedata2(), target);
-  }
-  
-  // optional uint32 camera_config = 10;
-  if (has_camera_config()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(10, this->camera_config(), target);
-  }
-  
-  // optional uint32 camera_type = 11;
-  if (has_camera_type()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(11, this->camera_type(), target);
-  }
-  
-  // optional float roll = 12;
-  if (has_roll()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(12, this->roll(), target);
-  }
-  
-  // optional float pitch = 13;
-  if (has_pitch()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(13, this->pitch(), target);
-  }
-  
-  // optional float yaw = 14;
-  if (has_yaw()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(14, this->yaw(), target);
-  }
-  
-  // optional float lon = 15;
-  if (has_lon()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(15, this->lon(), target);
-  }
-  
-  // optional float lat = 16;
-  if (has_lat()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(16, this->lat(), target);
-  }
-  
-  // optional float alt = 17;
-  if (has_alt()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(17, this->alt(), target);
-  }
-  
-  // optional float ground_x = 18;
-  if (has_ground_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(18, this->ground_x(), target);
-  }
-  
-  // optional float ground_y = 19;
-  if (has_ground_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(19, this->ground_y(), target);
-  }
-  
-  // optional float ground_z = 20;
-  if (has_ground_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(20, this->ground_z(), target);
-  }
-  
-  // repeated float camera_matrix = 21;
-  for (int i = 0; i < this->camera_matrix_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteFloatToArray(21, this->camera_matrix(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int RGBDImage::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-    // required uint32 cols = 2;
-    if (has_cols()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->cols());
-    }
-    
-    // required uint32 rows = 3;
-    if (has_rows()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->rows());
-    }
-    
-    // required uint32 step1 = 4;
-    if (has_step1()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->step1());
-    }
-    
-    // required uint32 type1 = 5;
-    if (has_type1()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->type1());
-    }
-    
-    // required bytes imageData1 = 6;
-    if (has_imagedata1()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->imagedata1());
-    }
-    
-    // required uint32 step2 = 7;
-    if (has_step2()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->step2());
-    }
-    
-    // required uint32 type2 = 8;
-    if (has_type2()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->type2());
-    }
-    
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    // required bytes imageData2 = 9;
-    if (has_imagedata2()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->imagedata2());
-    }
-    
-    // optional uint32 camera_config = 10;
-    if (has_camera_config()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->camera_config());
-    }
-    
-    // optional uint32 camera_type = 11;
-    if (has_camera_type()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->camera_type());
-    }
-    
-    // optional float roll = 12;
-    if (has_roll()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float pitch = 13;
-    if (has_pitch()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float yaw = 14;
-    if (has_yaw()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float lon = 15;
-    if (has_lon()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float lat = 16;
-    if (has_lat()) {
-      total_size += 2 + 4;
-    }
-    
-  }
-  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
-    // optional float alt = 17;
-    if (has_alt()) {
-      total_size += 2 + 4;
-    }
-    
-    // optional float ground_x = 18;
-    if (has_ground_x()) {
-      total_size += 2 + 4;
-    }
-    
-    // optional float ground_y = 19;
-    if (has_ground_y()) {
-      total_size += 2 + 4;
-    }
-    
-    // optional float ground_z = 20;
-    if (has_ground_z()) {
-      total_size += 2 + 4;
-    }
-    
-  }
-  // repeated float camera_matrix = 21;
-  {
-    int data_size = 0;
-    data_size = 4 * this->camera_matrix_size();
-    total_size += 2 * this->camera_matrix_size() + data_size;
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void RGBDImage::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const RGBDImage* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const RGBDImage*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void RGBDImage::MergeFrom(const RGBDImage& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  camera_matrix_.MergeFrom(from.camera_matrix_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-    if (from.has_cols()) {
-      set_cols(from.cols());
-    }
-    if (from.has_rows()) {
-      set_rows(from.rows());
-    }
-    if (from.has_step1()) {
-      set_step1(from.step1());
-    }
-    if (from.has_type1()) {
-      set_type1(from.type1());
-    }
-    if (from.has_imagedata1()) {
-      set_imagedata1(from.imagedata1());
-    }
-    if (from.has_step2()) {
-      set_step2(from.step2());
-    }
-    if (from.has_type2()) {
-      set_type2(from.type2());
-    }
-  }
-  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    if (from.has_imagedata2()) {
-      set_imagedata2(from.imagedata2());
-    }
-    if (from.has_camera_config()) {
-      set_camera_config(from.camera_config());
-    }
-    if (from.has_camera_type()) {
-      set_camera_type(from.camera_type());
-    }
-    if (from.has_roll()) {
-      set_roll(from.roll());
-    }
-    if (from.has_pitch()) {
-      set_pitch(from.pitch());
-    }
-    if (from.has_yaw()) {
-      set_yaw(from.yaw());
-    }
-    if (from.has_lon()) {
-      set_lon(from.lon());
-    }
-    if (from.has_lat()) {
-      set_lat(from.lat());
-    }
-  }
-  if (from._has_bits_[16 / 32] & (0xffu << (16 % 32))) {
-    if (from.has_alt()) {
-      set_alt(from.alt());
-    }
-    if (from.has_ground_x()) {
-      set_ground_x(from.ground_x());
-    }
-    if (from.has_ground_y()) {
-      set_ground_y(from.ground_y());
-    }
-    if (from.has_ground_z()) {
-      set_ground_z(from.ground_z());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void RGBDImage::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void RGBDImage::CopyFrom(const RGBDImage& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool RGBDImage::IsInitialized() const {
-  if ((_has_bits_[0] & 0x000001ff) != 0x000001ff) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void RGBDImage::Swap(RGBDImage* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    std::swap(cols_, other->cols_);
-    std::swap(rows_, other->rows_);
-    std::swap(step1_, other->step1_);
-    std::swap(type1_, other->type1_);
-    std::swap(imagedata1_, other->imagedata1_);
-    std::swap(step2_, other->step2_);
-    std::swap(type2_, other->type2_);
-    std::swap(imagedata2_, other->imagedata2_);
-    std::swap(camera_config_, other->camera_config_);
-    std::swap(camera_type_, other->camera_type_);
-    std::swap(roll_, other->roll_);
-    std::swap(pitch_, other->pitch_);
-    std::swap(yaw_, other->yaw_);
-    std::swap(lon_, other->lon_);
-    std::swap(lat_, other->lat_);
-    std::swap(alt_, other->alt_);
-    std::swap(ground_x_, other->ground_x_);
-    std::swap(ground_y_, other->ground_y_);
-    std::swap(ground_z_, other->ground_z_);
-    camera_matrix_.Swap(&other->camera_matrix_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata RGBDImage::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = RGBDImage_descriptor_;
-  metadata.reflection = RGBDImage_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int Waypoint::kXFieldNumber;
-const int Waypoint::kYFieldNumber;
-const int Waypoint::kZFieldNumber;
-const int Waypoint::kRollFieldNumber;
-const int Waypoint::kPitchFieldNumber;
-const int Waypoint::kYawFieldNumber;
-#endif  // !_MSC_VER
-
-Waypoint::Waypoint()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void Waypoint::InitAsDefaultInstance() {
-}
-
-Waypoint::Waypoint(const Waypoint& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void Waypoint::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  roll_ = 0;
-  pitch_ = 0;
-  yaw_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-Waypoint::~Waypoint() {
-  SharedDtor();
-}
-
-void Waypoint::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void Waypoint::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* Waypoint::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return Waypoint_descriptor_;
-}
-
-const Waypoint& Waypoint::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-Waypoint* Waypoint::default_instance_ = NULL;
-
-Waypoint* Waypoint::New() const {
-  return new Waypoint;
-}
-
-void Waypoint::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    roll_ = 0;
-    pitch_ = 0;
-    yaw_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool Waypoint::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required double x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(17)) goto parse_y;
-        break;
-      }
-      
-      // required double y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(25)) goto parse_z;
-        break;
-      }
-      
-      // optional double z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(33)) goto parse_roll;
-        break;
-      }
-      
-      // optional double roll = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_roll:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &roll_)));
-          set_has_roll();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(41)) goto parse_pitch;
-        break;
-      }
-      
-      // optional double pitch = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_pitch:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &pitch_)));
-          set_has_pitch();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(49)) goto parse_yaw;
-        break;
-      }
-      
-      // optional double yaw = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_yaw:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &yaw_)));
-          set_has_yaw();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void Waypoint::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required double x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output);
-  }
-  
-  // required double y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output);
-  }
-  
-  // optional double z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output);
-  }
-  
-  // optional double roll = 4;
-  if (has_roll()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->roll(), output);
-  }
-  
-  // optional double pitch = 5;
-  if (has_pitch()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->pitch(), output);
-  }
-  
-  // optional double yaw = 6;
-  if (has_yaw()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->yaw(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* Waypoint::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required double x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target);
-  }
-  
-  // required double y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target);
-  }
-  
-  // optional double z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target);
-  }
-  
-  // optional double roll = 4;
-  if (has_roll()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->roll(), target);
-  }
-  
-  // optional double pitch = 5;
-  if (has_pitch()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->pitch(), target);
-  }
-  
-  // optional double yaw = 6;
-  if (has_yaw()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->yaw(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int Waypoint::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required double x = 1;
-    if (has_x()) {
-      total_size += 1 + 8;
-    }
-    
-    // required double y = 2;
-    if (has_y()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double z = 3;
-    if (has_z()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double roll = 4;
-    if (has_roll()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double pitch = 5;
-    if (has_pitch()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double yaw = 6;
-    if (has_yaw()) {
-      total_size += 1 + 8;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void Waypoint::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const Waypoint* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const Waypoint*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void Waypoint::MergeFrom(const Waypoint& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_roll()) {
-      set_roll(from.roll());
-    }
-    if (from.has_pitch()) {
-      set_pitch(from.pitch());
-    }
-    if (from.has_yaw()) {
-      set_yaw(from.yaw());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void Waypoint::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Waypoint::CopyFrom(const Waypoint& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Waypoint::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
-  
-  return true;
-}
-
-void Waypoint::Swap(Waypoint* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(roll_, other->roll_);
-    std::swap(pitch_, other->pitch_);
-    std::swap(yaw_, other->yaw_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata Waypoint::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = Waypoint_descriptor_;
-  metadata.reflection = Waypoint_reflection_;
-  return metadata;
-}
-
-
-// @@protoc_insertion_point(namespace_scope)
-
-}  // namespace px
-
-// @@protoc_insertion_point(global_scope)
diff --git a/mavlink/share/pyshared/pymavlink/.gitignore b/mavlink/share/pyshared/pymavlink/.gitignore
deleted file mode 100644
index 3d395ecda..000000000
--- a/mavlink/share/pyshared/pymavlink/.gitignore
+++ /dev/null
@@ -1,13 +0,0 @@
-apidocs/
-*.zip
-*.pyc
-send.sh
-generator/C/include/ardupilotmega
-generator/C/include/common
-generator/C/include/pixhawk
-generator/C/include/minimal
-generator/C/include/ualberta
-generator/C/include/slugs
-testmav0.9*
-testmav1.0*
-Debug/
diff --git a/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde b/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde
deleted file mode 100644
index b903b5c16..000000000
--- a/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde
+++ /dev/null
@@ -1,55 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
-
-/*
-  send all possible mavlink messages
-  Andrew Tridgell July 2011
-*/
-
-// AVR runtime
-#include <avr/io.h>
-#include <avr/eeprom.h>
-#include <avr/pgmspace.h>
-#include <math.h>
-
-// Libraries
-#include <FastSerial.h>
-#include <AP_Common.h>
-#include <GCS_MAVLink.h>
-#include "mavtest.h"
-
-FastSerialPort0(Serial);        // FTDI/console
-FastSerialPort1(Serial1);       // GPS port
-FastSerialPort3(Serial3);       // Telemetry port
-
-#define SERIAL0_BAUD 115200
-#define SERIAL3_BAUD 115200
-
-void setup() {
-	Serial.begin(SERIAL0_BAUD, 128, 128);
-	Serial3.begin(SERIAL3_BAUD, 128, 128);
-	mavlink_comm_0_port = &Serial;
-	mavlink_comm_1_port = &Serial3;
-}
-
-
-
-void loop()
-{
-	Serial.println("Starting MAVLink test generator\n");
-	while (1) {
-		mavlink_msg_heartbeat_send(
-			MAVLINK_COMM_0,
-			mavlink_system.type,
-			MAV_AUTOPILOT_ARDUPILOTMEGA);
-
-		mavlink_msg_heartbeat_send(
-			MAVLINK_COMM_1,
-			mavlink_system.type,
-			MAV_AUTOPILOT_ARDUPILOTMEGA);
-
-		mavtest_generate_outputs(MAVLINK_COMM_0);
-		mavtest_generate_outputs(MAVLINK_COMM_1);
-		delay(500);
-	}
-}
-
diff --git a/mavlink/share/pyshared/pymavlink/README.txt b/mavlink/share/pyshared/pymavlink/README.txt
deleted file mode 100644
index 386013e11..000000000
--- a/mavlink/share/pyshared/pymavlink/README.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-This is a python implementation of the MAVLink protocol. 
-
-Please see http://www.qgroundcontrol.org/mavlink/pymavlink for
-documentation
diff --git a/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py b/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py
deleted file mode 100644
index d7d82256c..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py
+++ /dev/null
@@ -1,67 +0,0 @@
-#!/usr/bin/env python
-
-'''
-set stream rate on an APM 
-'''
-
-import sys, struct, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("apmsetrate.py [options]")
-
-parser.add_option("--baudrate", dest="baudrate", type='int',
-                  help="master port baud rate", default=115200)
-parser.add_option("--device", dest="device", default=None, help="serial device")
-parser.add_option("--rate", dest="rate", default=4, type='int', help="requested stream rate")
-parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
-                  default=255, help='MAVLink source system for this GCS')
-parser.add_option("--showmessages", dest="showmessages", action='store_true',
-                  help="show incoming messages", default=False)
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-    import mavlink10 as mavlink
-else:
-    import mavlink
-import mavutil
-
-if opts.device is None:
-    print("You must specify a serial device")
-    sys.exit(1)
-
-def wait_heartbeat(m):
-    '''wait for a heartbeat so we know the target system IDs'''
-    print("Waiting for APM heartbeat")
-    m.wait_heartbeat()
-    print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
-
-def show_messages(m):
-    '''show incoming mavlink messages'''
-    while True:
-        msg = m.recv_match(blocking=True)
-        if not msg:
-            return
-        if msg.get_type() == "BAD_DATA":
-            if mavutil.all_printable(msg.data):
-                sys.stdout.write(msg.data)
-                sys.stdout.flush()
-        else:
-            print(msg)                    
-                
-# create a mavlink serial instance
-master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
-
-# wait for the heartbeat msg to find the system ID
-wait_heartbeat(master)
-
-print("Sending all stream request for rate %u" % opts.rate)
-for i in range(0, 3):
-    master.mav.request_data_stream_send(master.target_system, master.target_component,
-                                        mavlink.MAV_DATA_STREAM_ALL, opts.rate, 1)
-if opts.showmessages:
-    show_messages(master)
diff --git a/mavlink/share/pyshared/pymavlink/examples/bwtest.py b/mavlink/share/pyshared/pymavlink/examples/bwtest.py
deleted file mode 100644
index de56d4f8c..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/bwtest.py
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/usr/bin/env python
-
-'''
-check bandwidth of link
-'''
-
-import sys, struct, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-import mavutil
-
-from optparse import OptionParser
-parser = OptionParser("bwtest.py [options]")
-
-parser.add_option("--baudrate", dest="baudrate", type='int',
-                  help="master port baud rate", default=115200)
-parser.add_option("--device", dest="device", default=None, help="serial device")
-(opts, args) = parser.parse_args()
-
-if opts.device is None:
-    print("You must specify a serial device")
-    sys.exit(1)
-
-# create a mavlink serial instance
-master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
-
-t1 = time.time()
-
-counts = {}
-
-bytes_sent = 0
-bytes_recv = 0
-
-while True:
-    master.mav.heartbeat_send(1, 1)
-    master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7)
-    master.mav.gps_raw_send(1, 2, 3, 4, 5, 6, 7, 8, 9)
-    master.mav.attitude_send(1, 2, 3, 4, 5, 6, 7)
-    master.mav.vfr_hud_send(1, 2, 3, 4, 5, 6)
-    while master.port.inWaiting() > 0:
-        m = master.recv_msg()
-        if m == None: break
-        if m.get_type() not in counts:
-            counts[m.get_type()] = 0
-        counts[m.get_type()] += 1
-    t2 = time.time()
-    if t2 - t1 > 1.0:
-        print("%u sent, %u received, %u errors bwin=%.1f kB/s bwout=%.1f kB/s" % (
-            master.mav.total_packets_sent,
-            master.mav.total_packets_received,
-            master.mav.total_receive_errors,
-            0.001*(master.mav.total_bytes_received-bytes_recv)/(t2-t1),
-            0.001*(master.mav.total_bytes_sent-bytes_sent)/(t2-t1)))
-        bytes_sent = master.mav.total_bytes_sent
-        bytes_recv = master.mav.total_bytes_received
-        t1 = t2
diff --git a/mavlink/share/pyshared/pymavlink/examples/flightmodes.py b/mavlink/share/pyshared/pymavlink/examples/flightmodes.py
deleted file mode 100644
index 03d7e2c47..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/flightmodes.py
+++ /dev/null
@@ -1,52 +0,0 @@
-#!/usr/bin/env python
-
-'''
-show changes in flight modes
-'''
-
-import sys, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("flightmodes.py [options]")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: flightmodes.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def flight_modes(logfile):
-    '''show flight modes for a log file'''
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename)
-
-    mode = -1
-    nav_mode = -1
-
-    filesize = os.path.getsize(filename)
-
-    while True:
-        m = mlog.recv_match(type='SYS_STATUS',
-                            condition='SYS_STATUS.mode != %u or SYS_STATUS.nav_mode != %u' % (mode, nav_mode))
-        if m is None:
-            return
-        mode = m.mode
-        nav_mode = m.nav_mode
-        pct = (100.0 * mlog.f.tell()) / filesize
-        print('%s MAV.flightmode=%-12s mode=%u nav_mode=%u (MAV.timestamp=%u %u%%)' % (
-            time.asctime(time.localtime(m._timestamp)),
-            mlog.flightmode,
-            mode, nav_mode, m._timestamp, pct))
-
-for filename in args:
-    flight_modes(filename)
-
-
diff --git a/mavlink/share/pyshared/pymavlink/examples/flighttime.py b/mavlink/share/pyshared/pymavlink/examples/flighttime.py
deleted file mode 100644
index 81cd38c94..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/flighttime.py
+++ /dev/null
@@ -1,59 +0,0 @@
-#!/usr/bin/env python
-
-'''
-work out total flight time for a mavlink log
-'''
-
-import sys, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("flighttime.py [options]")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: flighttime.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def flight_time(logfile):
-    '''work out flight time for a log file'''
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename)
-
-    in_air = False
-    start_time = 0.0
-    total_time = 0.0
-    t = None
-
-    while True:
-        m = mlog.recv_match(type='VFR_HUD')
-        if m is None:
-            if in_air:
-                total_time += time.mktime(t) - start_time
-            if total_time > 0:
-                print("Flight time : %u:%02u" % (int(total_time)/60, int(total_time)%60))
-            return total_time
-        t = time.localtime(m._timestamp)
-        if m.groundspeed > 3.0 and not in_air:
-            print("In air at %s" % time.asctime(t))
-            in_air = True
-            start_time = time.mktime(t)
-        elif m.groundspeed < 3.0 and in_air:
-            print("On ground at %s" % time.asctime(t))
-            in_air = False
-            total_time += time.mktime(t) - start_time
-    return total_time
-
-total = 0.0
-for filename in args:
-    total += flight_time(filename)
-
-print("Total time in air: %u:%02u" % (int(total)/60, int(total)%60))
diff --git a/mavlink/share/pyshared/pymavlink/examples/gpslock.py b/mavlink/share/pyshared/pymavlink/examples/gpslock.py
deleted file mode 100644
index f15b29072..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/gpslock.py
+++ /dev/null
@@ -1,68 +0,0 @@
-#!/usr/bin/env python
-
-'''
-show GPS lock events in a MAVLink log
-'''
-
-import sys, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("gpslock.py [options]")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: gpslock.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def lock_time(logfile):
-    '''work out gps lock times for a log file'''
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename)
-
-    locked = False
-    start_time = 0.0
-    total_time = 0.0
-    t = None
-    m = mlog.recv_match(type='GPS_RAW')
-    unlock_time = time.mktime(time.localtime(m._timestamp))
-
-    while True:
-        m = mlog.recv_match(type='GPS_RAW')
-        if m is None:
-            if locked:
-                total_time += time.mktime(t) - start_time
-            if total_time > 0:
-                print("Lock time : %u:%02u" % (int(total_time)/60, int(total_time)%60))
-            return total_time
-        t = time.localtime(m._timestamp)
-        if m.fix_type == 2 and not locked:
-            print("Locked at %s after %u seconds" % (time.asctime(t),
-                                                     time.mktime(t) - unlock_time))
-            locked = True
-            start_time = time.mktime(t)
-        elif m.fix_type == 1 and locked:
-            print("Lost GPS lock at %s" % time.asctime(t))
-            locked = False
-            total_time += time.mktime(t) - start_time
-            unlock_time = time.mktime(t)
-        elif m.fix_type == 0 and locked:
-            print("Lost protocol lock at %s" % time.asctime(t))
-            locked = False
-            total_time += time.mktime(t) - start_time
-            unlock_time = time.mktime(t)
-    return total_time
-
-total = 0.0
-for filename in args:
-    total += lock_time(filename)
-
-print("Total time locked: %u:%02u" % (int(total)/60, int(total)%60))
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit.py b/mavlink/share/pyshared/pymavlink/examples/magfit.py
deleted file mode 100644
index 7bfda796b..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magfit.py
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env python
-
-'''
-fit best estimate of magnetometer offsets
-'''
-
-import sys, time, os, math
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("magfit.py [options]")
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
-parser.add_option("--noise", type='float', default=0, help="noise to add")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-from rotmat import Vector3
-
-if len(args) < 1:
-    print("Usage: magfit.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def noise():
-    '''a noise vector'''
-    from random import gauss
-    v = Vector3(gauss(0, 1), gauss(0, 1), gauss(0, 1))
-    v.normalize()
-    return v * opts.noise
-
-def select_data(data):
-    ret = []
-    counts = {}
-    for d in data:
-        mag = d
-        key = "%u:%u:%u" % (mag.x/20,mag.y/20,mag.z/20)
-        if key in counts:
-            counts[key] += 1
-        else:
-            counts[key] = 1
-        if counts[key] < 3:
-            ret.append(d)
-    print(len(data), len(ret))
-    return ret
-
-def radius(mag, offsets):
-    '''return radius give data point and offsets'''
-    return (mag + offsets).length()
-
-def radius_cmp(a, b, offsets):
-    '''return radius give data point and offsets'''
-    diff = radius(a, offsets) - radius(b, offsets)
-    if diff > 0:
-        return 1
-    if diff < 0:
-        return -1
-    return 0
-
-def sphere_error(p, data):
-    from scipy import sqrt
-    x,y,z,r = p
-    ofs = Vector3(x,y,z)
-    ret = []
-    for d in data:
-        mag = d
-        err = r - radius(mag, ofs)
-        ret.append(err)
-    return ret
-
-def fit_data(data):
-    import numpy, scipy
-    from scipy import optimize
-
-    p0 = [0.0, 0.0, 0.0, 0.0]
-    p1, ier = optimize.leastsq(sphere_error, p0[:], args=(data))
-    if not ier in [1, 2, 3, 4]:
-        raise RuntimeError("Unable to find solution")
-    return (Vector3(p1[0], p1[1], p1[2]), p1[3])
-
-def magfit(logfile):
-    '''find best magnetometer offset fit to a log file'''
-
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
-
-    data = []
-
-    last_t = 0
-    offsets = Vector3(0,0,0)
-
-    # now gather all the data
-    while True:
-        m = mlog.recv_match(condition=opts.condition)
-        if m is None:
-            break
-        if m.get_type() == "SENSOR_OFFSETS":
-            # update current offsets
-            offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-        if m.get_type() == "RAW_IMU":
-            mag = Vector3(m.xmag, m.ymag, m.zmag)
-            # add data point after subtracting the current offsets
-            data.append(mag - offsets + noise())
-
-    print("Extracted %u data points" % len(data))
-    print("Current offsets: %s" % offsets)
-
-    data = select_data(data)
-
-    # do an initial fit with all data
-    (offsets, field_strength) = fit_data(data)
-
-    for count in range(3):
-        # sort the data by the radius
-        data.sort(lambda a,b : radius_cmp(a,b,offsets))
-
-        print("Fit %u    : %s  field_strength=%6.1f to %6.1f" % (
-            count, offsets,
-            radius(data[0], offsets), radius(data[-1], offsets)))
-        
-        # discard outliers, keep the middle 3/4
-        data = data[len(data)/8:-len(data)/8]
-
-        # fit again
-        (offsets, field_strength) = fit_data(data)
-
-    print("Final    : %s  field_strength=%6.1f to %6.1f" % (
-        offsets,
-        radius(data[0], offsets), radius(data[-1], offsets)))
-
-total = 0.0
-for filename in args:
-    magfit(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py b/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py
deleted file mode 100644
index 87d2dbb7f..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py
+++ /dev/null
@@ -1,145 +0,0 @@
-#!/usr/bin/env python
-
-'''
-fit best estimate of magnetometer offsets using the algorithm from
-Bill Premerlani
-'''
-
-import sys, time, os, math
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-# command line option handling
-from optparse import OptionParser
-parser = OptionParser("magfit_delta.py [options]")
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--verbose", action='store_true', default=False, help="verbose offset output")
-parser.add_option("--gain", type='float', default=0.01, help="algorithm gain")
-parser.add_option("--noise", type='float', default=0, help="noise to add")
-parser.add_option("--max-change", type='float', default=10, help="max step change")
-parser.add_option("--min-diff", type='float', default=50, help="min mag vector delta")
-parser.add_option("--history", type='int', default=20, help="how many points to keep")
-parser.add_option("--repeat", type='int', default=1, help="number of repeats through the data")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-from rotmat import Vector3, Matrix3
-
-if len(args) < 1:
-    print("Usage: magfit_delta.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def noise():
-    '''a noise vector'''
-    from random import gauss
-    v = Vector3(gauss(0, 1), gauss(0, 1), gauss(0, 1))
-    v.normalize()
-    return v * opts.noise
-
-def find_offsets(data, ofs):
-    '''find mag offsets by applying Bills "offsets revisited" algorithm
-       on the data
-
-       This is an implementation of the algorithm from:
-          http://gentlenav.googlecode.com/files/MagnetometerOffsetNullingRevisited.pdf
-       '''
-
-    # a limit on the maximum change in each step
-    max_change = opts.max_change
-
-    # the gain factor for the algorithm
-    gain = opts.gain
-
-    data2 = []
-    for d in data:
-        d = d.copy() + noise()
-        d.x = float(int(d.x + 0.5))
-        d.y = float(int(d.y + 0.5))
-        d.z = float(int(d.z + 0.5))
-        data2.append(d)
-    data = data2
-
-    history_idx = 0
-    mag_history = data[0:opts.history]
-    
-    for i in range(opts.history, len(data)):
-        B1 = mag_history[history_idx] + ofs
-        B2 = data[i] + ofs
-        
-        diff = B2 - B1
-        diff_length = diff.length()
-        if diff_length <= opts.min_diff:
-            # the mag vector hasn't changed enough - we don't get any
-            # information from this
-            history_idx = (history_idx+1) % opts.history
-            continue
-
-        mag_history[history_idx] = data[i]
-        history_idx = (history_idx+1) % opts.history
-
-        # equation 6 of Bills paper
-        delta = diff * (gain * (B2.length() - B1.length()) / diff_length)
-
-        # limit the change from any one reading. This is to prevent
-        # single crazy readings from throwing off the offsets for a long
-        # time
-        delta_length = delta.length()
-        if max_change != 0 and delta_length > max_change:
-            delta *= max_change / delta_length
-
-        # set the new offsets
-        ofs = ofs - delta
-
-        if opts.verbose:
-            print ofs
-    return ofs
-
-
-def magfit(logfile):
-    '''find best magnetometer offset fit to a log file'''
-
-    print("Processing log %s" % filename)
-
-    # open the log file
-    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
-
-    data = []
-    mag = None
-    offsets = Vector3(0,0,0)
-    
-    # now gather all the data
-    while True:
-        # get the next MAVLink message in the log
-        m = mlog.recv_match(condition=opts.condition)
-        if m is None:
-            break
-        if m.get_type() == "SENSOR_OFFSETS":
-            # update offsets that were used during this flight
-            offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-        if m.get_type() == "RAW_IMU" and offsets != None:
-            # extract one mag vector, removing the offsets that were
-            # used during that flight to get the raw sensor values
-            mag = Vector3(m.xmag, m.ymag, m.zmag) - offsets
-            data.append(mag)
-
-    print("Extracted %u data points" % len(data))
-    print("Current offsets: %s" % offsets)
-
-    # run the fitting algorithm
-    ofs = offsets
-    ofs = Vector3(0,0,0)
-    for r in range(opts.repeat):
-        ofs = find_offsets(data, ofs)
-        print('Loop %u offsets %s' % (r, ofs))
-        sys.stdout.flush()
-    print("New offsets: %s" % ofs)
-
-total = 0.0
-for filename in args:
-    magfit(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py b/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py
deleted file mode 100644
index 30ba45806..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py
+++ /dev/null
@@ -1,159 +0,0 @@
-#!/usr/bin/env python
-
-'''
-fit best estimate of magnetometer offsets
-'''
-
-import sys, time, os, math
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("magfit.py [options]")
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--minspeed", type='float', default=5.0, help="minimum ground speed to use")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: magfit.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-class vec3(object):
-    def __init__(self, x, y, z):
-        self.x = x
-        self.y = y
-        self.z = z
-    def __str__(self):
-        return "%.1f %.1f %.1f" % (self.x, self.y, self.z)
-
-def heading_error1(parm, data):
-    from math import sin, cos, atan2, degrees
-    from numpy import dot
-    xofs,yofs,zofs,a1,a2,a3,a4,a5,a6,a7,a8,a9,declination = parm
-
-    ret = []
-    for d in data:
-        x = d[0] + xofs
-        y = d[1] + yofs
-        z = d[2] + zofs
-        r = d[3]
-        p = d[4]
-        h = d[5]
-
-        headX = x*cos(p) + y*sin(r)*sin(p) + z*cos(r)*sin(p)
-        headY = y*cos(r) - z*sin(r)
-        heading = degrees(atan2(-headY,headX)) + declination
-        if heading < 0:
-            heading += 360
-        herror = h - heading
-        if herror > 180:
-            herror -= 360
-        if herror < -180:
-            herror += 360
-        ret.append(herror)
-    return ret
-
-def heading_error(parm, data):
-    from math import sin, cos, atan2, degrees
-    from numpy import dot
-    xofs,yofs,zofs,a1,a2,a3,a4,a5,a6,a7,a8,a9,declination = parm
-
-    a = [[1.0,a2,a3],[a4,a5,a6],[a7,a8,a9]]
-
-    ret = []
-    for d in data:
-        x = d[0] + xofs
-        y = d[1] + yofs
-        z = d[2] + zofs
-        r = d[3]
-        p = d[4]
-        h = d[5]
-        mv = [x, y, z]
-        mv2 = dot(a, mv)
-        x = mv2[0]
-        y = mv2[1]
-        z = mv2[2]
-
-        headX = x*cos(p) + y*sin(r)*sin(p) + z*cos(r)*sin(p)
-        headY = y*cos(r) - z*sin(r)
-        heading = degrees(atan2(-headY,headX)) + declination
-        if heading < 0:
-            heading += 360
-        herror = h - heading
-        if herror > 180:
-            herror -= 360
-        if herror < -180:
-            herror += 360
-        ret.append(herror)
-    return ret
-
-def fit_data(data):
-    import numpy, scipy
-    from scipy import optimize
-
-    p0 = [0.0, 0.0, 0.0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0]
-    p1, ier = optimize.leastsq(heading_error1, p0[:], args=(data))
-
-#    p0 = p1[:]
-#    p1, ier = optimize.leastsq(heading_error, p0[:], args=(data))
-
-    print(p1)
-    if not ier in [1, 2, 3, 4]:
-        raise RuntimeError("Unable to find solution")
-    return p1
-
-def magfit(logfile):
-    '''find best magnetometer offset fit to a log file'''
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
-
-    flying = False
-    gps_heading = 0.0
-
-    data = []
-
-    # get the current mag offsets
-    m = mlog.recv_match(type='SENSOR_OFFSETS')
-    offsets = vec3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-
-    attitude = mlog.recv_match(type='ATTITUDE')
-
-    # now gather all the data
-    while True:
-        m = mlog.recv_match()
-        if m is None:
-            break
-        if m.get_type() == "GPS_RAW":
-            # flying if groundspeed more than 5 m/s
-            flying = (m.v > opts.minspeed and m.fix_type == 2)
-            gps_heading = m.hdg
-        if m.get_type() == "ATTITUDE":
-            attitude = m
-        if m.get_type() == "SENSOR_OFFSETS":
-            # update current offsets
-            offsets = vec3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-        if not flying:
-            continue
-        if m.get_type() == "RAW_IMU":
-            data.append((m.xmag - offsets.x, m.ymag - offsets.y, m.zmag - offsets.z, attitude.roll, attitude.pitch, gps_heading))
-    print("Extracted %u data points" % len(data))
-    print("Current offsets: %s" % offsets)
-    ofs2 = fit_data(data)
-    print("Declination estimate: %.1f" % ofs2[-1])
-    new_offsets = vec3(ofs2[0], ofs2[1], ofs2[2])
-    a = [[ofs2[3], ofs2[4], ofs2[5]],
-         [ofs2[6], ofs2[7], ofs2[8]],
-         [ofs2[9], ofs2[10], ofs2[11]]]
-    print(a)
-    print("New offsets    : %s" % new_offsets)
-
-total = 0.0
-for filename in args:
-    magfit(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/magtest.py b/mavlink/share/pyshared/pymavlink/examples/magtest.py
deleted file mode 100644
index 8b910f8fd..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magtest.py
+++ /dev/null
@@ -1,120 +0,0 @@
-#!/usr/bin/env python
-
-'''
-rotate APMs on bench to test magnetometers
-
-'''
-
-import sys, os, time
-from math import radians
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-import mavlink, mavutil
-
-from optparse import OptionParser
-parser = OptionParser("rotate.py [options]")
-
-parser.add_option("--device1", dest="device1", default=None, help="mavlink device1")
-parser.add_option("--device2", dest="device2", default=None, help="mavlink device2")
-parser.add_option("--baudrate", dest="baudrate", type='int',
-                  help="master port baud rate", default=115200)
-(opts, args) = parser.parse_args()
-
-if opts.device1 is None or opts.device2 is None:
-    print("You must specify a mavlink device")
-    sys.exit(1)
-
-def set_attitude(rc3, rc4):
-    global mav1, mav2
-    values = [ 65535 ] * 8
-    values[2] = rc3
-    values[3] = rc4
-    mav1.mav.rc_channels_override_send(mav1.target_system, mav1.target_component, *values)
-    mav2.mav.rc_channels_override_send(mav2.target_system, mav2.target_component, *values)
-
-
-# create a mavlink instance
-mav1 = mavutil.mavlink_connection(opts.device1, baud=opts.baudrate)
-
-# create a mavlink instance
-mav2 = mavutil.mavlink_connection(opts.device2, baud=opts.baudrate)
-
-print("Waiting for HEARTBEAT")
-mav1.wait_heartbeat()
-mav2.wait_heartbeat()
-print("Heartbeat from APM (system %u component %u)" % (mav1.target_system, mav1.target_system))
-print("Heartbeat from APM (system %u component %u)" % (mav2.target_system, mav2.target_system))
-
-print("Waiting for MANUAL mode")
-mav1.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True)
-mav2.recv_match(type='SYS_STATUS', condition='SYS_STATUS.mode==2 and SYS_STATUS.nav_mode==4', blocking=True)
-
-print("Setting declination")
-mav1.mav.param_set_send(mav1.target_system, mav1.target_component,
-                       'COMPASS_DEC', radians(12.33))
-mav2.mav.param_set_send(mav2.target_system, mav2.target_component,
-                       'COMPASS_DEC', radians(12.33))
-
-
-set_attitude(1060, 1160)
-
-event = mavutil.periodic_event(30)
-pevent = mavutil.periodic_event(0.3)
-rc3_min = 1060
-rc3_max = 1850
-rc4_min = 1080
-rc4_max = 1500
-rc3 = rc3_min
-rc4 = 1160
-delta3 = 2
-delta4 = 1
-use_pitch = 1
-
-MAV_ACTION_CALIBRATE_GYRO = 17
-mav1.mav.action_send(mav1.target_system, mav1.target_component, MAV_ACTION_CALIBRATE_GYRO)
-mav2.mav.action_send(mav2.target_system, mav2.target_component, MAV_ACTION_CALIBRATE_GYRO)
-
-print("Waiting for gyro calibration")
-mav1.recv_match(type='ACTION_ACK')
-mav2.recv_match(type='ACTION_ACK')
-
-print("Resetting mag offsets")
-mav1.mav.set_mag_offsets_send(mav1.target_system, mav1.target_component, 0, 0, 0)
-mav2.mav.set_mag_offsets_send(mav2.target_system, mav2.target_component, 0, 0, 0)
-
-def TrueHeading(SERVO_OUTPUT_RAW):
-    p = float(SERVO_OUTPUT_RAW.servo3_raw - rc3_min) / (rc3_max - rc3_min)
-    return 172 + p*(326 - 172)
-
-while True:
-    mav1.recv_msg()
-    mav2.recv_msg()
-    if event.trigger():
-        if not use_pitch:
-            rc4 = 1160
-        set_attitude(rc3, rc4)
-        rc3 += delta3
-        if rc3 > rc3_max or rc3 < rc3_min:
-            delta3 = -delta3
-            use_pitch ^= 1
-        rc4 += delta4
-        if rc4 > rc4_max or rc4 < rc4_min:
-            delta4 = -delta4
-    if pevent.trigger():
-        print "hdg1: %3u hdg2: %3u  ofs1: %4u, %4u, %4u  ofs2: %4u, %4u, %4u" % (
-            mav1.messages['VFR_HUD'].heading,
-            mav2.messages['VFR_HUD'].heading,
-            mav1.messages['SENSOR_OFFSETS'].mag_ofs_x,
-            mav1.messages['SENSOR_OFFSETS'].mag_ofs_y,
-            mav1.messages['SENSOR_OFFSETS'].mag_ofs_z,
-            mav2.messages['SENSOR_OFFSETS'].mag_ofs_x,
-            mav2.messages['SENSOR_OFFSETS'].mag_ofs_y,
-            mav2.messages['SENSOR_OFFSETS'].mag_ofs_z,
-            )
-    time.sleep(0.01)
-
-# 314M 326G
-# 160M 172G
-
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavgraph.py b/mavlink/share/pyshared/pymavlink/examples/mavgraph.py
deleted file mode 100644
index e19856487..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/mavgraph.py
+++ /dev/null
@@ -1,196 +0,0 @@
-#!/usr/bin/env python
-'''
-graph a MAVLink log file
-Andrew Tridgell August 2011
-'''
-
-import sys, struct, time, os, datetime
-import math, re
-import pylab, pytz, matplotlib
-from math import *
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from mavextra import *
-
-locator = None
-formatter = None
-
-def plotit(x, y, fields, colors=[]):
-    '''plot a set of graphs using date for x axis'''
-    global locator, formatter
-    pylab.ion()
-    fig = pylab.figure(num=1, figsize=(12,6))
-    ax1 = fig.gca()
-    ax2 = None
-    xrange = 0.0
-    for i in range(0, len(fields)):
-        if len(x[i]) == 0: continue
-        if x[i][-1] - x[i][0] > xrange:
-            xrange = x[i][-1] - x[i][0]
-    xrange *= 24 * 60 * 60
-    if formatter is None:
-        if xrange < 1000:
-            formatter = matplotlib.dates.DateFormatter('%H:%M:%S')
-        else:
-            formatter = matplotlib.dates.DateFormatter('%H:%M')
-        interval = 1
-        intervals = [ 1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600,
-                      900, 1800, 3600, 7200, 5*3600, 10*3600, 24*3600 ]
-        for interval in intervals:
-            if xrange / interval < 15:
-                break
-        locator = matplotlib.dates.SecondLocator(interval=interval)
-    ax1.xaxis.set_major_locator(locator)
-    ax1.xaxis.set_major_formatter(formatter)
-    empty = True
-    ax1_labels = []
-    ax2_labels = []
-    for i in range(0, len(fields)):
-        if len(x[i]) == 0:
-            print("Failed to find any values for field %s" % fields[i])
-            continue
-        if i < len(colors):
-            color = colors[i]
-        else:
-            color = 'red'
-        (tz, tzdst) = time.tzname
-        if axes[i] == 2:
-            if ax2 == None:
-                ax2 = ax1.twinx()
-            ax = ax2
-            ax2.xaxis.set_major_locator(locator)
-            ax2.xaxis.set_major_formatter(formatter)
-            label = fields[i]
-            if label.endswith(":2"):
-                label = label[:-2]
-            ax2_labels.append(label)
-        else:
-            ax1_labels.append(fields[i])
-            ax = ax1
-        ax.plot_date(x[i], y[i], color=color, label=fields[i],
-                     linestyle='-', marker='None', tz=None)
-        pylab.draw()
-        empty = False
-    if ax1_labels != []:
-        ax1.legend(ax1_labels,loc=opts.legend)
-    if ax2_labels != []:
-        ax2.legend(ax2_labels,loc=opts.legend2)
-    if empty:
-        print("No data to graph")
-        return
-
-
-from optparse import OptionParser
-parser = OptionParser("mavgraph.py [options] <filename> <fields>")
-
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by a condition")
-parser.add_option("--labels",dest="labels", default=None, help="comma separated field labels")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--legend",  default='upper left', help="default legend position")
-parser.add_option("--legend2",  default='upper right', help="default legend2 position")
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 2:
-    print("Usage: mavlogdump.py [options] <LOGFILES...> <fields...>")
-    sys.exit(1)
-
-filenames = []
-fields = []
-for f in args:
-    if os.path.exists(f):
-        filenames.append(f)
-    else:
-        fields.append(f)
-msg_types = set()
-multiplier = []
-field_types = []
-
-colors = [ 'red', 'green', 'blue', 'orange', 'olive', 'black', 'grey' ]
-
-# work out msg types we are interested in
-x = []
-y = []
-axes = []
-first_only = []
-re_caps = re.compile('[A-Z_]+')
-for f in fields:
-    caps = set(re.findall(re_caps, f))
-    msg_types = msg_types.union(caps)
-    field_types.append(caps)
-    y.append([])
-    x.append([])
-    axes.append(1)
-    first_only.append(False)
-
-def add_data(t, msg, vars):
-    '''add some data'''
-    mtype = msg.get_type()
-    if mtype not in msg_types:
-        return
-    for i in range(0, len(fields)):
-        if mtype not in field_types[i]:
-            continue
-        f = fields[i]
-        if f.endswith(":2"):
-            axes[i] = 2
-            f = f[:-2]
-        if f.endswith(":1"):
-            first_only[i] = True
-            f = f[:-2]
-        v = mavutil.evaluate_expression(f, vars)
-        if v is None:
-            continue
-        y[i].append(v)
-        x[i].append(t)
-
-def process_file(filename):
-    '''process one file'''
-    print("Processing %s" % filename)
-    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
-    vars = {}
-    
-    while True:
-        msg = mlog.recv_match(opts.condition)
-        if msg is None: break
-        tdays = (msg._timestamp - time.timezone) / (24 * 60 * 60)
-        tdays += 719163 # pylab wants it since 0001-01-01
-        add_data(tdays, msg, mlog.messages)
-
-if len(filenames) == 0:
-    print("No files to process")
-    sys.exit(1)
-
-if opts.labels is not None:
-    labels = opts.labels.split(',')
-    if len(labels) != len(fields)*len(filenames):
-        print("Number of labels (%u) must match number of fields (%u)" % (
-            len(labels), len(fields)*len(filenames)))
-        sys.exit(1)
-else:
-    labels = None
-
-for fi in range(0, len(filenames)):
-    f = filenames[fi]
-    process_file(f)
-    for i in range(0, len(x)):
-        if first_only[i] and fi != 0:
-            x[i] = []
-            y[i] = []
-    if labels:
-        lab = labels[fi*len(fields):(fi+1)*len(fields)]
-    else:
-        lab = fields[:]
-    plotit(x, y, lab, colors=colors[fi*len(fields):])
-    for i in range(0, len(x)):
-        x[i] = []
-        y[i] = []
-pylab.show()
-raw_input('press enter to exit....')
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py b/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py
deleted file mode 100644
index f4cdc56bf..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py
+++ /dev/null
@@ -1,67 +0,0 @@
-#!/usr/bin/env python
-
-'''
-example program that dumps a Mavlink log file. The log file is
-assumed to be in the format that qgroundcontrol uses, which consists
-of a series of MAVLink packets, each with a 64 bit timestamp
-header. The timestamp is in microseconds since 1970 (unix epoch)
-'''
-
-import sys, time, os, struct
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("mavlogdump.py [options]")
-
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
-parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
-parser.add_option("-f", "--follow",dest="follow", action='store_true', help="keep waiting for more data at end of file")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
-parser.add_option("-q", "--quiet", dest="quiet", action='store_true', help="don't display packets")
-parser.add_option("-o", "--output", default=None, help="output matching packets to give file")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--types",  default=None, help="types of messages (comma separated)")
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: mavlogdump.py [options] <LOGFILE>")
-    sys.exit(1)
-
-filename = args[0]
-mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
-                                  notimestamps=opts.notimestamps,
-                                  robust_parsing=opts.robust)
-
-output = None
-if opts.output:
-    output = mavutil.mavlogfile(opts.output, write=True)
-
-types = opts.types
-if types is not None:
-    types = types.split(',')
-    
-while True:
-    m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
-    if m is None:
-        break
-    if types is not None and m.get_type() not in types:
-        continue
-    if output:
-        timestamp = getattr(m, '_timestamp', None)
-        if timestamp:
-            output.write(struct.pack('>Q', timestamp*1.0e6))
-        output.write(m.get_msgbuf().tostring())
-    if opts.quiet:
-        continue
-    print("%s.%02u: %s" % (
-        time.strftime("%Y-%m-%d %H:%M:%S",
-                      time.localtime(m._timestamp)),
-        int(m._timestamp*100.0)%100, m))
-        
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavparms.py b/mavlink/share/pyshared/pymavlink/examples/mavparms.py
deleted file mode 100644
index 702fbd9e1..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/mavparms.py
+++ /dev/null
@@ -1,48 +0,0 @@
-#!/usr/bin/env python
-
-'''
-extract mavlink parameter values
-'''
-
-import sys, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("mavparms.py [options]")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: mavparms.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-parms = {}
-
-def mavparms(logfile):
-    '''extract mavlink parameters'''
-    mlog = mavutil.mavlink_connection(filename)
-
-    while True:
-        m = mlog.recv_match(type='PARAM_VALUE')
-        if m is None:
-            return
-        pname = str(m.param_id).strip()
-        if len(pname) > 0:
-            parms[pname] = m.param_value
-
-total = 0.0
-for filename in args:
-    mavparms(filename)
-
-keys = parms.keys()
-keys.sort()
-for p in keys:
-    print("%-15s %.6f" % (p, parms[p]))
-    
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtest.py b/mavlink/share/pyshared/pymavlink/examples/mavtest.py
deleted file mode 100644
index 3c385e48a..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/mavtest.py
+++ /dev/null
@@ -1,41 +0,0 @@
-#!/usr/bin/env python
-
-import sys, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-import mavlink
-
-class fifo(object):
-    def __init__(self):
-        self.buf = []
-    def write(self, data):
-        self.buf += data
-        return len(data)
-    def read(self):
-        return self.buf.pop(0)
-
-f = fifo()
-
-# create a mavlink instance, which will do IO on file object 'f'
-mav = mavlink.MAVLink(f)
-
-# set the WP_RADIUS parameter on the MAV at the end of the link
-mav.param_set_send(7, 1, "WP_RADIUS", 101)
-
-# alternatively, produce a MAVLink_param_set object 
-# this can be sent via your own transport if you like
-m = mav.param_set_encode(7, 1, "WP_RADIUS", 101)
-
-# get the encoded message as a buffer
-b = m.get_msgbuf()
-
-# decode an incoming message
-m2 = mav.decode(b)
-
-# show what fields it has
-print("Got a message with id %u and fields %s" % (m2.get_msgId(), m2.get_fieldnames()))
-
-# print out the fields
-print(m2)
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtester.py b/mavlink/share/pyshared/pymavlink/examples/mavtester.py
deleted file mode 100644
index 8b5284f3f..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/mavtester.py
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env python
-
-'''
-test mavlink messages
-'''
-
-import sys, struct, time, os
-from curses import ascii
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-import mavlink, mavtest, mavutil
-
-from optparse import OptionParser
-parser = OptionParser("mavtester.py [options]")
-
-parser.add_option("--baudrate", dest="baudrate", type='int',
-                  help="master port baud rate", default=115200)
-parser.add_option("--device", dest="device", default=None, help="serial device")
-parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
-                  default=255, help='MAVLink source system for this GCS')
-(opts, args) = parser.parse_args()
-
-if opts.device is None:
-    print("You must specify a serial device")
-    sys.exit(1)
-
-def wait_heartbeat(m):
-    '''wait for a heartbeat so we know the target system IDs'''
-    print("Waiting for APM heartbeat")
-    msg = m.recv_match(type='HEARTBEAT', blocking=True)
-    print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
-
-# create a mavlink serial instance
-master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate, source_system=opts.SOURCE_SYSTEM)
-
-# wait for the heartbeat msg to find the system ID
-wait_heartbeat(master)
-
-print("Sending all message types")
-mavtest.generate_outputs(master.mav)
-
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py b/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py
deleted file mode 100644
index 92d3cb51c..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py
+++ /dev/null
@@ -1,83 +0,0 @@
-#!/usr/bin/env python
-
-'''
-example program to extract GPS data from a mavlink log, and create a GPX
-file, for loading into google earth
-'''
-
-import sys, struct, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("mavtogpx.py [options]")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by a condition")
-parser.add_option("--nofixcheck", default=False, action='store_true', help="don't check for GPS fix")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: mavtogpx.py <LOGFILE>")
-    sys.exit(1)
-
-def mav_to_gpx(infilename, outfilename):
-    '''convert a mavlink log file to a GPX file'''
-
-    mlog = mavutil.mavlink_connection(infilename)
-    outf = open(outfilename, mode='w')
-
-    def process_packet(m):
-        t = time.localtime(m._timestamp)
-        outf.write('''<trkpt lat="%s" lon="%s">
-  <ele>%s</ele>
-  <time>%s</time>
-  <course>%s</course>
-  <speed>%s</speed>
-  <fix>3d</fix>
-</trkpt>
-''' % (m.lat, m.lon, m.alt,
-       time.strftime("%Y-%m-%dT%H:%M:%SZ", t),
-       m.hdg, m.v))
-
-    def add_header():
-        outf.write('''<?xml version="1.0" encoding="UTF-8"?>
-<gpx
-  version="1.0"
-  creator="pymavlink"
-  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-  xmlns="http://www.topografix.com/GPX/1/0"
-  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
-<trk>
-<trkseg>
-''')
-
-    def add_footer():
-        outf.write('''</trkseg>
-</trk>
-</gpx>
-''')
-
-    add_header()       
-
-    count=0
-    while True:
-        m = mlog.recv_match(type='GPS_RAW', condition=opts.condition)
-        if m is None: break
-        if m.fix_type != 2 and not opts.nofixcheck:
-            continue
-        if m.lat == 0.0 or m.lon == 0.0:
-            continue
-        process_packet(m)
-        count += 1
-    add_footer()
-    print("Created %s with %u points" % (outfilename, count))
-    
-
-for infilename in args:
-    outfilename = infilename + '.gpx'
-    mav_to_gpx(infilename, outfilename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/rotmat.py b/mavlink/share/pyshared/pymavlink/examples/rotmat.py
deleted file mode 100644
index 6d5405949..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/rotmat.py
+++ /dev/null
@@ -1,269 +0,0 @@
-#!/usr/bin/env python
-#
-# vector3 and rotation matrix classes
-# This follows the conventions in the ArduPilot code,
-# and is essentially a python version of the AP_Math library
-#
-# Andrew Tridgell, March 2012
-#
-# This library is free software; you can redistribute it and/or modify it
-# under the terms of the GNU Lesser General Public License as published by the
-# Free Software Foundation; either version 2.1 of the License, or (at your
-# option) any later version.
-#
-# This library is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License
-# for more details.
-#
-# You should have received a copy of the GNU Lesser General Public License
-# along with this library; if not, write to the Free Software Foundation,
-# Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
-
-'''rotation matrix class
-'''
-
-from math import sin, cos, sqrt, asin, atan2, pi, radians, acos
-
-class Vector3:
-    '''a vector'''
-    def __init__(self, x=None, y=None, z=None):
-        if x != None and y != None and z != None:
-            self.x = float(x)
-            self.y = float(y)
-            self.z = float(z)
-        elif x != None and len(x) == 3:
-            self.x = float(x[0])
-            self.y = float(x[1])
-            self.z = float(x[2])
-        elif x != None:
-            raise ValueError('bad initialiser')
-        else:
-            self.x = float(0)
-            self.y = float(0)
-            self.z = float(0)
-
-    def __repr__(self):
-        return 'Vector3(%.2f, %.2f, %.2f)' % (self.x,
-                                              self.y,
-                                              self.z)
-
-    def __add__(self, v):
-        return Vector3(self.x + v.x,
-                       self.y + v.y,
-                       self.z + v.z)
-
-    __radd__ = __add__
-
-    def __sub__(self, v):
-        return Vector3(self.x - v.x,
-                       self.y - v.y,
-                       self.z - v.z)
-
-    def __neg__(self):
-        return Vector3(-self.x, -self.y, -self.z)
-
-    def __rsub__(self, v):
-        return Vector3(v.x - self.x,
-                       v.y - self.y,
-                       v.z - self.z)
-
-    def __mul__(self, v):
-        if isinstance(v, Vector3):
-            '''dot product'''
-            return self.x*v.x + self.y*v.y + self.z*v.z
-        return Vector3(self.x * v,
-                       self.y * v,
-                       self.z * v)
-
-    __rmul__ = __mul__
-
-    def __div__(self, v):
-        return Vector3(self.x / v,
-                       self.y / v,
-                       self.z / v)
-
-    def __mod__(self, v):
-        '''cross product'''
-        return Vector3(self.y*v.z - self.z*v.y,
-                       self.z*v.x - self.x*v.z,
-                       self.x*v.y - self.y*v.x)
-
-    def __copy__(self):
-        return Vector3(self.x, self.y, self.z)
-
-    copy = __copy__
-
-    def length(self):
-        return sqrt(self.x**2 + self.y**2 + self.z**2)
-
-    def zero(self):
-        self.x = self.y = self.z = 0
-
-    def angle(self, v):
-        '''return the angle between this vector and another vector'''
-        return acos(self * v) / (self.length() * v.length())
-
-    def normalized(self):
-        return self / self.length()
-    
-    def normalize(self):
-        v = self.normalized()
-        self.x = v.x
-        self.y = v.y
-        self.z = v.z
-        
-class Matrix3:
-    '''a 3x3 matrix, intended as a rotation matrix'''
-    def __init__(self, a=None, b=None, c=None):
-        if a is not None and b is not None and c is not None:
-            self.a = a.copy()
-            self.b = b.copy()
-            self.c = c.copy()
-        else:
-            self.identity()
-
-    def __repr__(self):
-        return 'Matrix3((%.2f, %.2f, %.2f), (%.2f, %.2f, %.2f), (%.2f, %.2f, %.2f))' % (
-            self.a.x, self.a.y, self.a.z,
-            self.b.x, self.b.y, self.b.z,
-            self.c.x, self.c.y, self.c.z)
-
-    def identity(self):
-        self.a = Vector3(1,0,0)
-        self.b = Vector3(0,1,0)
-        self.c = Vector3(0,0,1)
-
-    def transposed(self):
-        return Matrix3(Vector3(self.a.x, self.b.x, self.c.x),
-                       Vector3(self.a.y, self.b.y, self.c.y),
-                       Vector3(self.a.z, self.b.z, self.c.z))
-
-        
-    def from_euler(self, roll, pitch, yaw):
-        '''fill the matrix from Euler angles in radians'''
-        cp = cos(pitch)
-	sp = sin(pitch)
-	sr = sin(roll)
-	cr = cos(roll)
-	sy = sin(yaw)
-	cy = cos(yaw)
-
-	self.a.x = cp * cy
-	self.a.y = (sr * sp * cy) - (cr * sy)
-	self.a.z = (cr * sp * cy) + (sr * sy)
-	self.b.x = cp * sy
-	self.b.y = (sr * sp * sy) + (cr * cy)
-	self.b.z = (cr * sp * sy) - (sr * cy)
-	self.c.x = -sp
-	self.c.y = sr * cp
-	self.c.z = cr * cp
-
-
-    def to_euler(self):
-        '''find Euler angles for the matrix'''
-        if self.c.x >= 1.0:
-            pitch = pi
-        elif self.c.x <= -1.0:
-            pitch = -pi
-        else:
-            pitch = -asin(self.c.x)
-        roll = atan2(self.c.y, self.c.z)
-        yaw  = atan2(self.b.x, self.a.x)
-        return (roll, pitch, yaw)
-
-    def __add__(self, m):
-        return Matrix3(self.a + m.a, self.b + m.b, self.c + m.c)
-
-    __radd__ = __add__
-
-    def __sub__(self, m):
-        return Matrix3(self.a - m.a, self.b - m.b, self.c - m.c)
-
-    def __rsub__(self, m):
-        return Matrix3(m.a - self.a, m.b - self.b, m.c - self.c)
-    
-    def __mul__(self, other):
-        if isinstance(other, Vector3):
-            v = other
-            return Vector3(self.a.x * v.x + self.a.y * v.y + self.a.z * v.z,
-                           self.b.x * v.x + self.b.y * v.y + self.b.z * v.z,
-                           self.c.x * v.x + self.c.y * v.y + self.c.z * v.z)
-        elif isinstance(other, Matrix3):
-            m = other
-            return Matrix3(Vector3(self.a.x * m.a.x + self.a.y * m.b.x + self.a.z * m.c.x,
-                                   self.a.x * m.a.y + self.a.y * m.b.y + self.a.z * m.c.y,
-                                   self.a.x * m.a.z + self.a.y * m.b.z + self.a.z * m.c.z),
-                           Vector3(self.b.x * m.a.x + self.b.y * m.b.x + self.b.z * m.c.x,
-                                   self.b.x * m.a.y + self.b.y * m.b.y + self.b.z * m.c.y,
-                                   self.b.x * m.a.z + self.b.y * m.b.z + self.b.z * m.c.z),
-                           Vector3(self.c.x * m.a.x + self.c.y * m.b.x + self.c.z * m.c.x,
-                                   self.c.x * m.a.y + self.c.y * m.b.y + self.c.z * m.c.y,
-                                   self.c.x * m.a.z + self.c.y * m.b.z + self.c.z * m.c.z))
-        v = other
-        return Matrix3(self.a * v, self.b * v, self.c * v)
-
-    def __div__(self, v):
-        return Matrix3(self.a / v, self.b / v, self.c / v)
-
-    def __neg__(self):
-        return Matrix3(-self.a, -self.b, -self.c)
-
-    def __copy__(self):
-        return Matrix3(self.a, self.b, self.c)
-
-    copy = __copy__
-
-    def rotate(self, g):
-        '''rotate the matrix by a given amount on 3 axes'''
-	temp_matrix = Matrix3()
-        a = self.a
-        b = self.b
-        c = self.c
-	temp_matrix.a.x = a.y * g.z - a.z * g.y
-	temp_matrix.a.y = a.z * g.x - a.x * g.z
-	temp_matrix.a.z = a.x * g.y - a.y * g.x
-	temp_matrix.b.x = b.y * g.z - b.z * g.y
-	temp_matrix.b.y = b.z * g.x - b.x * g.z
-	temp_matrix.b.z = b.x * g.y - b.y * g.x
-	temp_matrix.c.x = c.y * g.z - c.z * g.y
-	temp_matrix.c.y = c.z * g.x - c.x * g.z
-	temp_matrix.c.z = c.x * g.y - c.y * g.x
-        self.a += temp_matrix.a
-        self.b += temp_matrix.b
-        self.c += temp_matrix.c
-
-    def normalize(self):
-        '''re-normalise a rotation matrix'''
-	error = self.a * self.b
-	t0 = self.a - (self.b * (0.5 * error))
-	t1 = self.b - (self.a * (0.5 * error))
-	t2 = t0 % t1
-        self.a = t0 * (1.0 / t0.length())
-        self.b = t1 * (1.0 / t1.length())
-        self.c = t2 * (1.0 / t2.length())
-
-    def trace(self):
-        '''the trace of the matrix'''
-        return self.a.x + self.b.y + self.c.z
-
-def test_euler():
-    '''check that from_euler() and to_euler() are consistent'''
-    m = Matrix3()
-    from math import radians, degrees
-    for r in range(-179, 179, 3):
-        for p in range(-89, 89, 3):
-            for y in range(-179, 179, 3):
-                m.from_euler(radians(r), radians(p), radians(y))
-                (r2, p2, y2) = m.to_euler()
-                v1 = Vector3(r,p,y)
-                v2 = Vector3(degrees(r2),degrees(p2),degrees(y2))
-                diff = v1 - v2
-                if diff.length() > 1.0e-12:
-                    print('EULER ERROR:', v1, v2, diff.length())
-                    
-if __name__ == "__main__":
-    import doctest
-    doctest.testmod()
-    test_euler()
-    
diff --git a/mavlink/share/pyshared/pymavlink/examples/sigloss.py b/mavlink/share/pyshared/pymavlink/examples/sigloss.py
deleted file mode 100644
index feb189d97..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/sigloss.py
+++ /dev/null
@@ -1,57 +0,0 @@
-#!/usr/bin/env python
-
-'''
-show times when signal is lost
-'''
-
-import sys, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("sigloss.py [options]")
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
-parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--deltat", type='float', default=1.0, help="loss threshold in seconds")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: sigloss.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def sigloss(logfile):
-    '''work out signal loss times for a log file'''
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename,
-                                      planner_format=opts.planner,
-                                      notimestamps=opts.notimestamps,
-                                      robust_parsing=opts.robust)
-
-    last_t = 0
-
-    while True:
-        m = mlog.recv_match()
-        if m is None:
-            return
-        if opts.notimestamps:
-            if not 'usec' in m._fieldnames:
-                continue
-            t = m.usec / 1.0e6
-        else:
-            t = m._timestamp
-        if last_t != 0:
-            if t - last_t > opts.deltat:
-                print("Sig lost for %.1fs at %s" % (t-last_t, time.asctime(time.localtime(t))))
-        last_t = t
-
-total = 0.0
-for filename in args:
-    sigloss(filename)
diff --git a/mavlink/share/pyshared/pymavlink/examples/wptogpx.py b/mavlink/share/pyshared/pymavlink/examples/wptogpx.py
deleted file mode 100644
index 306f20af2..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/wptogpx.py
+++ /dev/null
@@ -1,69 +0,0 @@
-#!/usr/bin/env python
-
-'''
-example program to extract GPS data from a waypoint file, and create a GPX
-file, for loading into google earth
-'''
-
-import sys, struct, time, os
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("wptogpx.py [options]")
-(opts, args) = parser.parse_args()
-
-import mavutil, mavwp
-
-if len(args) < 1:
-    print("Usage: wptogpx.py <WPFILE>")
-    sys.exit(1)
-
-def wp_to_gpx(infilename, outfilename):
-    '''convert a wp file to a GPX file'''
-
-    wp = mavwp.MAVWPLoader()
-    wp.load(infilename)
-    outf = open(outfilename, mode='w')
-
-    def process_wp(w, i):
-        t = time.localtime(i)
-        outf.write('''<wpt lat="%s" lon="%s">
-  <ele>%s</ele>
-  <cmt>WP %u</cmt>
-</wpt>
-''' % (w.x, w.y, w.z, i))
-
-    def add_header():
-        outf.write('''<?xml version="1.0" encoding="UTF-8"?>
-<gpx
-  version="1.0"
-  creator="pymavlink"
-  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-  xmlns="http://www.topografix.com/GPX/1/0"
-  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
-''')
-
-    def add_footer():
-        outf.write('''
-</gpx>
-''')
-
-    add_header()       
-
-    count = 0
-    for i in range(wp.count()):
-        w = wp.wp(i)
-        if w.frame == 3:
-            w.z += wp.wp(0).z
-        if w.command == 16:
-            process_wp(w, i)
-        count += 1
-    add_footer()
-    print("Created %s with %u points" % (outfilename, count))
-    
-
-for infilename in args:
-    outfilename = infilename + '.gpx'
-    wp_to_gpx(infilename, outfilename)
diff --git a/mavlink/share/pyshared/pymavlink/fgFDM.py b/mavlink/share/pyshared/pymavlink/fgFDM.py
deleted file mode 100644
index f390e0a93..000000000
--- a/mavlink/share/pyshared/pymavlink/fgFDM.py
+++ /dev/null
@@ -1,209 +0,0 @@
-#!/usr/bin/env python
-# parse and construct FlightGear NET FDM packets
-# Andrew Tridgell, November 2011
-# released under GNU GPL version 2 or later
-
-import struct, math
-
-class fgFDMError(Exception):
-    '''fgFDM error class'''
-    def __init__(self, msg):
-        Exception.__init__(self, msg)
-        self.message = 'fgFDMError: ' + msg
-
-class fgFDMVariable(object):
-    '''represent a single fgFDM variable'''
-    def __init__(self, index, arraylength, units):
-        self.index   = index
-        self.arraylength = arraylength
-        self.units = units
-
-class fgFDMVariableList(object):
-    '''represent a list of fgFDM variable'''
-    def __init__(self):
-        self.vars = {}
-        self._nextidx = 0
-        
-    def add(self, varname, arraylength=1, units=None):
-        self.vars[varname] = fgFDMVariable(self._nextidx, arraylength, units=units)
-        self._nextidx += arraylength
-
-class fgFDM(object):
-    '''a flightgear native FDM parser/generator'''
-    def __init__(self):
-        '''init a fgFDM object'''
-        self.FG_NET_FDM_VERSION = 24
-        self.pack_string = '>I 4x 3d 6f 11f 3f 2f I 4I 4f 4f 4f 4f 4f 4f 4f 4f 4f I 4f I 3I 3f 3f 3f I i f 10f'
-        self.values = [0]*98
-
-        self.FG_MAX_ENGINES = 4
-        self.FG_MAX_WHEELS  = 3
-        self.FG_MAX_TANKS   = 4
-
-        # supported unit mappings
-        self.unitmap = {
-            ('radians', 'degrees') : math.degrees(1),
-            ('rps',     'dps')     : math.degrees(1),
-            ('feet',    'meters')  : 0.3048,
-            ('fps',     'mps')     : 0.3048,
-            ('knots',   'mps')     : 0.514444444,
-            ('knots',   'fps')     : 0.514444444/0.3048,
-            ('fpss',    'mpss')    : 0.3048,
-            ('seconds', 'minutes') : 60,
-            ('seconds', 'hours')   : 3600,
-            }
-
-        # build a mapping between variable name and index in the values array
-        # note that the order of this initialisation is critical - it must
-        # match the wire structure
-        self.mapping = fgFDMVariableList()
-        self.mapping.add('version')
-
-        # position
-        self.mapping.add('longitude', units='radians')	# geodetic (radians)
-        self.mapping.add('latitude', units='radians')	# geodetic (radians)
-        self.mapping.add('altitude', units='meters')	# above sea level (meters)
-        self.mapping.add('agl', units='meters')		# above ground level (meters)
-
-        # attitude
-        self.mapping.add('phi', units='radians')	# roll (radians)
-        self.mapping.add('theta', units='radians')	# pitch (radians)
-        self.mapping.add('psi', units='radians')	# yaw or true heading (radians)
-        self.mapping.add('alpha', units='radians')      # angle of attack (radians)
-        self.mapping.add('beta', units='radians')       # side slip angle (radians)
-
-        # Velocities
-        self.mapping.add('phidot', units='rps')		# roll rate (radians/sec)
-        self.mapping.add('thetadot', units='rps')	# pitch rate (radians/sec)
-        self.mapping.add('psidot', units='rps')		# yaw rate (radians/sec)
-        self.mapping.add('vcas', units='fps')		# calibrated airspeed
-        self.mapping.add('climb_rate', units='fps')	# feet per second
-        self.mapping.add('v_north', units='fps')        # north velocity in local/body frame, fps
-        self.mapping.add('v_east', units='fps')         # east velocity in local/body frame, fps
-        self.mapping.add('v_down', units='fps')         # down/vertical velocity in local/body frame, fps
-        self.mapping.add('v_wind_body_north', units='fps')   # north velocity in local/body frame
-        self.mapping.add('v_wind_body_east', units='fps')    # east velocity in local/body frame
-        self.mapping.add('v_wind_body_down', units='fps')    # down/vertical velocity in local/body
-
-        # Accelerations
-        self.mapping.add('A_X_pilot', units='fpss')	# X accel in body frame ft/sec^2
-        self.mapping.add('A_Y_pilot', units='fpss')	# Y accel in body frame ft/sec^2
-        self.mapping.add('A_Z_pilot', units='fpss')	# Z accel in body frame ft/sec^2
-
-        # Stall
-        self.mapping.add('stall_warning')               # 0.0 - 1.0 indicating the amount of stall
-        self.mapping.add('slip_deg', units='degrees')	# slip ball deflection
-
-        # Engine status
-        self.mapping.add('num_engines')	                    # Number of valid engines
-        self.mapping.add('eng_state', self.FG_MAX_ENGINES)  # Engine state (off, cranking, running)
-        self.mapping.add('rpm',       self.FG_MAX_ENGINES)  # Engine RPM rev/min
-        self.mapping.add('fuel_flow', self.FG_MAX_ENGINES)  # Fuel flow gallons/hr
-        self.mapping.add('fuel_px',   self.FG_MAX_ENGINES)  # Fuel pressure psi
-        self.mapping.add('egt',       self.FG_MAX_ENGINES)  # Exhuast gas temp deg F
-        self.mapping.add('cht',       self.FG_MAX_ENGINES)  # Cylinder head temp deg F
-        self.mapping.add('mp_osi',    self.FG_MAX_ENGINES)  # Manifold pressure
-        self.mapping.add('tit',       self.FG_MAX_ENGINES)  # Turbine Inlet Temperature
-        self.mapping.add('oil_temp',  self.FG_MAX_ENGINES)  # Oil temp deg F
-        self.mapping.add('oil_px',    self.FG_MAX_ENGINES)  # Oil pressure psi
-            
-        # Consumables
-        self.mapping.add('num_tanks')		            # Max number of fuel tanks
-        self.mapping.add('fuel_quantity', self.FG_MAX_TANKS)
-
-        # Gear status
-        self.mapping.add('num_wheels')
-        self.mapping.add('wow',              self.FG_MAX_WHEELS)
-        self.mapping.add('gear_pos',         self.FG_MAX_WHEELS)
-        self.mapping.add('gear_steer',       self.FG_MAX_WHEELS)
-        self.mapping.add('gear_compression', self.FG_MAX_WHEELS)
-
-        # Environment
-        self.mapping.add('cur_time', units='seconds')       # current unix time
-        self.mapping.add('warp',     units='seconds')       # offset in seconds to unix time
-        self.mapping.add('visibility', units='meters')      # visibility in meters (for env. effects)
-
-        # Control surface positions (normalized values)
-        self.mapping.add('elevator')
-        self.mapping.add('elevator_trim_tab')
-        self.mapping.add('left_flap')
-        self.mapping.add('right_flap')
-        self.mapping.add('left_aileron')
-        self.mapping.add('right_aileron')
-        self.mapping.add('rudder')
-        self.mapping.add('nose_wheel')
-        self.mapping.add('speedbrake')
-        self.mapping.add('spoilers')
-
-        self._packet_size = struct.calcsize(self.pack_string)
-
-        self.set('version', self.FG_NET_FDM_VERSION)
-
-        if len(self.values) != self.mapping._nextidx:
-            raise fgFDMError('Invalid variable list in initialisation')
-
-    def packet_size(self):
-        '''return expected size of FG FDM packets'''
-        return self._packet_size
-
-    def convert(self, value, fromunits, tounits):
-        '''convert a value from one set of units to another'''
-        if fromunits == tounits:
-            return value
-        if (fromunits,tounits) in self.unitmap:
-            return value * self.unitmap[(fromunits,tounits)]
-        if (tounits,fromunits) in self.unitmap:
-            return value / self.unitmap[(tounits,fromunits)]
-        raise fgFDMError("unknown unit mapping (%s,%s)" % (fromunits, tounits))
-
-
-    def units(self, varname):
-        '''return the default units of a variable'''
-        if not varname in self.mapping.vars:
-            raise fgFDMError('Unknown variable %s' % varname)
-        return self.mapping.vars[varname].units
-
-
-    def variables(self):
-        '''return a list of available variables'''
-        return sorted(self.mapping.vars.keys(),
-                      key = lambda v : self.mapping.vars[v].index)
-
-
-    def get(self, varname, idx=0, units=None):
-        '''get a variable value'''
-        if not varname in self.mapping.vars:
-            raise fgFDMError('Unknown variable %s' % varname)
-        if idx >= self.mapping.vars[varname].arraylength:
-            raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
-                varname, idx, self.mapping.vars[varname].arraylength))
-        value = self.values[self.mapping.vars[varname].index + idx]
-        if units:
-            value = self.convert(value, self.mapping.vars[varname].units, units)
-        return value
-
-    def set(self, varname, value, idx=0, units=None):
-        '''set a variable value'''
-        if not varname in self.mapping.vars:
-            raise fgFDMError('Unknown variable %s' % varname)
-        if idx >= self.mapping.vars[varname].arraylength:
-            raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
-                varname, idx, self.mapping.vars[varname].arraylength))
-        if units:
-            value = self.convert(value, units, self.mapping.vars[varname].units)
-        self.values[self.mapping.vars[varname].index + idx] = value
-
-    def parse(self, buf):
-        '''parse a FD FDM buffer'''
-        try:
-            t = struct.unpack(self.pack_string, buf)
-        except struct.error, msg:
-            raise fgFDMError('unable to parse - %s' % msg)
-        self.values = list(t)
-
-    def pack(self):
-        '''pack a FD FDM buffer from current values'''
-        for i in range(len(self.values)):
-            if math.isnan(self.values[i]):
-                self.values[i] = 0
-        return struct.pack(self.pack_string, *self.values)
diff --git a/mavlink/share/pyshared/pymavlink/generator/.gitignore b/mavlink/share/pyshared/pymavlink/generator/.gitignore
deleted file mode 100644
index 0d20b6487..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-*.pyc
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/checksum.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/checksum.h
deleted file mode 100644
index b70991f5a..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/checksum.h
+++ /dev/null
@@ -1,89 +0,0 @@
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef _CHECKSUM_H_
-#define _CHECKSUM_H_
-
-
-/**
- *
- *  CALCULATE THE CHECKSUM
- *
- */
-
-#define X25_INIT_CRC 0xffff
-#define X25_VALIDATE_CRC 0xf0b8
-
-/**
- * @brief Accumulate the X.25 CRC by adding one char at a time.
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new char to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
-{
-        /*Accumulate one byte of data into the CRC*/
-        uint8_t tmp;
-
-        tmp = data ^ (uint8_t)(*crcAccum &0xff);
-        tmp ^= (tmp<<4);
-        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
-}
-
-/**
- * @brief Initiliaze the buffer for the X.25 CRC
- *
- * @param crcAccum the 16 bit X.25 CRC
- */
-static inline void crc_init(uint16_t* crcAccum)
-{
-        *crcAccum = X25_INIT_CRC;
-}
-
-
-/**
- * @brief Calculates the X.25 checksum on a byte buffer
- *
- * @param  pBuffer buffer containing the byte array to hash
- * @param  length  length of the byte array
- * @return the checksum over the buffer bytes
- **/
-static inline uint16_t crc_calculate(uint8_t* pBuffer, uint16_t length)
-{
-        uint16_t crcTmp;
-        crc_init(&crcTmp);
-	while (length--) {
-                crc_accumulate(*pBuffer++, &crcTmp);
-        }
-        return crcTmp;
-}
-
-/**
- * @brief Accumulate the X.25 CRC by adding an array of bytes
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new bytes to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
-{
-	const uint8_t *p = (const uint8_t *)pBuffer;
-	while (length--) {
-                crc_accumulate(*p++, crcAccum);
-        }
-}
-
-
-
-
-#endif /* _CHECKSUM_H_ */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_helpers.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_helpers.h
deleted file mode 100644
index 98250e1ac..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_helpers.h
+++ /dev/null
@@ -1,488 +0,0 @@
-#ifndef  _MAVLINK_HELPERS_H_
-#define  _MAVLINK_HELPERS_H_
-
-#include "string.h"
-#include "checksum.h"
-#include "mavlink_types.h"
-
-#ifndef MAVLINK_HELPER
-#define MAVLINK_HELPER
-#endif
-
-/*
-  internal function to give access to the channel status for each channel
- */
-MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
-{
-	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-	return &m_mavlink_status[chan];
-}
-
-/**
- * @brief Finalize a MAVLink message with channel assignment
- *
- * This function calculates the checksum and sets length and aircraft id correctly.
- * It assumes that the message id and the payload are already correctly set. This function
- * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
- * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
- *
- * @param msg Message to finalize
- * @param system_id Id of the sending (this) system, 1-127
- * @param length Message length
- */
-#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)
-#else
-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)
-#endif
-{
-	// This code part is the same for all messages;
-	uint16_t checksum;
-	msg->magic = MAVLINK_STX;
-	msg->len = length;
-	msg->sysid = system_id;
-	msg->compid = component_id;
-	// One sequence number per component
-	msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
-	mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
-	checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
-#if MAVLINK_CRC_EXTRA
-	crc_accumulate(crc_extra, &checksum);
-#endif
-	mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
-	mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
-
-	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-
-
-/**
- * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
- */
-#if MAVLINK_CRC_EXTRA
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra)
-{
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
-}
-#else
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length)
-{
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
-}
-#endif
-
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
-
-/**
- * @brief Finalize a MAVLink message with channel assignment and send
- */
-#if MAVLINK_CRC_EXTRA
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra)
-#else
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
-#endif
-{
-	uint16_t checksum;
-	uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
-	uint8_t ck[2];
-	mavlink_status_t *status = mavlink_get_channel_status(chan);
-	buf[0] = MAVLINK_STX;
-	buf[1] = length;
-	buf[2] = status->current_tx_seq;
-	buf[3] = mavlink_system.sysid;
-	buf[4] = mavlink_system.compid;
-	buf[5] = msgid;
-	status->current_tx_seq++;
-	checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
-	crc_accumulate_buffer(&checksum, packet, length);
-#if MAVLINK_CRC_EXTRA
-	crc_accumulate(crc_extra, &checksum);
-#endif
-	ck[0] = (uint8_t)(checksum & 0xFF);
-	ck[1] = (uint8_t)(checksum >> 8);
-
-	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
-	_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
-	_mavlink_send_uart(chan, packet, length);
-	_mavlink_send_uart(chan, (const char *)ck, 2);
-	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
-}
-#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-/**
- * @brief Pack a message to send it over a serial byte stream
- */
-MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
-{
-	memcpy(buffer, (uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
-	return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
-}
-
-union __mavlink_bitfield {
-	uint8_t uint8;
-	int8_t int8;
-	uint16_t uint16;
-	int16_t int16;
-	uint32_t uint32;
-	int32_t int32;
-};
-
-
-MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
-{
-	crc_init(&msg->checksum);
-}
-
-MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
-{
-	crc_accumulate(c, &msg->checksum);
-}
-
-/**
- * This is a convenience function which handles the complete MAVLink parsing.
- * the function will parse one byte at a time and return the complete packet once
- * it could be successfully decoded. Checksum and other failures will be silently
- * ignored.
- *
- * @param chan     ID of the current channel. This allows to parse different channels with this function.
- *                 a channel is not a physical message channel like a serial port, but a logic partition of
- *                 the communication streams in this case. COMM_NB is the limit for the number of channels
- *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
- * @param c        The char to barse
- *
- * @param returnMsg NULL if no message could be decoded, the message data else
- * @return 0 if no message could be decoded, 1 else
- *
- * A typical use scenario of this function call is:
- *
- * @code
- * #include <inttypes.h> // For fixed-width uint8_t type
- *
- * mavlink_message_t msg;
- * int chan = 0;
- *
- *
- * while(serial.bytesAvailable > 0)
- * {
- *   uint8_t byte = serial.getNextByte();
- *   if (mavlink_parse_char(chan, byte, &msg))
- *     {
- *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
- *     }
- * }
- *
- *
- * @endcode
- */
-MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
-{
-	static mavlink_message_t m_mavlink_message[MAVLINK_COMM_NUM_BUFFERS];
-
-        /*
-	  default message crc function. You can override this per-system to
-	  put this data in a different memory segment
-	*/
-#if MAVLINK_CRC_EXTRA
-#ifndef MAVLINK_MESSAGE_CRC
-	static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
-#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
-#endif
-#endif
-
-	mavlink_message_t* rxmsg = &m_mavlink_message[chan]; ///< The currently decoded message
-	mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
-	int bufferIndex = 0;
-
-	status->msg_received = 0;
-
-	switch (status->parse_state)
-	{
-	case MAVLINK_PARSE_STATE_UNINIT:
-	case MAVLINK_PARSE_STATE_IDLE:
-		if (c == MAVLINK_STX)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-			rxmsg->len = 0;
-			mavlink_start_checksum(rxmsg);
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_STX:
-			if (status->msg_received 
-			/* Support shorter buffers than the
-			 default maximum packet size */
-#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
-				|| c > MAVLINK_MAX_PAYLOAD_LEN
-#endif
-				)
-		{
-			status->buffer_overrun++;
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-		}
-		else
-		{
-			// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
-			rxmsg->len = c;
-			status->packet_idx = 0;
-			mavlink_update_checksum(rxmsg, c);
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_LENGTH:
-		rxmsg->seq = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_SEQ:
-		rxmsg->sysid = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_SYSID:
-		rxmsg->compid = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_COMPID:
-		rxmsg->msgid = c;
-		mavlink_update_checksum(rxmsg, c);
-		if (rxmsg->len == 0)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
-		}
-		else
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_MSGID:
-		_MAV_PAYLOAD(rxmsg)[status->packet_idx++] = (char)c;
-		mavlink_update_checksum(rxmsg, c);
-		if (status->packet_idx == rxmsg->len)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
-#if MAVLINK_CRC_EXTRA
-		mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
-#endif
-		if (c != (rxmsg->checksum & 0xFF)) {
-			// Check first checksum byte
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				rxmsg->len = 0;
-				mavlink_start_checksum(rxmsg);
-			}
-		}
-		else
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_CRC1:
-		if (c != (rxmsg->checksum >> 8)) {
-			// Check second checksum byte
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				rxmsg->len = 0;
-				mavlink_start_checksum(rxmsg);
-			}
-		}
-		else
-		{
-			// Successfully got message
-			status->msg_received = 1;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
-		}
-		break;
-	}
-
-	bufferIndex++;
-	// If a message has been sucessfully decoded, check index
-	if (status->msg_received == 1)
-	{
-		//while(status->current_seq != rxmsg->seq)
-		//{
-		//	status->packet_rx_drop_count++;
-		//               status->current_seq++;
-		//}
-		status->current_rx_seq = rxmsg->seq;
-		// Initial condition: If no packet has been received so far, drop count is undefined
-		if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
-		// Count this packet as received
-		status->packet_rx_success_count++;
-	}
-
-	r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
-	r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
-	r_mavlink_status->packet_rx_drop_count = status->parse_error;
-	status->parse_error = 0;
-	return status->msg_received;
-}
-
-/**
- * @brief Put a bitfield of length 1-32 bit into the buffer
- *
- * @param b the value to add, will be encoded in the bitfield
- * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
- * @param packet_index the position in the packet (the index of the first byte to use)
- * @param bit_index the position in the byte (the index of the first bit to use)
- * @param buffer packet buffer to write into
- * @return new position of the last used byte in the buffer
- */
-MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
-{
-	uint16_t bits_remain = bits;
-	// Transform number into network order
-	int32_t v;
-	uint8_t i_bit_index, i_byte_index, curr_bits_n;
-#if MAVLINK_NEED_BYTE_SWAP
-	union {
-		int32_t i;
-		uint8_t b[4];
-	} bin, bout;
-	bin.i = b;
-	bout.b[0] = bin.b[3];
-	bout.b[1] = bin.b[2];
-	bout.b[2] = bin.b[1];
-	bout.b[3] = bin.b[0];
-	v = bout.i;
-#else
-	v = b;
-#endif
-
-	// buffer in
-	// 01100000 01000000 00000000 11110001
-	// buffer out
-	// 11110001 00000000 01000000 01100000
-
-	// Existing partly filled byte (four free slots)
-	// 0111xxxx
-
-	// Mask n free bits
-	// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
-	// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
-
-	// Shift n bits into the right position
-	// out = in >> n;
-
-	// Mask and shift bytes
-	i_bit_index = bit_index;
-	i_byte_index = packet_index;
-	if (bit_index > 0)
-	{
-		// If bits were available at start, they were available
-		// in the byte before the current index
-		i_byte_index--;
-	}
-
-	// While bits have not been packed yet
-	while (bits_remain > 0)
-	{
-		// Bits still have to be packed
-		// there can be more than 8 bits, so
-		// we might have to pack them into more than one byte
-
-		// First pack everything we can into the current 'open' byte
-		//curr_bits_n = bits_remain << 3; // Equals  bits_remain mod 8
-		//FIXME
-		if (bits_remain <= (uint8_t)(8 - i_bit_index))
-		{
-			// Enough space
-			curr_bits_n = (uint8_t)bits_remain;
-		}
-		else
-		{
-			curr_bits_n = (8 - i_bit_index);
-		}
-		
-		// Pack these n bits into the current byte
-		// Mask out whatever was at that position with ones (xxx11111)
-		buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
-		// Put content to this position, by masking out the non-used part
-		buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
-		
-		// Increment the bit index
-		i_bit_index += curr_bits_n;
-
-		// Now proceed to the next byte, if necessary
-		bits_remain -= curr_bits_n;
-		if (bits_remain > 0)
-		{
-			// Offer another 8 bits / one byte
-			i_byte_index++;
-			i_bit_index = 0;
-		}
-	}
-	
-	*r_bit_index = i_bit_index;
-	// If a partly filled byte is present, mark this as consumed
-	if (i_bit_index != 7) i_byte_index++;
-	return i_byte_index - packet_index;
-}
-
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-// To make MAVLink work on your MCU, define comm_send_ch() if you wish
-// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
-// whole packet at a time
-
-/*
-
-#include "mavlink_types.h"
-
-void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
-{
-    if (chan == MAVLINK_COMM_0)
-    {
-        uart0_transmit(ch);
-    }
-    if (chan == MAVLINK_COMM_1)
-    {
-    	uart1_transmit(ch);
-    }
-}
- */
-
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
-{
-#ifdef MAVLINK_SEND_UART_BYTES
-	/* this is the more efficient approach, if the platform
-	   defines it */
-	MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
-#else
-	/* fallback to one byte at a time */
-	uint16_t i;
-	for (i = 0; i < len; i++) {
-		comm_send_ch(chan, (uint8_t)buf[i]);
-	}
-#endif
-}
-#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-#endif /* _MAVLINK_HELPERS_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h
deleted file mode 100644
index 630cb84b7..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/mavlink_types.h
+++ /dev/null
@@ -1,300 +0,0 @@
-#ifndef MAVLINK_TYPES_H_
-#define MAVLINK_TYPES_H_
-
-#include "inttypes.h"
-
-enum MAV_CLASS
-{
-    MAV_CLASS_GENERIC = 0,        ///< Generic autopilot, full support for everything
-    MAV_CLASS_PIXHAWK = 1,        ///< PIXHAWK autopilot, http://pixhawk.ethz.ch
-    MAV_CLASS_SLUGS = 2,          ///< SLUGS autopilot, http://slugsuav.soe.ucsc.edu
-    MAV_CLASS_ARDUPILOTMEGA = 3,  ///< ArduPilotMega / ArduCopter, http://diydrones.com
-    MAV_CLASS_OPENPILOT = 4,      ///< OpenPilot, http://openpilot.org
-    MAV_CLASS_GENERIC_MISSION_WAYPOINTS_ONLY = 5,  ///< Generic autopilot only supporting simple waypoints
-    MAV_CLASS_GENERIC_MISSION_NAVIGATION_ONLY = 6, ///< Generic autopilot supporting waypoints and other simple navigation commands
-    MAV_CLASS_GENERIC_MISSION_FULL = 7,            ///< Generic autopilot supporting the full mission command set
-    MAV_CLASS_NONE = 8,           ///< No valid autopilot
-    MAV_CLASS_NB                  ///< Number of autopilot classes
-};
-
-enum MAV_ACTION
-{
-    MAV_ACTION_HOLD = 0,
-    MAV_ACTION_MOTORS_START = 1,
-    MAV_ACTION_LAUNCH = 2,
-    MAV_ACTION_RETURN = 3,
-    MAV_ACTION_EMCY_LAND = 4,
-    MAV_ACTION_EMCY_KILL = 5,
-    MAV_ACTION_CONFIRM_KILL = 6,
-    MAV_ACTION_CONTINUE = 7,
-    MAV_ACTION_MOTORS_STOP = 8,
-    MAV_ACTION_HALT = 9,
-    MAV_ACTION_SHUTDOWN = 10,
-    MAV_ACTION_REBOOT = 11,
-    MAV_ACTION_SET_MANUAL = 12,
-    MAV_ACTION_SET_AUTO = 13,
-    MAV_ACTION_STORAGE_READ = 14,
-    MAV_ACTION_STORAGE_WRITE = 15,
-    MAV_ACTION_CALIBRATE_RC = 16,
-    MAV_ACTION_CALIBRATE_GYRO = 17,
-    MAV_ACTION_CALIBRATE_MAG = 18,
-    MAV_ACTION_CALIBRATE_ACC = 19,
-    MAV_ACTION_CALIBRATE_PRESSURE = 20,
-    MAV_ACTION_REC_START = 21,
-    MAV_ACTION_REC_PAUSE = 22,
-    MAV_ACTION_REC_STOP = 23,
-    MAV_ACTION_TAKEOFF = 24,
-    MAV_ACTION_NAVIGATE = 25,
-    MAV_ACTION_LAND = 26,
-    MAV_ACTION_LOITER = 27,
-    MAV_ACTION_SET_ORIGIN = 28,
-    MAV_ACTION_RELAY_ON = 29,
-    MAV_ACTION_RELAY_OFF = 30,
-    MAV_ACTION_GET_IMAGE = 31,
-    MAV_ACTION_VIDEO_START = 32,
-    MAV_ACTION_VIDEO_STOP = 33,
-    MAV_ACTION_RESET_MAP = 34,
-    MAV_ACTION_RESET_PLAN = 35,
-    MAV_ACTION_DELAY_BEFORE_COMMAND = 36,
-    MAV_ACTION_ASCEND_AT_RATE = 37,
-    MAV_ACTION_CHANGE_MODE = 38,
-    MAV_ACTION_LOITER_MAX_TURNS = 39,
-    MAV_ACTION_LOITER_MAX_TIME = 40,
-    MAV_ACTION_START_HILSIM = 41,
-    MAV_ACTION_STOP_HILSIM = 42,    
-    MAV_ACTION_NB        ///< Number of MAV actions
-};
-
-enum MAV_MODE
-{
-    MAV_MODE_UNINIT = 0,     ///< System is in undefined state
-    MAV_MODE_LOCKED = 1,     ///< Motors are blocked, system is safe
-    MAV_MODE_MANUAL = 2,     ///< System is allowed to be active, under manual (RC) control
-    MAV_MODE_GUIDED = 3,     ///< System is allowed to be active, under autonomous control, manual setpoint
-    MAV_MODE_AUTO =   4,     ///< System is allowed to be active, under autonomous control and navigation
-    MAV_MODE_TEST1 =  5,     ///< Generic test mode, for custom use
-    MAV_MODE_TEST2 =  6,     ///< Generic test mode, for custom use
-    MAV_MODE_TEST3 =  7,     ///< Generic test mode, for custom use
-    MAV_MODE_READY =  8,     ///< System is ready, motors are unblocked, but controllers are inactive
-    MAV_MODE_RC_TRAINING = 9 ///< System is blocked, only RC valued are read and reported back
-};
-
-enum MAV_STATE
-{
-    MAV_STATE_UNINIT = 0,
-    MAV_STATE_BOOT,
-    MAV_STATE_CALIBRATING,
-    MAV_STATE_STANDBY,
-    MAV_STATE_ACTIVE,
-    MAV_STATE_CRITICAL,
-    MAV_STATE_EMERGENCY,
-    MAV_STATE_HILSIM,
-    MAV_STATE_POWEROFF
-};
-
-enum MAV_NAV
-{
-    MAV_NAV_GROUNDED = 0,
-    MAV_NAV_LIFTOFF,
-    MAV_NAV_HOLD,
-    MAV_NAV_WAYPOINT,
-    MAV_NAV_VECTOR,
-    MAV_NAV_RETURNING,
-    MAV_NAV_LANDING,
-    MAV_NAV_LOST,
-    MAV_NAV_LOITER,
-    MAV_NAV_FREE_DRIFT
-};
-
-enum MAV_TYPE
-{
-    MAV_GENERIC = 0,
-    MAV_FIXED_WING = 1,
-    MAV_QUADROTOR = 2,
-    MAV_COAXIAL = 3,
-    MAV_HELICOPTER = 4,
-    MAV_GROUND = 5,
-    OCU = 6,
-    MAV_AIRSHIP = 7,
-    MAV_FREE_BALLOON = 8,
-    MAV_ROCKET = 9,
-    UGV_GROUND_ROVER = 10,
-    UGV_SURFACE_SHIP = 11
-};
-
-enum MAV_AUTOPILOT_TYPE
-{
-    MAV_AUTOPILOT_GENERIC = 0,
-    MAV_AUTOPILOT_PIXHAWK = 1,
-    MAV_AUTOPILOT_SLUGS = 2,
-    MAV_AUTOPILOT_ARDUPILOTMEGA = 3,
-    MAV_AUTOPILOT_NONE = 4
-};
-
-enum MAV_COMPONENT
-{
-    MAV_COMP_ID_GPS,
-    MAV_COMP_ID_WAYPOINTPLANNER,
-    MAV_COMP_ID_BLOBTRACKER,
-    MAV_COMP_ID_PATHPLANNER,
-    MAV_COMP_ID_AIRSLAM,
-    MAV_COMP_ID_MAPPER,
-    MAV_COMP_ID_CAMERA,
-    MAV_COMP_ID_RADIO = 68,
-    MAV_COMP_ID_IMU = 200,
-    MAV_COMP_ID_IMU_2 = 201,
-    MAV_COMP_ID_IMU_3 = 202,
-    MAV_COMP_ID_UDP_BRIDGE = 240,
-    MAV_COMP_ID_UART_BRIDGE = 241,
-    MAV_COMP_ID_SYSTEM_CONTROL = 250
-};
-
-enum MAV_FRAME
-{
-    MAV_FRAME_GLOBAL = 0,
-    MAV_FRAME_LOCAL = 1,
-    MAV_FRAME_MISSION = 2,
-    MAV_FRAME_GLOBAL_RELATIVE_ALT = 3,
-    MAV_FRAME_LOCAL_ENU = 4
-};
-
-enum MAVLINK_DATA_STREAM_TYPE
-{
-    MAVLINK_DATA_STREAM_IMG_JPEG,
-    MAVLINK_DATA_STREAM_IMG_BMP,
-    MAVLINK_DATA_STREAM_IMG_RAW8U,
-    MAVLINK_DATA_STREAM_IMG_RAW32U,
-    MAVLINK_DATA_STREAM_IMG_PGM,
-    MAVLINK_DATA_STREAM_IMG_PNG
-};
-
-#ifndef MAVLINK_MAX_PAYLOAD_LEN
-// it is possible to override this, but be careful!
-#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
-#endif
-
-#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
-#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
-#define MAVLINK_NUM_CHECKSUM_BYTES 2
-#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
-
-#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
-
-typedef struct param_union {
-	union {
-    float param_float;
-    int32_t param_int32;
-    uint32_t param_uint32;
-	};
-	uint8_t type;
-} mavlink_param_union_t;
-
-typedef struct __mavlink_system {
-    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
-    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
-    uint8_t type;    ///< Unused, can be used by user to store the system's type
-    uint8_t state;   ///< Unused, can be used by user to store the system's state
-    uint8_t mode;    ///< Unused, can be used by user to store the system's mode
-    uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
-} mavlink_system_t;
-
-typedef struct __mavlink_message {
-	uint16_t checksum; /// sent at end of packet
-	uint8_t magic;   ///< protocol magic marker
-	uint8_t len;     ///< Length of payload
-	uint8_t seq;     ///< Sequence of packet
-	uint8_t sysid;   ///< ID of message sender system/aircraft
-	uint8_t compid;  ///< ID of the message sender component
-	uint8_t msgid;   ///< ID of message in payload
-	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
-} mavlink_message_t;
-
-typedef enum {
-	MAVLINK_TYPE_CHAR     = 0,
-	MAVLINK_TYPE_UINT8_T  = 1,
-	MAVLINK_TYPE_INT8_T   = 2,
-	MAVLINK_TYPE_UINT16_T = 3,
-	MAVLINK_TYPE_INT16_T  = 4,
-	MAVLINK_TYPE_UINT32_T = 5,
-	MAVLINK_TYPE_INT32_T  = 6,
-	MAVLINK_TYPE_UINT64_T = 7,
-	MAVLINK_TYPE_INT64_T  = 8,
-	MAVLINK_TYPE_FLOAT    = 9,
-	MAVLINK_TYPE_DOUBLE   = 10
-} mavlink_message_type_t;
-
-#define MAVLINK_MAX_FIELDS 64
-
-typedef struct __mavlink_field_info {
-	const char *name;             // name of this field
-	const char *print_format;     // printing format hint, or NULL
-	mavlink_message_type_t type;  // type of this field
-	unsigned array_length;        // if non-zero, field is an array
-	unsigned wire_offset;         // offset of each field in the payload
-	unsigned structure_offset;    // offset in a C structure
-} mavlink_field_info_t;
-
-// note that in this structure the order of fields is the order
-// in the XML file, not necessary the wire order
-typedef struct __mavlink_message_info {
-	const char *name;                                      // name of the message
-	unsigned num_fields;                                   // how many fields in this message
-	mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
-} mavlink_message_info_t;
-
-#define _MAV_PAYLOAD(msg) ((char *)(&(msg)->payload64[0]))
-#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
-
-// checksum is immediately after the payload bytes
-#define mavlink_ck_a(msg) *(msg->len + (uint8_t *)_MAV_PAYLOAD(msg))
-#define mavlink_ck_b(msg) *((msg->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD(msg))
-
-typedef enum {
-    MAVLINK_COMM_0,
-    MAVLINK_COMM_1,
-    MAVLINK_COMM_2,
-    MAVLINK_COMM_3
-} mavlink_channel_t;
-
-/*
- * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
- * of buffers they will use. If more are used, then the result will be
- * a stack overrun
- */
-#ifndef MAVLINK_COMM_NUM_BUFFERS
-#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
-# define MAVLINK_COMM_NUM_BUFFERS 16
-#else
-# define MAVLINK_COMM_NUM_BUFFERS 4
-#endif
-#endif
-
-typedef enum {
-    MAVLINK_PARSE_STATE_UNINIT=0,
-    MAVLINK_PARSE_STATE_IDLE,
-    MAVLINK_PARSE_STATE_GOT_STX,
-    MAVLINK_PARSE_STATE_GOT_SEQ,
-    MAVLINK_PARSE_STATE_GOT_LENGTH,
-    MAVLINK_PARSE_STATE_GOT_SYSID,
-    MAVLINK_PARSE_STATE_GOT_COMPID,
-    MAVLINK_PARSE_STATE_GOT_MSGID,
-    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
-    MAVLINK_PARSE_STATE_GOT_CRC1
-} mavlink_parse_state_t; ///< The state machine for the comm parser
-
-typedef struct __mavlink_status {
-    uint8_t msg_received;               ///< Number of received messages
-    uint8_t buffer_overrun;             ///< Number of buffer overruns
-    uint8_t parse_error;                ///< Number of parse errors
-    mavlink_parse_state_t parse_state;  ///< Parsing state machine
-    uint8_t packet_idx;                 ///< Index in current packet
-    uint8_t current_rx_seq;             ///< Sequence number of last packet received
-    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
-    uint16_t packet_rx_success_count;   ///< Received packets
-    uint16_t packet_rx_drop_count;      ///< Number of packet drops
-} mavlink_status_t;
-
-#define MAVLINK_BIG_ENDIAN 0
-#define MAVLINK_LITTLE_ENDIAN 1
-
-#endif /* MAVLINK_TYPES_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/protocol.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/protocol.h
deleted file mode 100644
index 05195c369..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/protocol.h
+++ /dev/null
@@ -1,319 +0,0 @@
-#ifndef  _MAVLINK_PROTOCOL_H_
-#define  _MAVLINK_PROTOCOL_H_
-
-#include "string.h"
-#include "mavlink_types.h"
-
-/* 
-   If you want MAVLink on a system that is native big-endian,
-   you need to define NATIVE_BIG_ENDIAN
-*/
-#ifdef NATIVE_BIG_ENDIAN
-# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
-#else
-# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
-#endif
-
-#ifndef MAVLINK_STACK_BUFFER
-#define MAVLINK_STACK_BUFFER 0
-#endif
-
-#ifndef MAVLINK_AVOID_GCC_STACK_BUG
-# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
-#endif
-
-#ifndef MAVLINK_ASSERT
-#define MAVLINK_ASSERT(x)
-#endif
-
-#ifndef MAVLINK_START_UART_SEND
-#define MAVLINK_START_UART_SEND(chan, length)
-#endif
-
-#ifndef MAVLINK_END_UART_SEND
-#define MAVLINK_END_UART_SEND(chan, length)
-#endif
-
-#ifdef MAVLINK_SEPARATE_HELPERS
-#define MAVLINK_HELPER
-#else
-#define MAVLINK_HELPER static inline
-#include "mavlink_helpers.h"
-#endif // MAVLINK_SEPARATE_HELPERS
-
-/* 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);
-#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);
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra);
-#endif
-#else
-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);
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length);
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
-#endif // MAVLINK_CRC_EXTRA
-MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
-MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
-MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
-MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
-MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, 
-					       uint8_t* r_bit_index, uint8_t* buffer);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
-#endif
-
-/**
- * @brief Get the required buffer size for this message
- */
-static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
-{
-	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-static inline void byte_swap_2(char *dst, const char *src)
-{
-	dst[0] = src[1];
-	dst[1] = src[0];
-}
-static inline void byte_swap_4(char *dst, const char *src)
-{
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-}
-static inline void byte_swap_8(char *dst, const char *src)
-{
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-}
-#elif !MAVLINK_ALIGNED_FIELDS
-static inline void byte_copy_2(char *dst, const char *src)
-{
-	dst[0] = src[0];
-	dst[1] = src[1];
-}
-static inline void byte_copy_4(char *dst, const char *src)
-{
-	dst[0] = src[0];
-	dst[1] = src[1];
-	dst[2] = src[2];
-	dst[3] = src[3];
-}
-static inline void byte_copy_8(char *dst, const char *src)
-{
-	memcpy(dst, src, 8);
-}
-#endif
-
-#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
-#define _mav_put_int8_t(buf, wire_offset, b)  buf[wire_offset] = (int8_t)b
-#define _mav_put_char(buf, wire_offset, b)    buf[wire_offset] = b
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int16_t(buf, wire_offset, b)  byte_swap_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int32_t(buf, wire_offset, b)  byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int64_t(buf, wire_offset, b)  byte_swap_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_float(buf, wire_offset, b)    byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_double(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
-#elif !MAVLINK_ALIGNED_FIELDS
-#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int16_t(buf, wire_offset, b)  byte_copy_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int32_t(buf, wire_offset, b)  byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int64_t(buf, wire_offset, b)  byte_copy_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_float(buf, wire_offset, b)    byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_double(buf, wire_offset, b)   byte_copy_8(&buf[wire_offset], (const char *)&b)
-#else
-#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
-#define _mav_put_int16_t(buf, wire_offset, b)  *(int16_t *)&buf[wire_offset] = b
-#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
-#define _mav_put_int32_t(buf, wire_offset, b)  *(int32_t *)&buf[wire_offset] = b
-#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
-#define _mav_put_int64_t(buf, wire_offset, b)  *(int64_t *)&buf[wire_offset] = b
-#define _mav_put_float(buf, wire_offset, b)    *(float *)&buf[wire_offset] = b
-#define _mav_put_double(buf, wire_offset, b)   *(double *)&buf[wire_offset] = b
-#endif
-
-/*
-  like memcpy(), but if src is NULL, do a memset to zero
- */
-static void mav_array_memcpy(void *dest, const void *src, size_t n)
-{
-	if (src == NULL) {
-		memset(dest, 0, n);
-	} else {
-		memcpy(dest, src, n);
-	}
-}
-
-/*
- * Place a char array into a buffer
- */
-static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-}
-
-/*
- * Place a uint8_t array into a buffer
- */
-static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-}
-
-/*
- * Place a int8_t array into a buffer
- */
-static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_PUT_ARRAY(TYPE, V) \
-static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
-{ \
-	if (b == NULL) { \
-		memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
-	} else { \
-		uint16_t i; \
-		for (i=0; i<array_length; i++) { \
-			_mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
-		} \
-	} \
-}
-#else
-#define _MAV_PUT_ARRAY(TYPE, V)					\
-static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
-{ \
-	mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE));	\
-}
-#endif
-
-_MAV_PUT_ARRAY(uint16_t, u16)
-_MAV_PUT_ARRAY(uint32_t, u32)
-_MAV_PUT_ARRAY(uint64_t, u64)
-_MAV_PUT_ARRAY(int16_t,  i16)
-_MAV_PUT_ARRAY(int32_t,  i32)
-_MAV_PUT_ARRAY(int64_t,  i64)
-_MAV_PUT_ARRAY(float,    f)
-_MAV_PUT_ARRAY(double,   d)
-
-#define _MAV_RETURN_char(msg, wire_offset)             _MAV_PAYLOAD(msg)[wire_offset]
-#define _MAV_RETURN_int8_t(msg, wire_offset)   (int8_t)_MAV_PAYLOAD(msg)[wire_offset]
-#define _MAV_RETURN_uint8_t(msg, wire_offset) (uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
-
-_MAV_MSG_RETURN_TYPE(uint16_t, 2)
-_MAV_MSG_RETURN_TYPE(int16_t,  2)
-_MAV_MSG_RETURN_TYPE(uint32_t, 4)
-_MAV_MSG_RETURN_TYPE(int32_t,  4)
-_MAV_MSG_RETURN_TYPE(uint64_t, 8)
-_MAV_MSG_RETURN_TYPE(int64_t,  8)
-_MAV_MSG_RETURN_TYPE(float,    4)
-_MAV_MSG_RETURN_TYPE(double,   8)
-
-#elif !MAVLINK_ALIGNED_FIELDS
-#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
-
-_MAV_MSG_RETURN_TYPE(uint16_t, 2)
-_MAV_MSG_RETURN_TYPE(int16_t,  2)
-_MAV_MSG_RETURN_TYPE(uint32_t, 4)
-_MAV_MSG_RETURN_TYPE(int32_t,  4)
-_MAV_MSG_RETURN_TYPE(uint64_t, 8)
-_MAV_MSG_RETURN_TYPE(int64_t,  8)
-_MAV_MSG_RETURN_TYPE(float,    4)
-_MAV_MSG_RETURN_TYPE(double,   8)
-#else // nicely aligned, no swap
-#define _MAV_MSG_RETURN_TYPE(TYPE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
-
-_MAV_MSG_RETURN_TYPE(uint16_t)
-_MAV_MSG_RETURN_TYPE(int16_t)
-_MAV_MSG_RETURN_TYPE(uint32_t)
-_MAV_MSG_RETURN_TYPE(int32_t)
-_MAV_MSG_RETURN_TYPE(uint64_t)
-_MAV_MSG_RETURN_TYPE(int64_t)
-_MAV_MSG_RETURN_TYPE(float)
-_MAV_MSG_RETURN_TYPE(double)
-#endif // MAVLINK_NEED_BYTE_SWAP
-
-static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, 
-						     uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, 
-							uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, 
-						       uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_RETURN_ARRAY(TYPE, V) \
-static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
-							 uint8_t array_length, uint8_t wire_offset) \
-{ \
-	uint16_t i; \
-	for (i=0; i<array_length; i++) { \
-		value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
-	} \
-	return array_length*sizeof(value[0]); \
-}
-#else
-#define _MAV_RETURN_ARRAY(TYPE, V)					\
-static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
-							 uint8_t array_length, uint8_t wire_offset) \
-{ \
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
-	return array_length*sizeof(TYPE); \
-}
-#endif
-
-_MAV_RETURN_ARRAY(uint16_t, u16)
-_MAV_RETURN_ARRAY(uint32_t, u32)
-_MAV_RETURN_ARRAY(uint64_t, u64)
-_MAV_RETURN_ARRAY(int16_t,  i16)
-_MAV_RETURN_ARRAY(int32_t,  i32)
-_MAV_RETURN_ARRAY(int64_t,  i64)
-_MAV_RETURN_ARRAY(float,    f)
-_MAV_RETURN_ARRAY(double,   d)
-
-#endif // _MAVLINK_PROTOCOL_H_
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink.h
deleted file mode 100644
index 5b91bfe2d..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from test.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 85
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_BIG_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 0
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 0
-#endif
-
-#include "version.h"
-#include "test.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
deleted file mode 100644
index 50b4fd6bc..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
+++ /dev/null
@@ -1,610 +0,0 @@
-// MESSAGE TEST_TYPES PACKING
-
-#define MAVLINK_MSG_ID_TEST_TYPES 0
-
-typedef struct __mavlink_test_types_t
-{
- char c; ///< char
- char s[10]; ///< string
- uint8_t u8; ///< uint8_t
- uint16_t u16; ///< uint16_t
- uint32_t u32; ///< uint32_t
- uint64_t u64; ///< uint64_t
- int8_t s8; ///< int8_t
- int16_t s16; ///< int16_t
- int32_t s32; ///< int32_t
- int64_t s64; ///< int64_t
- float f; ///< float
- double d; ///< double
- uint8_t u8_array[3]; ///< uint8_t_array
- uint16_t u16_array[3]; ///< uint16_t_array
- uint32_t u32_array[3]; ///< uint32_t_array
- uint64_t u64_array[3]; ///< uint64_t_array
- int8_t s8_array[3]; ///< int8_t_array
- int16_t s16_array[3]; ///< int16_t_array
- int32_t s32_array[3]; ///< int32_t_array
- int64_t s64_array[3]; ///< int64_t_array
- float f_array[3]; ///< float_array
- double d_array[3]; ///< double_array
-} mavlink_test_types_t;
-
-#define MAVLINK_MSG_ID_TEST_TYPES_LEN 179
-#define MAVLINK_MSG_ID_0_LEN 179
-
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S_LEN 10
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U8_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U16_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U32_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U64_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S8_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S16_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S32_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S64_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_F_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_D_ARRAY_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_TEST_TYPES { \
-	"TEST_TYPES", \
-	22, \
-	{  { "c", NULL, MAVLINK_TYPE_CHAR, 0, 0, offsetof(mavlink_test_types_t, c) }, \
-         { "s", NULL, MAVLINK_TYPE_CHAR, 10, 1, offsetof(mavlink_test_types_t, s) }, \
-         { "u8", NULL, MAVLINK_TYPE_UINT8_T, 0, 11, offsetof(mavlink_test_types_t, u8) }, \
-         { "u16", NULL, MAVLINK_TYPE_UINT16_T, 0, 12, offsetof(mavlink_test_types_t, u16) }, \
-         { "u32", "0x%08x", MAVLINK_TYPE_UINT32_T, 0, 14, offsetof(mavlink_test_types_t, u32) }, \
-         { "u64", NULL, MAVLINK_TYPE_UINT64_T, 0, 18, offsetof(mavlink_test_types_t, u64) }, \
-         { "s8", NULL, MAVLINK_TYPE_INT8_T, 0, 26, offsetof(mavlink_test_types_t, s8) }, \
-         { "s16", NULL, MAVLINK_TYPE_INT16_T, 0, 27, offsetof(mavlink_test_types_t, s16) }, \
-         { "s32", NULL, MAVLINK_TYPE_INT32_T, 0, 29, offsetof(mavlink_test_types_t, s32) }, \
-         { "s64", NULL, MAVLINK_TYPE_INT64_T, 0, 33, offsetof(mavlink_test_types_t, s64) }, \
-         { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 41, offsetof(mavlink_test_types_t, f) }, \
-         { "d", NULL, MAVLINK_TYPE_DOUBLE, 0, 45, offsetof(mavlink_test_types_t, d) }, \
-         { "u8_array", NULL, MAVLINK_TYPE_UINT8_T, 3, 53, offsetof(mavlink_test_types_t, u8_array) }, \
-         { "u16_array", NULL, MAVLINK_TYPE_UINT16_T, 3, 56, offsetof(mavlink_test_types_t, u16_array) }, \
-         { "u32_array", NULL, MAVLINK_TYPE_UINT32_T, 3, 62, offsetof(mavlink_test_types_t, u32_array) }, \
-         { "u64_array", NULL, MAVLINK_TYPE_UINT64_T, 3, 74, offsetof(mavlink_test_types_t, u64_array) }, \
-         { "s8_array", NULL, MAVLINK_TYPE_INT8_T, 3, 98, offsetof(mavlink_test_types_t, s8_array) }, \
-         { "s16_array", NULL, MAVLINK_TYPE_INT16_T, 3, 101, offsetof(mavlink_test_types_t, s16_array) }, \
-         { "s32_array", NULL, MAVLINK_TYPE_INT32_T, 3, 107, offsetof(mavlink_test_types_t, s32_array) }, \
-         { "s64_array", NULL, MAVLINK_TYPE_INT64_T, 3, 119, offsetof(mavlink_test_types_t, s64_array) }, \
-         { "f_array", NULL, MAVLINK_TYPE_FLOAT, 3, 143, offsetof(mavlink_test_types_t, f_array) }, \
-         { "d_array", NULL, MAVLINK_TYPE_DOUBLE, 3, 155, offsetof(mavlink_test_types_t, d_array) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a test_types 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 c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_char(buf, 0, c);
-	_mav_put_uint8_t(buf, 11, u8);
-	_mav_put_uint16_t(buf, 12, u16);
-	_mav_put_uint32_t(buf, 14, u32);
-	_mav_put_uint64_t(buf, 18, u64);
-	_mav_put_int8_t(buf, 26, s8);
-	_mav_put_int16_t(buf, 27, s16);
-	_mav_put_int32_t(buf, 29, s32);
-	_mav_put_int64_t(buf, 33, s64);
-	_mav_put_float(buf, 41, f);
-	_mav_put_double(buf, 45, d);
-	_mav_put_char_array(buf, 1, s, 10);
-	_mav_put_uint8_t_array(buf, 53, u8_array, 3);
-	_mav_put_uint16_t_array(buf, 56, u16_array, 3);
-	_mav_put_uint32_t_array(buf, 62, u32_array, 3);
-	_mav_put_uint64_t_array(buf, 74, u64_array, 3);
-	_mav_put_int8_t_array(buf, 98, s8_array, 3);
-	_mav_put_int16_t_array(buf, 101, s16_array, 3);
-	_mav_put_int32_t_array(buf, 107, s32_array, 3);
-	_mav_put_int64_t_array(buf, 119, s64_array, 3);
-	_mav_put_float_array(buf, 143, f_array, 3);
-	_mav_put_double_array(buf, 155, d_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.u16 = u16;
-	packet.u32 = u32;
-	packet.u64 = u64;
-	packet.s8 = s8;
-	packet.s16 = s16;
-	packet.s32 = s32;
-	packet.s64 = s64;
-	packet.f = f;
-	packet.d = d;
-	mav_array_memcpy(packet.s, s, sizeof(char)*10);
-	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
-	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
-	return mavlink_finalize_message(msg, system_id, component_id, 179);
-}
-
-/**
- * @brief Pack a test_types 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 c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           char c,const char *s,uint8_t u8,uint16_t u16,uint32_t u32,uint64_t u64,int8_t s8,int16_t s16,int32_t s32,int64_t s64,float f,double d,const uint8_t *u8_array,const uint16_t *u16_array,const uint32_t *u32_array,const uint64_t *u64_array,const int8_t *s8_array,const int16_t *s16_array,const int32_t *s32_array,const int64_t *s64_array,const float *f_array,const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_char(buf, 0, c);
-	_mav_put_uint8_t(buf, 11, u8);
-	_mav_put_uint16_t(buf, 12, u16);
-	_mav_put_uint32_t(buf, 14, u32);
-	_mav_put_uint64_t(buf, 18, u64);
-	_mav_put_int8_t(buf, 26, s8);
-	_mav_put_int16_t(buf, 27, s16);
-	_mav_put_int32_t(buf, 29, s32);
-	_mav_put_int64_t(buf, 33, s64);
-	_mav_put_float(buf, 41, f);
-	_mav_put_double(buf, 45, d);
-	_mav_put_char_array(buf, 1, s, 10);
-	_mav_put_uint8_t_array(buf, 53, u8_array, 3);
-	_mav_put_uint16_t_array(buf, 56, u16_array, 3);
-	_mav_put_uint32_t_array(buf, 62, u32_array, 3);
-	_mav_put_uint64_t_array(buf, 74, u64_array, 3);
-	_mav_put_int8_t_array(buf, 98, s8_array, 3);
-	_mav_put_int16_t_array(buf, 101, s16_array, 3);
-	_mav_put_int32_t_array(buf, 107, s32_array, 3);
-	_mav_put_int64_t_array(buf, 119, s64_array, 3);
-	_mav_put_float_array(buf, 143, f_array, 3);
-	_mav_put_double_array(buf, 155, d_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.u16 = u16;
-	packet.u32 = u32;
-	packet.u64 = u64;
-	packet.s8 = s8;
-	packet.s16 = s16;
-	packet.s32 = s32;
-	packet.s64 = s64;
-	packet.f = f;
-	packet.d = d;
-	mav_array_memcpy(packet.s, s, sizeof(char)*10);
-	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
-	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 179);
-}
-
-/**
- * @brief Encode a test_types 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 test_types C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_test_types_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_test_types_t* test_types)
-{
-	return mavlink_msg_test_types_pack(system_id, component_id, msg, test_types->c, test_types->s, test_types->u8, test_types->u16, test_types->u32, test_types->u64, test_types->s8, test_types->s16, test_types->s32, test_types->s64, test_types->f, test_types->d, test_types->u8_array, test_types->u16_array, test_types->u32_array, test_types->u64_array, test_types->s8_array, test_types->s16_array, test_types->s32_array, test_types->s64_array, test_types->f_array, test_types->d_array);
-}
-
-/**
- * @brief Send a test_types message
- * @param chan MAVLink channel to send the message
- *
- * @param c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_test_types_send(mavlink_channel_t chan, char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_char(buf, 0, c);
-	_mav_put_uint8_t(buf, 11, u8);
-	_mav_put_uint16_t(buf, 12, u16);
-	_mav_put_uint32_t(buf, 14, u32);
-	_mav_put_uint64_t(buf, 18, u64);
-	_mav_put_int8_t(buf, 26, s8);
-	_mav_put_int16_t(buf, 27, s16);
-	_mav_put_int32_t(buf, 29, s32);
-	_mav_put_int64_t(buf, 33, s64);
-	_mav_put_float(buf, 41, f);
-	_mav_put_double(buf, 45, d);
-	_mav_put_char_array(buf, 1, s, 10);
-	_mav_put_uint8_t_array(buf, 53, u8_array, 3);
-	_mav_put_uint16_t_array(buf, 56, u16_array, 3);
-	_mav_put_uint32_t_array(buf, 62, u32_array, 3);
-	_mav_put_uint64_t_array(buf, 74, u64_array, 3);
-	_mav_put_int8_t_array(buf, 98, s8_array, 3);
-	_mav_put_int16_t_array(buf, 101, s16_array, 3);
-	_mav_put_int32_t_array(buf, 107, s32_array, 3);
-	_mav_put_int64_t_array(buf, 119, s64_array, 3);
-	_mav_put_float_array(buf, 143, f_array, 3);
-	_mav_put_double_array(buf, 155, d_array, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.u16 = u16;
-	packet.u32 = u32;
-	packet.u64 = u64;
-	packet.s8 = s8;
-	packet.s16 = s16;
-	packet.s32 = s32;
-	packet.s64 = s64;
-	packet.f = f;
-	packet.d = d;
-	mav_array_memcpy(packet.s, s, sizeof(char)*10);
-	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
-	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, (const char *)&packet, 179);
-#endif
-}
-
-#endif
-
-// MESSAGE TEST_TYPES UNPACKING
-
-
-/**
- * @brief Get field c from test_types message
- *
- * @return char
- */
-static inline char mavlink_msg_test_types_get_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_char(msg,  0);
-}
-
-/**
- * @brief Get field s from test_types message
- *
- * @return string
- */
-static inline uint16_t mavlink_msg_test_types_get_s(const mavlink_message_t* msg, char *s)
-{
-	return _MAV_RETURN_char_array(msg, s, 10,  1);
-}
-
-/**
- * @brief Get field u8 from test_types message
- *
- * @return uint8_t
- */
-static inline uint8_t mavlink_msg_test_types_get_u8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  11);
-}
-
-/**
- * @brief Get field u16 from test_types message
- *
- * @return uint16_t
- */
-static inline uint16_t mavlink_msg_test_types_get_u16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  12);
-}
-
-/**
- * @brief Get field u32 from test_types message
- *
- * @return uint32_t
- */
-static inline uint32_t mavlink_msg_test_types_get_u32(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  14);
-}
-
-/**
- * @brief Get field u64 from test_types message
- *
- * @return uint64_t
- */
-static inline uint64_t mavlink_msg_test_types_get_u64(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  18);
-}
-
-/**
- * @brief Get field s8 from test_types message
- *
- * @return int8_t
- */
-static inline int8_t mavlink_msg_test_types_get_s8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  26);
-}
-
-/**
- * @brief Get field s16 from test_types message
- *
- * @return int16_t
- */
-static inline int16_t mavlink_msg_test_types_get_s16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  27);
-}
-
-/**
- * @brief Get field s32 from test_types message
- *
- * @return int32_t
- */
-static inline int32_t mavlink_msg_test_types_get_s32(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  29);
-}
-
-/**
- * @brief Get field s64 from test_types message
- *
- * @return int64_t
- */
-static inline int64_t mavlink_msg_test_types_get_s64(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int64_t(msg,  33);
-}
-
-/**
- * @brief Get field f from test_types message
- *
- * @return float
- */
-static inline float mavlink_msg_test_types_get_f(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  41);
-}
-
-/**
- * @brief Get field d from test_types message
- *
- * @return double
- */
-static inline double mavlink_msg_test_types_get_d(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_double(msg,  45);
-}
-
-/**
- * @brief Get field u8_array from test_types message
- *
- * @return uint8_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u8_array(const mavlink_message_t* msg, uint8_t *u8_array)
-{
-	return _MAV_RETURN_uint8_t_array(msg, u8_array, 3,  53);
-}
-
-/**
- * @brief Get field u16_array from test_types message
- *
- * @return uint16_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u16_array(const mavlink_message_t* msg, uint16_t *u16_array)
-{
-	return _MAV_RETURN_uint16_t_array(msg, u16_array, 3,  56);
-}
-
-/**
- * @brief Get field u32_array from test_types message
- *
- * @return uint32_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u32_array(const mavlink_message_t* msg, uint32_t *u32_array)
-{
-	return _MAV_RETURN_uint32_t_array(msg, u32_array, 3,  62);
-}
-
-/**
- * @brief Get field u64_array from test_types message
- *
- * @return uint64_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u64_array(const mavlink_message_t* msg, uint64_t *u64_array)
-{
-	return _MAV_RETURN_uint64_t_array(msg, u64_array, 3,  74);
-}
-
-/**
- * @brief Get field s8_array from test_types message
- *
- * @return int8_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s8_array(const mavlink_message_t* msg, int8_t *s8_array)
-{
-	return _MAV_RETURN_int8_t_array(msg, s8_array, 3,  98);
-}
-
-/**
- * @brief Get field s16_array from test_types message
- *
- * @return int16_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s16_array(const mavlink_message_t* msg, int16_t *s16_array)
-{
-	return _MAV_RETURN_int16_t_array(msg, s16_array, 3,  101);
-}
-
-/**
- * @brief Get field s32_array from test_types message
- *
- * @return int32_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s32_array(const mavlink_message_t* msg, int32_t *s32_array)
-{
-	return _MAV_RETURN_int32_t_array(msg, s32_array, 3,  107);
-}
-
-/**
- * @brief Get field s64_array from test_types message
- *
- * @return int64_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s64_array(const mavlink_message_t* msg, int64_t *s64_array)
-{
-	return _MAV_RETURN_int64_t_array(msg, s64_array, 3,  119);
-}
-
-/**
- * @brief Get field f_array from test_types message
- *
- * @return float_array
- */
-static inline uint16_t mavlink_msg_test_types_get_f_array(const mavlink_message_t* msg, float *f_array)
-{
-	return _MAV_RETURN_float_array(msg, f_array, 3,  143);
-}
-
-/**
- * @brief Get field d_array from test_types message
- *
- * @return double_array
- */
-static inline uint16_t mavlink_msg_test_types_get_d_array(const mavlink_message_t* msg, double *d_array)
-{
-	return _MAV_RETURN_double_array(msg, d_array, 3,  155);
-}
-
-/**
- * @brief Decode a test_types message into a struct
- *
- * @param msg The message to decode
- * @param test_types C-struct to decode the message contents into
- */
-static inline void mavlink_msg_test_types_decode(const mavlink_message_t* msg, mavlink_test_types_t* test_types)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	test_types->c = mavlink_msg_test_types_get_c(msg);
-	mavlink_msg_test_types_get_s(msg, test_types->s);
-	test_types->u8 = mavlink_msg_test_types_get_u8(msg);
-	test_types->u16 = mavlink_msg_test_types_get_u16(msg);
-	test_types->u32 = mavlink_msg_test_types_get_u32(msg);
-	test_types->u64 = mavlink_msg_test_types_get_u64(msg);
-	test_types->s8 = mavlink_msg_test_types_get_s8(msg);
-	test_types->s16 = mavlink_msg_test_types_get_s16(msg);
-	test_types->s32 = mavlink_msg_test_types_get_s32(msg);
-	test_types->s64 = mavlink_msg_test_types_get_s64(msg);
-	test_types->f = mavlink_msg_test_types_get_f(msg);
-	test_types->d = mavlink_msg_test_types_get_d(msg);
-	mavlink_msg_test_types_get_u8_array(msg, test_types->u8_array);
-	mavlink_msg_test_types_get_u16_array(msg, test_types->u16_array);
-	mavlink_msg_test_types_get_u32_array(msg, test_types->u32_array);
-	mavlink_msg_test_types_get_u64_array(msg, test_types->u64_array);
-	mavlink_msg_test_types_get_s8_array(msg, test_types->s8_array);
-	mavlink_msg_test_types_get_s16_array(msg, test_types->s16_array);
-	mavlink_msg_test_types_get_s32_array(msg, test_types->s32_array);
-	mavlink_msg_test_types_get_s64_array(msg, test_types->s64_array);
-	mavlink_msg_test_types_get_f_array(msg, test_types->f_array);
-	mavlink_msg_test_types_get_d_array(msg, test_types->d_array);
-#else
-	memcpy(test_types, _MAV_PAYLOAD(msg), 179);
-#endif
-}
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/test.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/test.h
deleted file mode 100644
index 23ee65986..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/test.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from test.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef TEST_H
-#define TEST_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// MESSAGE LENGTHS AND CRCS
-
-#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#endif
-
-#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {91, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#endif
-
-#ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
-#endif
-
-#include "../protocol.h"
-
-#define MAVLINK_ENABLED_TEST
-
-
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-// ENUM DEFINITIONS
-
-
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_test_types.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // TEST_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/testsuite.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/testsuite.h
deleted file mode 100644
index 9b0fc041b..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/testsuite.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from test.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef TEST_TESTSUITE_H
-#define TEST_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-
-static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-
-	mavlink_test_test(system_id, component_id, last_msg);
-}
-#endif
-
-
-
-
-static void mavlink_test_test_types(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_test_types_t packet_in = {
-		'A',
-	"BCDEFGHIJ",
-	230,
-	17859,
-	963498192,
-	93372036854776941ULL,
-	211,
-	18639,
-	963498972,
-	93372036854777886LL,
-	304.0,
-	438.0,
-	{ 228, 229, 230 },
-	{ 20147, 20148, 20149 },
-	{ 963500688, 963500689, 963500690 },
-	{ 93372036854780469, 93372036854780470, 93372036854780471 },
-	{ 171, 172, 173 },
-	{ 22487, 22488, 22489 },
-	{ 963503028, 963503029, 963503030 },
-	{ 93372036854783304, 93372036854783305, 93372036854783306 },
-	{ 1018.0, 1019.0, 1020.0 },
-	{ 1208.0, 1209.0, 1210.0 },
-	};
-	mavlink_test_types_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.c = packet_in.c;
-        	packet1.u8 = packet_in.u8;
-        	packet1.u16 = packet_in.u16;
-        	packet1.u32 = packet_in.u32;
-        	packet1.u64 = packet_in.u64;
-        	packet1.s8 = packet_in.s8;
-        	packet1.s16 = packet_in.s16;
-        	packet1.s32 = packet_in.s32;
-        	packet1.s64 = packet_in.s64;
-        	packet1.f = packet_in.f;
-        	packet1.d = packet_in.d;
-        
-        	mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
-        	mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
-        	mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
-        	mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
-        	mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
-        	mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
-        	mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
-        	mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
-        	mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
-        	mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
-        	mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_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_test_types_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_test_types(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // TEST_TESTSUITE_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/version.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/version.h
deleted file mode 100644
index 64ca0cb38..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v0.9/test/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from test.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Thu Mar  1 15:11:54 2012"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/checksum.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/checksum.h
deleted file mode 100644
index 4f4cce02f..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/checksum.h
+++ /dev/null
@@ -1,89 +0,0 @@
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef _CHECKSUM_H_
-#define _CHECKSUM_H_
-
-
-/**
- *
- *  CALCULATE THE CHECKSUM
- *
- */
-
-#define X25_INIT_CRC 0xffff
-#define X25_VALIDATE_CRC 0xf0b8
-
-/**
- * @brief Accumulate the X.25 CRC by adding one char at a time.
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new char to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum)
-{
-        /*Accumulate one byte of data into the CRC*/
-        uint8_t tmp;
-
-        tmp = data ^ (uint8_t)(*crcAccum &0xff);
-        tmp ^= (tmp<<4);
-        *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4);
-}
-
-/**
- * @brief Initiliaze the buffer for the X.25 CRC
- *
- * @param crcAccum the 16 bit X.25 CRC
- */
-static inline void crc_init(uint16_t* crcAccum)
-{
-        *crcAccum = X25_INIT_CRC;
-}
-
-
-/**
- * @brief Calculates the X.25 checksum on a byte buffer
- *
- * @param  pBuffer buffer containing the byte array to hash
- * @param  length  length of the byte array
- * @return the checksum over the buffer bytes
- **/
-static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
-{
-        uint16_t crcTmp;
-        crc_init(&crcTmp);
-	while (length--) {
-                crc_accumulate(*pBuffer++, &crcTmp);
-        }
-        return crcTmp;
-}
-
-/**
- * @brief Accumulate the X.25 CRC by adding an array of bytes
- *
- * The checksum function adds the hash of one char at a time to the
- * 16 bit checksum (uint16_t).
- *
- * @param data new bytes to hash
- * @param crcAccum the already accumulated checksum
- **/
-static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
-{
-	const uint8_t *p = (const uint8_t *)pBuffer;
-	while (length--) {
-                crc_accumulate(*p++, crcAccum);
-        }
-}
-
-
-
-
-#endif /* _CHECKSUM_H_ */
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_helpers.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_helpers.h
deleted file mode 100644
index 39d6930e5..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_helpers.h
+++ /dev/null
@@ -1,507 +0,0 @@
-#ifndef  _MAVLINK_HELPERS_H_
-#define  _MAVLINK_HELPERS_H_
-
-#include "string.h"
-#include "checksum.h"
-#include "mavlink_types.h"
-
-#ifndef MAVLINK_HELPER
-#define MAVLINK_HELPER
-#endif
-
-/*
-  internal function to give access to the channel status for each channel
- */
-MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
-{
-	static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
-	return &m_mavlink_status[chan];
-}
-
-/*
- internal function to give access to the channel buffer for each channel
- */
-MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
-{
-	
-#if MAVLINK_EXTERNAL_RX_BUFFER
-	// No m_mavlink_message array defined in function,
-	// has to be defined externally
-#ifndef m_mavlink_message
-#error ERROR: IF #define MAVLINK_EXTERNAL_RX_BUFFER IS SET, THE BUFFER HAS TO BE ALLOCATED OUTSIDE OF THIS FUNCTION (mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];)
-#endif
-#else
-	static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
-#endif
-	return &m_mavlink_buffer[chan];
-}
-
-/**
- * @brief Finalize a MAVLink message with channel assignment
- *
- * This function calculates the checksum and sets length and aircraft id correctly.
- * It assumes that the message id and the payload are already correctly set. This function
- * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack
- * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead.
- *
- * @param msg Message to finalize
- * @param system_id Id of the sending (this) system, 1-127
- * @param length Message length
- */
-#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)
-#else
-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)
-#endif
-{
-	// This code part is the same for all messages;
-	uint16_t checksum;
-	msg->magic = MAVLINK_STX;
-	msg->len = length;
-	msg->sysid = system_id;
-	msg->compid = component_id;
-	// One sequence number per component
-	msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
-	mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
-	checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
-#if MAVLINK_CRC_EXTRA
-	crc_accumulate(crc_extra, &checksum);
-#endif
-	mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
-	mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
-
-	return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-
-
-/**
- * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel
- */
-#if MAVLINK_CRC_EXTRA
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra)
-{
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length, crc_extra);
-}
-#else
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length)
-{
-	return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, length);
-}
-#endif
-
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
-
-/**
- * @brief Finalize a MAVLink message with channel assignment and send
- */
-#if MAVLINK_CRC_EXTRA
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra)
-#else
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length)
-#endif
-{
-	uint16_t checksum;
-	uint8_t buf[MAVLINK_NUM_HEADER_BYTES];
-	uint8_t ck[2];
-	mavlink_status_t *status = mavlink_get_channel_status(chan);
-	buf[0] = MAVLINK_STX;
-	buf[1] = length;
-	buf[2] = status->current_tx_seq;
-	buf[3] = mavlink_system.sysid;
-	buf[4] = mavlink_system.compid;
-	buf[5] = msgid;
-	status->current_tx_seq++;
-	checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
-	crc_accumulate_buffer(&checksum, packet, length);
-#if MAVLINK_CRC_EXTRA
-	crc_accumulate(crc_extra, &checksum);
-#endif
-	ck[0] = (uint8_t)(checksum & 0xFF);
-	ck[1] = (uint8_t)(checksum >> 8);
-
-	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
-	_mavlink_send_uart(chan, (const char *)buf, MAVLINK_NUM_HEADER_BYTES);
-	_mavlink_send_uart(chan, packet, length);
-	_mavlink_send_uart(chan, (const char *)ck, 2);
-	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)length);
-}
-#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-/**
- * @brief Pack a message to send it over a serial byte stream
- */
-MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
-{
-	memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
-	return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
-}
-
-union __mavlink_bitfield {
-	uint8_t uint8;
-	int8_t int8;
-	uint16_t uint16;
-	int16_t int16;
-	uint32_t uint32;
-	int32_t int32;
-};
-
-
-MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg)
-{
-	crc_init(&msg->checksum);
-}
-
-MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c)
-{
-	crc_accumulate(c, &msg->checksum);
-}
-
-/**
- * This is a convenience function which handles the complete MAVLink parsing.
- * the function will parse one byte at a time and return the complete packet once
- * it could be successfully decoded. Checksum and other failures will be silently
- * ignored.
- *
- * @param chan     ID of the current channel. This allows to parse different channels with this function.
- *                 a channel is not a physical message channel like a serial port, but a logic partition of
- *                 the communication streams in this case. COMM_NB is the limit for the number of channels
- *                 on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows
- * @param c        The char to barse
- *
- * @param returnMsg NULL if no message could be decoded, the message data else
- * @return 0 if no message could be decoded, 1 else
- *
- * A typical use scenario of this function call is:
- *
- * @code
- * #include <inttypes.h> // For fixed-width uint8_t type
- *
- * mavlink_message_t msg;
- * int chan = 0;
- *
- *
- * while(serial.bytesAvailable > 0)
- * {
- *   uint8_t byte = serial.getNextByte();
- *   if (mavlink_parse_char(chan, byte, &msg))
- *     {
- *     printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
- *     }
- * }
- *
- *
- * @endcode
- */
-MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status)
-{
-        /*
-	  default message crc function. You can override this per-system to
-	  put this data in a different memory segment
-	*/
-#if MAVLINK_CRC_EXTRA
-#ifndef MAVLINK_MESSAGE_CRC
-	static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
-#define MAVLINK_MESSAGE_CRC(msgid) mavlink_message_crcs[msgid]
-#endif
-#endif
-
-	mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); ///< The currently decoded message
-	mavlink_status_t* status = mavlink_get_channel_status(chan); ///< The current decode status
-	int bufferIndex = 0;
-
-	status->msg_received = 0;
-
-	switch (status->parse_state)
-	{
-	case MAVLINK_PARSE_STATE_UNINIT:
-	case MAVLINK_PARSE_STATE_IDLE:
-		if (c == MAVLINK_STX)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-			rxmsg->len = 0;
-			rxmsg->magic = c;
-			mavlink_start_checksum(rxmsg);
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_STX:
-			if (status->msg_received 
-/* Support shorter buffers than the
-   default maximum packet size */
-#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
-				|| c > MAVLINK_MAX_PAYLOAD_LEN
-#endif
-				)
-		{
-			status->buffer_overrun++;
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-		}
-		else
-		{
-			// NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2
-			rxmsg->len = c;
-			status->packet_idx = 0;
-			mavlink_update_checksum(rxmsg, c);
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_LENGTH:
-		rxmsg->seq = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_SEQ:
-		rxmsg->sysid = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_SYSID:
-		rxmsg->compid = c;
-		mavlink_update_checksum(rxmsg, c);
-		status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID;
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_COMPID:
-		rxmsg->msgid = c;
-		mavlink_update_checksum(rxmsg, c);
-		if (rxmsg->len == 0)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
-		}
-		else
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_MSGID:
-		_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c;
-		mavlink_update_checksum(rxmsg, c);
-		if (status->packet_idx == rxmsg->len)
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_PAYLOAD:
-#if MAVLINK_CRC_EXTRA
-		mavlink_update_checksum(rxmsg, MAVLINK_MESSAGE_CRC(rxmsg->msgid));
-#endif
-		if (c != (rxmsg->checksum & 0xFF)) {
-			// Check first checksum byte
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				rxmsg->len = 0;
-				mavlink_start_checksum(rxmsg);
-			}
-		}
-		else
-		{
-			status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1;
-			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx] = (char)c;
-		}
-		break;
-
-	case MAVLINK_PARSE_STATE_GOT_CRC1:
-		if (c != (rxmsg->checksum >> 8)) {
-			// Check second checksum byte
-			status->parse_error++;
-			status->msg_received = 0;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			if (c == MAVLINK_STX)
-			{
-				status->parse_state = MAVLINK_PARSE_STATE_GOT_STX;
-				rxmsg->len = 0;
-				mavlink_start_checksum(rxmsg);
-			}
-		}
-		else
-		{
-			// Successfully got message
-			status->msg_received = 1;
-			status->parse_state = MAVLINK_PARSE_STATE_IDLE;
-			_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx+1] = (char)c;
-			memcpy(r_message, rxmsg, sizeof(mavlink_message_t));
-		}
-		break;
-	}
-
-	bufferIndex++;
-	// If a message has been sucessfully decoded, check index
-	if (status->msg_received == 1)
-	{
-		//while(status->current_seq != rxmsg->seq)
-		//{
-		//	status->packet_rx_drop_count++;
-		//               status->current_seq++;
-		//}
-		status->current_rx_seq = rxmsg->seq;
-		// Initial condition: If no packet has been received so far, drop count is undefined
-		if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0;
-		// Count this packet as received
-		status->packet_rx_success_count++;
-	}
-
-	r_mavlink_status->current_rx_seq = status->current_rx_seq+1;
-	r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count;
-	r_mavlink_status->packet_rx_drop_count = status->parse_error;
-	status->parse_error = 0;
-	return status->msg_received;
-}
-
-/**
- * @brief Put a bitfield of length 1-32 bit into the buffer
- *
- * @param b the value to add, will be encoded in the bitfield
- * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc.
- * @param packet_index the position in the packet (the index of the first byte to use)
- * @param bit_index the position in the byte (the index of the first bit to use)
- * @param buffer packet buffer to write into
- * @return new position of the last used byte in the buffer
- */
-MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer)
-{
-	uint16_t bits_remain = bits;
-	// Transform number into network order
-	int32_t v;
-	uint8_t i_bit_index, i_byte_index, curr_bits_n;
-#if MAVLINK_NEED_BYTE_SWAP
-	union {
-		int32_t i;
-		uint8_t b[4];
-	} bin, bout;
-	bin.i = b;
-	bout.b[0] = bin.b[3];
-	bout.b[1] = bin.b[2];
-	bout.b[2] = bin.b[1];
-	bout.b[3] = bin.b[0];
-	v = bout.i;
-#else
-	v = b;
-#endif
-
-	// buffer in
-	// 01100000 01000000 00000000 11110001
-	// buffer out
-	// 11110001 00000000 01000000 01100000
-
-	// Existing partly filled byte (four free slots)
-	// 0111xxxx
-
-	// Mask n free bits
-	// 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1
-	// = ((uint32_t)(1 << n)) - 1; // = 2^n - 1
-
-	// Shift n bits into the right position
-	// out = in >> n;
-
-	// Mask and shift bytes
-	i_bit_index = bit_index;
-	i_byte_index = packet_index;
-	if (bit_index > 0)
-	{
-		// If bits were available at start, they were available
-		// in the byte before the current index
-		i_byte_index--;
-	}
-
-	// While bits have not been packed yet
-	while (bits_remain > 0)
-	{
-		// Bits still have to be packed
-		// there can be more than 8 bits, so
-		// we might have to pack them into more than one byte
-
-		// First pack everything we can into the current 'open' byte
-		//curr_bits_n = bits_remain << 3; // Equals  bits_remain mod 8
-		//FIXME
-		if (bits_remain <= (uint8_t)(8 - i_bit_index))
-		{
-			// Enough space
-			curr_bits_n = (uint8_t)bits_remain;
-		}
-		else
-		{
-			curr_bits_n = (8 - i_bit_index);
-		}
-		
-		// Pack these n bits into the current byte
-		// Mask out whatever was at that position with ones (xxx11111)
-		buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n));
-		// Put content to this position, by masking out the non-used part
-		buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v);
-		
-		// Increment the bit index
-		i_bit_index += curr_bits_n;
-
-		// Now proceed to the next byte, if necessary
-		bits_remain -= curr_bits_n;
-		if (bits_remain > 0)
-		{
-			// Offer another 8 bits / one byte
-			i_byte_index++;
-			i_bit_index = 0;
-		}
-	}
-	
-	*r_bit_index = i_bit_index;
-	// If a partly filled byte is present, mark this as consumed
-	if (i_bit_index != 7) i_byte_index++;
-	return i_byte_index - packet_index;
-}
-
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-// To make MAVLink work on your MCU, define comm_send_ch() if you wish
-// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a
-// whole packet at a time
-
-/*
-
-#include "mavlink_types.h"
-
-void comm_send_ch(mavlink_channel_t chan, uint8_t ch)
-{
-    if (chan == MAVLINK_COMM_0)
-    {
-        uart0_transmit(ch);
-    }
-    if (chan == MAVLINK_COMM_1)
-    {
-    	uart1_transmit(ch);
-    }
-}
- */
-
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len)
-{
-#ifdef MAVLINK_SEND_UART_BYTES
-	/* this is the more efficient approach, if the platform
-	   defines it */
-	MAVLINK_SEND_UART_BYTES(chan, (uint8_t *)buf, len);
-#else
-	/* fallback to one byte at a time */
-	uint16_t i;
-	for (i = 0; i < len; i++) {
-		comm_send_ch(chan, (uint8_t)buf[i]);
-	}
-#endif
-}
-#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-#endif /* _MAVLINK_HELPERS_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_protobuf_manager.hpp b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_protobuf_manager.hpp
deleted file mode 100644
index fd3ddd026..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_protobuf_manager.hpp
+++ /dev/null
@@ -1,377 +0,0 @@
-#ifndef MAVLINKPROTOBUFMANAGER_HPP
-#define MAVLINKPROTOBUFMANAGER_HPP
-
-#include <deque>
-#include <google/protobuf/message.h>
-#include <iostream>
-#include <tr1/memory>
-
-#include <checksum.h>
-#include <common/mavlink.h>
-#include <mavlink_types.h>
-#include <pixhawk/pixhawk.pb.h>
-
-namespace mavlink
-{
-
-class ProtobufManager
-{
-public:
-	ProtobufManager()
-	 : mRegisteredTypeCount(0)
-	 , mStreamID(0)
-	 , mVerbose(false)
-	 , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
-	 , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
-	{
-		// register GLOverlay
-		{
-			std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
-			registerType(msg);
-		}
-
-		// register ObstacleList
-		{
-			std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
-			registerType(msg);
-		}
-
-		// register ObstacleMap
-		{
-			std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
-			registerType(msg);
-		}
-
-		// register Path
-		{
-			std::tr1::shared_ptr<px::Path> msg(new px::Path);
-                        registerType(msg);
-		}
-
-		// register PointCloudXYZI
-		{
-			std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
-			registerType(msg);
-		}
-
-		// register PointCloudXYZRGB
-		{
-			std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
-			registerType(msg);
-		}
-
-		// register RGBDImage
-		{
-			std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
-			registerType(msg);
-		}
-
-		srand(time(NULL));
-		mStreamID = rand() + 1;
-	}
-
-	bool fragmentMessage(uint8_t system_id, uint8_t component_id,
-						 uint8_t target_system, uint8_t target_component,
-						 const google::protobuf::Message& protobuf_msg,
-						 std::vector<mavlink_extended_message_t>& fragments) const
-	{
-		TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
-		if (it == mTypeMap.end())
-		{
-			std::cout << "# WARNING: Protobuf message with type "
-					  << protobuf_msg.GetTypeName() << " is not registered."
-					  << std::endl;
-			return false;
-		}
-
-		uint8_t typecode = it->second;
-
-		std::string data = protobuf_msg.SerializeAsString();
-
-		int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
-		unsigned int offset = 0;
-
-		for (int i = 0; i < fragmentCount; ++i)
-		{
-			mavlink_extended_message_t fragment;			
-
-			// write extended header data
-			uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
-			unsigned int length = 0;
-			uint8_t flags = 0;
-
-			if (i < fragmentCount - 1)
-			{
-				length = kExtendedPayloadMaxSize;
-				flags |= 0x1;
-			}
-			else
-			{
-				length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
-			}
-
-			memcpy(payload, &target_system, 1);
-			memcpy(payload + 1, &target_component, 1);
-			memcpy(payload + 2, &typecode, 1);
-			memcpy(payload + 3, &length, 4);
-			memcpy(payload + 7, &mStreamID, 2);
-			memcpy(payload + 9, &offset, 4);
-			memcpy(payload + 13, &flags, 1);
-
-			fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
-			mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
-			
-			// write extended payload data
-			fragment.extended_payload_len = length;
-			memcpy(fragment.extended_payload, &data[offset], length);
-
-			fragments.push_back(fragment);
-			offset += length;
-		}
-
-		if (mVerbose)
-		{
-			std::cerr << "# INFO: Split extended message with size "
-					  << protobuf_msg.ByteSize() << " into "
-					  << fragmentCount << " fragments." << std::endl;
-		}
-
-		return true;
-	}
-
-	bool cacheFragment(mavlink_extended_message_t& msg)
-	{
-		if (!validFragment(msg))
-		{
-			if (mVerbose)
-			{
-				std::cerr << "# WARNING: Message is not a valid fragment. "
-						  << "Dropping message..." << std::endl;
-			}
-			return false;
-		}
-
-		// read extended header
-		uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
-		uint8_t typecode = 0;
-		unsigned int length = 0;
-		unsigned short streamID = 0;
-		unsigned int offset = 0;
-		uint8_t flags = 0;
-
-		memcpy(&typecode, payload + 2, 1);
-		memcpy(&length, payload + 3, 4);
-		memcpy(&streamID, payload + 7, 2);
-		memcpy(&offset, payload + 9, 4);
-		memcpy(&flags, payload + 13, 1);
-
-		if (typecode >= mTypeMap.size())
-		{
-			std::cout << "# WARNING: Protobuf message with type code "
-					  << static_cast<int>(typecode) << " is not registered." << std::endl;
-			return false;
-		}
-
-		bool reassemble = false;
-
-		FragmentQueue::iterator it = mFragmentQueue.find(streamID);
-		if (it == mFragmentQueue.end())
-		{
-			if (offset == 0)
-			{
-				mFragmentQueue[streamID].push_back(msg);
-
-				if ((flags & 0x1) != 0x1)
-				{
-					reassemble = true;
-				}
-
-				if (mVerbose)
-				{
-					std::cerr << "# INFO: Added fragment to new queue."
-							  << std::endl;
-				}
-			}
-			else
-			{
-				if (mVerbose)
-				{
-					std::cerr << "# WARNING: Message is not a valid fragment. "
-							  << "Dropping message..." << std::endl;
-				}
-			}
-		}
-		else
-		{
-			std::deque<mavlink_extended_message_t>& queue = it->second;
-
-			if (queue.empty())
-			{
-				if (offset == 0)
-				{
-					queue.push_back(msg);
-
-					if ((flags & 0x1) != 0x1)
-					{
-						reassemble = true;
-					}
-				}
-				else
-				{
-					if (mVerbose)
-					{
-						std::cerr << "# WARNING: Message is not a valid fragment. "
-								  << "Dropping message..." << std::endl;
-					}
-				}
-			}
-			else
-			{
-				if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
-				{
-					if (mVerbose)
-					{
-						std::cerr << "# WARNING: Previous fragment(s) have been lost. "
-								  << "Dropping message and clearing queue..." << std::endl;
-					}
-					queue.clear();
-				}
-				else
-				{
-					queue.push_back(msg);
-
-					if ((flags & 0x1) != 0x1)
-					{
-						reassemble = true;
-					}
-				}
-			}
-		}
-
-		if (reassemble)
-		{
-			std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
-
-			std::string data;
-			for (size_t i = 0; i < queue.size(); ++i)
-			{
-				mavlink_extended_message_t& mavlink_msg = queue.at(i);
-
-				data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
-							static_cast<size_t>(mavlink_msg.extended_payload_len));
-			}
-
-			mMessages.at(typecode)->ParseFromString(data);
-
-			mMessageAvailable.at(typecode) = true;
-
-			queue.clear();
-
-			if (mVerbose)
-			{
-				std::cerr << "# INFO: Reassembled fragments for message with typename "
-						  << mMessages.at(typecode)->GetTypeName() << " and size "
-						  << mMessages.at(typecode)->ByteSize()
-						  << "." << std::endl;
-			}
-		}
-
-		return true;
-	}
-
-	bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
-	{
-		for (size_t i = 0; i < mMessageAvailable.size(); ++i)
-		{
-			if (mMessageAvailable.at(i))
-			{
-				msg = mMessages.at(i);
-				mMessageAvailable.at(i) = false;
-
-				return true;
-			}
-		}
-
-		return false;
-	}
-
-private:
-	void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
-	{
-		mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
-		++mRegisteredTypeCount;
-		mMessages.push_back(msg);
-		mMessageAvailable.push_back(false);
-	}
-
-	bool validFragment(const mavlink_extended_message_t& msg) const
-	{
-		if (msg.base_msg.magic != MAVLINK_STX ||
-			msg.base_msg.len != kExtendedHeaderSize ||
-			msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
-		{
-			return false;
-		}
-
-		uint16_t checksum;
-		checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
-		crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
-#if MAVLINK_CRC_EXTRA
-		static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
-		crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
-#endif
-
-		if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
-		    mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
-		{
-			return false;
-		}
-
-		return true;
-	}
-
-	unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
-	{
-		const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
-
-		return *(reinterpret_cast<const unsigned int*>(payload + 3));
-	}
-
-	unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
-	{
-		const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
-
-		return *(reinterpret_cast<const unsigned int*>(payload + 9));
-	}
-
-	int mRegisteredTypeCount;
-	unsigned short mStreamID;
-	bool mVerbose;
-
-	typedef std::map<std::string, uint8_t> TypeMap;
-	TypeMap mTypeMap;
-	std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
-	std::vector<bool> mMessageAvailable;
-
-	typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
-	FragmentQueue mFragmentQueue;
-
-	const int kExtendedHeaderSize;
-	/**
-	 * Extended header structure
-	 * =========================
-	 *   byte 0 - target_system
-	 *   byte 1 - target_component
-	 *   byte 2 - extended message id (type code)
-	 *   bytes 3-6 - extended payload size in bytes
-	 *   byte 7-8 - stream ID
-	 *   byte 9-12 - fragment offset
-	 *   byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
-	 */
-
-	const int kExtendedPayloadMaxSize;
-};
-
-}
-
-#endif
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_types.h
deleted file mode 100644
index 5fbde97f7..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/mavlink_types.h
+++ /dev/null
@@ -1,158 +0,0 @@
-#ifndef MAVLINK_TYPES_H_
-#define MAVLINK_TYPES_H_
-
-#include <inttypes.h>
-
-#ifndef MAVLINK_MAX_PAYLOAD_LEN
-// it is possible to override this, but be careful!
-#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
-#endif
-
-#define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
-#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
-#define MAVLINK_NUM_CHECKSUM_BYTES 2
-#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES)
-
-#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) ///< Maximum packet length
-
-#define MAVLINK_MSG_ID_EXTENDED_MESSAGE 255
-#define MAVLINK_EXTENDED_HEADER_LEN 14
-
-#if (defined _MSC_VER) | ((defined __APPLE__) & (defined __MACH__)) | (defined __linux__)
-  /* full fledged 32bit++ OS */
-  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 65507
-#else
-  /* small microcontrollers */
-  #define MAVLINK_MAX_EXTENDED_PACKET_LEN 2048
-#endif
-
-#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
-
-typedef struct param_union {
-	union {
-		float param_float;
-		int32_t param_int32;
-		uint32_t param_uint32;
-		uint8_t param_uint8;
-		uint8_t bytes[4];
-	};
-	uint8_t type;
-} mavlink_param_union_t;
-
-typedef struct __mavlink_system {
-    uint8_t sysid;   ///< Used by the MAVLink message_xx_send() convenience function
-    uint8_t compid;  ///< Used by the MAVLink message_xx_send() convenience function
-    uint8_t type;    ///< Unused, can be used by user to store the system's type
-    uint8_t state;   ///< Unused, can be used by user to store the system's state
-    uint8_t mode;    ///< Unused, can be used by user to store the system's mode
-    uint8_t nav_mode;    ///< Unused, can be used by user to store the system's navigation mode
-} mavlink_system_t;
-
-typedef struct __mavlink_message {
-	uint16_t checksum; /// sent at end of packet
-	uint8_t magic;   ///< protocol magic marker
-	uint8_t len;     ///< Length of payload
-	uint8_t seq;     ///< Sequence of packet
-	uint8_t sysid;   ///< ID of message sender system/aircraft
-	uint8_t compid;  ///< ID of the message sender component
-	uint8_t msgid;   ///< ID of message in payload
-	uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
-} mavlink_message_t;
-
-
-typedef struct __mavlink_extended_message {
-       mavlink_message_t base_msg;
-       int32_t extended_payload_len;   ///< Length of extended payload if any
-       uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
-} mavlink_extended_message_t;
-
-
-typedef enum {
-	MAVLINK_TYPE_CHAR     = 0,
-	MAVLINK_TYPE_UINT8_T  = 1,
-	MAVLINK_TYPE_INT8_T   = 2,
-	MAVLINK_TYPE_UINT16_T = 3,
-	MAVLINK_TYPE_INT16_T  = 4,
-	MAVLINK_TYPE_UINT32_T = 5,
-	MAVLINK_TYPE_INT32_T  = 6,
-	MAVLINK_TYPE_UINT64_T = 7,
-	MAVLINK_TYPE_INT64_T  = 8,
-	MAVLINK_TYPE_FLOAT    = 9,
-	MAVLINK_TYPE_DOUBLE   = 10
-} mavlink_message_type_t;
-
-#define MAVLINK_MAX_FIELDS 64
-
-typedef struct __mavlink_field_info {
-        const char *name;                 // name of this field
-        const char *print_format;         // printing format hint, or NULL
-        mavlink_message_type_t type;      // type of this field
-        unsigned int array_length;        // if non-zero, field is an array
-        unsigned int wire_offset;         // offset of each field in the payload
-        unsigned int structure_offset;    // offset in a C structure
-} mavlink_field_info_t;
-
-// note that in this structure the order of fields is the order
-// in the XML file, not necessary the wire order
-typedef struct __mavlink_message_info {
-	const char *name;                                      // name of the message
-	unsigned num_fields;                                   // how many fields in this message
-	mavlink_field_info_t fields[MAVLINK_MAX_FIELDS];       // field information
-} mavlink_message_info_t;
-
-#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0])))
-#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
-
-// checksum is immediately after the payload bytes
-#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
-#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg))
-
-typedef enum {
-    MAVLINK_COMM_0,
-    MAVLINK_COMM_1,
-    MAVLINK_COMM_2,
-    MAVLINK_COMM_3
-} mavlink_channel_t;
-
-/*
- * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number
- * of buffers they will use. If more are used, then the result will be
- * a stack overrun
- */
-#ifndef MAVLINK_COMM_NUM_BUFFERS
-#if (defined linux) | (defined __linux) | (defined  __MACH__) | (defined _WIN32)
-# define MAVLINK_COMM_NUM_BUFFERS 16
-#else
-# define MAVLINK_COMM_NUM_BUFFERS 4
-#endif
-#endif
-
-typedef enum {
-    MAVLINK_PARSE_STATE_UNINIT=0,
-    MAVLINK_PARSE_STATE_IDLE,
-    MAVLINK_PARSE_STATE_GOT_STX,
-    MAVLINK_PARSE_STATE_GOT_SEQ,
-    MAVLINK_PARSE_STATE_GOT_LENGTH,
-    MAVLINK_PARSE_STATE_GOT_SYSID,
-    MAVLINK_PARSE_STATE_GOT_COMPID,
-    MAVLINK_PARSE_STATE_GOT_MSGID,
-    MAVLINK_PARSE_STATE_GOT_PAYLOAD,
-    MAVLINK_PARSE_STATE_GOT_CRC1
-} mavlink_parse_state_t; ///< The state machine for the comm parser
-
-typedef struct __mavlink_status {
-    uint8_t msg_received;               ///< Number of received messages
-    uint8_t buffer_overrun;             ///< Number of buffer overruns
-    uint8_t parse_error;                ///< Number of parse errors
-    mavlink_parse_state_t parse_state;  ///< Parsing state machine
-    uint8_t packet_idx;                 ///< Index in current packet
-    uint8_t current_rx_seq;             ///< Sequence number of last packet received
-    uint8_t current_tx_seq;             ///< Sequence number of last packet sent
-    uint16_t packet_rx_success_count;   ///< Received packets
-    uint16_t packet_rx_drop_count;      ///< Number of packet drops
-} mavlink_status_t;
-
-#define MAVLINK_BIG_ENDIAN 0
-#define MAVLINK_LITTLE_ENDIAN 1
-
-#endif /* MAVLINK_TYPES_H_ */
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h
deleted file mode 100644
index 7556606e9..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/pixhawk/pixhawk.pb.h
+++ /dev/null
@@ -1,3663 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: pixhawk.proto
-
-#ifndef PROTOBUF_pixhawk_2eproto__INCLUDED
-#define PROTOBUF_pixhawk_2eproto__INCLUDED
-
-#include <string>
-
-#include <google/protobuf/stubs/common.h>
-
-#if GOOGLE_PROTOBUF_VERSION < 2004000
-#error This file was generated by a newer version of protoc which is
-#error incompatible with your Protocol Buffer headers.  Please update
-#error your headers.
-#endif
-#if 2004001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
-#error This file was generated by an older version of protoc which is
-#error incompatible with your Protocol Buffer headers.  Please
-#error regenerate this file with a newer version of protoc.
-#endif
-
-#include <google/protobuf/generated_message_util.h>
-#include <google/protobuf/repeated_field.h>
-#include <google/protobuf/extension_set.h>
-#include <google/protobuf/generated_message_reflection.h>
-// @@protoc_insertion_point(includes)
-
-namespace px {
-
-// Internal implementation detail -- do not call these.
-void  protobuf_AddDesc_pixhawk_2eproto();
-void protobuf_AssignDesc_pixhawk_2eproto();
-void protobuf_ShutdownFile_pixhawk_2eproto();
-
-class HeaderInfo;
-class GLOverlay;
-class Obstacle;
-class ObstacleList;
-class ObstacleMap;
-class Path;
-class PointCloudXYZI;
-class PointCloudXYZI_PointXYZI;
-class PointCloudXYZRGB;
-class PointCloudXYZRGB_PointXYZRGB;
-class RGBDImage;
-class Waypoint;
-
-enum GLOverlay_CoordinateFrameType {
-  GLOverlay_CoordinateFrameType_GLOBAL = 0,
-  GLOverlay_CoordinateFrameType_LOCAL = 1
-};
-bool GLOverlay_CoordinateFrameType_IsValid(int value);
-const GLOverlay_CoordinateFrameType GLOverlay_CoordinateFrameType_CoordinateFrameType_MIN = GLOverlay_CoordinateFrameType_GLOBAL;
-const GLOverlay_CoordinateFrameType GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX = GLOverlay_CoordinateFrameType_LOCAL;
-const int GLOverlay_CoordinateFrameType_CoordinateFrameType_ARRAYSIZE = GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX + 1;
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor();
-inline const ::std::string& GLOverlay_CoordinateFrameType_Name(GLOverlay_CoordinateFrameType value) {
-  return ::google::protobuf::internal::NameOfEnum(
-    GLOverlay_CoordinateFrameType_descriptor(), value);
-}
-inline bool GLOverlay_CoordinateFrameType_Parse(
-    const ::std::string& name, GLOverlay_CoordinateFrameType* value) {
-  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_CoordinateFrameType>(
-    GLOverlay_CoordinateFrameType_descriptor(), name, value);
-}
-enum GLOverlay_Mode {
-  GLOverlay_Mode_POINTS = 0,
-  GLOverlay_Mode_LINES = 1,
-  GLOverlay_Mode_LINE_STRIP = 2,
-  GLOverlay_Mode_LINE_LOOP = 3,
-  GLOverlay_Mode_TRIANGLES = 4,
-  GLOverlay_Mode_TRIANGLE_STRIP = 5,
-  GLOverlay_Mode_TRIANGLE_FAN = 6,
-  GLOverlay_Mode_QUADS = 7,
-  GLOverlay_Mode_QUAD_STRIP = 8,
-  GLOverlay_Mode_POLYGON = 9,
-  GLOverlay_Mode_SOLID_CIRCLE = 10,
-  GLOverlay_Mode_WIRE_CIRCLE = 11,
-  GLOverlay_Mode_SOLID_CUBE = 12,
-  GLOverlay_Mode_WIRE_CUBE = 13
-};
-bool GLOverlay_Mode_IsValid(int value);
-const GLOverlay_Mode GLOverlay_Mode_Mode_MIN = GLOverlay_Mode_POINTS;
-const GLOverlay_Mode GLOverlay_Mode_Mode_MAX = GLOverlay_Mode_WIRE_CUBE;
-const int GLOverlay_Mode_Mode_ARRAYSIZE = GLOverlay_Mode_Mode_MAX + 1;
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor();
-inline const ::std::string& GLOverlay_Mode_Name(GLOverlay_Mode value) {
-  return ::google::protobuf::internal::NameOfEnum(
-    GLOverlay_Mode_descriptor(), value);
-}
-inline bool GLOverlay_Mode_Parse(
-    const ::std::string& name, GLOverlay_Mode* value) {
-  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_Mode>(
-    GLOverlay_Mode_descriptor(), name, value);
-}
-enum GLOverlay_Identifier {
-  GLOverlay_Identifier_END = 14,
-  GLOverlay_Identifier_VERTEX2F = 15,
-  GLOverlay_Identifier_VERTEX3F = 16,
-  GLOverlay_Identifier_ROTATEF = 17,
-  GLOverlay_Identifier_TRANSLATEF = 18,
-  GLOverlay_Identifier_SCALEF = 19,
-  GLOverlay_Identifier_PUSH_MATRIX = 20,
-  GLOverlay_Identifier_POP_MATRIX = 21,
-  GLOverlay_Identifier_COLOR3F = 22,
-  GLOverlay_Identifier_COLOR4F = 23,
-  GLOverlay_Identifier_POINTSIZE = 24,
-  GLOverlay_Identifier_LINEWIDTH = 25
-};
-bool GLOverlay_Identifier_IsValid(int value);
-const GLOverlay_Identifier GLOverlay_Identifier_Identifier_MIN = GLOverlay_Identifier_END;
-const GLOverlay_Identifier GLOverlay_Identifier_Identifier_MAX = GLOverlay_Identifier_LINEWIDTH;
-const int GLOverlay_Identifier_Identifier_ARRAYSIZE = GLOverlay_Identifier_Identifier_MAX + 1;
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor();
-inline const ::std::string& GLOverlay_Identifier_Name(GLOverlay_Identifier value) {
-  return ::google::protobuf::internal::NameOfEnum(
-    GLOverlay_Identifier_descriptor(), value);
-}
-inline bool GLOverlay_Identifier_Parse(
-    const ::std::string& name, GLOverlay_Identifier* value) {
-  return ::google::protobuf::internal::ParseNamedEnum<GLOverlay_Identifier>(
-    GLOverlay_Identifier_descriptor(), name, value);
-}
-// ===================================================================
-
-class HeaderInfo : public ::google::protobuf::Message {
- public:
-  HeaderInfo();
-  virtual ~HeaderInfo();
-  
-  HeaderInfo(const HeaderInfo& from);
-  
-  inline HeaderInfo& operator=(const HeaderInfo& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const HeaderInfo& default_instance();
-  
-  void Swap(HeaderInfo* other);
-  
-  // implements Message ----------------------------------------------
-  
-  HeaderInfo* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const HeaderInfo& from);
-  void MergeFrom(const HeaderInfo& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required int32 source_sysid = 1;
-  inline bool has_source_sysid() const;
-  inline void clear_source_sysid();
-  static const int kSourceSysidFieldNumber = 1;
-  inline ::google::protobuf::int32 source_sysid() const;
-  inline void set_source_sysid(::google::protobuf::int32 value);
-  
-  // required int32 source_compid = 2;
-  inline bool has_source_compid() const;
-  inline void clear_source_compid();
-  static const int kSourceCompidFieldNumber = 2;
-  inline ::google::protobuf::int32 source_compid() const;
-  inline void set_source_compid(::google::protobuf::int32 value);
-  
-  // required double timestamp = 3;
-  inline bool has_timestamp() const;
-  inline void clear_timestamp();
-  static const int kTimestampFieldNumber = 3;
-  inline double timestamp() const;
-  inline void set_timestamp(double value);
-  
-  // @@protoc_insertion_point(class_scope:px.HeaderInfo)
- private:
-  inline void set_has_source_sysid();
-  inline void clear_has_source_sysid();
-  inline void set_has_source_compid();
-  inline void clear_has_source_compid();
-  inline void set_has_timestamp();
-  inline void clear_has_timestamp();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::google::protobuf::int32 source_sysid_;
-  ::google::protobuf::int32 source_compid_;
-  double timestamp_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(3 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static HeaderInfo* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class GLOverlay : public ::google::protobuf::Message {
- public:
-  GLOverlay();
-  virtual ~GLOverlay();
-  
-  GLOverlay(const GLOverlay& from);
-  
-  inline GLOverlay& operator=(const GLOverlay& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const GLOverlay& default_instance();
-  
-  void Swap(GLOverlay* other);
-  
-  // implements Message ----------------------------------------------
-  
-  GLOverlay* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const GLOverlay& from);
-  void MergeFrom(const GLOverlay& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  typedef GLOverlay_CoordinateFrameType CoordinateFrameType;
-  static const CoordinateFrameType GLOBAL = GLOverlay_CoordinateFrameType_GLOBAL;
-  static const CoordinateFrameType LOCAL = GLOverlay_CoordinateFrameType_LOCAL;
-  static inline bool CoordinateFrameType_IsValid(int value) {
-    return GLOverlay_CoordinateFrameType_IsValid(value);
-  }
-  static const CoordinateFrameType CoordinateFrameType_MIN =
-    GLOverlay_CoordinateFrameType_CoordinateFrameType_MIN;
-  static const CoordinateFrameType CoordinateFrameType_MAX =
-    GLOverlay_CoordinateFrameType_CoordinateFrameType_MAX;
-  static const int CoordinateFrameType_ARRAYSIZE =
-    GLOverlay_CoordinateFrameType_CoordinateFrameType_ARRAYSIZE;
-  static inline const ::google::protobuf::EnumDescriptor*
-  CoordinateFrameType_descriptor() {
-    return GLOverlay_CoordinateFrameType_descriptor();
-  }
-  static inline const ::std::string& CoordinateFrameType_Name(CoordinateFrameType value) {
-    return GLOverlay_CoordinateFrameType_Name(value);
-  }
-  static inline bool CoordinateFrameType_Parse(const ::std::string& name,
-      CoordinateFrameType* value) {
-    return GLOverlay_CoordinateFrameType_Parse(name, value);
-  }
-  
-  typedef GLOverlay_Mode Mode;
-  static const Mode POINTS = GLOverlay_Mode_POINTS;
-  static const Mode LINES = GLOverlay_Mode_LINES;
-  static const Mode LINE_STRIP = GLOverlay_Mode_LINE_STRIP;
-  static const Mode LINE_LOOP = GLOverlay_Mode_LINE_LOOP;
-  static const Mode TRIANGLES = GLOverlay_Mode_TRIANGLES;
-  static const Mode TRIANGLE_STRIP = GLOverlay_Mode_TRIANGLE_STRIP;
-  static const Mode TRIANGLE_FAN = GLOverlay_Mode_TRIANGLE_FAN;
-  static const Mode QUADS = GLOverlay_Mode_QUADS;
-  static const Mode QUAD_STRIP = GLOverlay_Mode_QUAD_STRIP;
-  static const Mode POLYGON = GLOverlay_Mode_POLYGON;
-  static const Mode SOLID_CIRCLE = GLOverlay_Mode_SOLID_CIRCLE;
-  static const Mode WIRE_CIRCLE = GLOverlay_Mode_WIRE_CIRCLE;
-  static const Mode SOLID_CUBE = GLOverlay_Mode_SOLID_CUBE;
-  static const Mode WIRE_CUBE = GLOverlay_Mode_WIRE_CUBE;
-  static inline bool Mode_IsValid(int value) {
-    return GLOverlay_Mode_IsValid(value);
-  }
-  static const Mode Mode_MIN =
-    GLOverlay_Mode_Mode_MIN;
-  static const Mode Mode_MAX =
-    GLOverlay_Mode_Mode_MAX;
-  static const int Mode_ARRAYSIZE =
-    GLOverlay_Mode_Mode_ARRAYSIZE;
-  static inline const ::google::protobuf::EnumDescriptor*
-  Mode_descriptor() {
-    return GLOverlay_Mode_descriptor();
-  }
-  static inline const ::std::string& Mode_Name(Mode value) {
-    return GLOverlay_Mode_Name(value);
-  }
-  static inline bool Mode_Parse(const ::std::string& name,
-      Mode* value) {
-    return GLOverlay_Mode_Parse(name, value);
-  }
-  
-  typedef GLOverlay_Identifier Identifier;
-  static const Identifier END = GLOverlay_Identifier_END;
-  static const Identifier VERTEX2F = GLOverlay_Identifier_VERTEX2F;
-  static const Identifier VERTEX3F = GLOverlay_Identifier_VERTEX3F;
-  static const Identifier ROTATEF = GLOverlay_Identifier_ROTATEF;
-  static const Identifier TRANSLATEF = GLOverlay_Identifier_TRANSLATEF;
-  static const Identifier SCALEF = GLOverlay_Identifier_SCALEF;
-  static const Identifier PUSH_MATRIX = GLOverlay_Identifier_PUSH_MATRIX;
-  static const Identifier POP_MATRIX = GLOverlay_Identifier_POP_MATRIX;
-  static const Identifier COLOR3F = GLOverlay_Identifier_COLOR3F;
-  static const Identifier COLOR4F = GLOverlay_Identifier_COLOR4F;
-  static const Identifier POINTSIZE = GLOverlay_Identifier_POINTSIZE;
-  static const Identifier LINEWIDTH = GLOverlay_Identifier_LINEWIDTH;
-  static inline bool Identifier_IsValid(int value) {
-    return GLOverlay_Identifier_IsValid(value);
-  }
-  static const Identifier Identifier_MIN =
-    GLOverlay_Identifier_Identifier_MIN;
-  static const Identifier Identifier_MAX =
-    GLOverlay_Identifier_Identifier_MAX;
-  static const int Identifier_ARRAYSIZE =
-    GLOverlay_Identifier_Identifier_ARRAYSIZE;
-  static inline const ::google::protobuf::EnumDescriptor*
-  Identifier_descriptor() {
-    return GLOverlay_Identifier_descriptor();
-  }
-  static inline const ::std::string& Identifier_Name(Identifier value) {
-    return GLOverlay_Identifier_Name(value);
-  }
-  static inline bool Identifier_Parse(const ::std::string& name,
-      Identifier* value) {
-    return GLOverlay_Identifier_Parse(name, value);
-  }
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // optional string name = 2;
-  inline bool has_name() const;
-  inline void clear_name();
-  static const int kNameFieldNumber = 2;
-  inline const ::std::string& name() const;
-  inline void set_name(const ::std::string& value);
-  inline void set_name(const char* value);
-  inline void set_name(const char* value, size_t size);
-  inline ::std::string* mutable_name();
-  inline ::std::string* release_name();
-  
-  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-  inline bool has_coordinateframetype() const;
-  inline void clear_coordinateframetype();
-  static const int kCoordinateFrameTypeFieldNumber = 3;
-  inline ::px::GLOverlay_CoordinateFrameType coordinateframetype() const;
-  inline void set_coordinateframetype(::px::GLOverlay_CoordinateFrameType value);
-  
-  // optional double origin_x = 4;
-  inline bool has_origin_x() const;
-  inline void clear_origin_x();
-  static const int kOriginXFieldNumber = 4;
-  inline double origin_x() const;
-  inline void set_origin_x(double value);
-  
-  // optional double origin_y = 5;
-  inline bool has_origin_y() const;
-  inline void clear_origin_y();
-  static const int kOriginYFieldNumber = 5;
-  inline double origin_y() const;
-  inline void set_origin_y(double value);
-  
-  // optional double origin_z = 6;
-  inline bool has_origin_z() const;
-  inline void clear_origin_z();
-  static const int kOriginZFieldNumber = 6;
-  inline double origin_z() const;
-  inline void set_origin_z(double value);
-  
-  // optional bytes data = 7;
-  inline bool has_data() const;
-  inline void clear_data();
-  static const int kDataFieldNumber = 7;
-  inline const ::std::string& data() const;
-  inline void set_data(const ::std::string& value);
-  inline void set_data(const char* value);
-  inline void set_data(const void* value, size_t size);
-  inline ::std::string* mutable_data();
-  inline ::std::string* release_data();
-  
-  // @@protoc_insertion_point(class_scope:px.GLOverlay)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  inline void set_has_name();
-  inline void clear_has_name();
-  inline void set_has_coordinateframetype();
-  inline void clear_has_coordinateframetype();
-  inline void set_has_origin_x();
-  inline void clear_has_origin_x();
-  inline void set_has_origin_y();
-  inline void clear_has_origin_y();
-  inline void set_has_origin_z();
-  inline void clear_has_origin_z();
-  inline void set_has_data();
-  inline void clear_has_data();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::std::string* name_;
-  double origin_x_;
-  double origin_y_;
-  double origin_z_;
-  ::std::string* data_;
-  int coordinateframetype_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(7 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static GLOverlay* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class Obstacle : public ::google::protobuf::Message {
- public:
-  Obstacle();
-  virtual ~Obstacle();
-  
-  Obstacle(const Obstacle& from);
-  
-  inline Obstacle& operator=(const Obstacle& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const Obstacle& default_instance();
-  
-  void Swap(Obstacle* other);
-  
-  // implements Message ----------------------------------------------
-  
-  Obstacle* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const Obstacle& from);
-  void MergeFrom(const Obstacle& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // optional float x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline float x() const;
-  inline void set_x(float value);
-  
-  // optional float y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline float y() const;
-  inline void set_y(float value);
-  
-  // optional float z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline float z() const;
-  inline void set_z(float value);
-  
-  // optional float length = 4;
-  inline bool has_length() const;
-  inline void clear_length();
-  static const int kLengthFieldNumber = 4;
-  inline float length() const;
-  inline void set_length(float value);
-  
-  // optional float width = 5;
-  inline bool has_width() const;
-  inline void clear_width();
-  static const int kWidthFieldNumber = 5;
-  inline float width() const;
-  inline void set_width(float value);
-  
-  // optional float height = 6;
-  inline bool has_height() const;
-  inline void clear_height();
-  static const int kHeightFieldNumber = 6;
-  inline float height() const;
-  inline void set_height(float value);
-  
-  // @@protoc_insertion_point(class_scope:px.Obstacle)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_length();
-  inline void clear_has_length();
-  inline void set_has_width();
-  inline void clear_has_width();
-  inline void set_has_height();
-  inline void clear_has_height();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  float x_;
-  float y_;
-  float z_;
-  float length_;
-  float width_;
-  float height_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static Obstacle* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class ObstacleList : public ::google::protobuf::Message {
- public:
-  ObstacleList();
-  virtual ~ObstacleList();
-  
-  ObstacleList(const ObstacleList& from);
-  
-  inline ObstacleList& operator=(const ObstacleList& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const ObstacleList& default_instance();
-  
-  void Swap(ObstacleList* other);
-  
-  // implements Message ----------------------------------------------
-  
-  ObstacleList* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const ObstacleList& from);
-  void MergeFrom(const ObstacleList& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.Obstacle obstacles = 2;
-  inline int obstacles_size() const;
-  inline void clear_obstacles();
-  static const int kObstaclesFieldNumber = 2;
-  inline const ::px::Obstacle& obstacles(int index) const;
-  inline ::px::Obstacle* mutable_obstacles(int index);
-  inline ::px::Obstacle* add_obstacles();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >&
-      obstacles() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >*
-      mutable_obstacles();
-  
-  // @@protoc_insertion_point(class_scope:px.ObstacleList)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::Obstacle > obstacles_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static ObstacleList* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class ObstacleMap : public ::google::protobuf::Message {
- public:
-  ObstacleMap();
-  virtual ~ObstacleMap();
-  
-  ObstacleMap(const ObstacleMap& from);
-  
-  inline ObstacleMap& operator=(const ObstacleMap& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const ObstacleMap& default_instance();
-  
-  void Swap(ObstacleMap* other);
-  
-  // implements Message ----------------------------------------------
-  
-  ObstacleMap* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const ObstacleMap& from);
-  void MergeFrom(const ObstacleMap& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // required int32 type = 2;
-  inline bool has_type() const;
-  inline void clear_type();
-  static const int kTypeFieldNumber = 2;
-  inline ::google::protobuf::int32 type() const;
-  inline void set_type(::google::protobuf::int32 value);
-  
-  // optional float resolution = 3;
-  inline bool has_resolution() const;
-  inline void clear_resolution();
-  static const int kResolutionFieldNumber = 3;
-  inline float resolution() const;
-  inline void set_resolution(float value);
-  
-  // optional int32 rows = 4;
-  inline bool has_rows() const;
-  inline void clear_rows();
-  static const int kRowsFieldNumber = 4;
-  inline ::google::protobuf::int32 rows() const;
-  inline void set_rows(::google::protobuf::int32 value);
-  
-  // optional int32 cols = 5;
-  inline bool has_cols() const;
-  inline void clear_cols();
-  static const int kColsFieldNumber = 5;
-  inline ::google::protobuf::int32 cols() const;
-  inline void set_cols(::google::protobuf::int32 value);
-  
-  // optional int32 mapR0 = 6;
-  inline bool has_mapr0() const;
-  inline void clear_mapr0();
-  static const int kMapR0FieldNumber = 6;
-  inline ::google::protobuf::int32 mapr0() const;
-  inline void set_mapr0(::google::protobuf::int32 value);
-  
-  // optional int32 mapC0 = 7;
-  inline bool has_mapc0() const;
-  inline void clear_mapc0();
-  static const int kMapC0FieldNumber = 7;
-  inline ::google::protobuf::int32 mapc0() const;
-  inline void set_mapc0(::google::protobuf::int32 value);
-  
-  // optional int32 arrayR0 = 8;
-  inline bool has_arrayr0() const;
-  inline void clear_arrayr0();
-  static const int kArrayR0FieldNumber = 8;
-  inline ::google::protobuf::int32 arrayr0() const;
-  inline void set_arrayr0(::google::protobuf::int32 value);
-  
-  // optional int32 arrayC0 = 9;
-  inline bool has_arrayc0() const;
-  inline void clear_arrayc0();
-  static const int kArrayC0FieldNumber = 9;
-  inline ::google::protobuf::int32 arrayc0() const;
-  inline void set_arrayc0(::google::protobuf::int32 value);
-  
-  // optional bytes data = 10;
-  inline bool has_data() const;
-  inline void clear_data();
-  static const int kDataFieldNumber = 10;
-  inline const ::std::string& data() const;
-  inline void set_data(const ::std::string& value);
-  inline void set_data(const char* value);
-  inline void set_data(const void* value, size_t size);
-  inline ::std::string* mutable_data();
-  inline ::std::string* release_data();
-  
-  // @@protoc_insertion_point(class_scope:px.ObstacleMap)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  inline void set_has_type();
-  inline void clear_has_type();
-  inline void set_has_resolution();
-  inline void clear_has_resolution();
-  inline void set_has_rows();
-  inline void clear_has_rows();
-  inline void set_has_cols();
-  inline void clear_has_cols();
-  inline void set_has_mapr0();
-  inline void clear_has_mapr0();
-  inline void set_has_mapc0();
-  inline void clear_has_mapc0();
-  inline void set_has_arrayr0();
-  inline void clear_has_arrayr0();
-  inline void set_has_arrayc0();
-  inline void clear_has_arrayc0();
-  inline void set_has_data();
-  inline void clear_has_data();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::int32 type_;
-  float resolution_;
-  ::google::protobuf::int32 rows_;
-  ::google::protobuf::int32 cols_;
-  ::google::protobuf::int32 mapr0_;
-  ::google::protobuf::int32 mapc0_;
-  ::google::protobuf::int32 arrayr0_;
-  ::google::protobuf::int32 arrayc0_;
-  ::std::string* data_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(10 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static ObstacleMap* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class Path : public ::google::protobuf::Message {
- public:
-  Path();
-  virtual ~Path();
-  
-  Path(const Path& from);
-  
-  inline Path& operator=(const Path& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const Path& default_instance();
-  
-  void Swap(Path* other);
-  
-  // implements Message ----------------------------------------------
-  
-  Path* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const Path& from);
-  void MergeFrom(const Path& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.Waypoint waypoints = 2;
-  inline int waypoints_size() const;
-  inline void clear_waypoints();
-  static const int kWaypointsFieldNumber = 2;
-  inline const ::px::Waypoint& waypoints(int index) const;
-  inline ::px::Waypoint* mutable_waypoints(int index);
-  inline ::px::Waypoint* add_waypoints();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >&
-      waypoints() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >*
-      mutable_waypoints();
-  
-  // @@protoc_insertion_point(class_scope:px.Path)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::Waypoint > waypoints_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static Path* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZI_PointXYZI : public ::google::protobuf::Message {
- public:
-  PointCloudXYZI_PointXYZI();
-  virtual ~PointCloudXYZI_PointXYZI();
-  
-  PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from);
-  
-  inline PointCloudXYZI_PointXYZI& operator=(const PointCloudXYZI_PointXYZI& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZI_PointXYZI& default_instance();
-  
-  void Swap(PointCloudXYZI_PointXYZI* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZI_PointXYZI* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZI_PointXYZI& from);
-  void MergeFrom(const PointCloudXYZI_PointXYZI& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required float x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline float x() const;
-  inline void set_x(float value);
-  
-  // required float y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline float y() const;
-  inline void set_y(float value);
-  
-  // required float z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline float z() const;
-  inline void set_z(float value);
-  
-  // required float intensity = 4;
-  inline bool has_intensity() const;
-  inline void clear_intensity();
-  static const int kIntensityFieldNumber = 4;
-  inline float intensity() const;
-  inline void set_intensity(float value);
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZI.PointXYZI)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_intensity();
-  inline void clear_has_intensity();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  float x_;
-  float y_;
-  float z_;
-  float intensity_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZI_PointXYZI* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZI : public ::google::protobuf::Message {
- public:
-  PointCloudXYZI();
-  virtual ~PointCloudXYZI();
-  
-  PointCloudXYZI(const PointCloudXYZI& from);
-  
-  inline PointCloudXYZI& operator=(const PointCloudXYZI& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZI& default_instance();
-  
-  void Swap(PointCloudXYZI* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZI* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZI& from);
-  void MergeFrom(const PointCloudXYZI& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  typedef PointCloudXYZI_PointXYZI PointXYZI;
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  inline int points_size() const;
-  inline void clear_points();
-  static const int kPointsFieldNumber = 2;
-  inline const ::px::PointCloudXYZI_PointXYZI& points(int index) const;
-  inline ::px::PointCloudXYZI_PointXYZI* mutable_points(int index);
-  inline ::px::PointCloudXYZI_PointXYZI* add_points();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >&
-      points() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >*
-      mutable_points();
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZI)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI > points_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZI* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZRGB_PointXYZRGB : public ::google::protobuf::Message {
- public:
-  PointCloudXYZRGB_PointXYZRGB();
-  virtual ~PointCloudXYZRGB_PointXYZRGB();
-  
-  PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from);
-  
-  inline PointCloudXYZRGB_PointXYZRGB& operator=(const PointCloudXYZRGB_PointXYZRGB& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZRGB_PointXYZRGB& default_instance();
-  
-  void Swap(PointCloudXYZRGB_PointXYZRGB* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZRGB_PointXYZRGB* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from);
-  void MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required float x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline float x() const;
-  inline void set_x(float value);
-  
-  // required float y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline float y() const;
-  inline void set_y(float value);
-  
-  // required float z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline float z() const;
-  inline void set_z(float value);
-  
-  // required float rgb = 4;
-  inline bool has_rgb() const;
-  inline void clear_rgb();
-  static const int kRgbFieldNumber = 4;
-  inline float rgb() const;
-  inline void set_rgb(float value);
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB.PointXYZRGB)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_rgb();
-  inline void clear_has_rgb();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  float x_;
-  float y_;
-  float z_;
-  float rgb_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(4 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZRGB_PointXYZRGB* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class PointCloudXYZRGB : public ::google::protobuf::Message {
- public:
-  PointCloudXYZRGB();
-  virtual ~PointCloudXYZRGB();
-  
-  PointCloudXYZRGB(const PointCloudXYZRGB& from);
-  
-  inline PointCloudXYZRGB& operator=(const PointCloudXYZRGB& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const PointCloudXYZRGB& default_instance();
-  
-  void Swap(PointCloudXYZRGB* other);
-  
-  // implements Message ----------------------------------------------
-  
-  PointCloudXYZRGB* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const PointCloudXYZRGB& from);
-  void MergeFrom(const PointCloudXYZRGB& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  typedef PointCloudXYZRGB_PointXYZRGB PointXYZRGB;
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  inline int points_size() const;
-  inline void clear_points();
-  static const int kPointsFieldNumber = 2;
-  inline const ::px::PointCloudXYZRGB_PointXYZRGB& points(int index) const;
-  inline ::px::PointCloudXYZRGB_PointXYZRGB* mutable_points(int index);
-  inline ::px::PointCloudXYZRGB_PointXYZRGB* add_points();
-  inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >&
-      points() const;
-  inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >*
-      mutable_points();
-  
-  // @@protoc_insertion_point(class_scope:px.PointCloudXYZRGB)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB > points_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(2 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static PointCloudXYZRGB* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class RGBDImage : public ::google::protobuf::Message {
- public:
-  RGBDImage();
-  virtual ~RGBDImage();
-  
-  RGBDImage(const RGBDImage& from);
-  
-  inline RGBDImage& operator=(const RGBDImage& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const RGBDImage& default_instance();
-  
-  void Swap(RGBDImage* other);
-  
-  // implements Message ----------------------------------------------
-  
-  RGBDImage* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const RGBDImage& from);
-  void MergeFrom(const RGBDImage& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required .px.HeaderInfo header = 1;
-  inline bool has_header() const;
-  inline void clear_header();
-  static const int kHeaderFieldNumber = 1;
-  inline const ::px::HeaderInfo& header() const;
-  inline ::px::HeaderInfo* mutable_header();
-  inline ::px::HeaderInfo* release_header();
-  
-  // required uint32 cols = 2;
-  inline bool has_cols() const;
-  inline void clear_cols();
-  static const int kColsFieldNumber = 2;
-  inline ::google::protobuf::uint32 cols() const;
-  inline void set_cols(::google::protobuf::uint32 value);
-  
-  // required uint32 rows = 3;
-  inline bool has_rows() const;
-  inline void clear_rows();
-  static const int kRowsFieldNumber = 3;
-  inline ::google::protobuf::uint32 rows() const;
-  inline void set_rows(::google::protobuf::uint32 value);
-  
-  // required uint32 step1 = 4;
-  inline bool has_step1() const;
-  inline void clear_step1();
-  static const int kStep1FieldNumber = 4;
-  inline ::google::protobuf::uint32 step1() const;
-  inline void set_step1(::google::protobuf::uint32 value);
-  
-  // required uint32 type1 = 5;
-  inline bool has_type1() const;
-  inline void clear_type1();
-  static const int kType1FieldNumber = 5;
-  inline ::google::protobuf::uint32 type1() const;
-  inline void set_type1(::google::protobuf::uint32 value);
-  
-  // required bytes imageData1 = 6;
-  inline bool has_imagedata1() const;
-  inline void clear_imagedata1();
-  static const int kImageData1FieldNumber = 6;
-  inline const ::std::string& imagedata1() const;
-  inline void set_imagedata1(const ::std::string& value);
-  inline void set_imagedata1(const char* value);
-  inline void set_imagedata1(const void* value, size_t size);
-  inline ::std::string* mutable_imagedata1();
-  inline ::std::string* release_imagedata1();
-  
-  // required uint32 step2 = 7;
-  inline bool has_step2() const;
-  inline void clear_step2();
-  static const int kStep2FieldNumber = 7;
-  inline ::google::protobuf::uint32 step2() const;
-  inline void set_step2(::google::protobuf::uint32 value);
-  
-  // required uint32 type2 = 8;
-  inline bool has_type2() const;
-  inline void clear_type2();
-  static const int kType2FieldNumber = 8;
-  inline ::google::protobuf::uint32 type2() const;
-  inline void set_type2(::google::protobuf::uint32 value);
-  
-  // required bytes imageData2 = 9;
-  inline bool has_imagedata2() const;
-  inline void clear_imagedata2();
-  static const int kImageData2FieldNumber = 9;
-  inline const ::std::string& imagedata2() const;
-  inline void set_imagedata2(const ::std::string& value);
-  inline void set_imagedata2(const char* value);
-  inline void set_imagedata2(const void* value, size_t size);
-  inline ::std::string* mutable_imagedata2();
-  inline ::std::string* release_imagedata2();
-  
-  // optional uint32 camera_config = 10;
-  inline bool has_camera_config() const;
-  inline void clear_camera_config();
-  static const int kCameraConfigFieldNumber = 10;
-  inline ::google::protobuf::uint32 camera_config() const;
-  inline void set_camera_config(::google::protobuf::uint32 value);
-  
-  // optional uint32 camera_type = 11;
-  inline bool has_camera_type() const;
-  inline void clear_camera_type();
-  static const int kCameraTypeFieldNumber = 11;
-  inline ::google::protobuf::uint32 camera_type() const;
-  inline void set_camera_type(::google::protobuf::uint32 value);
-  
-  // optional float roll = 12;
-  inline bool has_roll() const;
-  inline void clear_roll();
-  static const int kRollFieldNumber = 12;
-  inline float roll() const;
-  inline void set_roll(float value);
-  
-  // optional float pitch = 13;
-  inline bool has_pitch() const;
-  inline void clear_pitch();
-  static const int kPitchFieldNumber = 13;
-  inline float pitch() const;
-  inline void set_pitch(float value);
-  
-  // optional float yaw = 14;
-  inline bool has_yaw() const;
-  inline void clear_yaw();
-  static const int kYawFieldNumber = 14;
-  inline float yaw() const;
-  inline void set_yaw(float value);
-  
-  // optional float lon = 15;
-  inline bool has_lon() const;
-  inline void clear_lon();
-  static const int kLonFieldNumber = 15;
-  inline float lon() const;
-  inline void set_lon(float value);
-  
-  // optional float lat = 16;
-  inline bool has_lat() const;
-  inline void clear_lat();
-  static const int kLatFieldNumber = 16;
-  inline float lat() const;
-  inline void set_lat(float value);
-  
-  // optional float alt = 17;
-  inline bool has_alt() const;
-  inline void clear_alt();
-  static const int kAltFieldNumber = 17;
-  inline float alt() const;
-  inline void set_alt(float value);
-  
-  // optional float ground_x = 18;
-  inline bool has_ground_x() const;
-  inline void clear_ground_x();
-  static const int kGroundXFieldNumber = 18;
-  inline float ground_x() const;
-  inline void set_ground_x(float value);
-  
-  // optional float ground_y = 19;
-  inline bool has_ground_y() const;
-  inline void clear_ground_y();
-  static const int kGroundYFieldNumber = 19;
-  inline float ground_y() const;
-  inline void set_ground_y(float value);
-  
-  // optional float ground_z = 20;
-  inline bool has_ground_z() const;
-  inline void clear_ground_z();
-  static const int kGroundZFieldNumber = 20;
-  inline float ground_z() const;
-  inline void set_ground_z(float value);
-  
-  // repeated float camera_matrix = 21;
-  inline int camera_matrix_size() const;
-  inline void clear_camera_matrix();
-  static const int kCameraMatrixFieldNumber = 21;
-  inline float camera_matrix(int index) const;
-  inline void set_camera_matrix(int index, float value);
-  inline void add_camera_matrix(float value);
-  inline const ::google::protobuf::RepeatedField< float >&
-      camera_matrix() const;
-  inline ::google::protobuf::RepeatedField< float >*
-      mutable_camera_matrix();
-  
-  // @@protoc_insertion_point(class_scope:px.RGBDImage)
- private:
-  inline void set_has_header();
-  inline void clear_has_header();
-  inline void set_has_cols();
-  inline void clear_has_cols();
-  inline void set_has_rows();
-  inline void clear_has_rows();
-  inline void set_has_step1();
-  inline void clear_has_step1();
-  inline void set_has_type1();
-  inline void clear_has_type1();
-  inline void set_has_imagedata1();
-  inline void clear_has_imagedata1();
-  inline void set_has_step2();
-  inline void clear_has_step2();
-  inline void set_has_type2();
-  inline void clear_has_type2();
-  inline void set_has_imagedata2();
-  inline void clear_has_imagedata2();
-  inline void set_has_camera_config();
-  inline void clear_has_camera_config();
-  inline void set_has_camera_type();
-  inline void clear_has_camera_type();
-  inline void set_has_roll();
-  inline void clear_has_roll();
-  inline void set_has_pitch();
-  inline void clear_has_pitch();
-  inline void set_has_yaw();
-  inline void clear_has_yaw();
-  inline void set_has_lon();
-  inline void clear_has_lon();
-  inline void set_has_lat();
-  inline void clear_has_lat();
-  inline void set_has_alt();
-  inline void clear_has_alt();
-  inline void set_has_ground_x();
-  inline void clear_has_ground_x();
-  inline void set_has_ground_y();
-  inline void clear_has_ground_y();
-  inline void set_has_ground_z();
-  inline void clear_has_ground_z();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  ::px::HeaderInfo* header_;
-  ::google::protobuf::uint32 cols_;
-  ::google::protobuf::uint32 rows_;
-  ::google::protobuf::uint32 step1_;
-  ::google::protobuf::uint32 type1_;
-  ::std::string* imagedata1_;
-  ::google::protobuf::uint32 step2_;
-  ::google::protobuf::uint32 type2_;
-  ::std::string* imagedata2_;
-  ::google::protobuf::uint32 camera_config_;
-  ::google::protobuf::uint32 camera_type_;
-  float roll_;
-  float pitch_;
-  float yaw_;
-  float lon_;
-  float lat_;
-  float alt_;
-  float ground_x_;
-  float ground_y_;
-  ::google::protobuf::RepeatedField< float > camera_matrix_;
-  float ground_z_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(21 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static RGBDImage* default_instance_;
-};
-// -------------------------------------------------------------------
-
-class Waypoint : public ::google::protobuf::Message {
- public:
-  Waypoint();
-  virtual ~Waypoint();
-  
-  Waypoint(const Waypoint& from);
-  
-  inline Waypoint& operator=(const Waypoint& from) {
-    CopyFrom(from);
-    return *this;
-  }
-  
-  inline const ::google::protobuf::UnknownFieldSet& unknown_fields() const {
-    return _unknown_fields_;
-  }
-  
-  inline ::google::protobuf::UnknownFieldSet* mutable_unknown_fields() {
-    return &_unknown_fields_;
-  }
-  
-  static const ::google::protobuf::Descriptor* descriptor();
-  static const Waypoint& default_instance();
-  
-  void Swap(Waypoint* other);
-  
-  // implements Message ----------------------------------------------
-  
-  Waypoint* New() const;
-  void CopyFrom(const ::google::protobuf::Message& from);
-  void MergeFrom(const ::google::protobuf::Message& from);
-  void CopyFrom(const Waypoint& from);
-  void MergeFrom(const Waypoint& from);
-  void Clear();
-  bool IsInitialized() const;
-  
-  int ByteSize() const;
-  bool MergePartialFromCodedStream(
-      ::google::protobuf::io::CodedInputStream* input);
-  void SerializeWithCachedSizes(
-      ::google::protobuf::io::CodedOutputStream* output) const;
-  ::google::protobuf::uint8* SerializeWithCachedSizesToArray(::google::protobuf::uint8* output) const;
-  int GetCachedSize() const { return _cached_size_; }
-  private:
-  void SharedCtor();
-  void SharedDtor();
-  void SetCachedSize(int size) const;
-  public:
-  
-  ::google::protobuf::Metadata GetMetadata() const;
-  
-  // nested types ----------------------------------------------------
-  
-  // accessors -------------------------------------------------------
-  
-  // required double x = 1;
-  inline bool has_x() const;
-  inline void clear_x();
-  static const int kXFieldNumber = 1;
-  inline double x() const;
-  inline void set_x(double value);
-  
-  // required double y = 2;
-  inline bool has_y() const;
-  inline void clear_y();
-  static const int kYFieldNumber = 2;
-  inline double y() const;
-  inline void set_y(double value);
-  
-  // optional double z = 3;
-  inline bool has_z() const;
-  inline void clear_z();
-  static const int kZFieldNumber = 3;
-  inline double z() const;
-  inline void set_z(double value);
-  
-  // optional double roll = 4;
-  inline bool has_roll() const;
-  inline void clear_roll();
-  static const int kRollFieldNumber = 4;
-  inline double roll() const;
-  inline void set_roll(double value);
-  
-  // optional double pitch = 5;
-  inline bool has_pitch() const;
-  inline void clear_pitch();
-  static const int kPitchFieldNumber = 5;
-  inline double pitch() const;
-  inline void set_pitch(double value);
-  
-  // optional double yaw = 6;
-  inline bool has_yaw() const;
-  inline void clear_yaw();
-  static const int kYawFieldNumber = 6;
-  inline double yaw() const;
-  inline void set_yaw(double value);
-  
-  // @@protoc_insertion_point(class_scope:px.Waypoint)
- private:
-  inline void set_has_x();
-  inline void clear_has_x();
-  inline void set_has_y();
-  inline void clear_has_y();
-  inline void set_has_z();
-  inline void clear_has_z();
-  inline void set_has_roll();
-  inline void clear_has_roll();
-  inline void set_has_pitch();
-  inline void clear_has_pitch();
-  inline void set_has_yaw();
-  inline void clear_has_yaw();
-  
-  ::google::protobuf::UnknownFieldSet _unknown_fields_;
-  
-  double x_;
-  double y_;
-  double z_;
-  double roll_;
-  double pitch_;
-  double yaw_;
-  
-  mutable int _cached_size_;
-  ::google::protobuf::uint32 _has_bits_[(6 + 31) / 32];
-  
-  friend void  protobuf_AddDesc_pixhawk_2eproto();
-  friend void protobuf_AssignDesc_pixhawk_2eproto();
-  friend void protobuf_ShutdownFile_pixhawk_2eproto();
-  
-  void InitAsDefaultInstance();
-  static Waypoint* default_instance_;
-};
-// ===================================================================
-
-
-// ===================================================================
-
-// HeaderInfo
-
-// required int32 source_sysid = 1;
-inline bool HeaderInfo::has_source_sysid() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void HeaderInfo::set_has_source_sysid() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void HeaderInfo::clear_has_source_sysid() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void HeaderInfo::clear_source_sysid() {
-  source_sysid_ = 0;
-  clear_has_source_sysid();
-}
-inline ::google::protobuf::int32 HeaderInfo::source_sysid() const {
-  return source_sysid_;
-}
-inline void HeaderInfo::set_source_sysid(::google::protobuf::int32 value) {
-  set_has_source_sysid();
-  source_sysid_ = value;
-}
-
-// required int32 source_compid = 2;
-inline bool HeaderInfo::has_source_compid() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void HeaderInfo::set_has_source_compid() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void HeaderInfo::clear_has_source_compid() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void HeaderInfo::clear_source_compid() {
-  source_compid_ = 0;
-  clear_has_source_compid();
-}
-inline ::google::protobuf::int32 HeaderInfo::source_compid() const {
-  return source_compid_;
-}
-inline void HeaderInfo::set_source_compid(::google::protobuf::int32 value) {
-  set_has_source_compid();
-  source_compid_ = value;
-}
-
-// required double timestamp = 3;
-inline bool HeaderInfo::has_timestamp() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void HeaderInfo::set_has_timestamp() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void HeaderInfo::clear_has_timestamp() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void HeaderInfo::clear_timestamp() {
-  timestamp_ = 0;
-  clear_has_timestamp();
-}
-inline double HeaderInfo::timestamp() const {
-  return timestamp_;
-}
-inline void HeaderInfo::set_timestamp(double value) {
-  set_has_timestamp();
-  timestamp_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// GLOverlay
-
-// required .px.HeaderInfo header = 1;
-inline bool GLOverlay::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void GLOverlay::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void GLOverlay::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void GLOverlay::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& GLOverlay::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* GLOverlay::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* GLOverlay::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// optional string name = 2;
-inline bool GLOverlay::has_name() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void GLOverlay::set_has_name() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void GLOverlay::clear_has_name() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void GLOverlay::clear_name() {
-  if (name_ != &::google::protobuf::internal::kEmptyString) {
-    name_->clear();
-  }
-  clear_has_name();
-}
-inline const ::std::string& GLOverlay::name() const {
-  return *name_;
-}
-inline void GLOverlay::set_name(const ::std::string& value) {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  name_->assign(value);
-}
-inline void GLOverlay::set_name(const char* value) {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  name_->assign(value);
-}
-inline void GLOverlay::set_name(const char* value, size_t size) {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  name_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* GLOverlay::mutable_name() {
-  set_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    name_ = new ::std::string;
-  }
-  return name_;
-}
-inline ::std::string* GLOverlay::release_name() {
-  clear_has_name();
-  if (name_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = name_;
-    name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-inline bool GLOverlay::has_coordinateframetype() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void GLOverlay::set_has_coordinateframetype() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void GLOverlay::clear_has_coordinateframetype() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void GLOverlay::clear_coordinateframetype() {
-  coordinateframetype_ = 0;
-  clear_has_coordinateframetype();
-}
-inline ::px::GLOverlay_CoordinateFrameType GLOverlay::coordinateframetype() const {
-  return static_cast< ::px::GLOverlay_CoordinateFrameType >(coordinateframetype_);
-}
-inline void GLOverlay::set_coordinateframetype(::px::GLOverlay_CoordinateFrameType value) {
-  GOOGLE_DCHECK(::px::GLOverlay_CoordinateFrameType_IsValid(value));
-  set_has_coordinateframetype();
-  coordinateframetype_ = value;
-}
-
-// optional double origin_x = 4;
-inline bool GLOverlay::has_origin_x() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void GLOverlay::set_has_origin_x() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void GLOverlay::clear_has_origin_x() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void GLOverlay::clear_origin_x() {
-  origin_x_ = 0;
-  clear_has_origin_x();
-}
-inline double GLOverlay::origin_x() const {
-  return origin_x_;
-}
-inline void GLOverlay::set_origin_x(double value) {
-  set_has_origin_x();
-  origin_x_ = value;
-}
-
-// optional double origin_y = 5;
-inline bool GLOverlay::has_origin_y() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void GLOverlay::set_has_origin_y() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void GLOverlay::clear_has_origin_y() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void GLOverlay::clear_origin_y() {
-  origin_y_ = 0;
-  clear_has_origin_y();
-}
-inline double GLOverlay::origin_y() const {
-  return origin_y_;
-}
-inline void GLOverlay::set_origin_y(double value) {
-  set_has_origin_y();
-  origin_y_ = value;
-}
-
-// optional double origin_z = 6;
-inline bool GLOverlay::has_origin_z() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void GLOverlay::set_has_origin_z() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void GLOverlay::clear_has_origin_z() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void GLOverlay::clear_origin_z() {
-  origin_z_ = 0;
-  clear_has_origin_z();
-}
-inline double GLOverlay::origin_z() const {
-  return origin_z_;
-}
-inline void GLOverlay::set_origin_z(double value) {
-  set_has_origin_z();
-  origin_z_ = value;
-}
-
-// optional bytes data = 7;
-inline bool GLOverlay::has_data() const {
-  return (_has_bits_[0] & 0x00000040u) != 0;
-}
-inline void GLOverlay::set_has_data() {
-  _has_bits_[0] |= 0x00000040u;
-}
-inline void GLOverlay::clear_has_data() {
-  _has_bits_[0] &= ~0x00000040u;
-}
-inline void GLOverlay::clear_data() {
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    data_->clear();
-  }
-  clear_has_data();
-}
-inline const ::std::string& GLOverlay::data() const {
-  return *data_;
-}
-inline void GLOverlay::set_data(const ::std::string& value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void GLOverlay::set_data(const char* value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void GLOverlay::set_data(const void* value, size_t size) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* GLOverlay::mutable_data() {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  return data_;
-}
-inline ::std::string* GLOverlay::release_data() {
-  clear_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = data_;
-    data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// -------------------------------------------------------------------
-
-// Obstacle
-
-// optional float x = 1;
-inline bool Obstacle::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void Obstacle::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void Obstacle::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void Obstacle::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline float Obstacle::x() const {
-  return x_;
-}
-inline void Obstacle::set_x(float value) {
-  set_has_x();
-  x_ = value;
-}
-
-// optional float y = 2;
-inline bool Obstacle::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void Obstacle::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void Obstacle::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void Obstacle::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline float Obstacle::y() const {
-  return y_;
-}
-inline void Obstacle::set_y(float value) {
-  set_has_y();
-  y_ = value;
-}
-
-// optional float z = 3;
-inline bool Obstacle::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void Obstacle::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void Obstacle::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void Obstacle::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline float Obstacle::z() const {
-  return z_;
-}
-inline void Obstacle::set_z(float value) {
-  set_has_z();
-  z_ = value;
-}
-
-// optional float length = 4;
-inline bool Obstacle::has_length() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void Obstacle::set_has_length() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void Obstacle::clear_has_length() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void Obstacle::clear_length() {
-  length_ = 0;
-  clear_has_length();
-}
-inline float Obstacle::length() const {
-  return length_;
-}
-inline void Obstacle::set_length(float value) {
-  set_has_length();
-  length_ = value;
-}
-
-// optional float width = 5;
-inline bool Obstacle::has_width() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void Obstacle::set_has_width() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void Obstacle::clear_has_width() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void Obstacle::clear_width() {
-  width_ = 0;
-  clear_has_width();
-}
-inline float Obstacle::width() const {
-  return width_;
-}
-inline void Obstacle::set_width(float value) {
-  set_has_width();
-  width_ = value;
-}
-
-// optional float height = 6;
-inline bool Obstacle::has_height() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void Obstacle::set_has_height() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void Obstacle::clear_has_height() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void Obstacle::clear_height() {
-  height_ = 0;
-  clear_has_height();
-}
-inline float Obstacle::height() const {
-  return height_;
-}
-inline void Obstacle::set_height(float value) {
-  set_has_height();
-  height_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// ObstacleList
-
-// required .px.HeaderInfo header = 1;
-inline bool ObstacleList::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void ObstacleList::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void ObstacleList::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void ObstacleList::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& ObstacleList::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* ObstacleList::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* ObstacleList::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.Obstacle obstacles = 2;
-inline int ObstacleList::obstacles_size() const {
-  return obstacles_.size();
-}
-inline void ObstacleList::clear_obstacles() {
-  obstacles_.Clear();
-}
-inline const ::px::Obstacle& ObstacleList::obstacles(int index) const {
-  return obstacles_.Get(index);
-}
-inline ::px::Obstacle* ObstacleList::mutable_obstacles(int index) {
-  return obstacles_.Mutable(index);
-}
-inline ::px::Obstacle* ObstacleList::add_obstacles() {
-  return obstacles_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::Obstacle >&
-ObstacleList::obstacles() const {
-  return obstacles_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::Obstacle >*
-ObstacleList::mutable_obstacles() {
-  return &obstacles_;
-}
-
-// -------------------------------------------------------------------
-
-// ObstacleMap
-
-// required .px.HeaderInfo header = 1;
-inline bool ObstacleMap::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void ObstacleMap::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void ObstacleMap::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void ObstacleMap::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& ObstacleMap::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* ObstacleMap::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* ObstacleMap::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// required int32 type = 2;
-inline bool ObstacleMap::has_type() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void ObstacleMap::set_has_type() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void ObstacleMap::clear_has_type() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void ObstacleMap::clear_type() {
-  type_ = 0;
-  clear_has_type();
-}
-inline ::google::protobuf::int32 ObstacleMap::type() const {
-  return type_;
-}
-inline void ObstacleMap::set_type(::google::protobuf::int32 value) {
-  set_has_type();
-  type_ = value;
-}
-
-// optional float resolution = 3;
-inline bool ObstacleMap::has_resolution() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void ObstacleMap::set_has_resolution() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void ObstacleMap::clear_has_resolution() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void ObstacleMap::clear_resolution() {
-  resolution_ = 0;
-  clear_has_resolution();
-}
-inline float ObstacleMap::resolution() const {
-  return resolution_;
-}
-inline void ObstacleMap::set_resolution(float value) {
-  set_has_resolution();
-  resolution_ = value;
-}
-
-// optional int32 rows = 4;
-inline bool ObstacleMap::has_rows() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void ObstacleMap::set_has_rows() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void ObstacleMap::clear_has_rows() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void ObstacleMap::clear_rows() {
-  rows_ = 0;
-  clear_has_rows();
-}
-inline ::google::protobuf::int32 ObstacleMap::rows() const {
-  return rows_;
-}
-inline void ObstacleMap::set_rows(::google::protobuf::int32 value) {
-  set_has_rows();
-  rows_ = value;
-}
-
-// optional int32 cols = 5;
-inline bool ObstacleMap::has_cols() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void ObstacleMap::set_has_cols() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void ObstacleMap::clear_has_cols() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void ObstacleMap::clear_cols() {
-  cols_ = 0;
-  clear_has_cols();
-}
-inline ::google::protobuf::int32 ObstacleMap::cols() const {
-  return cols_;
-}
-inline void ObstacleMap::set_cols(::google::protobuf::int32 value) {
-  set_has_cols();
-  cols_ = value;
-}
-
-// optional int32 mapR0 = 6;
-inline bool ObstacleMap::has_mapr0() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void ObstacleMap::set_has_mapr0() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void ObstacleMap::clear_has_mapr0() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void ObstacleMap::clear_mapr0() {
-  mapr0_ = 0;
-  clear_has_mapr0();
-}
-inline ::google::protobuf::int32 ObstacleMap::mapr0() const {
-  return mapr0_;
-}
-inline void ObstacleMap::set_mapr0(::google::protobuf::int32 value) {
-  set_has_mapr0();
-  mapr0_ = value;
-}
-
-// optional int32 mapC0 = 7;
-inline bool ObstacleMap::has_mapc0() const {
-  return (_has_bits_[0] & 0x00000040u) != 0;
-}
-inline void ObstacleMap::set_has_mapc0() {
-  _has_bits_[0] |= 0x00000040u;
-}
-inline void ObstacleMap::clear_has_mapc0() {
-  _has_bits_[0] &= ~0x00000040u;
-}
-inline void ObstacleMap::clear_mapc0() {
-  mapc0_ = 0;
-  clear_has_mapc0();
-}
-inline ::google::protobuf::int32 ObstacleMap::mapc0() const {
-  return mapc0_;
-}
-inline void ObstacleMap::set_mapc0(::google::protobuf::int32 value) {
-  set_has_mapc0();
-  mapc0_ = value;
-}
-
-// optional int32 arrayR0 = 8;
-inline bool ObstacleMap::has_arrayr0() const {
-  return (_has_bits_[0] & 0x00000080u) != 0;
-}
-inline void ObstacleMap::set_has_arrayr0() {
-  _has_bits_[0] |= 0x00000080u;
-}
-inline void ObstacleMap::clear_has_arrayr0() {
-  _has_bits_[0] &= ~0x00000080u;
-}
-inline void ObstacleMap::clear_arrayr0() {
-  arrayr0_ = 0;
-  clear_has_arrayr0();
-}
-inline ::google::protobuf::int32 ObstacleMap::arrayr0() const {
-  return arrayr0_;
-}
-inline void ObstacleMap::set_arrayr0(::google::protobuf::int32 value) {
-  set_has_arrayr0();
-  arrayr0_ = value;
-}
-
-// optional int32 arrayC0 = 9;
-inline bool ObstacleMap::has_arrayc0() const {
-  return (_has_bits_[0] & 0x00000100u) != 0;
-}
-inline void ObstacleMap::set_has_arrayc0() {
-  _has_bits_[0] |= 0x00000100u;
-}
-inline void ObstacleMap::clear_has_arrayc0() {
-  _has_bits_[0] &= ~0x00000100u;
-}
-inline void ObstacleMap::clear_arrayc0() {
-  arrayc0_ = 0;
-  clear_has_arrayc0();
-}
-inline ::google::protobuf::int32 ObstacleMap::arrayc0() const {
-  return arrayc0_;
-}
-inline void ObstacleMap::set_arrayc0(::google::protobuf::int32 value) {
-  set_has_arrayc0();
-  arrayc0_ = value;
-}
-
-// optional bytes data = 10;
-inline bool ObstacleMap::has_data() const {
-  return (_has_bits_[0] & 0x00000200u) != 0;
-}
-inline void ObstacleMap::set_has_data() {
-  _has_bits_[0] |= 0x00000200u;
-}
-inline void ObstacleMap::clear_has_data() {
-  _has_bits_[0] &= ~0x00000200u;
-}
-inline void ObstacleMap::clear_data() {
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    data_->clear();
-  }
-  clear_has_data();
-}
-inline const ::std::string& ObstacleMap::data() const {
-  return *data_;
-}
-inline void ObstacleMap::set_data(const ::std::string& value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void ObstacleMap::set_data(const char* value) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(value);
-}
-inline void ObstacleMap::set_data(const void* value, size_t size) {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  data_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* ObstacleMap::mutable_data() {
-  set_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    data_ = new ::std::string;
-  }
-  return data_;
-}
-inline ::std::string* ObstacleMap::release_data() {
-  clear_has_data();
-  if (data_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = data_;
-    data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// -------------------------------------------------------------------
-
-// Path
-
-// required .px.HeaderInfo header = 1;
-inline bool Path::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void Path::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void Path::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void Path::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& Path::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* Path::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* Path::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.Waypoint waypoints = 2;
-inline int Path::waypoints_size() const {
-  return waypoints_.size();
-}
-inline void Path::clear_waypoints() {
-  waypoints_.Clear();
-}
-inline const ::px::Waypoint& Path::waypoints(int index) const {
-  return waypoints_.Get(index);
-}
-inline ::px::Waypoint* Path::mutable_waypoints(int index) {
-  return waypoints_.Mutable(index);
-}
-inline ::px::Waypoint* Path::add_waypoints() {
-  return waypoints_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::Waypoint >&
-Path::waypoints() const {
-  return waypoints_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::Waypoint >*
-Path::mutable_waypoints() {
-  return &waypoints_;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZI_PointXYZI
-
-// required float x = 1;
-inline bool PointCloudXYZI_PointXYZI::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline float PointCloudXYZI_PointXYZI::x() const {
-  return x_;
-}
-inline void PointCloudXYZI_PointXYZI::set_x(float value) {
-  set_has_x();
-  x_ = value;
-}
-
-// required float y = 2;
-inline bool PointCloudXYZI_PointXYZI::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline float PointCloudXYZI_PointXYZI::y() const {
-  return y_;
-}
-inline void PointCloudXYZI_PointXYZI::set_y(float value) {
-  set_has_y();
-  y_ = value;
-}
-
-// required float z = 3;
-inline bool PointCloudXYZI_PointXYZI::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline float PointCloudXYZI_PointXYZI::z() const {
-  return z_;
-}
-inline void PointCloudXYZI_PointXYZI::set_z(float value) {
-  set_has_z();
-  z_ = value;
-}
-
-// required float intensity = 4;
-inline bool PointCloudXYZI_PointXYZI::has_intensity() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void PointCloudXYZI_PointXYZI::set_has_intensity() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_has_intensity() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void PointCloudXYZI_PointXYZI::clear_intensity() {
-  intensity_ = 0;
-  clear_has_intensity();
-}
-inline float PointCloudXYZI_PointXYZI::intensity() const {
-  return intensity_;
-}
-inline void PointCloudXYZI_PointXYZI::set_intensity(float value) {
-  set_has_intensity();
-  intensity_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZI
-
-// required .px.HeaderInfo header = 1;
-inline bool PointCloudXYZI::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZI::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZI::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZI::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& PointCloudXYZI::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZI::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZI::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.PointCloudXYZI.PointXYZI points = 2;
-inline int PointCloudXYZI::points_size() const {
-  return points_.size();
-}
-inline void PointCloudXYZI::clear_points() {
-  points_.Clear();
-}
-inline const ::px::PointCloudXYZI_PointXYZI& PointCloudXYZI::points(int index) const {
-  return points_.Get(index);
-}
-inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::mutable_points(int index) {
-  return points_.Mutable(index);
-}
-inline ::px::PointCloudXYZI_PointXYZI* PointCloudXYZI::add_points() {
-  return points_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >&
-PointCloudXYZI::points() const {
-  return points_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZI_PointXYZI >*
-PointCloudXYZI::mutable_points() {
-  return &points_;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZRGB_PointXYZRGB
-
-// required float x = 1;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::x() const {
-  return x_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_x(float value) {
-  set_has_x();
-  x_ = value;
-}
-
-// required float y = 2;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::y() const {
-  return y_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_y(float value) {
-  set_has_y();
-  y_ = value;
-}
-
-// required float z = 3;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::z() const {
-  return z_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_z(float value) {
-  set_has_z();
-  z_ = value;
-}
-
-// required float rgb = 4;
-inline bool PointCloudXYZRGB_PointXYZRGB::has_rgb() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_has_rgb() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_has_rgb() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::clear_rgb() {
-  rgb_ = 0;
-  clear_has_rgb();
-}
-inline float PointCloudXYZRGB_PointXYZRGB::rgb() const {
-  return rgb_;
-}
-inline void PointCloudXYZRGB_PointXYZRGB::set_rgb(float value) {
-  set_has_rgb();
-  rgb_ = value;
-}
-
-// -------------------------------------------------------------------
-
-// PointCloudXYZRGB
-
-// required .px.HeaderInfo header = 1;
-inline bool PointCloudXYZRGB::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void PointCloudXYZRGB::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void PointCloudXYZRGB::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void PointCloudXYZRGB::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& PointCloudXYZRGB::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZRGB::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* PointCloudXYZRGB::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-inline int PointCloudXYZRGB::points_size() const {
-  return points_.size();
-}
-inline void PointCloudXYZRGB::clear_points() {
-  points_.Clear();
-}
-inline const ::px::PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB::points(int index) const {
-  return points_.Get(index);
-}
-inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::mutable_points(int index) {
-  return points_.Mutable(index);
-}
-inline ::px::PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB::add_points() {
-  return points_.Add();
-}
-inline const ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >&
-PointCloudXYZRGB::points() const {
-  return points_;
-}
-inline ::google::protobuf::RepeatedPtrField< ::px::PointCloudXYZRGB_PointXYZRGB >*
-PointCloudXYZRGB::mutable_points() {
-  return &points_;
-}
-
-// -------------------------------------------------------------------
-
-// RGBDImage
-
-// required .px.HeaderInfo header = 1;
-inline bool RGBDImage::has_header() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void RGBDImage::set_has_header() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void RGBDImage::clear_has_header() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void RGBDImage::clear_header() {
-  if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-  clear_has_header();
-}
-inline const ::px::HeaderInfo& RGBDImage::header() const {
-  return header_ != NULL ? *header_ : *default_instance_->header_;
-}
-inline ::px::HeaderInfo* RGBDImage::mutable_header() {
-  set_has_header();
-  if (header_ == NULL) header_ = new ::px::HeaderInfo;
-  return header_;
-}
-inline ::px::HeaderInfo* RGBDImage::release_header() {
-  clear_has_header();
-  ::px::HeaderInfo* temp = header_;
-  header_ = NULL;
-  return temp;
-}
-
-// required uint32 cols = 2;
-inline bool RGBDImage::has_cols() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void RGBDImage::set_has_cols() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void RGBDImage::clear_has_cols() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void RGBDImage::clear_cols() {
-  cols_ = 0u;
-  clear_has_cols();
-}
-inline ::google::protobuf::uint32 RGBDImage::cols() const {
-  return cols_;
-}
-inline void RGBDImage::set_cols(::google::protobuf::uint32 value) {
-  set_has_cols();
-  cols_ = value;
-}
-
-// required uint32 rows = 3;
-inline bool RGBDImage::has_rows() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void RGBDImage::set_has_rows() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void RGBDImage::clear_has_rows() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void RGBDImage::clear_rows() {
-  rows_ = 0u;
-  clear_has_rows();
-}
-inline ::google::protobuf::uint32 RGBDImage::rows() const {
-  return rows_;
-}
-inline void RGBDImage::set_rows(::google::protobuf::uint32 value) {
-  set_has_rows();
-  rows_ = value;
-}
-
-// required uint32 step1 = 4;
-inline bool RGBDImage::has_step1() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void RGBDImage::set_has_step1() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void RGBDImage::clear_has_step1() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void RGBDImage::clear_step1() {
-  step1_ = 0u;
-  clear_has_step1();
-}
-inline ::google::protobuf::uint32 RGBDImage::step1() const {
-  return step1_;
-}
-inline void RGBDImage::set_step1(::google::protobuf::uint32 value) {
-  set_has_step1();
-  step1_ = value;
-}
-
-// required uint32 type1 = 5;
-inline bool RGBDImage::has_type1() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void RGBDImage::set_has_type1() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void RGBDImage::clear_has_type1() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void RGBDImage::clear_type1() {
-  type1_ = 0u;
-  clear_has_type1();
-}
-inline ::google::protobuf::uint32 RGBDImage::type1() const {
-  return type1_;
-}
-inline void RGBDImage::set_type1(::google::protobuf::uint32 value) {
-  set_has_type1();
-  type1_ = value;
-}
-
-// required bytes imageData1 = 6;
-inline bool RGBDImage::has_imagedata1() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void RGBDImage::set_has_imagedata1() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void RGBDImage::clear_has_imagedata1() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void RGBDImage::clear_imagedata1() {
-  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
-    imagedata1_->clear();
-  }
-  clear_has_imagedata1();
-}
-inline const ::std::string& RGBDImage::imagedata1() const {
-  return *imagedata1_;
-}
-inline void RGBDImage::set_imagedata1(const ::std::string& value) {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  imagedata1_->assign(value);
-}
-inline void RGBDImage::set_imagedata1(const char* value) {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  imagedata1_->assign(value);
-}
-inline void RGBDImage::set_imagedata1(const void* value, size_t size) {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  imagedata1_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* RGBDImage::mutable_imagedata1() {
-  set_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata1_ = new ::std::string;
-  }
-  return imagedata1_;
-}
-inline ::std::string* RGBDImage::release_imagedata1() {
-  clear_has_imagedata1();
-  if (imagedata1_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = imagedata1_;
-    imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// required uint32 step2 = 7;
-inline bool RGBDImage::has_step2() const {
-  return (_has_bits_[0] & 0x00000040u) != 0;
-}
-inline void RGBDImage::set_has_step2() {
-  _has_bits_[0] |= 0x00000040u;
-}
-inline void RGBDImage::clear_has_step2() {
-  _has_bits_[0] &= ~0x00000040u;
-}
-inline void RGBDImage::clear_step2() {
-  step2_ = 0u;
-  clear_has_step2();
-}
-inline ::google::protobuf::uint32 RGBDImage::step2() const {
-  return step2_;
-}
-inline void RGBDImage::set_step2(::google::protobuf::uint32 value) {
-  set_has_step2();
-  step2_ = value;
-}
-
-// required uint32 type2 = 8;
-inline bool RGBDImage::has_type2() const {
-  return (_has_bits_[0] & 0x00000080u) != 0;
-}
-inline void RGBDImage::set_has_type2() {
-  _has_bits_[0] |= 0x00000080u;
-}
-inline void RGBDImage::clear_has_type2() {
-  _has_bits_[0] &= ~0x00000080u;
-}
-inline void RGBDImage::clear_type2() {
-  type2_ = 0u;
-  clear_has_type2();
-}
-inline ::google::protobuf::uint32 RGBDImage::type2() const {
-  return type2_;
-}
-inline void RGBDImage::set_type2(::google::protobuf::uint32 value) {
-  set_has_type2();
-  type2_ = value;
-}
-
-// required bytes imageData2 = 9;
-inline bool RGBDImage::has_imagedata2() const {
-  return (_has_bits_[0] & 0x00000100u) != 0;
-}
-inline void RGBDImage::set_has_imagedata2() {
-  _has_bits_[0] |= 0x00000100u;
-}
-inline void RGBDImage::clear_has_imagedata2() {
-  _has_bits_[0] &= ~0x00000100u;
-}
-inline void RGBDImage::clear_imagedata2() {
-  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
-    imagedata2_->clear();
-  }
-  clear_has_imagedata2();
-}
-inline const ::std::string& RGBDImage::imagedata2() const {
-  return *imagedata2_;
-}
-inline void RGBDImage::set_imagedata2(const ::std::string& value) {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  imagedata2_->assign(value);
-}
-inline void RGBDImage::set_imagedata2(const char* value) {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  imagedata2_->assign(value);
-}
-inline void RGBDImage::set_imagedata2(const void* value, size_t size) {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  imagedata2_->assign(reinterpret_cast<const char*>(value), size);
-}
-inline ::std::string* RGBDImage::mutable_imagedata2() {
-  set_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    imagedata2_ = new ::std::string;
-  }
-  return imagedata2_;
-}
-inline ::std::string* RGBDImage::release_imagedata2() {
-  clear_has_imagedata2();
-  if (imagedata2_ == &::google::protobuf::internal::kEmptyString) {
-    return NULL;
-  } else {
-    ::std::string* temp = imagedata2_;
-    imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-    return temp;
-  }
-}
-
-// optional uint32 camera_config = 10;
-inline bool RGBDImage::has_camera_config() const {
-  return (_has_bits_[0] & 0x00000200u) != 0;
-}
-inline void RGBDImage::set_has_camera_config() {
-  _has_bits_[0] |= 0x00000200u;
-}
-inline void RGBDImage::clear_has_camera_config() {
-  _has_bits_[0] &= ~0x00000200u;
-}
-inline void RGBDImage::clear_camera_config() {
-  camera_config_ = 0u;
-  clear_has_camera_config();
-}
-inline ::google::protobuf::uint32 RGBDImage::camera_config() const {
-  return camera_config_;
-}
-inline void RGBDImage::set_camera_config(::google::protobuf::uint32 value) {
-  set_has_camera_config();
-  camera_config_ = value;
-}
-
-// optional uint32 camera_type = 11;
-inline bool RGBDImage::has_camera_type() const {
-  return (_has_bits_[0] & 0x00000400u) != 0;
-}
-inline void RGBDImage::set_has_camera_type() {
-  _has_bits_[0] |= 0x00000400u;
-}
-inline void RGBDImage::clear_has_camera_type() {
-  _has_bits_[0] &= ~0x00000400u;
-}
-inline void RGBDImage::clear_camera_type() {
-  camera_type_ = 0u;
-  clear_has_camera_type();
-}
-inline ::google::protobuf::uint32 RGBDImage::camera_type() const {
-  return camera_type_;
-}
-inline void RGBDImage::set_camera_type(::google::protobuf::uint32 value) {
-  set_has_camera_type();
-  camera_type_ = value;
-}
-
-// optional float roll = 12;
-inline bool RGBDImage::has_roll() const {
-  return (_has_bits_[0] & 0x00000800u) != 0;
-}
-inline void RGBDImage::set_has_roll() {
-  _has_bits_[0] |= 0x00000800u;
-}
-inline void RGBDImage::clear_has_roll() {
-  _has_bits_[0] &= ~0x00000800u;
-}
-inline void RGBDImage::clear_roll() {
-  roll_ = 0;
-  clear_has_roll();
-}
-inline float RGBDImage::roll() const {
-  return roll_;
-}
-inline void RGBDImage::set_roll(float value) {
-  set_has_roll();
-  roll_ = value;
-}
-
-// optional float pitch = 13;
-inline bool RGBDImage::has_pitch() const {
-  return (_has_bits_[0] & 0x00001000u) != 0;
-}
-inline void RGBDImage::set_has_pitch() {
-  _has_bits_[0] |= 0x00001000u;
-}
-inline void RGBDImage::clear_has_pitch() {
-  _has_bits_[0] &= ~0x00001000u;
-}
-inline void RGBDImage::clear_pitch() {
-  pitch_ = 0;
-  clear_has_pitch();
-}
-inline float RGBDImage::pitch() const {
-  return pitch_;
-}
-inline void RGBDImage::set_pitch(float value) {
-  set_has_pitch();
-  pitch_ = value;
-}
-
-// optional float yaw = 14;
-inline bool RGBDImage::has_yaw() const {
-  return (_has_bits_[0] & 0x00002000u) != 0;
-}
-inline void RGBDImage::set_has_yaw() {
-  _has_bits_[0] |= 0x00002000u;
-}
-inline void RGBDImage::clear_has_yaw() {
-  _has_bits_[0] &= ~0x00002000u;
-}
-inline void RGBDImage::clear_yaw() {
-  yaw_ = 0;
-  clear_has_yaw();
-}
-inline float RGBDImage::yaw() const {
-  return yaw_;
-}
-inline void RGBDImage::set_yaw(float value) {
-  set_has_yaw();
-  yaw_ = value;
-}
-
-// optional float lon = 15;
-inline bool RGBDImage::has_lon() const {
-  return (_has_bits_[0] & 0x00004000u) != 0;
-}
-inline void RGBDImage::set_has_lon() {
-  _has_bits_[0] |= 0x00004000u;
-}
-inline void RGBDImage::clear_has_lon() {
-  _has_bits_[0] &= ~0x00004000u;
-}
-inline void RGBDImage::clear_lon() {
-  lon_ = 0;
-  clear_has_lon();
-}
-inline float RGBDImage::lon() const {
-  return lon_;
-}
-inline void RGBDImage::set_lon(float value) {
-  set_has_lon();
-  lon_ = value;
-}
-
-// optional float lat = 16;
-inline bool RGBDImage::has_lat() const {
-  return (_has_bits_[0] & 0x00008000u) != 0;
-}
-inline void RGBDImage::set_has_lat() {
-  _has_bits_[0] |= 0x00008000u;
-}
-inline void RGBDImage::clear_has_lat() {
-  _has_bits_[0] &= ~0x00008000u;
-}
-inline void RGBDImage::clear_lat() {
-  lat_ = 0;
-  clear_has_lat();
-}
-inline float RGBDImage::lat() const {
-  return lat_;
-}
-inline void RGBDImage::set_lat(float value) {
-  set_has_lat();
-  lat_ = value;
-}
-
-// optional float alt = 17;
-inline bool RGBDImage::has_alt() const {
-  return (_has_bits_[0] & 0x00010000u) != 0;
-}
-inline void RGBDImage::set_has_alt() {
-  _has_bits_[0] |= 0x00010000u;
-}
-inline void RGBDImage::clear_has_alt() {
-  _has_bits_[0] &= ~0x00010000u;
-}
-inline void RGBDImage::clear_alt() {
-  alt_ = 0;
-  clear_has_alt();
-}
-inline float RGBDImage::alt() const {
-  return alt_;
-}
-inline void RGBDImage::set_alt(float value) {
-  set_has_alt();
-  alt_ = value;
-}
-
-// optional float ground_x = 18;
-inline bool RGBDImage::has_ground_x() const {
-  return (_has_bits_[0] & 0x00020000u) != 0;
-}
-inline void RGBDImage::set_has_ground_x() {
-  _has_bits_[0] |= 0x00020000u;
-}
-inline void RGBDImage::clear_has_ground_x() {
-  _has_bits_[0] &= ~0x00020000u;
-}
-inline void RGBDImage::clear_ground_x() {
-  ground_x_ = 0;
-  clear_has_ground_x();
-}
-inline float RGBDImage::ground_x() const {
-  return ground_x_;
-}
-inline void RGBDImage::set_ground_x(float value) {
-  set_has_ground_x();
-  ground_x_ = value;
-}
-
-// optional float ground_y = 19;
-inline bool RGBDImage::has_ground_y() const {
-  return (_has_bits_[0] & 0x00040000u) != 0;
-}
-inline void RGBDImage::set_has_ground_y() {
-  _has_bits_[0] |= 0x00040000u;
-}
-inline void RGBDImage::clear_has_ground_y() {
-  _has_bits_[0] &= ~0x00040000u;
-}
-inline void RGBDImage::clear_ground_y() {
-  ground_y_ = 0;
-  clear_has_ground_y();
-}
-inline float RGBDImage::ground_y() const {
-  return ground_y_;
-}
-inline void RGBDImage::set_ground_y(float value) {
-  set_has_ground_y();
-  ground_y_ = value;
-}
-
-// optional float ground_z = 20;
-inline bool RGBDImage::has_ground_z() const {
-  return (_has_bits_[0] & 0x00080000u) != 0;
-}
-inline void RGBDImage::set_has_ground_z() {
-  _has_bits_[0] |= 0x00080000u;
-}
-inline void RGBDImage::clear_has_ground_z() {
-  _has_bits_[0] &= ~0x00080000u;
-}
-inline void RGBDImage::clear_ground_z() {
-  ground_z_ = 0;
-  clear_has_ground_z();
-}
-inline float RGBDImage::ground_z() const {
-  return ground_z_;
-}
-inline void RGBDImage::set_ground_z(float value) {
-  set_has_ground_z();
-  ground_z_ = value;
-}
-
-// repeated float camera_matrix = 21;
-inline int RGBDImage::camera_matrix_size() const {
-  return camera_matrix_.size();
-}
-inline void RGBDImage::clear_camera_matrix() {
-  camera_matrix_.Clear();
-}
-inline float RGBDImage::camera_matrix(int index) const {
-  return camera_matrix_.Get(index);
-}
-inline void RGBDImage::set_camera_matrix(int index, float value) {
-  camera_matrix_.Set(index, value);
-}
-inline void RGBDImage::add_camera_matrix(float value) {
-  camera_matrix_.Add(value);
-}
-inline const ::google::protobuf::RepeatedField< float >&
-RGBDImage::camera_matrix() const {
-  return camera_matrix_;
-}
-inline ::google::protobuf::RepeatedField< float >*
-RGBDImage::mutable_camera_matrix() {
-  return &camera_matrix_;
-}
-
-// -------------------------------------------------------------------
-
-// Waypoint
-
-// required double x = 1;
-inline bool Waypoint::has_x() const {
-  return (_has_bits_[0] & 0x00000001u) != 0;
-}
-inline void Waypoint::set_has_x() {
-  _has_bits_[0] |= 0x00000001u;
-}
-inline void Waypoint::clear_has_x() {
-  _has_bits_[0] &= ~0x00000001u;
-}
-inline void Waypoint::clear_x() {
-  x_ = 0;
-  clear_has_x();
-}
-inline double Waypoint::x() const {
-  return x_;
-}
-inline void Waypoint::set_x(double value) {
-  set_has_x();
-  x_ = value;
-}
-
-// required double y = 2;
-inline bool Waypoint::has_y() const {
-  return (_has_bits_[0] & 0x00000002u) != 0;
-}
-inline void Waypoint::set_has_y() {
-  _has_bits_[0] |= 0x00000002u;
-}
-inline void Waypoint::clear_has_y() {
-  _has_bits_[0] &= ~0x00000002u;
-}
-inline void Waypoint::clear_y() {
-  y_ = 0;
-  clear_has_y();
-}
-inline double Waypoint::y() const {
-  return y_;
-}
-inline void Waypoint::set_y(double value) {
-  set_has_y();
-  y_ = value;
-}
-
-// optional double z = 3;
-inline bool Waypoint::has_z() const {
-  return (_has_bits_[0] & 0x00000004u) != 0;
-}
-inline void Waypoint::set_has_z() {
-  _has_bits_[0] |= 0x00000004u;
-}
-inline void Waypoint::clear_has_z() {
-  _has_bits_[0] &= ~0x00000004u;
-}
-inline void Waypoint::clear_z() {
-  z_ = 0;
-  clear_has_z();
-}
-inline double Waypoint::z() const {
-  return z_;
-}
-inline void Waypoint::set_z(double value) {
-  set_has_z();
-  z_ = value;
-}
-
-// optional double roll = 4;
-inline bool Waypoint::has_roll() const {
-  return (_has_bits_[0] & 0x00000008u) != 0;
-}
-inline void Waypoint::set_has_roll() {
-  _has_bits_[0] |= 0x00000008u;
-}
-inline void Waypoint::clear_has_roll() {
-  _has_bits_[0] &= ~0x00000008u;
-}
-inline void Waypoint::clear_roll() {
-  roll_ = 0;
-  clear_has_roll();
-}
-inline double Waypoint::roll() const {
-  return roll_;
-}
-inline void Waypoint::set_roll(double value) {
-  set_has_roll();
-  roll_ = value;
-}
-
-// optional double pitch = 5;
-inline bool Waypoint::has_pitch() const {
-  return (_has_bits_[0] & 0x00000010u) != 0;
-}
-inline void Waypoint::set_has_pitch() {
-  _has_bits_[0] |= 0x00000010u;
-}
-inline void Waypoint::clear_has_pitch() {
-  _has_bits_[0] &= ~0x00000010u;
-}
-inline void Waypoint::clear_pitch() {
-  pitch_ = 0;
-  clear_has_pitch();
-}
-inline double Waypoint::pitch() const {
-  return pitch_;
-}
-inline void Waypoint::set_pitch(double value) {
-  set_has_pitch();
-  pitch_ = value;
-}
-
-// optional double yaw = 6;
-inline bool Waypoint::has_yaw() const {
-  return (_has_bits_[0] & 0x00000020u) != 0;
-}
-inline void Waypoint::set_has_yaw() {
-  _has_bits_[0] |= 0x00000020u;
-}
-inline void Waypoint::clear_has_yaw() {
-  _has_bits_[0] &= ~0x00000020u;
-}
-inline void Waypoint::clear_yaw() {
-  yaw_ = 0;
-  clear_has_yaw();
-}
-inline double Waypoint::yaw() const {
-  return yaw_;
-}
-inline void Waypoint::set_yaw(double value) {
-  set_has_yaw();
-  yaw_ = value;
-}
-
-
-// @@protoc_insertion_point(namespace_scope)
-
-}  // namespace px
-
-#ifndef SWIG
-namespace google {
-namespace protobuf {
-
-template <>
-inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_CoordinateFrameType>() {
-  return ::px::GLOverlay_CoordinateFrameType_descriptor();
-}
-template <>
-inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_Mode>() {
-  return ::px::GLOverlay_Mode_descriptor();
-}
-template <>
-inline const EnumDescriptor* GetEnumDescriptor< ::px::GLOverlay_Identifier>() {
-  return ::px::GLOverlay_Identifier_descriptor();
-}
-
-}  // namespace google
-}  // namespace protobuf
-#endif  // SWIG
-
-// @@protoc_insertion_point(global_scope)
-
-#endif  // PROTOBUF_pixhawk_2eproto__INCLUDED
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/protocol.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/protocol.h
deleted file mode 100644
index 7b3e3c0bd..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/protocol.h
+++ /dev/null
@@ -1,322 +0,0 @@
-#ifndef  _MAVLINK_PROTOCOL_H_
-#define  _MAVLINK_PROTOCOL_H_
-
-#include "string.h"
-#include "mavlink_types.h"
-
-/* 
-   If you want MAVLink on a system that is native big-endian,
-   you need to define NATIVE_BIG_ENDIAN
-*/
-#ifdef NATIVE_BIG_ENDIAN
-# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN)
-#else
-# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN)
-#endif
-
-#ifndef MAVLINK_STACK_BUFFER
-#define MAVLINK_STACK_BUFFER 0
-#endif
-
-#ifndef MAVLINK_AVOID_GCC_STACK_BUG
-# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__)
-#endif
-
-#ifndef MAVLINK_ASSERT
-#define MAVLINK_ASSERT(x)
-#endif
-
-#ifndef MAVLINK_START_UART_SEND
-#define MAVLINK_START_UART_SEND(chan, length)
-#endif
-
-#ifndef MAVLINK_END_UART_SEND
-#define MAVLINK_END_UART_SEND(chan, length)
-#endif
-
-#ifdef MAVLINK_SEPARATE_HELPERS
-#define MAVLINK_HELPER
-#else
-#define MAVLINK_HELPER static inline
-#include "mavlink_helpers.h"
-#endif // MAVLINK_SEPARATE_HELPERS
-
-/* 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);
-#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);
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length, uint8_t crc_extra);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
-						    uint8_t length, uint8_t crc_extra);
-#endif
-#else
-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);
-MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
-						 uint8_t length);
-MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
-#endif // MAVLINK_CRC_EXTRA
-MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
-MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
-MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
-MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
-MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, 
-					       uint8_t* r_bit_index, uint8_t* buffer);
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len);
-#endif
-
-/**
- * @brief Get the required buffer size for this message
- */
-static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg)
-{
-	return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-static inline void byte_swap_2(char *dst, const char *src)
-{
-	dst[0] = src[1];
-	dst[1] = src[0];
-}
-static inline void byte_swap_4(char *dst, const char *src)
-{
-	dst[0] = src[3];
-	dst[1] = src[2];
-	dst[2] = src[1];
-	dst[3] = src[0];
-}
-static inline void byte_swap_8(char *dst, const char *src)
-{
-	dst[0] = src[7];
-	dst[1] = src[6];
-	dst[2] = src[5];
-	dst[3] = src[4];
-	dst[4] = src[3];
-	dst[5] = src[2];
-	dst[6] = src[1];
-	dst[7] = src[0];
-}
-#elif !MAVLINK_ALIGNED_FIELDS
-static inline void byte_copy_2(char *dst, const char *src)
-{
-	dst[0] = src[0];
-	dst[1] = src[1];
-}
-static inline void byte_copy_4(char *dst, const char *src)
-{
-	dst[0] = src[0];
-	dst[1] = src[1];
-	dst[2] = src[2];
-	dst[3] = src[3];
-}
-static inline void byte_copy_8(char *dst, const char *src)
-{
-	memcpy(dst, src, 8);
-}
-#endif
-
-#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b
-#define _mav_put_int8_t(buf, wire_offset, b)  buf[wire_offset] = (int8_t)b
-#define _mav_put_char(buf, wire_offset, b)    buf[wire_offset] = b
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int16_t(buf, wire_offset, b)  byte_swap_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int32_t(buf, wire_offset, b)  byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int64_t(buf, wire_offset, b)  byte_swap_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_float(buf, wire_offset, b)    byte_swap_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_double(buf, wire_offset, b)   byte_swap_8(&buf[wire_offset], (const char *)&b)
-#elif !MAVLINK_ALIGNED_FIELDS
-#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int16_t(buf, wire_offset, b)  byte_copy_2(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int32_t(buf, wire_offset, b)  byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_int64_t(buf, wire_offset, b)  byte_copy_8(&buf[wire_offset], (const char *)&b)
-#define _mav_put_float(buf, wire_offset, b)    byte_copy_4(&buf[wire_offset], (const char *)&b)
-#define _mav_put_double(buf, wire_offset, b)   byte_copy_8(&buf[wire_offset], (const char *)&b)
-#else
-#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b
-#define _mav_put_int16_t(buf, wire_offset, b)  *(int16_t *)&buf[wire_offset] = b
-#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b
-#define _mav_put_int32_t(buf, wire_offset, b)  *(int32_t *)&buf[wire_offset] = b
-#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b
-#define _mav_put_int64_t(buf, wire_offset, b)  *(int64_t *)&buf[wire_offset] = b
-#define _mav_put_float(buf, wire_offset, b)    *(float *)&buf[wire_offset] = b
-#define _mav_put_double(buf, wire_offset, b)   *(double *)&buf[wire_offset] = b
-#endif
-
-/*
-  like memcpy(), but if src is NULL, do a memset to zero
-*/
-static void mav_array_memcpy(void *dest, const void *src, size_t n)
-{
-	if (src == NULL) {
-		memset(dest, 0, n);
-	} else {
-		memcpy(dest, src, n);
-	}
-}
-
-/*
- * Place a char array into a buffer
- */
-static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-
-}
-
-/*
- * Place a uint8_t array into a buffer
- */
-static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-
-}
-
-/*
- * Place a int8_t array into a buffer
- */
-static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length)
-{
-	mav_array_memcpy(&buf[wire_offset], b, array_length);
-
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_PUT_ARRAY(TYPE, V) \
-static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
-{ \
-	if (b == NULL) { \
-		memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \
-	} else { \
-		uint16_t i; \
-		for (i=0; i<array_length; i++) { \
-			_mav_put_## TYPE (buf, wire_offset+(i*sizeof(TYPE)), b[i]); \
-		} \
-	} \
-}
-#else
-#define _MAV_PUT_ARRAY(TYPE, V)					\
-static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \
-{ \
-	mav_array_memcpy(&buf[wire_offset], b, array_length*sizeof(TYPE)); \
-}
-#endif
-
-_MAV_PUT_ARRAY(uint16_t, u16)
-_MAV_PUT_ARRAY(uint32_t, u32)
-_MAV_PUT_ARRAY(uint64_t, u64)
-_MAV_PUT_ARRAY(int16_t,  i16)
-_MAV_PUT_ARRAY(int32_t,  i32)
-_MAV_PUT_ARRAY(int64_t,  i64)
-_MAV_PUT_ARRAY(float,    f)
-_MAV_PUT_ARRAY(double,   d)
-
-#define _MAV_RETURN_char(msg, wire_offset)             (const char)_MAV_PAYLOAD(msg)[wire_offset]
-#define _MAV_RETURN_int8_t(msg, wire_offset)   (const int8_t)_MAV_PAYLOAD(msg)[wire_offset]
-#define _MAV_RETURN_uint8_t(msg, wire_offset) (const uint8_t)_MAV_PAYLOAD(msg)[wire_offset]
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ TYPE r; byte_swap_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
-
-_MAV_MSG_RETURN_TYPE(uint16_t, 2)
-_MAV_MSG_RETURN_TYPE(int16_t,  2)
-_MAV_MSG_RETURN_TYPE(uint32_t, 4)
-_MAV_MSG_RETURN_TYPE(int32_t,  4)
-_MAV_MSG_RETURN_TYPE(uint64_t, 8)
-_MAV_MSG_RETURN_TYPE(int64_t,  8)
-_MAV_MSG_RETURN_TYPE(float,    4)
-_MAV_MSG_RETURN_TYPE(double,   8)
-
-#elif !MAVLINK_ALIGNED_FIELDS
-#define _MAV_MSG_RETURN_TYPE(TYPE, SIZE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ TYPE r; byte_copy_## SIZE((char*)&r, &_MAV_PAYLOAD(msg)[ofs]); return r; }
-
-_MAV_MSG_RETURN_TYPE(uint16_t, 2)
-_MAV_MSG_RETURN_TYPE(int16_t,  2)
-_MAV_MSG_RETURN_TYPE(uint32_t, 4)
-_MAV_MSG_RETURN_TYPE(int32_t,  4)
-_MAV_MSG_RETURN_TYPE(uint64_t, 8)
-_MAV_MSG_RETURN_TYPE(int64_t,  8)
-_MAV_MSG_RETURN_TYPE(float,    4)
-_MAV_MSG_RETURN_TYPE(double,   8)
-#else // nicely aligned, no swap
-#define _MAV_MSG_RETURN_TYPE(TYPE) \
-static inline TYPE _MAV_RETURN_## TYPE(const mavlink_message_t *msg, uint8_t ofs) \
-{ return *(const TYPE *)(&_MAV_PAYLOAD(msg)[ofs]);}
-
-_MAV_MSG_RETURN_TYPE(uint16_t)
-_MAV_MSG_RETURN_TYPE(int16_t)
-_MAV_MSG_RETURN_TYPE(uint32_t)
-_MAV_MSG_RETURN_TYPE(int32_t)
-_MAV_MSG_RETURN_TYPE(uint64_t)
-_MAV_MSG_RETURN_TYPE(int64_t)
-_MAV_MSG_RETURN_TYPE(float)
-_MAV_MSG_RETURN_TYPE(double)
-#endif // MAVLINK_NEED_BYTE_SWAP
-
-static inline uint16_t _MAV_RETURN_char_array(const mavlink_message_t *msg, char *value, 
-						     uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-static inline uint16_t _MAV_RETURN_uint8_t_array(const mavlink_message_t *msg, uint8_t *value, 
-							uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-static inline uint16_t _MAV_RETURN_int8_t_array(const mavlink_message_t *msg, int8_t *value, 
-						       uint8_t array_length, uint8_t wire_offset)
-{
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length);
-	return array_length;
-}
-
-#if MAVLINK_NEED_BYTE_SWAP
-#define _MAV_RETURN_ARRAY(TYPE, V) \
-static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
-							 uint8_t array_length, uint8_t wire_offset) \
-{ \
-	uint16_t i; \
-	for (i=0; i<array_length; i++) { \
-		value[i] = _MAV_RETURN_## TYPE (msg, wire_offset+(i*sizeof(value[0]))); \
-	} \
-	return array_length*sizeof(value[0]); \
-}
-#else
-#define _MAV_RETURN_ARRAY(TYPE, V)					\
-static inline uint16_t _MAV_RETURN_## TYPE ##_array(const mavlink_message_t *msg, TYPE *value, \
-							 uint8_t array_length, uint8_t wire_offset) \
-{ \
-	memcpy(value, &_MAV_PAYLOAD(msg)[wire_offset], array_length*sizeof(TYPE)); \
-	return array_length*sizeof(TYPE); \
-}
-#endif
-
-_MAV_RETURN_ARRAY(uint16_t, u16)
-_MAV_RETURN_ARRAY(uint32_t, u32)
-_MAV_RETURN_ARRAY(uint64_t, u64)
-_MAV_RETURN_ARRAY(int16_t,  i16)
-_MAV_RETURN_ARRAY(int32_t,  i32)
-_MAV_RETURN_ARRAY(int64_t,  i64)
-_MAV_RETURN_ARRAY(float,    f)
-_MAV_RETURN_ARRAY(double,   d)
-
-#endif // _MAVLINK_PROTOCOL_H_
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink.h
deleted file mode 100644
index e596b8fba..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from test.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "test.h"
-
-#endif // MAVLINK_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
deleted file mode 100644
index 2a3a89ff9..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
+++ /dev/null
@@ -1,610 +0,0 @@
-// MESSAGE TEST_TYPES PACKING
-
-#define MAVLINK_MSG_ID_TEST_TYPES 0
-
-typedef struct __mavlink_test_types_t
-{
- uint64_t u64; ///< uint64_t
- int64_t s64; ///< int64_t
- double d; ///< double
- uint64_t u64_array[3]; ///< uint64_t_array
- int64_t s64_array[3]; ///< int64_t_array
- double d_array[3]; ///< double_array
- uint32_t u32; ///< uint32_t
- int32_t s32; ///< int32_t
- float f; ///< float
- uint32_t u32_array[3]; ///< uint32_t_array
- int32_t s32_array[3]; ///< int32_t_array
- float f_array[3]; ///< float_array
- uint16_t u16; ///< uint16_t
- int16_t s16; ///< int16_t
- uint16_t u16_array[3]; ///< uint16_t_array
- int16_t s16_array[3]; ///< int16_t_array
- char c; ///< char
- char s[10]; ///< string
- uint8_t u8; ///< uint8_t
- int8_t s8; ///< int8_t
- uint8_t u8_array[3]; ///< uint8_t_array
- int8_t s8_array[3]; ///< int8_t_array
-} mavlink_test_types_t;
-
-#define MAVLINK_MSG_ID_TEST_TYPES_LEN 179
-#define MAVLINK_MSG_ID_0_LEN 179
-
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U64_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S64_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_D_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U32_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S32_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_F_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U16_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S16_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S_LEN 10
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U8_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S8_ARRAY_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_TEST_TYPES { \
-	"TEST_TYPES", \
-	22, \
-	{  { "u64", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_test_types_t, u64) }, \
-         { "s64", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_test_types_t, s64) }, \
-         { "d", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_test_types_t, d) }, \
-         { "u64_array", NULL, MAVLINK_TYPE_UINT64_T, 3, 24, offsetof(mavlink_test_types_t, u64_array) }, \
-         { "s64_array", NULL, MAVLINK_TYPE_INT64_T, 3, 48, offsetof(mavlink_test_types_t, s64_array) }, \
-         { "d_array", NULL, MAVLINK_TYPE_DOUBLE, 3, 72, offsetof(mavlink_test_types_t, d_array) }, \
-         { "u32", "0x%08x", MAVLINK_TYPE_UINT32_T, 0, 96, offsetof(mavlink_test_types_t, u32) }, \
-         { "s32", NULL, MAVLINK_TYPE_INT32_T, 0, 100, offsetof(mavlink_test_types_t, s32) }, \
-         { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 104, offsetof(mavlink_test_types_t, f) }, \
-         { "u32_array", NULL, MAVLINK_TYPE_UINT32_T, 3, 108, offsetof(mavlink_test_types_t, u32_array) }, \
-         { "s32_array", NULL, MAVLINK_TYPE_INT32_T, 3, 120, offsetof(mavlink_test_types_t, s32_array) }, \
-         { "f_array", NULL, MAVLINK_TYPE_FLOAT, 3, 132, offsetof(mavlink_test_types_t, f_array) }, \
-         { "u16", NULL, MAVLINK_TYPE_UINT16_T, 0, 144, offsetof(mavlink_test_types_t, u16) }, \
-         { "s16", NULL, MAVLINK_TYPE_INT16_T, 0, 146, offsetof(mavlink_test_types_t, s16) }, \
-         { "u16_array", NULL, MAVLINK_TYPE_UINT16_T, 3, 148, offsetof(mavlink_test_types_t, u16_array) }, \
-         { "s16_array", NULL, MAVLINK_TYPE_INT16_T, 3, 154, offsetof(mavlink_test_types_t, s16_array) }, \
-         { "c", NULL, MAVLINK_TYPE_CHAR, 0, 160, offsetof(mavlink_test_types_t, c) }, \
-         { "s", NULL, MAVLINK_TYPE_CHAR, 10, 161, offsetof(mavlink_test_types_t, s) }, \
-         { "u8", NULL, MAVLINK_TYPE_UINT8_T, 0, 171, offsetof(mavlink_test_types_t, u8) }, \
-         { "s8", NULL, MAVLINK_TYPE_INT8_T, 0, 172, offsetof(mavlink_test_types_t, s8) }, \
-         { "u8_array", NULL, MAVLINK_TYPE_UINT8_T, 3, 173, offsetof(mavlink_test_types_t, u8_array) }, \
-         { "s8_array", NULL, MAVLINK_TYPE_INT8_T, 3, 176, offsetof(mavlink_test_types_t, s8_array) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a test_types 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 c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_uint64_t(buf, 0, u64);
-	_mav_put_int64_t(buf, 8, s64);
-	_mav_put_double(buf, 16, d);
-	_mav_put_uint32_t(buf, 96, u32);
-	_mav_put_int32_t(buf, 100, s32);
-	_mav_put_float(buf, 104, f);
-	_mav_put_uint16_t(buf, 144, u16);
-	_mav_put_int16_t(buf, 146, s16);
-	_mav_put_char(buf, 160, c);
-	_mav_put_uint8_t(buf, 171, u8);
-	_mav_put_int8_t(buf, 172, s8);
-	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
-	_mav_put_int64_t_array(buf, 48, s64_array, 3);
-	_mav_put_double_array(buf, 72, d_array, 3);
-	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
-	_mav_put_int32_t_array(buf, 120, s32_array, 3);
-	_mav_put_float_array(buf, 132, f_array, 3);
-	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
-	_mav_put_int16_t_array(buf, 154, s16_array, 3);
-	_mav_put_char_array(buf, 161, s, 10);
-	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
-	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.u64 = u64;
-	packet.s64 = s64;
-	packet.d = d;
-	packet.u32 = u32;
-	packet.s32 = s32;
-	packet.f = f;
-	packet.u16 = u16;
-	packet.s16 = s16;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.s8 = s8;
-	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
-	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	mav_array_memcpy(packet.s, s, sizeof(char)*10);
-	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
-	return mavlink_finalize_message(msg, system_id, component_id, 179, 103);
-}
-
-/**
- * @brief Pack a test_types 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 c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           char c,const char *s,uint8_t u8,uint16_t u16,uint32_t u32,uint64_t u64,int8_t s8,int16_t s16,int32_t s32,int64_t s64,float f,double d,const uint8_t *u8_array,const uint16_t *u16_array,const uint32_t *u32_array,const uint64_t *u64_array,const int8_t *s8_array,const int16_t *s16_array,const int32_t *s32_array,const int64_t *s64_array,const float *f_array,const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_uint64_t(buf, 0, u64);
-	_mav_put_int64_t(buf, 8, s64);
-	_mav_put_double(buf, 16, d);
-	_mav_put_uint32_t(buf, 96, u32);
-	_mav_put_int32_t(buf, 100, s32);
-	_mav_put_float(buf, 104, f);
-	_mav_put_uint16_t(buf, 144, u16);
-	_mav_put_int16_t(buf, 146, s16);
-	_mav_put_char(buf, 160, c);
-	_mav_put_uint8_t(buf, 171, u8);
-	_mav_put_int8_t(buf, 172, s8);
-	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
-	_mav_put_int64_t_array(buf, 48, s64_array, 3);
-	_mav_put_double_array(buf, 72, d_array, 3);
-	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
-	_mav_put_int32_t_array(buf, 120, s32_array, 3);
-	_mav_put_float_array(buf, 132, f_array, 3);
-	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
-	_mav_put_int16_t_array(buf, 154, s16_array, 3);
-	_mav_put_char_array(buf, 161, s, 10);
-	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
-	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.u64 = u64;
-	packet.s64 = s64;
-	packet.d = d;
-	packet.u32 = u32;
-	packet.s32 = s32;
-	packet.f = f;
-	packet.u16 = u16;
-	packet.s16 = s16;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.s8 = s8;
-	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
-	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	mav_array_memcpy(packet.s, s, sizeof(char)*10);
-	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 179, 103);
-}
-
-/**
- * @brief Encode a test_types 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 test_types C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_test_types_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_test_types_t* test_types)
-{
-	return mavlink_msg_test_types_pack(system_id, component_id, msg, test_types->c, test_types->s, test_types->u8, test_types->u16, test_types->u32, test_types->u64, test_types->s8, test_types->s16, test_types->s32, test_types->s64, test_types->f, test_types->d, test_types->u8_array, test_types->u16_array, test_types->u32_array, test_types->u64_array, test_types->s8_array, test_types->s16_array, test_types->s32_array, test_types->s64_array, test_types->f_array, test_types->d_array);
-}
-
-/**
- * @brief Send a test_types message
- * @param chan MAVLink channel to send the message
- *
- * @param c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_test_types_send(mavlink_channel_t chan, char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_uint64_t(buf, 0, u64);
-	_mav_put_int64_t(buf, 8, s64);
-	_mav_put_double(buf, 16, d);
-	_mav_put_uint32_t(buf, 96, u32);
-	_mav_put_int32_t(buf, 100, s32);
-	_mav_put_float(buf, 104, f);
-	_mav_put_uint16_t(buf, 144, u16);
-	_mav_put_int16_t(buf, 146, s16);
-	_mav_put_char(buf, 160, c);
-	_mav_put_uint8_t(buf, 171, u8);
-	_mav_put_int8_t(buf, 172, s8);
-	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
-	_mav_put_int64_t_array(buf, 48, s64_array, 3);
-	_mav_put_double_array(buf, 72, d_array, 3);
-	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
-	_mav_put_int32_t_array(buf, 120, s32_array, 3);
-	_mav_put_float_array(buf, 132, f_array, 3);
-	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
-	_mav_put_int16_t_array(buf, 154, s16_array, 3);
-	_mav_put_char_array(buf, 161, s, 10);
-	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
-	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, buf, 179, 103);
-#else
-	mavlink_test_types_t packet;
-	packet.u64 = u64;
-	packet.s64 = s64;
-	packet.d = d;
-	packet.u32 = u32;
-	packet.s32 = s32;
-	packet.f = f;
-	packet.u16 = u16;
-	packet.s16 = s16;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.s8 = s8;
-	mav_array_memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-	mav_array_memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	mav_array_memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
-	mav_array_memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	mav_array_memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	mav_array_memcpy(packet.s, s, sizeof(char)*10);
-	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, (const char *)&packet, 179, 103);
-#endif
-}
-
-#endif
-
-// MESSAGE TEST_TYPES UNPACKING
-
-
-/**
- * @brief Get field c from test_types message
- *
- * @return char
- */
-static inline char mavlink_msg_test_types_get_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_char(msg,  160);
-}
-
-/**
- * @brief Get field s from test_types message
- *
- * @return string
- */
-static inline uint16_t mavlink_msg_test_types_get_s(const mavlink_message_t* msg, char *s)
-{
-	return _MAV_RETURN_char_array(msg, s, 10,  161);
-}
-
-/**
- * @brief Get field u8 from test_types message
- *
- * @return uint8_t
- */
-static inline uint8_t mavlink_msg_test_types_get_u8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  171);
-}
-
-/**
- * @brief Get field u16 from test_types message
- *
- * @return uint16_t
- */
-static inline uint16_t mavlink_msg_test_types_get_u16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  144);
-}
-
-/**
- * @brief Get field u32 from test_types message
- *
- * @return uint32_t
- */
-static inline uint32_t mavlink_msg_test_types_get_u32(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  96);
-}
-
-/**
- * @brief Get field u64 from test_types message
- *
- * @return uint64_t
- */
-static inline uint64_t mavlink_msg_test_types_get_u64(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field s8 from test_types message
- *
- * @return int8_t
- */
-static inline int8_t mavlink_msg_test_types_get_s8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  172);
-}
-
-/**
- * @brief Get field s16 from test_types message
- *
- * @return int16_t
- */
-static inline int16_t mavlink_msg_test_types_get_s16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  146);
-}
-
-/**
- * @brief Get field s32 from test_types message
- *
- * @return int32_t
- */
-static inline int32_t mavlink_msg_test_types_get_s32(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  100);
-}
-
-/**
- * @brief Get field s64 from test_types message
- *
- * @return int64_t
- */
-static inline int64_t mavlink_msg_test_types_get_s64(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int64_t(msg,  8);
-}
-
-/**
- * @brief Get field f from test_types message
- *
- * @return float
- */
-static inline float mavlink_msg_test_types_get_f(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  104);
-}
-
-/**
- * @brief Get field d from test_types message
- *
- * @return double
- */
-static inline double mavlink_msg_test_types_get_d(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_double(msg,  16);
-}
-
-/**
- * @brief Get field u8_array from test_types message
- *
- * @return uint8_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u8_array(const mavlink_message_t* msg, uint8_t *u8_array)
-{
-	return _MAV_RETURN_uint8_t_array(msg, u8_array, 3,  173);
-}
-
-/**
- * @brief Get field u16_array from test_types message
- *
- * @return uint16_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u16_array(const mavlink_message_t* msg, uint16_t *u16_array)
-{
-	return _MAV_RETURN_uint16_t_array(msg, u16_array, 3,  148);
-}
-
-/**
- * @brief Get field u32_array from test_types message
- *
- * @return uint32_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u32_array(const mavlink_message_t* msg, uint32_t *u32_array)
-{
-	return _MAV_RETURN_uint32_t_array(msg, u32_array, 3,  108);
-}
-
-/**
- * @brief Get field u64_array from test_types message
- *
- * @return uint64_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u64_array(const mavlink_message_t* msg, uint64_t *u64_array)
-{
-	return _MAV_RETURN_uint64_t_array(msg, u64_array, 3,  24);
-}
-
-/**
- * @brief Get field s8_array from test_types message
- *
- * @return int8_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s8_array(const mavlink_message_t* msg, int8_t *s8_array)
-{
-	return _MAV_RETURN_int8_t_array(msg, s8_array, 3,  176);
-}
-
-/**
- * @brief Get field s16_array from test_types message
- *
- * @return int16_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s16_array(const mavlink_message_t* msg, int16_t *s16_array)
-{
-	return _MAV_RETURN_int16_t_array(msg, s16_array, 3,  154);
-}
-
-/**
- * @brief Get field s32_array from test_types message
- *
- * @return int32_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s32_array(const mavlink_message_t* msg, int32_t *s32_array)
-{
-	return _MAV_RETURN_int32_t_array(msg, s32_array, 3,  120);
-}
-
-/**
- * @brief Get field s64_array from test_types message
- *
- * @return int64_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s64_array(const mavlink_message_t* msg, int64_t *s64_array)
-{
-	return _MAV_RETURN_int64_t_array(msg, s64_array, 3,  48);
-}
-
-/**
- * @brief Get field f_array from test_types message
- *
- * @return float_array
- */
-static inline uint16_t mavlink_msg_test_types_get_f_array(const mavlink_message_t* msg, float *f_array)
-{
-	return _MAV_RETURN_float_array(msg, f_array, 3,  132);
-}
-
-/**
- * @brief Get field d_array from test_types message
- *
- * @return double_array
- */
-static inline uint16_t mavlink_msg_test_types_get_d_array(const mavlink_message_t* msg, double *d_array)
-{
-	return _MAV_RETURN_double_array(msg, d_array, 3,  72);
-}
-
-/**
- * @brief Decode a test_types message into a struct
- *
- * @param msg The message to decode
- * @param test_types C-struct to decode the message contents into
- */
-static inline void mavlink_msg_test_types_decode(const mavlink_message_t* msg, mavlink_test_types_t* test_types)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	test_types->u64 = mavlink_msg_test_types_get_u64(msg);
-	test_types->s64 = mavlink_msg_test_types_get_s64(msg);
-	test_types->d = mavlink_msg_test_types_get_d(msg);
-	mavlink_msg_test_types_get_u64_array(msg, test_types->u64_array);
-	mavlink_msg_test_types_get_s64_array(msg, test_types->s64_array);
-	mavlink_msg_test_types_get_d_array(msg, test_types->d_array);
-	test_types->u32 = mavlink_msg_test_types_get_u32(msg);
-	test_types->s32 = mavlink_msg_test_types_get_s32(msg);
-	test_types->f = mavlink_msg_test_types_get_f(msg);
-	mavlink_msg_test_types_get_u32_array(msg, test_types->u32_array);
-	mavlink_msg_test_types_get_s32_array(msg, test_types->s32_array);
-	mavlink_msg_test_types_get_f_array(msg, test_types->f_array);
-	test_types->u16 = mavlink_msg_test_types_get_u16(msg);
-	test_types->s16 = mavlink_msg_test_types_get_s16(msg);
-	mavlink_msg_test_types_get_u16_array(msg, test_types->u16_array);
-	mavlink_msg_test_types_get_s16_array(msg, test_types->s16_array);
-	test_types->c = mavlink_msg_test_types_get_c(msg);
-	mavlink_msg_test_types_get_s(msg, test_types->s);
-	test_types->u8 = mavlink_msg_test_types_get_u8(msg);
-	test_types->s8 = mavlink_msg_test_types_get_s8(msg);
-	mavlink_msg_test_types_get_u8_array(msg, test_types->u8_array);
-	mavlink_msg_test_types_get_s8_array(msg, test_types->s8_array);
-#else
-	memcpy(test_types, _MAV_PAYLOAD(msg), 179);
-#endif
-}
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/test.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/test.h
deleted file mode 100644
index 4dc04f889..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/test.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from test.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef TEST_H
-#define TEST_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// MESSAGE LENGTHS AND CRCS
-
-#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#endif
-
-#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#endif
-
-#ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
-#endif
-
-#include "../protocol.h"
-
-#define MAVLINK_ENABLED_TEST
-
-
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-// ENUM DEFINITIONS
-
-
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_test_types.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // TEST_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/testsuite.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/testsuite.h
deleted file mode 100644
index 658e1ae07..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/testsuite.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from test.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef TEST_TESTSUITE_H
-#define TEST_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-
-static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-
-	mavlink_test_test(system_id, component_id, last_msg);
-}
-#endif
-
-
-
-
-static void mavlink_test_test_types(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_test_types_t packet_in = {
-		93372036854775807ULL,
-	93372036854776311LL,
-	235.0,
-	{ 93372036854777319, 93372036854777320, 93372036854777321 },
-	{ 93372036854778831, 93372036854778832, 93372036854778833 },
-	{ 627.0, 628.0, 629.0 },
-	963502456,
-	963502664,
-	745.0,
-	{ 963503080, 963503081, 963503082 },
-	{ 963503704, 963503705, 963503706 },
-	{ 941.0, 942.0, 943.0 },
-	24723,
-	24827,
-	{ 24931, 24932, 24933 },
-	{ 25243, 25244, 25245 },
-	'E',
-	"FGHIJKLMN",
-	198,
-	9,
-	{ 76, 77, 78 },
-	{ 21, 22, 23 },
-	};
-	mavlink_test_types_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.u64 = packet_in.u64;
-        	packet1.s64 = packet_in.s64;
-        	packet1.d = packet_in.d;
-        	packet1.u32 = packet_in.u32;
-        	packet1.s32 = packet_in.s32;
-        	packet1.f = packet_in.f;
-        	packet1.u16 = packet_in.u16;
-        	packet1.s16 = packet_in.s16;
-        	packet1.c = packet_in.c;
-        	packet1.u8 = packet_in.u8;
-        	packet1.s8 = packet_in.s8;
-        
-        	mav_array_memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
-        	mav_array_memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
-        	mav_array_memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
-        	mav_array_memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
-        	mav_array_memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
-        	mav_array_memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
-        	mav_array_memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
-        	mav_array_memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
-        	mav_array_memcpy(packet1.s, packet_in.s, sizeof(char)*10);
-        	mav_array_memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
-        	mav_array_memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_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_test_types_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_test_types(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // TEST_TESTSUITE_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/version.h b/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/version.h
deleted file mode 100644
index 867641e21..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/include_v1.0/test/version.h
+++ /dev/null
@@ -1,12 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from test.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Thu Mar  1 15:11:58 2012"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
- 
-#endif // MAVLINK_VERSION_H
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/src_v1.0/pixhawk/pixhawk.pb.cc b/mavlink/share/pyshared/pymavlink/generator/C/src_v1.0/pixhawk/pixhawk.pb.cc
deleted file mode 100644
index e984f512a..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/src_v1.0/pixhawk/pixhawk.pb.cc
+++ /dev/null
@@ -1,5431 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-
-#define INTERNAL_SUPPRESS_PROTOBUF_FIELD_DEPRECATION
-#include "pixhawk.pb.h"
-
-#include <algorithm>
-
-#include <google/protobuf/stubs/once.h>
-#include <google/protobuf/io/coded_stream.h>
-#include <google/protobuf/wire_format_lite_inl.h>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/reflection_ops.h>
-#include <google/protobuf/wire_format.h>
-// @@protoc_insertion_point(includes)
-
-namespace px {
-
-namespace {
-
-const ::google::protobuf::Descriptor* HeaderInfo_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  HeaderInfo_reflection_ = NULL;
-const ::google::protobuf::Descriptor* GLOverlay_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  GLOverlay_reflection_ = NULL;
-const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor_ = NULL;
-const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor_ = NULL;
-const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor_ = NULL;
-const ::google::protobuf::Descriptor* Obstacle_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  Obstacle_reflection_ = NULL;
-const ::google::protobuf::Descriptor* ObstacleList_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  ObstacleList_reflection_ = NULL;
-const ::google::protobuf::Descriptor* ObstacleMap_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  ObstacleMap_reflection_ = NULL;
-const ::google::protobuf::Descriptor* Path_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  Path_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZI_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZI_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZI_PointXYZI_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZRGB_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZRGB_reflection_ = NULL;
-const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  PointCloudXYZRGB_PointXYZRGB_reflection_ = NULL;
-const ::google::protobuf::Descriptor* RGBDImage_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  RGBDImage_reflection_ = NULL;
-const ::google::protobuf::Descriptor* Waypoint_descriptor_ = NULL;
-const ::google::protobuf::internal::GeneratedMessageReflection*
-  Waypoint_reflection_ = NULL;
-
-}  // namespace
-
-
-void protobuf_AssignDesc_pixhawk_2eproto() {
-  protobuf_AddDesc_pixhawk_2eproto();
-  const ::google::protobuf::FileDescriptor* file =
-    ::google::protobuf::DescriptorPool::generated_pool()->FindFileByName(
-      "pixhawk.proto");
-  GOOGLE_CHECK(file != NULL);
-  HeaderInfo_descriptor_ = file->message_type(0);
-  static const int HeaderInfo_offsets_[3] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_sysid_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, source_compid_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, timestamp_),
-  };
-  HeaderInfo_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      HeaderInfo_descriptor_,
-      HeaderInfo::default_instance_,
-      HeaderInfo_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(HeaderInfo, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(HeaderInfo));
-  GLOverlay_descriptor_ = file->message_type(1);
-  static const int GLOverlay_offsets_[7] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, name_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, coordinateframetype_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, origin_z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, data_),
-  };
-  GLOverlay_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      GLOverlay_descriptor_,
-      GLOverlay::default_instance_,
-      GLOverlay_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(GLOverlay, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(GLOverlay));
-  GLOverlay_CoordinateFrameType_descriptor_ = GLOverlay_descriptor_->enum_type(0);
-  GLOverlay_Mode_descriptor_ = GLOverlay_descriptor_->enum_type(1);
-  GLOverlay_Identifier_descriptor_ = GLOverlay_descriptor_->enum_type(2);
-  Obstacle_descriptor_ = file->message_type(2);
-  static const int Obstacle_offsets_[6] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, length_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, width_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, height_),
-  };
-  Obstacle_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      Obstacle_descriptor_,
-      Obstacle::default_instance_,
-      Obstacle_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Obstacle, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(Obstacle));
-  ObstacleList_descriptor_ = file->message_type(3);
-  static const int ObstacleList_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, obstacles_),
-  };
-  ObstacleList_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      ObstacleList_descriptor_,
-      ObstacleList::default_instance_,
-      ObstacleList_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleList, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(ObstacleList));
-  ObstacleMap_descriptor_ = file->message_type(4);
-  static const int ObstacleMap_offsets_[10] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, type_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, resolution_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, rows_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, cols_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapr0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, mapc0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayr0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, arrayc0_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, data_),
-  };
-  ObstacleMap_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      ObstacleMap_descriptor_,
-      ObstacleMap::default_instance_,
-      ObstacleMap_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(ObstacleMap, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(ObstacleMap));
-  Path_descriptor_ = file->message_type(5);
-  static const int Path_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, waypoints_),
-  };
-  Path_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      Path_descriptor_,
-      Path::default_instance_,
-      Path_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Path, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(Path));
-  PointCloudXYZI_descriptor_ = file->message_type(6);
-  static const int PointCloudXYZI_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, points_),
-  };
-  PointCloudXYZI_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZI_descriptor_,
-      PointCloudXYZI::default_instance_,
-      PointCloudXYZI_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZI));
-  PointCloudXYZI_PointXYZI_descriptor_ = PointCloudXYZI_descriptor_->nested_type(0);
-  static const int PointCloudXYZI_PointXYZI_offsets_[4] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, intensity_),
-  };
-  PointCloudXYZI_PointXYZI_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZI_PointXYZI_descriptor_,
-      PointCloudXYZI_PointXYZI::default_instance_,
-      PointCloudXYZI_PointXYZI_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZI_PointXYZI, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZI_PointXYZI));
-  PointCloudXYZRGB_descriptor_ = file->message_type(7);
-  static const int PointCloudXYZRGB_offsets_[2] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, points_),
-  };
-  PointCloudXYZRGB_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZRGB_descriptor_,
-      PointCloudXYZRGB::default_instance_,
-      PointCloudXYZRGB_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZRGB));
-  PointCloudXYZRGB_PointXYZRGB_descriptor_ = PointCloudXYZRGB_descriptor_->nested_type(0);
-  static const int PointCloudXYZRGB_PointXYZRGB_offsets_[4] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, rgb_),
-  };
-  PointCloudXYZRGB_PointXYZRGB_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      PointCloudXYZRGB_PointXYZRGB_descriptor_,
-      PointCloudXYZRGB_PointXYZRGB::default_instance_,
-      PointCloudXYZRGB_PointXYZRGB_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(PointCloudXYZRGB_PointXYZRGB, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(PointCloudXYZRGB_PointXYZRGB));
-  RGBDImage_descriptor_ = file->message_type(8);
-  static const int RGBDImage_offsets_[21] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, header_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, cols_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, rows_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step1_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type1_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata1_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, step2_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, type2_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, imagedata2_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_config_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_type_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, roll_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, pitch_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, yaw_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lon_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, lat_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, alt_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, ground_z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, camera_matrix_),
-  };
-  RGBDImage_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      RGBDImage_descriptor_,
-      RGBDImage::default_instance_,
-      RGBDImage_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(RGBDImage, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(RGBDImage));
-  Waypoint_descriptor_ = file->message_type(9);
-  static const int Waypoint_offsets_[6] = {
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, x_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, y_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, z_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, roll_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, pitch_),
-    GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, yaw_),
-  };
-  Waypoint_reflection_ =
-    new ::google::protobuf::internal::GeneratedMessageReflection(
-      Waypoint_descriptor_,
-      Waypoint::default_instance_,
-      Waypoint_offsets_,
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _has_bits_[0]),
-      GOOGLE_PROTOBUF_GENERATED_MESSAGE_FIELD_OFFSET(Waypoint, _unknown_fields_),
-      -1,
-      ::google::protobuf::DescriptorPool::generated_pool(),
-      ::google::protobuf::MessageFactory::generated_factory(),
-      sizeof(Waypoint));
-}
-
-namespace {
-
-GOOGLE_PROTOBUF_DECLARE_ONCE(protobuf_AssignDescriptors_once_);
-inline void protobuf_AssignDescriptorsOnce() {
-  ::google::protobuf::GoogleOnceInit(&protobuf_AssignDescriptors_once_,
-                 &protobuf_AssignDesc_pixhawk_2eproto);
-}
-
-void protobuf_RegisterTypes(const ::std::string&) {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    HeaderInfo_descriptor_, &HeaderInfo::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    GLOverlay_descriptor_, &GLOverlay::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    Obstacle_descriptor_, &Obstacle::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    ObstacleList_descriptor_, &ObstacleList::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    ObstacleMap_descriptor_, &ObstacleMap::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    Path_descriptor_, &Path::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZI_descriptor_, &PointCloudXYZI::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZI_PointXYZI_descriptor_, &PointCloudXYZI_PointXYZI::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZRGB_descriptor_, &PointCloudXYZRGB::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    PointCloudXYZRGB_PointXYZRGB_descriptor_, &PointCloudXYZRGB_PointXYZRGB::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    RGBDImage_descriptor_, &RGBDImage::default_instance());
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(
-    Waypoint_descriptor_, &Waypoint::default_instance());
-}
-
-}  // namespace
-
-void protobuf_ShutdownFile_pixhawk_2eproto() {
-  delete HeaderInfo::default_instance_;
-  delete HeaderInfo_reflection_;
-  delete GLOverlay::default_instance_;
-  delete GLOverlay_reflection_;
-  delete Obstacle::default_instance_;
-  delete Obstacle_reflection_;
-  delete ObstacleList::default_instance_;
-  delete ObstacleList_reflection_;
-  delete ObstacleMap::default_instance_;
-  delete ObstacleMap_reflection_;
-  delete Path::default_instance_;
-  delete Path_reflection_;
-  delete PointCloudXYZI::default_instance_;
-  delete PointCloudXYZI_reflection_;
-  delete PointCloudXYZI_PointXYZI::default_instance_;
-  delete PointCloudXYZI_PointXYZI_reflection_;
-  delete PointCloudXYZRGB::default_instance_;
-  delete PointCloudXYZRGB_reflection_;
-  delete PointCloudXYZRGB_PointXYZRGB::default_instance_;
-  delete PointCloudXYZRGB_PointXYZRGB_reflection_;
-  delete RGBDImage::default_instance_;
-  delete RGBDImage_reflection_;
-  delete Waypoint::default_instance_;
-  delete Waypoint_reflection_;
-}
-
-void protobuf_AddDesc_pixhawk_2eproto() {
-  static bool already_here = false;
-  if (already_here) return;
-  already_here = true;
-  GOOGLE_PROTOBUF_VERIFY_VERSION;
-
-  ::google::protobuf::DescriptorPool::InternalAddGeneratedFile(
-    "\n\rpixhawk.proto\022\002px\"L\n\nHeaderInfo\022\024\n\014sou"
-    "rce_sysid\030\001 \002(\005\022\025\n\rsource_compid\030\002 \002(\005\022\021"
-    "\n\ttimestamp\030\003 \002(\001\"\377\004\n\tGLOverlay\022\036\n\006heade"
-    "r\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004name\030\002 \001(\t\022>\n"
-    "\023coordinateFrameType\030\003 \001(\0162!.px.GLOverla"
-    "y.CoordinateFrameType\022\020\n\010origin_x\030\004 \001(\001\022"
-    "\020\n\010origin_y\030\005 \001(\001\022\020\n\010origin_z\030\006 \001(\001\022\014\n\004d"
-    "ata\030\007 \001(\014\",\n\023CoordinateFrameType\022\n\n\006GLOB"
-    "AL\020\000\022\t\n\005LOCAL\020\001\"\333\001\n\004Mode\022\n\n\006POINTS\020\000\022\t\n\005"
-    "LINES\020\001\022\016\n\nLINE_STRIP\020\002\022\r\n\tLINE_LOOP\020\003\022\r"
-    "\n\tTRIANGLES\020\004\022\022\n\016TRIANGLE_STRIP\020\005\022\020\n\014TRI"
-    "ANGLE_FAN\020\006\022\t\n\005QUADS\020\007\022\016\n\nQUAD_STRIP\020\010\022\013"
-    "\n\007POLYGON\020\t\022\020\n\014SOLID_CIRCLE\020\n\022\017\n\013WIRE_CI"
-    "RCLE\020\013\022\016\n\nSOLID_CUBE\020\014\022\r\n\tWIRE_CUBE\020\r\"\263\001"
-    "\n\nIdentifier\022\007\n\003END\020\016\022\014\n\010VERTEX2F\020\017\022\014\n\010V"
-    "ERTEX3F\020\020\022\013\n\007ROTATEF\020\021\022\016\n\nTRANSLATEF\020\022\022\n"
-    "\n\006SCALEF\020\023\022\017\n\013PUSH_MATRIX\020\024\022\016\n\nPOP_MATRI"
-    "X\020\025\022\013\n\007COLOR3F\020\026\022\013\n\007COLOR4F\020\027\022\r\n\tPOINTSI"
-    "ZE\020\030\022\r\n\tLINEWIDTH\020\031\"Z\n\010Obstacle\022\t\n\001x\030\001 \001"
-    "(\002\022\t\n\001y\030\002 \001(\002\022\t\n\001z\030\003 \001(\002\022\016\n\006length\030\004 \001(\002"
-    "\022\r\n\005width\030\005 \001(\002\022\016\n\006height\030\006 \001(\002\"O\n\014Obsta"
-    "cleList\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo\022"
-    "\037\n\tobstacles\030\002 \003(\0132\014.px.Obstacle\"\271\001\n\013Obs"
-    "tacleMap\022\036\n\006header\030\001 \002(\0132\016.px.HeaderInfo"
-    "\022\014\n\004type\030\002 \002(\005\022\022\n\nresolution\030\003 \001(\002\022\014\n\004ro"
-    "ws\030\004 \001(\005\022\014\n\004cols\030\005 \001(\005\022\r\n\005mapR0\030\006 \001(\005\022\r\n"
-    "\005mapC0\030\007 \001(\005\022\017\n\007arrayR0\030\010 \001(\005\022\017\n\007arrayC0"
-    "\030\t \001(\005\022\014\n\004data\030\n \001(\014\"G\n\004Path\022\036\n\006header\030\001"
-    " \002(\0132\016.px.HeaderInfo\022\037\n\twaypoints\030\002 \003(\0132"
-    "\014.px.Waypoint\"\237\001\n\016PointCloudXYZI\022\036\n\006head"
-    "er\030\001 \002(\0132\016.px.HeaderInfo\022,\n\006points\030\002 \003(\013"
-    "2\034.px.PointCloudXYZI.PointXYZI\032\?\n\tPointX"
-    "YZI\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z\030\003 \002(\002\022\021\n\t"
-    "intensity\030\004 \002(\002\"\241\001\n\020PointCloudXYZRGB\022\036\n\006"
-    "header\030\001 \002(\0132\016.px.HeaderInfo\0220\n\006points\030\002"
-    " \003(\0132 .px.PointCloudXYZRGB.PointXYZRGB\032;"
-    "\n\013PointXYZRGB\022\t\n\001x\030\001 \002(\002\022\t\n\001y\030\002 \002(\002\022\t\n\001z"
-    "\030\003 \002(\002\022\013\n\003rgb\030\004 \002(\002\"\365\002\n\tRGBDImage\022\036\n\006hea"
-    "der\030\001 \002(\0132\016.px.HeaderInfo\022\014\n\004cols\030\002 \002(\r\022"
-    "\014\n\004rows\030\003 \002(\r\022\r\n\005step1\030\004 \002(\r\022\r\n\005type1\030\005 "
-    "\002(\r\022\022\n\nimageData1\030\006 \002(\014\022\r\n\005step2\030\007 \002(\r\022\r"
-    "\n\005type2\030\010 \002(\r\022\022\n\nimageData2\030\t \002(\014\022\025\n\rcam"
-    "era_config\030\n \001(\r\022\023\n\013camera_type\030\013 \001(\r\022\014\n"
-    "\004roll\030\014 \001(\002\022\r\n\005pitch\030\r \001(\002\022\013\n\003yaw\030\016 \001(\002\022"
-    "\013\n\003lon\030\017 \001(\002\022\013\n\003lat\030\020 \001(\002\022\013\n\003alt\030\021 \001(\002\022\020"
-    "\n\010ground_x\030\022 \001(\002\022\020\n\010ground_y\030\023 \001(\002\022\020\n\010gr"
-    "ound_z\030\024 \001(\002\022\025\n\rcamera_matrix\030\025 \003(\002\"U\n\010W"
-    "aypoint\022\t\n\001x\030\001 \002(\001\022\t\n\001y\030\002 \002(\001\022\t\n\001z\030\003 \001(\001"
-    "\022\014\n\004roll\030\004 \001(\001\022\r\n\005pitch\030\005 \001(\001\022\013\n\003yaw\030\006 \001"
-    "(\001", 1962);
-  ::google::protobuf::MessageFactory::InternalRegisterGeneratedFile(
-    "pixhawk.proto", &protobuf_RegisterTypes);
-  HeaderInfo::default_instance_ = new HeaderInfo();
-  GLOverlay::default_instance_ = new GLOverlay();
-  Obstacle::default_instance_ = new Obstacle();
-  ObstacleList::default_instance_ = new ObstacleList();
-  ObstacleMap::default_instance_ = new ObstacleMap();
-  Path::default_instance_ = new Path();
-  PointCloudXYZI::default_instance_ = new PointCloudXYZI();
-  PointCloudXYZI_PointXYZI::default_instance_ = new PointCloudXYZI_PointXYZI();
-  PointCloudXYZRGB::default_instance_ = new PointCloudXYZRGB();
-  PointCloudXYZRGB_PointXYZRGB::default_instance_ = new PointCloudXYZRGB_PointXYZRGB();
-  RGBDImage::default_instance_ = new RGBDImage();
-  Waypoint::default_instance_ = new Waypoint();
-  HeaderInfo::default_instance_->InitAsDefaultInstance();
-  GLOverlay::default_instance_->InitAsDefaultInstance();
-  Obstacle::default_instance_->InitAsDefaultInstance();
-  ObstacleList::default_instance_->InitAsDefaultInstance();
-  ObstacleMap::default_instance_->InitAsDefaultInstance();
-  Path::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZI::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZI_PointXYZI::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZRGB::default_instance_->InitAsDefaultInstance();
-  PointCloudXYZRGB_PointXYZRGB::default_instance_->InitAsDefaultInstance();
-  RGBDImage::default_instance_->InitAsDefaultInstance();
-  Waypoint::default_instance_->InitAsDefaultInstance();
-  ::google::protobuf::internal::OnShutdown(&protobuf_ShutdownFile_pixhawk_2eproto);
-}
-
-// Force AddDescriptors() to be called at static initialization time.
-struct StaticDescriptorInitializer_pixhawk_2eproto {
-  StaticDescriptorInitializer_pixhawk_2eproto() {
-    protobuf_AddDesc_pixhawk_2eproto();
-  }
-} static_descriptor_initializer_pixhawk_2eproto_;
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int HeaderInfo::kSourceSysidFieldNumber;
-const int HeaderInfo::kSourceCompidFieldNumber;
-const int HeaderInfo::kTimestampFieldNumber;
-#endif  // !_MSC_VER
-
-HeaderInfo::HeaderInfo()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void HeaderInfo::InitAsDefaultInstance() {
-}
-
-HeaderInfo::HeaderInfo(const HeaderInfo& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void HeaderInfo::SharedCtor() {
-  _cached_size_ = 0;
-  source_sysid_ = 0;
-  source_compid_ = 0;
-  timestamp_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-HeaderInfo::~HeaderInfo() {
-  SharedDtor();
-}
-
-void HeaderInfo::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void HeaderInfo::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* HeaderInfo::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return HeaderInfo_descriptor_;
-}
-
-const HeaderInfo& HeaderInfo::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-HeaderInfo* HeaderInfo::default_instance_ = NULL;
-
-HeaderInfo* HeaderInfo::New() const {
-  return new HeaderInfo;
-}
-
-void HeaderInfo::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    source_sysid_ = 0;
-    source_compid_ = 0;
-    timestamp_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool HeaderInfo::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required int32 source_sysid = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &source_sysid_)));
-          set_has_source_sysid();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(16)) goto parse_source_compid;
-        break;
-      }
-      
-      // required int32 source_compid = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_source_compid:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &source_compid_)));
-          set_has_source_compid();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(25)) goto parse_timestamp;
-        break;
-      }
-      
-      // required double timestamp = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_timestamp:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &timestamp_)));
-          set_has_timestamp();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void HeaderInfo::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required int32 source_sysid = 1;
-  if (has_source_sysid()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(1, this->source_sysid(), output);
-  }
-  
-  // required int32 source_compid = 2;
-  if (has_source_compid()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->source_compid(), output);
-  }
-  
-  // required double timestamp = 3;
-  if (has_timestamp()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->timestamp(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* HeaderInfo::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required int32 source_sysid = 1;
-  if (has_source_sysid()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(1, this->source_sysid(), target);
-  }
-  
-  // required int32 source_compid = 2;
-  if (has_source_compid()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->source_compid(), target);
-  }
-  
-  // required double timestamp = 3;
-  if (has_timestamp()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->timestamp(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int HeaderInfo::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required int32 source_sysid = 1;
-    if (has_source_sysid()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->source_sysid());
-    }
-    
-    // required int32 source_compid = 2;
-    if (has_source_compid()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->source_compid());
-    }
-    
-    // required double timestamp = 3;
-    if (has_timestamp()) {
-      total_size += 1 + 8;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void HeaderInfo::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const HeaderInfo* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const HeaderInfo*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void HeaderInfo::MergeFrom(const HeaderInfo& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_source_sysid()) {
-      set_source_sysid(from.source_sysid());
-    }
-    if (from.has_source_compid()) {
-      set_source_compid(from.source_compid());
-    }
-    if (from.has_timestamp()) {
-      set_timestamp(from.timestamp());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void HeaderInfo::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void HeaderInfo::CopyFrom(const HeaderInfo& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool HeaderInfo::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000007) != 0x00000007) return false;
-  
-  return true;
-}
-
-void HeaderInfo::Swap(HeaderInfo* other) {
-  if (other != this) {
-    std::swap(source_sysid_, other->source_sysid_);
-    std::swap(source_compid_, other->source_compid_);
-    std::swap(timestamp_, other->timestamp_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata HeaderInfo::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = HeaderInfo_descriptor_;
-  metadata.reflection = HeaderInfo_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-const ::google::protobuf::EnumDescriptor* GLOverlay_CoordinateFrameType_descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_CoordinateFrameType_descriptor_;
-}
-bool GLOverlay_CoordinateFrameType_IsValid(int value) {
-  switch(value) {
-    case 0:
-    case 1:
-      return true;
-    default:
-      return false;
-  }
-}
-
-#ifndef _MSC_VER
-const GLOverlay_CoordinateFrameType GLOverlay::GLOBAL;
-const GLOverlay_CoordinateFrameType GLOverlay::LOCAL;
-const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MIN;
-const GLOverlay_CoordinateFrameType GLOverlay::CoordinateFrameType_MAX;
-const int GLOverlay::CoordinateFrameType_ARRAYSIZE;
-#endif  // _MSC_VER
-const ::google::protobuf::EnumDescriptor* GLOverlay_Mode_descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_Mode_descriptor_;
-}
-bool GLOverlay_Mode_IsValid(int value) {
-  switch(value) {
-    case 0:
-    case 1:
-    case 2:
-    case 3:
-    case 4:
-    case 5:
-    case 6:
-    case 7:
-    case 8:
-    case 9:
-    case 10:
-    case 11:
-    case 12:
-    case 13:
-      return true;
-    default:
-      return false;
-  }
-}
-
-#ifndef _MSC_VER
-const GLOverlay_Mode GLOverlay::POINTS;
-const GLOverlay_Mode GLOverlay::LINES;
-const GLOverlay_Mode GLOverlay::LINE_STRIP;
-const GLOverlay_Mode GLOverlay::LINE_LOOP;
-const GLOverlay_Mode GLOverlay::TRIANGLES;
-const GLOverlay_Mode GLOverlay::TRIANGLE_STRIP;
-const GLOverlay_Mode GLOverlay::TRIANGLE_FAN;
-const GLOverlay_Mode GLOverlay::QUADS;
-const GLOverlay_Mode GLOverlay::QUAD_STRIP;
-const GLOverlay_Mode GLOverlay::POLYGON;
-const GLOverlay_Mode GLOverlay::SOLID_CIRCLE;
-const GLOverlay_Mode GLOverlay::WIRE_CIRCLE;
-const GLOverlay_Mode GLOverlay::SOLID_CUBE;
-const GLOverlay_Mode GLOverlay::WIRE_CUBE;
-const GLOverlay_Mode GLOverlay::Mode_MIN;
-const GLOverlay_Mode GLOverlay::Mode_MAX;
-const int GLOverlay::Mode_ARRAYSIZE;
-#endif  // _MSC_VER
-const ::google::protobuf::EnumDescriptor* GLOverlay_Identifier_descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_Identifier_descriptor_;
-}
-bool GLOverlay_Identifier_IsValid(int value) {
-  switch(value) {
-    case 14:
-    case 15:
-    case 16:
-    case 17:
-    case 18:
-    case 19:
-    case 20:
-    case 21:
-    case 22:
-    case 23:
-    case 24:
-    case 25:
-      return true;
-    default:
-      return false;
-  }
-}
-
-#ifndef _MSC_VER
-const GLOverlay_Identifier GLOverlay::END;
-const GLOverlay_Identifier GLOverlay::VERTEX2F;
-const GLOverlay_Identifier GLOverlay::VERTEX3F;
-const GLOverlay_Identifier GLOverlay::ROTATEF;
-const GLOverlay_Identifier GLOverlay::TRANSLATEF;
-const GLOverlay_Identifier GLOverlay::SCALEF;
-const GLOverlay_Identifier GLOverlay::PUSH_MATRIX;
-const GLOverlay_Identifier GLOverlay::POP_MATRIX;
-const GLOverlay_Identifier GLOverlay::COLOR3F;
-const GLOverlay_Identifier GLOverlay::COLOR4F;
-const GLOverlay_Identifier GLOverlay::POINTSIZE;
-const GLOverlay_Identifier GLOverlay::LINEWIDTH;
-const GLOverlay_Identifier GLOverlay::Identifier_MIN;
-const GLOverlay_Identifier GLOverlay::Identifier_MAX;
-const int GLOverlay::Identifier_ARRAYSIZE;
-#endif  // _MSC_VER
-#ifndef _MSC_VER
-const int GLOverlay::kHeaderFieldNumber;
-const int GLOverlay::kNameFieldNumber;
-const int GLOverlay::kCoordinateFrameTypeFieldNumber;
-const int GLOverlay::kOriginXFieldNumber;
-const int GLOverlay::kOriginYFieldNumber;
-const int GLOverlay::kOriginZFieldNumber;
-const int GLOverlay::kDataFieldNumber;
-#endif  // !_MSC_VER
-
-GLOverlay::GLOverlay()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void GLOverlay::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-GLOverlay::GLOverlay(const GLOverlay& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void GLOverlay::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  name_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  coordinateframetype_ = 0;
-  origin_x_ = 0;
-  origin_y_ = 0;
-  origin_z_ = 0;
-  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-GLOverlay::~GLOverlay() {
-  SharedDtor();
-}
-
-void GLOverlay::SharedDtor() {
-  if (name_ != &::google::protobuf::internal::kEmptyString) {
-    delete name_;
-  }
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    delete data_;
-  }
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void GLOverlay::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* GLOverlay::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return GLOverlay_descriptor_;
-}
-
-const GLOverlay& GLOverlay::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-GLOverlay* GLOverlay::default_instance_ = NULL;
-
-GLOverlay* GLOverlay::New() const {
-  return new GLOverlay;
-}
-
-void GLOverlay::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-    if (has_name()) {
-      if (name_ != &::google::protobuf::internal::kEmptyString) {
-        name_->clear();
-      }
-    }
-    coordinateframetype_ = 0;
-    origin_x_ = 0;
-    origin_y_ = 0;
-    origin_z_ = 0;
-    if (has_data()) {
-      if (data_ != &::google::protobuf::internal::kEmptyString) {
-        data_->clear();
-      }
-    }
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool GLOverlay::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_name;
-        break;
-      }
-      
-      // optional string name = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_name:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadString(
-                input, this->mutable_name()));
-          ::google::protobuf::internal::WireFormat::VerifyUTF8String(
-            this->name().data(), this->name().length(),
-            ::google::protobuf::internal::WireFormat::PARSE);
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(24)) goto parse_coordinateFrameType;
-        break;
-      }
-      
-      // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_coordinateFrameType:
-          int value;
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   int, ::google::protobuf::internal::WireFormatLite::TYPE_ENUM>(
-                 input, &value)));
-          if (::px::GLOverlay_CoordinateFrameType_IsValid(value)) {
-            set_coordinateframetype(static_cast< ::px::GLOverlay_CoordinateFrameType >(value));
-          } else {
-            mutable_unknown_fields()->AddVarint(3, value);
-          }
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(33)) goto parse_origin_x;
-        break;
-      }
-      
-      // optional double origin_x = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_origin_x:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &origin_x_)));
-          set_has_origin_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(41)) goto parse_origin_y;
-        break;
-      }
-      
-      // optional double origin_y = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_origin_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &origin_y_)));
-          set_has_origin_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(49)) goto parse_origin_z;
-        break;
-      }
-      
-      // optional double origin_z = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_origin_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &origin_z_)));
-          set_has_origin_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(58)) goto parse_data;
-        break;
-      }
-      
-      // optional bytes data = 7;
-      case 7: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_data:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_data()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void GLOverlay::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // optional string name = 2;
-  if (has_name()) {
-    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
-      this->name().data(), this->name().length(),
-      ::google::protobuf::internal::WireFormat::SERIALIZE);
-    ::google::protobuf::internal::WireFormatLite::WriteString(
-      2, this->name(), output);
-  }
-  
-  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-  if (has_coordinateframetype()) {
-    ::google::protobuf::internal::WireFormatLite::WriteEnum(
-      3, this->coordinateframetype(), output);
-  }
-  
-  // optional double origin_x = 4;
-  if (has_origin_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->origin_x(), output);
-  }
-  
-  // optional double origin_y = 5;
-  if (has_origin_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->origin_y(), output);
-  }
-  
-  // optional double origin_z = 6;
-  if (has_origin_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->origin_z(), output);
-  }
-  
-  // optional bytes data = 7;
-  if (has_data()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      7, this->data(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* GLOverlay::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // optional string name = 2;
-  if (has_name()) {
-    ::google::protobuf::internal::WireFormat::VerifyUTF8String(
-      this->name().data(), this->name().length(),
-      ::google::protobuf::internal::WireFormat::SERIALIZE);
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteStringToArray(
-        2, this->name(), target);
-  }
-  
-  // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-  if (has_coordinateframetype()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteEnumToArray(
-      3, this->coordinateframetype(), target);
-  }
-  
-  // optional double origin_x = 4;
-  if (has_origin_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->origin_x(), target);
-  }
-  
-  // optional double origin_y = 5;
-  if (has_origin_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->origin_y(), target);
-  }
-  
-  // optional double origin_z = 6;
-  if (has_origin_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->origin_z(), target);
-  }
-  
-  // optional bytes data = 7;
-  if (has_data()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        7, this->data(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int GLOverlay::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-    // optional string name = 2;
-    if (has_name()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::StringSize(
-          this->name());
-    }
-    
-    // optional .px.GLOverlay.CoordinateFrameType coordinateFrameType = 3;
-    if (has_coordinateframetype()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::EnumSize(this->coordinateframetype());
-    }
-    
-    // optional double origin_x = 4;
-    if (has_origin_x()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double origin_y = 5;
-    if (has_origin_y()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double origin_z = 6;
-    if (has_origin_z()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional bytes data = 7;
-    if (has_data()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->data());
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void GLOverlay::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const GLOverlay* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const GLOverlay*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void GLOverlay::MergeFrom(const GLOverlay& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-    if (from.has_name()) {
-      set_name(from.name());
-    }
-    if (from.has_coordinateframetype()) {
-      set_coordinateframetype(from.coordinateframetype());
-    }
-    if (from.has_origin_x()) {
-      set_origin_x(from.origin_x());
-    }
-    if (from.has_origin_y()) {
-      set_origin_y(from.origin_y());
-    }
-    if (from.has_origin_z()) {
-      set_origin_z(from.origin_z());
-    }
-    if (from.has_data()) {
-      set_data(from.data());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void GLOverlay::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void GLOverlay::CopyFrom(const GLOverlay& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool GLOverlay::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void GLOverlay::Swap(GLOverlay* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    std::swap(name_, other->name_);
-    std::swap(coordinateframetype_, other->coordinateframetype_);
-    std::swap(origin_x_, other->origin_x_);
-    std::swap(origin_y_, other->origin_y_);
-    std::swap(origin_z_, other->origin_z_);
-    std::swap(data_, other->data_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata GLOverlay::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = GLOverlay_descriptor_;
-  metadata.reflection = GLOverlay_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int Obstacle::kXFieldNumber;
-const int Obstacle::kYFieldNumber;
-const int Obstacle::kZFieldNumber;
-const int Obstacle::kLengthFieldNumber;
-const int Obstacle::kWidthFieldNumber;
-const int Obstacle::kHeightFieldNumber;
-#endif  // !_MSC_VER
-
-Obstacle::Obstacle()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void Obstacle::InitAsDefaultInstance() {
-}
-
-Obstacle::Obstacle(const Obstacle& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void Obstacle::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  length_ = 0;
-  width_ = 0;
-  height_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-Obstacle::~Obstacle() {
-  SharedDtor();
-}
-
-void Obstacle::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void Obstacle::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* Obstacle::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return Obstacle_descriptor_;
-}
-
-const Obstacle& Obstacle::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-Obstacle* Obstacle::default_instance_ = NULL;
-
-Obstacle* Obstacle::New() const {
-  return new Obstacle;
-}
-
-void Obstacle::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    length_ = 0;
-    width_ = 0;
-    height_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool Obstacle::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // optional float x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(21)) goto parse_y;
-        break;
-      }
-      
-      // optional float y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_z;
-        break;
-      }
-      
-      // optional float z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(37)) goto parse_length;
-        break;
-      }
-      
-      // optional float length = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_length:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &length_)));
-          set_has_length();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(45)) goto parse_width;
-        break;
-      }
-      
-      // optional float width = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_width:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &width_)));
-          set_has_width();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(53)) goto parse_height;
-        break;
-      }
-      
-      // optional float height = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_height:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &height_)));
-          set_has_height();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void Obstacle::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // optional float x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
-  }
-  
-  // optional float y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
-  }
-  
-  // optional float z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
-  }
-  
-  // optional float length = 4;
-  if (has_length()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->length(), output);
-  }
-  
-  // optional float width = 5;
-  if (has_width()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(5, this->width(), output);
-  }
-  
-  // optional float height = 6;
-  if (has_height()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(6, this->height(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* Obstacle::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // optional float x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
-  }
-  
-  // optional float y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
-  }
-  
-  // optional float z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
-  }
-  
-  // optional float length = 4;
-  if (has_length()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->length(), target);
-  }
-  
-  // optional float width = 5;
-  if (has_width()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(5, this->width(), target);
-  }
-  
-  // optional float height = 6;
-  if (has_height()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(6, this->height(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int Obstacle::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // optional float x = 1;
-    if (has_x()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float y = 2;
-    if (has_y()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float z = 3;
-    if (has_z()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float length = 4;
-    if (has_length()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float width = 5;
-    if (has_width()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float height = 6;
-    if (has_height()) {
-      total_size += 1 + 4;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void Obstacle::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const Obstacle* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const Obstacle*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void Obstacle::MergeFrom(const Obstacle& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_length()) {
-      set_length(from.length());
-    }
-    if (from.has_width()) {
-      set_width(from.width());
-    }
-    if (from.has_height()) {
-      set_height(from.height());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void Obstacle::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Obstacle::CopyFrom(const Obstacle& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Obstacle::IsInitialized() const {
-  
-  return true;
-}
-
-void Obstacle::Swap(Obstacle* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(length_, other->length_);
-    std::swap(width_, other->width_);
-    std::swap(height_, other->height_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata Obstacle::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = Obstacle_descriptor_;
-  metadata.reflection = Obstacle_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int ObstacleList::kHeaderFieldNumber;
-const int ObstacleList::kObstaclesFieldNumber;
-#endif  // !_MSC_VER
-
-ObstacleList::ObstacleList()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void ObstacleList::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-ObstacleList::ObstacleList(const ObstacleList& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void ObstacleList::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-ObstacleList::~ObstacleList() {
-  SharedDtor();
-}
-
-void ObstacleList::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void ObstacleList::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* ObstacleList::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return ObstacleList_descriptor_;
-}
-
-const ObstacleList& ObstacleList::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-ObstacleList* ObstacleList::default_instance_ = NULL;
-
-ObstacleList* ObstacleList::New() const {
-  return new ObstacleList;
-}
-
-void ObstacleList::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  obstacles_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool ObstacleList::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_obstacles;
-        break;
-      }
-      
-      // repeated .px.Obstacle obstacles = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_obstacles:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_obstacles()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_obstacles;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void ObstacleList::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.Obstacle obstacles = 2;
-  for (int i = 0; i < this->obstacles_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->obstacles(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* ObstacleList::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.Obstacle obstacles = 2;
-  for (int i = 0; i < this->obstacles_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->obstacles(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int ObstacleList::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.Obstacle obstacles = 2;
-  total_size += 1 * this->obstacles_size();
-  for (int i = 0; i < this->obstacles_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->obstacles(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void ObstacleList::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const ObstacleList* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleList*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void ObstacleList::MergeFrom(const ObstacleList& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  obstacles_.MergeFrom(from.obstacles_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void ObstacleList::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void ObstacleList::CopyFrom(const ObstacleList& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool ObstacleList::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void ObstacleList::Swap(ObstacleList* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    obstacles_.Swap(&other->obstacles_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata ObstacleList::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = ObstacleList_descriptor_;
-  metadata.reflection = ObstacleList_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int ObstacleMap::kHeaderFieldNumber;
-const int ObstacleMap::kTypeFieldNumber;
-const int ObstacleMap::kResolutionFieldNumber;
-const int ObstacleMap::kRowsFieldNumber;
-const int ObstacleMap::kColsFieldNumber;
-const int ObstacleMap::kMapR0FieldNumber;
-const int ObstacleMap::kMapC0FieldNumber;
-const int ObstacleMap::kArrayR0FieldNumber;
-const int ObstacleMap::kArrayC0FieldNumber;
-const int ObstacleMap::kDataFieldNumber;
-#endif  // !_MSC_VER
-
-ObstacleMap::ObstacleMap()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void ObstacleMap::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-ObstacleMap::ObstacleMap(const ObstacleMap& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void ObstacleMap::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  type_ = 0;
-  resolution_ = 0;
-  rows_ = 0;
-  cols_ = 0;
-  mapr0_ = 0;
-  mapc0_ = 0;
-  arrayr0_ = 0;
-  arrayc0_ = 0;
-  data_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-ObstacleMap::~ObstacleMap() {
-  SharedDtor();
-}
-
-void ObstacleMap::SharedDtor() {
-  if (data_ != &::google::protobuf::internal::kEmptyString) {
-    delete data_;
-  }
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void ObstacleMap::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* ObstacleMap::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return ObstacleMap_descriptor_;
-}
-
-const ObstacleMap& ObstacleMap::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-ObstacleMap* ObstacleMap::default_instance_ = NULL;
-
-ObstacleMap* ObstacleMap::New() const {
-  return new ObstacleMap;
-}
-
-void ObstacleMap::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-    type_ = 0;
-    resolution_ = 0;
-    rows_ = 0;
-    cols_ = 0;
-    mapr0_ = 0;
-    mapc0_ = 0;
-    arrayr0_ = 0;
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    arrayc0_ = 0;
-    if (has_data()) {
-      if (data_ != &::google::protobuf::internal::kEmptyString) {
-        data_->clear();
-      }
-    }
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool ObstacleMap::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(16)) goto parse_type;
-        break;
-      }
-      
-      // required int32 type = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_type:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &type_)));
-          set_has_type();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_resolution;
-        break;
-      }
-      
-      // optional float resolution = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_resolution:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &resolution_)));
-          set_has_resolution();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(32)) goto parse_rows;
-        break;
-      }
-      
-      // optional int32 rows = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_rows:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &rows_)));
-          set_has_rows();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(40)) goto parse_cols;
-        break;
-      }
-      
-      // optional int32 cols = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_cols:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &cols_)));
-          set_has_cols();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(48)) goto parse_mapR0;
-        break;
-      }
-      
-      // optional int32 mapR0 = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_mapR0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &mapr0_)));
-          set_has_mapr0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(56)) goto parse_mapC0;
-        break;
-      }
-      
-      // optional int32 mapC0 = 7;
-      case 7: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_mapC0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &mapc0_)));
-          set_has_mapc0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(64)) goto parse_arrayR0;
-        break;
-      }
-      
-      // optional int32 arrayR0 = 8;
-      case 8: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_arrayR0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &arrayr0_)));
-          set_has_arrayr0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(72)) goto parse_arrayC0;
-        break;
-      }
-      
-      // optional int32 arrayC0 = 9;
-      case 9: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_arrayC0:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::int32, ::google::protobuf::internal::WireFormatLite::TYPE_INT32>(
-                 input, &arrayc0_)));
-          set_has_arrayc0();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(82)) goto parse_data;
-        break;
-      }
-      
-      // optional bytes data = 10;
-      case 10: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_data:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_data()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void ObstacleMap::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // required int32 type = 2;
-  if (has_type()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(2, this->type(), output);
-  }
-  
-  // optional float resolution = 3;
-  if (has_resolution()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->resolution(), output);
-  }
-  
-  // optional int32 rows = 4;
-  if (has_rows()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(4, this->rows(), output);
-  }
-  
-  // optional int32 cols = 5;
-  if (has_cols()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(5, this->cols(), output);
-  }
-  
-  // optional int32 mapR0 = 6;
-  if (has_mapr0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(6, this->mapr0(), output);
-  }
-  
-  // optional int32 mapC0 = 7;
-  if (has_mapc0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(7, this->mapc0(), output);
-  }
-  
-  // optional int32 arrayR0 = 8;
-  if (has_arrayr0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(8, this->arrayr0(), output);
-  }
-  
-  // optional int32 arrayC0 = 9;
-  if (has_arrayc0()) {
-    ::google::protobuf::internal::WireFormatLite::WriteInt32(9, this->arrayc0(), output);
-  }
-  
-  // optional bytes data = 10;
-  if (has_data()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      10, this->data(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* ObstacleMap::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // required int32 type = 2;
-  if (has_type()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(2, this->type(), target);
-  }
-  
-  // optional float resolution = 3;
-  if (has_resolution()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->resolution(), target);
-  }
-  
-  // optional int32 rows = 4;
-  if (has_rows()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(4, this->rows(), target);
-  }
-  
-  // optional int32 cols = 5;
-  if (has_cols()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(5, this->cols(), target);
-  }
-  
-  // optional int32 mapR0 = 6;
-  if (has_mapr0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(6, this->mapr0(), target);
-  }
-  
-  // optional int32 mapC0 = 7;
-  if (has_mapc0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(7, this->mapc0(), target);
-  }
-  
-  // optional int32 arrayR0 = 8;
-  if (has_arrayr0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(8, this->arrayr0(), target);
-  }
-  
-  // optional int32 arrayC0 = 9;
-  if (has_arrayc0()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteInt32ToArray(9, this->arrayc0(), target);
-  }
-  
-  // optional bytes data = 10;
-  if (has_data()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        10, this->data(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int ObstacleMap::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-    // required int32 type = 2;
-    if (has_type()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->type());
-    }
-    
-    // optional float resolution = 3;
-    if (has_resolution()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional int32 rows = 4;
-    if (has_rows()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->rows());
-    }
-    
-    // optional int32 cols = 5;
-    if (has_cols()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->cols());
-    }
-    
-    // optional int32 mapR0 = 6;
-    if (has_mapr0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->mapr0());
-    }
-    
-    // optional int32 mapC0 = 7;
-    if (has_mapc0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->mapc0());
-    }
-    
-    // optional int32 arrayR0 = 8;
-    if (has_arrayr0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->arrayr0());
-    }
-    
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    // optional int32 arrayC0 = 9;
-    if (has_arrayc0()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::Int32Size(
-          this->arrayc0());
-    }
-    
-    // optional bytes data = 10;
-    if (has_data()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->data());
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void ObstacleMap::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const ObstacleMap* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const ObstacleMap*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void ObstacleMap::MergeFrom(const ObstacleMap& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-    if (from.has_type()) {
-      set_type(from.type());
-    }
-    if (from.has_resolution()) {
-      set_resolution(from.resolution());
-    }
-    if (from.has_rows()) {
-      set_rows(from.rows());
-    }
-    if (from.has_cols()) {
-      set_cols(from.cols());
-    }
-    if (from.has_mapr0()) {
-      set_mapr0(from.mapr0());
-    }
-    if (from.has_mapc0()) {
-      set_mapc0(from.mapc0());
-    }
-    if (from.has_arrayr0()) {
-      set_arrayr0(from.arrayr0());
-    }
-  }
-  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    if (from.has_arrayc0()) {
-      set_arrayc0(from.arrayc0());
-    }
-    if (from.has_data()) {
-      set_data(from.data());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void ObstacleMap::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void ObstacleMap::CopyFrom(const ObstacleMap& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool ObstacleMap::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void ObstacleMap::Swap(ObstacleMap* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    std::swap(type_, other->type_);
-    std::swap(resolution_, other->resolution_);
-    std::swap(rows_, other->rows_);
-    std::swap(cols_, other->cols_);
-    std::swap(mapr0_, other->mapr0_);
-    std::swap(mapc0_, other->mapc0_);
-    std::swap(arrayr0_, other->arrayr0_);
-    std::swap(arrayc0_, other->arrayc0_);
-    std::swap(data_, other->data_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata ObstacleMap::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = ObstacleMap_descriptor_;
-  metadata.reflection = ObstacleMap_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int Path::kHeaderFieldNumber;
-const int Path::kWaypointsFieldNumber;
-#endif  // !_MSC_VER
-
-Path::Path()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void Path::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-Path::Path(const Path& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void Path::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-Path::~Path() {
-  SharedDtor();
-}
-
-void Path::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void Path::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* Path::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return Path_descriptor_;
-}
-
-const Path& Path::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-Path* Path::default_instance_ = NULL;
-
-Path* Path::New() const {
-  return new Path;
-}
-
-void Path::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  waypoints_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool Path::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_waypoints;
-        break;
-      }
-      
-      // repeated .px.Waypoint waypoints = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_waypoints:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_waypoints()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_waypoints;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void Path::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.Waypoint waypoints = 2;
-  for (int i = 0; i < this->waypoints_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->waypoints(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* Path::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.Waypoint waypoints = 2;
-  for (int i = 0; i < this->waypoints_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->waypoints(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int Path::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.Waypoint waypoints = 2;
-  total_size += 1 * this->waypoints_size();
-  for (int i = 0; i < this->waypoints_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->waypoints(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void Path::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const Path* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const Path*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void Path::MergeFrom(const Path& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  waypoints_.MergeFrom(from.waypoints_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void Path::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Path::CopyFrom(const Path& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Path::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  for (int i = 0; i < waypoints_size(); i++) {
-    if (!this->waypoints(i).IsInitialized()) return false;
-  }
-  return true;
-}
-
-void Path::Swap(Path* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    waypoints_.Swap(&other->waypoints_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata Path::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = Path_descriptor_;
-  metadata.reflection = Path_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int PointCloudXYZI_PointXYZI::kXFieldNumber;
-const int PointCloudXYZI_PointXYZI::kYFieldNumber;
-const int PointCloudXYZI_PointXYZI::kZFieldNumber;
-const int PointCloudXYZI_PointXYZI::kIntensityFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZI_PointXYZI::InitAsDefaultInstance() {
-}
-
-PointCloudXYZI_PointXYZI::PointCloudXYZI_PointXYZI(const PointCloudXYZI_PointXYZI& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI_PointXYZI::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  intensity_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZI_PointXYZI::~PointCloudXYZI_PointXYZI() {
-  SharedDtor();
-}
-
-void PointCloudXYZI_PointXYZI::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void PointCloudXYZI_PointXYZI::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZI_PointXYZI::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZI_PointXYZI_descriptor_;
-}
-
-const PointCloudXYZI_PointXYZI& PointCloudXYZI_PointXYZI::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::default_instance_ = NULL;
-
-PointCloudXYZI_PointXYZI* PointCloudXYZI_PointXYZI::New() const {
-  return new PointCloudXYZI_PointXYZI;
-}
-
-void PointCloudXYZI_PointXYZI::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    intensity_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZI_PointXYZI::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required float x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(21)) goto parse_y;
-        break;
-      }
-      
-      // required float y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_z;
-        break;
-      }
-      
-      // required float z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(37)) goto parse_intensity;
-        break;
-      }
-      
-      // required float intensity = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_intensity:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &intensity_)));
-          set_has_intensity();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZI_PointXYZI::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required float x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
-  }
-  
-  // required float intensity = 4;
-  if (has_intensity()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->intensity(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZI_PointXYZI::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required float x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
-  }
-  
-  // required float intensity = 4;
-  if (has_intensity()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->intensity(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZI_PointXYZI::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required float x = 1;
-    if (has_x()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float y = 2;
-    if (has_y()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float z = 3;
-    if (has_z()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float intensity = 4;
-    if (has_intensity()) {
-      total_size += 1 + 4;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZI_PointXYZI::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZI_PointXYZI* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI_PointXYZI*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZI_PointXYZI::MergeFrom(const PointCloudXYZI_PointXYZI& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_intensity()) {
-      set_intensity(from.intensity());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZI_PointXYZI::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI_PointXYZI::CopyFrom(const PointCloudXYZI_PointXYZI& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZI_PointXYZI::IsInitialized() const {
-  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
-  
-  return true;
-}
-
-void PointCloudXYZI_PointXYZI::Swap(PointCloudXYZI_PointXYZI* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(intensity_, other->intensity_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZI_PointXYZI::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZI_PointXYZI_descriptor_;
-  metadata.reflection = PointCloudXYZI_PointXYZI_reflection_;
-  return metadata;
-}
-
-
-// -------------------------------------------------------------------
-
-#ifndef _MSC_VER
-const int PointCloudXYZI::kHeaderFieldNumber;
-const int PointCloudXYZI::kPointsFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZI::PointCloudXYZI()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZI::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-PointCloudXYZI::PointCloudXYZI(const PointCloudXYZI& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZI::~PointCloudXYZI() {
-  SharedDtor();
-}
-
-void PointCloudXYZI::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void PointCloudXYZI::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZI::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZI_descriptor_;
-}
-
-const PointCloudXYZI& PointCloudXYZI::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZI* PointCloudXYZI::default_instance_ = NULL;
-
-PointCloudXYZI* PointCloudXYZI::New() const {
-  return new PointCloudXYZI;
-}
-
-void PointCloudXYZI::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  points_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZI::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        break;
-      }
-      
-      // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_points:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_points()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZI::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->points(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZI::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->points(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZI::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.PointCloudXYZI.PointXYZI points = 2;
-  total_size += 1 * this->points_size();
-  for (int i = 0; i < this->points_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->points(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZI::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZI* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZI*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZI::MergeFrom(const PointCloudXYZI& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  points_.MergeFrom(from.points_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZI::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZI::CopyFrom(const PointCloudXYZI& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZI::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  for (int i = 0; i < points_size(); i++) {
-    if (!this->points(i).IsInitialized()) return false;
-  }
-  return true;
-}
-
-void PointCloudXYZI::Swap(PointCloudXYZI* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    points_.Swap(&other->points_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZI::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZI_descriptor_;
-  metadata.reflection = PointCloudXYZI_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int PointCloudXYZRGB_PointXYZRGB::kXFieldNumber;
-const int PointCloudXYZRGB_PointXYZRGB::kYFieldNumber;
-const int PointCloudXYZRGB_PointXYZRGB::kZFieldNumber;
-const int PointCloudXYZRGB_PointXYZRGB::kRgbFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZRGB_PointXYZRGB::InitAsDefaultInstance() {
-}
-
-PointCloudXYZRGB_PointXYZRGB::PointCloudXYZRGB_PointXYZRGB(const PointCloudXYZRGB_PointXYZRGB& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  rgb_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZRGB_PointXYZRGB::~PointCloudXYZRGB_PointXYZRGB() {
-  SharedDtor();
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZRGB_PointXYZRGB::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZRGB_PointXYZRGB_descriptor_;
-}
-
-const PointCloudXYZRGB_PointXYZRGB& PointCloudXYZRGB_PointXYZRGB::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::default_instance_ = NULL;
-
-PointCloudXYZRGB_PointXYZRGB* PointCloudXYZRGB_PointXYZRGB::New() const {
-  return new PointCloudXYZRGB_PointXYZRGB;
-}
-
-void PointCloudXYZRGB_PointXYZRGB::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    rgb_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZRGB_PointXYZRGB::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required float x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(21)) goto parse_y;
-        break;
-      }
-      
-      // required float y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(29)) goto parse_z;
-        break;
-      }
-      
-      // required float z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(37)) goto parse_rgb;
-        break;
-      }
-      
-      // required float rgb = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_rgb:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &rgb_)));
-          set_has_rgb();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required float x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(1, this->x(), output);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(2, this->y(), output);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(3, this->z(), output);
-  }
-  
-  // required float rgb = 4;
-  if (has_rgb()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(4, this->rgb(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZRGB_PointXYZRGB::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required float x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(1, this->x(), target);
-  }
-  
-  // required float y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(2, this->y(), target);
-  }
-  
-  // required float z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(3, this->z(), target);
-  }
-  
-  // required float rgb = 4;
-  if (has_rgb()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(4, this->rgb(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZRGB_PointXYZRGB::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required float x = 1;
-    if (has_x()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float y = 2;
-    if (has_y()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float z = 3;
-    if (has_z()) {
-      total_size += 1 + 4;
-    }
-    
-    // required float rgb = 4;
-    if (has_rgb()) {
-      total_size += 1 + 4;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZRGB_PointXYZRGB* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB_PointXYZRGB*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZRGB_PointXYZRGB::MergeFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_rgb()) {
-      set_rgb(from.rgb());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB_PointXYZRGB::CopyFrom(const PointCloudXYZRGB_PointXYZRGB& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZRGB_PointXYZRGB::IsInitialized() const {
-  if ((_has_bits_[0] & 0x0000000f) != 0x0000000f) return false;
-  
-  return true;
-}
-
-void PointCloudXYZRGB_PointXYZRGB::Swap(PointCloudXYZRGB_PointXYZRGB* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(rgb_, other->rgb_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZRGB_PointXYZRGB::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZRGB_PointXYZRGB_descriptor_;
-  metadata.reflection = PointCloudXYZRGB_PointXYZRGB_reflection_;
-  return metadata;
-}
-
-
-// -------------------------------------------------------------------
-
-#ifndef _MSC_VER
-const int PointCloudXYZRGB::kHeaderFieldNumber;
-const int PointCloudXYZRGB::kPointsFieldNumber;
-#endif  // !_MSC_VER
-
-PointCloudXYZRGB::PointCloudXYZRGB()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void PointCloudXYZRGB::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-PointCloudXYZRGB::PointCloudXYZRGB(const PointCloudXYZRGB& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-PointCloudXYZRGB::~PointCloudXYZRGB() {
-  SharedDtor();
-}
-
-void PointCloudXYZRGB::SharedDtor() {
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void PointCloudXYZRGB::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* PointCloudXYZRGB::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return PointCloudXYZRGB_descriptor_;
-}
-
-const PointCloudXYZRGB& PointCloudXYZRGB::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-PointCloudXYZRGB* PointCloudXYZRGB::default_instance_ = NULL;
-
-PointCloudXYZRGB* PointCloudXYZRGB::New() const {
-  return new PointCloudXYZRGB;
-}
-
-void PointCloudXYZRGB::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-  }
-  points_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool PointCloudXYZRGB::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        break;
-      }
-      
-      // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_points:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-                input, add_points()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(18)) goto parse_points;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void PointCloudXYZRGB::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      2, this->points(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* PointCloudXYZRGB::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  for (int i = 0; i < this->points_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        2, this->points(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int PointCloudXYZRGB::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-  }
-  // repeated .px.PointCloudXYZRGB.PointXYZRGB points = 2;
-  total_size += 1 * this->points_size();
-  for (int i = 0; i < this->points_size(); i++) {
-    total_size +=
-      ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-        this->points(i));
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void PointCloudXYZRGB::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const PointCloudXYZRGB* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const PointCloudXYZRGB*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void PointCloudXYZRGB::MergeFrom(const PointCloudXYZRGB& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  points_.MergeFrom(from.points_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void PointCloudXYZRGB::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void PointCloudXYZRGB::CopyFrom(const PointCloudXYZRGB& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool PointCloudXYZRGB::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000001) != 0x00000001) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  for (int i = 0; i < points_size(); i++) {
-    if (!this->points(i).IsInitialized()) return false;
-  }
-  return true;
-}
-
-void PointCloudXYZRGB::Swap(PointCloudXYZRGB* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    points_.Swap(&other->points_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata PointCloudXYZRGB::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = PointCloudXYZRGB_descriptor_;
-  metadata.reflection = PointCloudXYZRGB_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int RGBDImage::kHeaderFieldNumber;
-const int RGBDImage::kColsFieldNumber;
-const int RGBDImage::kRowsFieldNumber;
-const int RGBDImage::kStep1FieldNumber;
-const int RGBDImage::kType1FieldNumber;
-const int RGBDImage::kImageData1FieldNumber;
-const int RGBDImage::kStep2FieldNumber;
-const int RGBDImage::kType2FieldNumber;
-const int RGBDImage::kImageData2FieldNumber;
-const int RGBDImage::kCameraConfigFieldNumber;
-const int RGBDImage::kCameraTypeFieldNumber;
-const int RGBDImage::kRollFieldNumber;
-const int RGBDImage::kPitchFieldNumber;
-const int RGBDImage::kYawFieldNumber;
-const int RGBDImage::kLonFieldNumber;
-const int RGBDImage::kLatFieldNumber;
-const int RGBDImage::kAltFieldNumber;
-const int RGBDImage::kGroundXFieldNumber;
-const int RGBDImage::kGroundYFieldNumber;
-const int RGBDImage::kGroundZFieldNumber;
-const int RGBDImage::kCameraMatrixFieldNumber;
-#endif  // !_MSC_VER
-
-RGBDImage::RGBDImage()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void RGBDImage::InitAsDefaultInstance() {
-  header_ = const_cast< ::px::HeaderInfo*>(&::px::HeaderInfo::default_instance());
-}
-
-RGBDImage::RGBDImage(const RGBDImage& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void RGBDImage::SharedCtor() {
-  _cached_size_ = 0;
-  header_ = NULL;
-  cols_ = 0u;
-  rows_ = 0u;
-  step1_ = 0u;
-  type1_ = 0u;
-  imagedata1_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  step2_ = 0u;
-  type2_ = 0u;
-  imagedata2_ = const_cast< ::std::string*>(&::google::protobuf::internal::kEmptyString);
-  camera_config_ = 0u;
-  camera_type_ = 0u;
-  roll_ = 0;
-  pitch_ = 0;
-  yaw_ = 0;
-  lon_ = 0;
-  lat_ = 0;
-  alt_ = 0;
-  ground_x_ = 0;
-  ground_y_ = 0;
-  ground_z_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-RGBDImage::~RGBDImage() {
-  SharedDtor();
-}
-
-void RGBDImage::SharedDtor() {
-  if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
-    delete imagedata1_;
-  }
-  if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
-    delete imagedata2_;
-  }
-  if (this != default_instance_) {
-    delete header_;
-  }
-}
-
-void RGBDImage::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* RGBDImage::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return RGBDImage_descriptor_;
-}
-
-const RGBDImage& RGBDImage::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-RGBDImage* RGBDImage::default_instance_ = NULL;
-
-RGBDImage* RGBDImage::New() const {
-  return new RGBDImage;
-}
-
-void RGBDImage::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (has_header()) {
-      if (header_ != NULL) header_->::px::HeaderInfo::Clear();
-    }
-    cols_ = 0u;
-    rows_ = 0u;
-    step1_ = 0u;
-    type1_ = 0u;
-    if (has_imagedata1()) {
-      if (imagedata1_ != &::google::protobuf::internal::kEmptyString) {
-        imagedata1_->clear();
-      }
-    }
-    step2_ = 0u;
-    type2_ = 0u;
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    if (has_imagedata2()) {
-      if (imagedata2_ != &::google::protobuf::internal::kEmptyString) {
-        imagedata2_->clear();
-      }
-    }
-    camera_config_ = 0u;
-    camera_type_ = 0u;
-    roll_ = 0;
-    pitch_ = 0;
-    yaw_ = 0;
-    lon_ = 0;
-    lat_ = 0;
-  }
-  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
-    alt_ = 0;
-    ground_x_ = 0;
-    ground_y_ = 0;
-    ground_z_ = 0;
-  }
-  camera_matrix_.Clear();
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool RGBDImage::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required .px.HeaderInfo header = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-          DO_(::google::protobuf::internal::WireFormatLite::ReadMessageNoVirtual(
-               input, mutable_header()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(16)) goto parse_cols;
-        break;
-      }
-      
-      // required uint32 cols = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_cols:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &cols_)));
-          set_has_cols();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(24)) goto parse_rows;
-        break;
-      }
-      
-      // required uint32 rows = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_rows:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &rows_)));
-          set_has_rows();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(32)) goto parse_step1;
-        break;
-      }
-      
-      // required uint32 step1 = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_step1:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &step1_)));
-          set_has_step1();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(40)) goto parse_type1;
-        break;
-      }
-      
-      // required uint32 type1 = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_type1:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &type1_)));
-          set_has_type1();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(50)) goto parse_imageData1;
-        break;
-      }
-      
-      // required bytes imageData1 = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_imageData1:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_imagedata1()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(56)) goto parse_step2;
-        break;
-      }
-      
-      // required uint32 step2 = 7;
-      case 7: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_step2:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &step2_)));
-          set_has_step2();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(64)) goto parse_type2;
-        break;
-      }
-      
-      // required uint32 type2 = 8;
-      case 8: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_type2:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &type2_)));
-          set_has_type2();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(74)) goto parse_imageData2;
-        break;
-      }
-      
-      // required bytes imageData2 = 9;
-      case 9: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_LENGTH_DELIMITED) {
-         parse_imageData2:
-          DO_(::google::protobuf::internal::WireFormatLite::ReadBytes(
-                input, this->mutable_imagedata2()));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(80)) goto parse_camera_config;
-        break;
-      }
-      
-      // optional uint32 camera_config = 10;
-      case 10: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_camera_config:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &camera_config_)));
-          set_has_camera_config();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(88)) goto parse_camera_type;
-        break;
-      }
-      
-      // optional uint32 camera_type = 11;
-      case 11: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_VARINT) {
-         parse_camera_type:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   ::google::protobuf::uint32, ::google::protobuf::internal::WireFormatLite::TYPE_UINT32>(
-                 input, &camera_type_)));
-          set_has_camera_type();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(101)) goto parse_roll;
-        break;
-      }
-      
-      // optional float roll = 12;
-      case 12: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_roll:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &roll_)));
-          set_has_roll();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(109)) goto parse_pitch;
-        break;
-      }
-      
-      // optional float pitch = 13;
-      case 13: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_pitch:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &pitch_)));
-          set_has_pitch();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(117)) goto parse_yaw;
-        break;
-      }
-      
-      // optional float yaw = 14;
-      case 14: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_yaw:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &yaw_)));
-          set_has_yaw();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(125)) goto parse_lon;
-        break;
-      }
-      
-      // optional float lon = 15;
-      case 15: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_lon:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &lon_)));
-          set_has_lon();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(133)) goto parse_lat;
-        break;
-      }
-      
-      // optional float lat = 16;
-      case 16: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_lat:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &lat_)));
-          set_has_lat();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(141)) goto parse_alt;
-        break;
-      }
-      
-      // optional float alt = 17;
-      case 17: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_alt:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &alt_)));
-          set_has_alt();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(149)) goto parse_ground_x;
-        break;
-      }
-      
-      // optional float ground_x = 18;
-      case 18: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_ground_x:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &ground_x_)));
-          set_has_ground_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(157)) goto parse_ground_y;
-        break;
-      }
-      
-      // optional float ground_y = 19;
-      case 19: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_ground_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &ground_y_)));
-          set_has_ground_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(165)) goto parse_ground_z;
-        break;
-      }
-      
-      // optional float ground_z = 20;
-      case 20: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_ground_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, &ground_z_)));
-          set_has_ground_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(173)) goto parse_camera_matrix;
-        break;
-      }
-      
-      // repeated float camera_matrix = 21;
-      case 21: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED32) {
-         parse_camera_matrix:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadRepeatedPrimitive<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 2, 173, input, this->mutable_camera_matrix())));
-        } else if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag)
-                   == ::google::protobuf::internal::WireFormatLite::
-                      WIRETYPE_LENGTH_DELIMITED) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPackedPrimitiveNoInline<
-                   float, ::google::protobuf::internal::WireFormatLite::TYPE_FLOAT>(
-                 input, this->mutable_camera_matrix())));
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(173)) goto parse_camera_matrix;
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void RGBDImage::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    ::google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(
-      1, this->header(), output);
-  }
-  
-  // required uint32 cols = 2;
-  if (has_cols()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(2, this->cols(), output);
-  }
-  
-  // required uint32 rows = 3;
-  if (has_rows()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(3, this->rows(), output);
-  }
-  
-  // required uint32 step1 = 4;
-  if (has_step1()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(4, this->step1(), output);
-  }
-  
-  // required uint32 type1 = 5;
-  if (has_type1()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(5, this->type1(), output);
-  }
-  
-  // required bytes imageData1 = 6;
-  if (has_imagedata1()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      6, this->imagedata1(), output);
-  }
-  
-  // required uint32 step2 = 7;
-  if (has_step2()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(7, this->step2(), output);
-  }
-  
-  // required uint32 type2 = 8;
-  if (has_type2()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(8, this->type2(), output);
-  }
-  
-  // required bytes imageData2 = 9;
-  if (has_imagedata2()) {
-    ::google::protobuf::internal::WireFormatLite::WriteBytes(
-      9, this->imagedata2(), output);
-  }
-  
-  // optional uint32 camera_config = 10;
-  if (has_camera_config()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(10, this->camera_config(), output);
-  }
-  
-  // optional uint32 camera_type = 11;
-  if (has_camera_type()) {
-    ::google::protobuf::internal::WireFormatLite::WriteUInt32(11, this->camera_type(), output);
-  }
-  
-  // optional float roll = 12;
-  if (has_roll()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(12, this->roll(), output);
-  }
-  
-  // optional float pitch = 13;
-  if (has_pitch()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(13, this->pitch(), output);
-  }
-  
-  // optional float yaw = 14;
-  if (has_yaw()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(14, this->yaw(), output);
-  }
-  
-  // optional float lon = 15;
-  if (has_lon()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(15, this->lon(), output);
-  }
-  
-  // optional float lat = 16;
-  if (has_lat()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(16, this->lat(), output);
-  }
-  
-  // optional float alt = 17;
-  if (has_alt()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(17, this->alt(), output);
-  }
-  
-  // optional float ground_x = 18;
-  if (has_ground_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(18, this->ground_x(), output);
-  }
-  
-  // optional float ground_y = 19;
-  if (has_ground_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(19, this->ground_y(), output);
-  }
-  
-  // optional float ground_z = 20;
-  if (has_ground_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(20, this->ground_z(), output);
-  }
-  
-  // repeated float camera_matrix = 21;
-  for (int i = 0; i < this->camera_matrix_size(); i++) {
-    ::google::protobuf::internal::WireFormatLite::WriteFloat(
-      21, this->camera_matrix(i), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* RGBDImage::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required .px.HeaderInfo header = 1;
-  if (has_header()) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteMessageNoVirtualToArray(
-        1, this->header(), target);
-  }
-  
-  // required uint32 cols = 2;
-  if (has_cols()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(2, this->cols(), target);
-  }
-  
-  // required uint32 rows = 3;
-  if (has_rows()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(3, this->rows(), target);
-  }
-  
-  // required uint32 step1 = 4;
-  if (has_step1()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(4, this->step1(), target);
-  }
-  
-  // required uint32 type1 = 5;
-  if (has_type1()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(5, this->type1(), target);
-  }
-  
-  // required bytes imageData1 = 6;
-  if (has_imagedata1()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        6, this->imagedata1(), target);
-  }
-  
-  // required uint32 step2 = 7;
-  if (has_step2()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(7, this->step2(), target);
-  }
-  
-  // required uint32 type2 = 8;
-  if (has_type2()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(8, this->type2(), target);
-  }
-  
-  // required bytes imageData2 = 9;
-  if (has_imagedata2()) {
-    target =
-      ::google::protobuf::internal::WireFormatLite::WriteBytesToArray(
-        9, this->imagedata2(), target);
-  }
-  
-  // optional uint32 camera_config = 10;
-  if (has_camera_config()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(10, this->camera_config(), target);
-  }
-  
-  // optional uint32 camera_type = 11;
-  if (has_camera_type()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteUInt32ToArray(11, this->camera_type(), target);
-  }
-  
-  // optional float roll = 12;
-  if (has_roll()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(12, this->roll(), target);
-  }
-  
-  // optional float pitch = 13;
-  if (has_pitch()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(13, this->pitch(), target);
-  }
-  
-  // optional float yaw = 14;
-  if (has_yaw()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(14, this->yaw(), target);
-  }
-  
-  // optional float lon = 15;
-  if (has_lon()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(15, this->lon(), target);
-  }
-  
-  // optional float lat = 16;
-  if (has_lat()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(16, this->lat(), target);
-  }
-  
-  // optional float alt = 17;
-  if (has_alt()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(17, this->alt(), target);
-  }
-  
-  // optional float ground_x = 18;
-  if (has_ground_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(18, this->ground_x(), target);
-  }
-  
-  // optional float ground_y = 19;
-  if (has_ground_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(19, this->ground_y(), target);
-  }
-  
-  // optional float ground_z = 20;
-  if (has_ground_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteFloatToArray(20, this->ground_z(), target);
-  }
-  
-  // repeated float camera_matrix = 21;
-  for (int i = 0; i < this->camera_matrix_size(); i++) {
-    target = ::google::protobuf::internal::WireFormatLite::
-      WriteFloatToArray(21, this->camera_matrix(i), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int RGBDImage::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required .px.HeaderInfo header = 1;
-    if (has_header()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::MessageSizeNoVirtual(
-          this->header());
-    }
-    
-    // required uint32 cols = 2;
-    if (has_cols()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->cols());
-    }
-    
-    // required uint32 rows = 3;
-    if (has_rows()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->rows());
-    }
-    
-    // required uint32 step1 = 4;
-    if (has_step1()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->step1());
-    }
-    
-    // required uint32 type1 = 5;
-    if (has_type1()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->type1());
-    }
-    
-    // required bytes imageData1 = 6;
-    if (has_imagedata1()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->imagedata1());
-    }
-    
-    // required uint32 step2 = 7;
-    if (has_step2()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->step2());
-    }
-    
-    // required uint32 type2 = 8;
-    if (has_type2()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->type2());
-    }
-    
-  }
-  if (_has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    // required bytes imageData2 = 9;
-    if (has_imagedata2()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::BytesSize(
-          this->imagedata2());
-    }
-    
-    // optional uint32 camera_config = 10;
-    if (has_camera_config()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->camera_config());
-    }
-    
-    // optional uint32 camera_type = 11;
-    if (has_camera_type()) {
-      total_size += 1 +
-        ::google::protobuf::internal::WireFormatLite::UInt32Size(
-          this->camera_type());
-    }
-    
-    // optional float roll = 12;
-    if (has_roll()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float pitch = 13;
-    if (has_pitch()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float yaw = 14;
-    if (has_yaw()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float lon = 15;
-    if (has_lon()) {
-      total_size += 1 + 4;
-    }
-    
-    // optional float lat = 16;
-    if (has_lat()) {
-      total_size += 2 + 4;
-    }
-    
-  }
-  if (_has_bits_[16 / 32] & (0xffu << (16 % 32))) {
-    // optional float alt = 17;
-    if (has_alt()) {
-      total_size += 2 + 4;
-    }
-    
-    // optional float ground_x = 18;
-    if (has_ground_x()) {
-      total_size += 2 + 4;
-    }
-    
-    // optional float ground_y = 19;
-    if (has_ground_y()) {
-      total_size += 2 + 4;
-    }
-    
-    // optional float ground_z = 20;
-    if (has_ground_z()) {
-      total_size += 2 + 4;
-    }
-    
-  }
-  // repeated float camera_matrix = 21;
-  {
-    int data_size = 0;
-    data_size = 4 * this->camera_matrix_size();
-    total_size += 2 * this->camera_matrix_size() + data_size;
-  }
-  
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void RGBDImage::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const RGBDImage* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const RGBDImage*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void RGBDImage::MergeFrom(const RGBDImage& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  camera_matrix_.MergeFrom(from.camera_matrix_);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_header()) {
-      mutable_header()->::px::HeaderInfo::MergeFrom(from.header());
-    }
-    if (from.has_cols()) {
-      set_cols(from.cols());
-    }
-    if (from.has_rows()) {
-      set_rows(from.rows());
-    }
-    if (from.has_step1()) {
-      set_step1(from.step1());
-    }
-    if (from.has_type1()) {
-      set_type1(from.type1());
-    }
-    if (from.has_imagedata1()) {
-      set_imagedata1(from.imagedata1());
-    }
-    if (from.has_step2()) {
-      set_step2(from.step2());
-    }
-    if (from.has_type2()) {
-      set_type2(from.type2());
-    }
-  }
-  if (from._has_bits_[8 / 32] & (0xffu << (8 % 32))) {
-    if (from.has_imagedata2()) {
-      set_imagedata2(from.imagedata2());
-    }
-    if (from.has_camera_config()) {
-      set_camera_config(from.camera_config());
-    }
-    if (from.has_camera_type()) {
-      set_camera_type(from.camera_type());
-    }
-    if (from.has_roll()) {
-      set_roll(from.roll());
-    }
-    if (from.has_pitch()) {
-      set_pitch(from.pitch());
-    }
-    if (from.has_yaw()) {
-      set_yaw(from.yaw());
-    }
-    if (from.has_lon()) {
-      set_lon(from.lon());
-    }
-    if (from.has_lat()) {
-      set_lat(from.lat());
-    }
-  }
-  if (from._has_bits_[16 / 32] & (0xffu << (16 % 32))) {
-    if (from.has_alt()) {
-      set_alt(from.alt());
-    }
-    if (from.has_ground_x()) {
-      set_ground_x(from.ground_x());
-    }
-    if (from.has_ground_y()) {
-      set_ground_y(from.ground_y());
-    }
-    if (from.has_ground_z()) {
-      set_ground_z(from.ground_z());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void RGBDImage::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void RGBDImage::CopyFrom(const RGBDImage& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool RGBDImage::IsInitialized() const {
-  if ((_has_bits_[0] & 0x000001ff) != 0x000001ff) return false;
-  
-  if (has_header()) {
-    if (!this->header().IsInitialized()) return false;
-  }
-  return true;
-}
-
-void RGBDImage::Swap(RGBDImage* other) {
-  if (other != this) {
-    std::swap(header_, other->header_);
-    std::swap(cols_, other->cols_);
-    std::swap(rows_, other->rows_);
-    std::swap(step1_, other->step1_);
-    std::swap(type1_, other->type1_);
-    std::swap(imagedata1_, other->imagedata1_);
-    std::swap(step2_, other->step2_);
-    std::swap(type2_, other->type2_);
-    std::swap(imagedata2_, other->imagedata2_);
-    std::swap(camera_config_, other->camera_config_);
-    std::swap(camera_type_, other->camera_type_);
-    std::swap(roll_, other->roll_);
-    std::swap(pitch_, other->pitch_);
-    std::swap(yaw_, other->yaw_);
-    std::swap(lon_, other->lon_);
-    std::swap(lat_, other->lat_);
-    std::swap(alt_, other->alt_);
-    std::swap(ground_x_, other->ground_x_);
-    std::swap(ground_y_, other->ground_y_);
-    std::swap(ground_z_, other->ground_z_);
-    camera_matrix_.Swap(&other->camera_matrix_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata RGBDImage::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = RGBDImage_descriptor_;
-  metadata.reflection = RGBDImage_reflection_;
-  return metadata;
-}
-
-
-// ===================================================================
-
-#ifndef _MSC_VER
-const int Waypoint::kXFieldNumber;
-const int Waypoint::kYFieldNumber;
-const int Waypoint::kZFieldNumber;
-const int Waypoint::kRollFieldNumber;
-const int Waypoint::kPitchFieldNumber;
-const int Waypoint::kYawFieldNumber;
-#endif  // !_MSC_VER
-
-Waypoint::Waypoint()
-  : ::google::protobuf::Message() {
-  SharedCtor();
-}
-
-void Waypoint::InitAsDefaultInstance() {
-}
-
-Waypoint::Waypoint(const Waypoint& from)
-  : ::google::protobuf::Message() {
-  SharedCtor();
-  MergeFrom(from);
-}
-
-void Waypoint::SharedCtor() {
-  _cached_size_ = 0;
-  x_ = 0;
-  y_ = 0;
-  z_ = 0;
-  roll_ = 0;
-  pitch_ = 0;
-  yaw_ = 0;
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-}
-
-Waypoint::~Waypoint() {
-  SharedDtor();
-}
-
-void Waypoint::SharedDtor() {
-  if (this != default_instance_) {
-  }
-}
-
-void Waypoint::SetCachedSize(int size) const {
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-}
-const ::google::protobuf::Descriptor* Waypoint::descriptor() {
-  protobuf_AssignDescriptorsOnce();
-  return Waypoint_descriptor_;
-}
-
-const Waypoint& Waypoint::default_instance() {
-  if (default_instance_ == NULL) protobuf_AddDesc_pixhawk_2eproto();  return *default_instance_;
-}
-
-Waypoint* Waypoint::default_instance_ = NULL;
-
-Waypoint* Waypoint::New() const {
-  return new Waypoint;
-}
-
-void Waypoint::Clear() {
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    x_ = 0;
-    y_ = 0;
-    z_ = 0;
-    roll_ = 0;
-    pitch_ = 0;
-    yaw_ = 0;
-  }
-  ::memset(_has_bits_, 0, sizeof(_has_bits_));
-  mutable_unknown_fields()->Clear();
-}
-
-bool Waypoint::MergePartialFromCodedStream(
-    ::google::protobuf::io::CodedInputStream* input) {
-#define DO_(EXPRESSION) if (!(EXPRESSION)) return false
-  ::google::protobuf::uint32 tag;
-  while ((tag = input->ReadTag()) != 0) {
-    switch (::google::protobuf::internal::WireFormatLite::GetTagFieldNumber(tag)) {
-      // required double x = 1;
-      case 1: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &x_)));
-          set_has_x();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(17)) goto parse_y;
-        break;
-      }
-      
-      // required double y = 2;
-      case 2: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_y:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &y_)));
-          set_has_y();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(25)) goto parse_z;
-        break;
-      }
-      
-      // optional double z = 3;
-      case 3: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_z:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &z_)));
-          set_has_z();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(33)) goto parse_roll;
-        break;
-      }
-      
-      // optional double roll = 4;
-      case 4: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_roll:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &roll_)));
-          set_has_roll();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(41)) goto parse_pitch;
-        break;
-      }
-      
-      // optional double pitch = 5;
-      case 5: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_pitch:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &pitch_)));
-          set_has_pitch();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectTag(49)) goto parse_yaw;
-        break;
-      }
-      
-      // optional double yaw = 6;
-      case 6: {
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_FIXED64) {
-         parse_yaw:
-          DO_((::google::protobuf::internal::WireFormatLite::ReadPrimitive<
-                   double, ::google::protobuf::internal::WireFormatLite::TYPE_DOUBLE>(
-                 input, &yaw_)));
-          set_has_yaw();
-        } else {
-          goto handle_uninterpreted;
-        }
-        if (input->ExpectAtEnd()) return true;
-        break;
-      }
-      
-      default: {
-      handle_uninterpreted:
-        if (::google::protobuf::internal::WireFormatLite::GetTagWireType(tag) ==
-            ::google::protobuf::internal::WireFormatLite::WIRETYPE_END_GROUP) {
-          return true;
-        }
-        DO_(::google::protobuf::internal::WireFormat::SkipField(
-              input, tag, mutable_unknown_fields()));
-        break;
-      }
-    }
-  }
-  return true;
-#undef DO_
-}
-
-void Waypoint::SerializeWithCachedSizes(
-    ::google::protobuf::io::CodedOutputStream* output) const {
-  // required double x = 1;
-  if (has_x()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(1, this->x(), output);
-  }
-  
-  // required double y = 2;
-  if (has_y()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(2, this->y(), output);
-  }
-  
-  // optional double z = 3;
-  if (has_z()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(3, this->z(), output);
-  }
-  
-  // optional double roll = 4;
-  if (has_roll()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(4, this->roll(), output);
-  }
-  
-  // optional double pitch = 5;
-  if (has_pitch()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(5, this->pitch(), output);
-  }
-  
-  // optional double yaw = 6;
-  if (has_yaw()) {
-    ::google::protobuf::internal::WireFormatLite::WriteDouble(6, this->yaw(), output);
-  }
-  
-  if (!unknown_fields().empty()) {
-    ::google::protobuf::internal::WireFormat::SerializeUnknownFields(
-        unknown_fields(), output);
-  }
-}
-
-::google::protobuf::uint8* Waypoint::SerializeWithCachedSizesToArray(
-    ::google::protobuf::uint8* target) const {
-  // required double x = 1;
-  if (has_x()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(1, this->x(), target);
-  }
-  
-  // required double y = 2;
-  if (has_y()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(2, this->y(), target);
-  }
-  
-  // optional double z = 3;
-  if (has_z()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(3, this->z(), target);
-  }
-  
-  // optional double roll = 4;
-  if (has_roll()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(4, this->roll(), target);
-  }
-  
-  // optional double pitch = 5;
-  if (has_pitch()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(5, this->pitch(), target);
-  }
-  
-  // optional double yaw = 6;
-  if (has_yaw()) {
-    target = ::google::protobuf::internal::WireFormatLite::WriteDoubleToArray(6, this->yaw(), target);
-  }
-  
-  if (!unknown_fields().empty()) {
-    target = ::google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(
-        unknown_fields(), target);
-  }
-  return target;
-}
-
-int Waypoint::ByteSize() const {
-  int total_size = 0;
-  
-  if (_has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    // required double x = 1;
-    if (has_x()) {
-      total_size += 1 + 8;
-    }
-    
-    // required double y = 2;
-    if (has_y()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double z = 3;
-    if (has_z()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double roll = 4;
-    if (has_roll()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double pitch = 5;
-    if (has_pitch()) {
-      total_size += 1 + 8;
-    }
-    
-    // optional double yaw = 6;
-    if (has_yaw()) {
-      total_size += 1 + 8;
-    }
-    
-  }
-  if (!unknown_fields().empty()) {
-    total_size +=
-      ::google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(
-        unknown_fields());
-  }
-  GOOGLE_SAFE_CONCURRENT_WRITES_BEGIN();
-  _cached_size_ = total_size;
-  GOOGLE_SAFE_CONCURRENT_WRITES_END();
-  return total_size;
-}
-
-void Waypoint::MergeFrom(const ::google::protobuf::Message& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  const Waypoint* source =
-    ::google::protobuf::internal::dynamic_cast_if_available<const Waypoint*>(
-      &from);
-  if (source == NULL) {
-    ::google::protobuf::internal::ReflectionOps::Merge(from, this);
-  } else {
-    MergeFrom(*source);
-  }
-}
-
-void Waypoint::MergeFrom(const Waypoint& from) {
-  GOOGLE_CHECK_NE(&from, this);
-  if (from._has_bits_[0 / 32] & (0xffu << (0 % 32))) {
-    if (from.has_x()) {
-      set_x(from.x());
-    }
-    if (from.has_y()) {
-      set_y(from.y());
-    }
-    if (from.has_z()) {
-      set_z(from.z());
-    }
-    if (from.has_roll()) {
-      set_roll(from.roll());
-    }
-    if (from.has_pitch()) {
-      set_pitch(from.pitch());
-    }
-    if (from.has_yaw()) {
-      set_yaw(from.yaw());
-    }
-  }
-  mutable_unknown_fields()->MergeFrom(from.unknown_fields());
-}
-
-void Waypoint::CopyFrom(const ::google::protobuf::Message& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-void Waypoint::CopyFrom(const Waypoint& from) {
-  if (&from == this) return;
-  Clear();
-  MergeFrom(from);
-}
-
-bool Waypoint::IsInitialized() const {
-  if ((_has_bits_[0] & 0x00000003) != 0x00000003) return false;
-  
-  return true;
-}
-
-void Waypoint::Swap(Waypoint* other) {
-  if (other != this) {
-    std::swap(x_, other->x_);
-    std::swap(y_, other->y_);
-    std::swap(z_, other->z_);
-    std::swap(roll_, other->roll_);
-    std::swap(pitch_, other->pitch_);
-    std::swap(yaw_, other->yaw_);
-    std::swap(_has_bits_[0], other->_has_bits_[0]);
-    _unknown_fields_.Swap(&other->_unknown_fields_);
-    std::swap(_cached_size_, other->_cached_size_);
-  }
-}
-
-::google::protobuf::Metadata Waypoint::GetMetadata() const {
-  protobuf_AssignDescriptorsOnce();
-  ::google::protobuf::Metadata metadata;
-  metadata.descriptor = Waypoint_descriptor_;
-  metadata.reflection = Waypoint_reflection_;
-  return metadata;
-}
-
-
-// @@protoc_insertion_point(namespace_scope)
-
-}  // namespace px
-
-// @@protoc_insertion_point(global_scope)
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/.gitignore b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/.gitignore
deleted file mode 100644
index 7c98650cc..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-/testmav0.9
-/testmav1.0
-/testmav1.0_nonstrict
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/testmav.c b/mavlink/share/pyshared/pymavlink/generator/C/test/posix/testmav.c
deleted file mode 100644
index 2fd7fa378..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/test/posix/testmav.c
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
-  simple MAVLink testsuite for C
- */
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <assert.h>
-#include <stddef.h>
-
-#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
-#define MAVLINK_COMM_NUM_BUFFERS 2
-
-// this trick allows us to make mavlink_message_t as small as possible
-// for this dialect, which saves some memory
-#include <version.h>
-#define MAVLINK_MAX_PAYLOAD_LEN MAVLINK_MAX_DIALECT_PAYLOAD_SIZE
-
-#include <mavlink_types.h>
-static mavlink_system_t mavlink_system = {42,11,};
-
-#define MAVLINK_ASSERT(x) assert(x)
-static void comm_send_ch(mavlink_channel_t chan, uint8_t c);
-
-static mavlink_message_t last_msg;
-
-#include <mavlink.h>
-#include <testsuite.h>
-
-static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
-
-static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
-static unsigned error_count;
-
-static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
-
-static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
-{
-#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
-	switch (f->type) {
-	case MAVLINK_TYPE_CHAR:
-		printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
-		break;
-	case MAVLINK_TYPE_UINT8_T:
-		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
-		break;
-	case MAVLINK_TYPE_INT8_T:
-		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
-		break;
-	case MAVLINK_TYPE_UINT16_T:
-		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
-		break;
-	case MAVLINK_TYPE_INT16_T:
-		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
-		break;
-	case MAVLINK_TYPE_UINT32_T:
-		printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
-		break;
-	case MAVLINK_TYPE_INT32_T:
-		printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
-		break;
-	case MAVLINK_TYPE_UINT64_T:
-		printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
-		break;
-	case MAVLINK_TYPE_INT64_T:
-		printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
-		break;
-	case MAVLINK_TYPE_FLOAT:
-		printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
-		break;
-	case MAVLINK_TYPE_DOUBLE:
-		printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
-		break;
-	}
-}
-
-static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)
-{
-	printf("%s: ", f->name);
-	if (f->array_length == 0) {
-		print_one_field(msg, f, 0);
-		printf(" ");
-	} else {
-		unsigned i;
-		/* print an array */
-		if (f->type == MAVLINK_TYPE_CHAR) {
-			printf("'%.*s'", f->array_length,
-			       f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
-			
-		} else {
-			printf("[ ");
-			for (i=0; i<f->array_length; i++) {
-				print_one_field(msg, f, i);
-				if (i < f->array_length) {
-					printf(", ");
-				}
-			}
-			printf("]");
-		}
-	}
-	printf(" ");
-}
-
-static void print_message(mavlink_message_t *msg)
-{
-	const mavlink_message_info_t *m = &message_info[msg->msgid];
-	const mavlink_field_info_t *f = m->fields;
-	unsigned i;
-	printf("%s { ", m->name);
-	for (i=0; i<m->num_fields; i++) {
-		print_field(msg, &f[i]);
-	}
-	printf("}\n");
-}
-
-static void comm_send_ch(mavlink_channel_t chan, uint8_t c)
-{
-	mavlink_status_t status;
-	if (mavlink_parse_char(chan, c, &last_msg, &status)) {
-		print_message(&last_msg);
-		chan_counts[chan]++;
-		/* channel 0 gets 3 messages per message, because of
-		   the channel defaults for _pack() and _encode() */
-		if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {
-			printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n", 
-			       chan_counts[chan], status.current_rx_seq);
-			error_count++;
-		} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {
-			printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n", 
-			       (unsigned)chan, chan_counts[chan], status.current_rx_seq);
-			error_count++;
-		}
-		if (message_lengths[last_msg.msgid] != last_msg.len) {
-			printf("Incorrect message length %u for message %u - expected %u\n", 
-			       (unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);
-			error_count++;
-		}
-	}
-	if (status.packet_rx_drop_count != 0) {
-		printf("Parse error at packet %u\n", chan_counts[chan]);
-		error_count++;
-	}
-}
-
-int main(void)
-{
-	mavlink_channel_t chan;
-	mavlink_test_all(11, 10, &last_msg);
-	for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {
-		printf("Received %u messages on channel %u OK\n", 
-		       chan_counts[chan], (unsigned)chan);
-	}
-	if (error_count != 0) {
-		printf("Error count %u\n", error_count);
-		exit(1);
-	}
-	printf("No errors detected\n");
-	return 0;
-}
-
diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.cpp b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.cpp
deleted file mode 100644
index 98b4abf05..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.cpp
+++ /dev/null
@@ -1,8 +0,0 @@
-// stdafx.cpp : source file that includes just the standard includes

-// testmav.pch will be the pre-compiled header

-// stdafx.obj will contain the pre-compiled type information

-

-#include "stdafx.h"

-

-// TODO: reference any additional headers you need in STDAFX.H

-// and not in this file

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.h b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.h
deleted file mode 100644
index 47a0d0252..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/stdafx.h
+++ /dev/null
@@ -1,15 +0,0 @@
-// stdafx.h : include file for standard system include files,

-// or project specific include files that are used frequently, but

-// are changed infrequently

-//

-

-#pragma once

-

-#include "targetver.h"

-

-#include <stdio.h>

-#include <tchar.h>

-

-

-

-// TODO: reference additional headers your program requires here

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/targetver.h b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/targetver.h
deleted file mode 100644
index 90e767bfc..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/targetver.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#pragma once

-

-// Including SDKDDKVer.h defines the highest available Windows platform.

-

-// If you wish to build your application for a previous Windows platform, include WinSDKVer.h and

-// set the _WIN32_WINNT macro to the platform you wish to support before including SDKDDKVer.h.

-

-#include <SDKDDKVer.h>

diff --git a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.cpp b/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.cpp
deleted file mode 100644
index aa83caced..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/C/test/windows/testmav.cpp
+++ /dev/null
@@ -1,154 +0,0 @@
-// testmav.cpp : Defines the entry point for the console application.

-//

-

-#include "stdafx.h"

-#include "stdio.h"

-#include "stdint.h"

-#include "stddef.h"

-#include "assert.h"

-

-

-#define MAVLINK_USE_CONVENIENCE_FUNCTIONS

-#define MAVLINK_COMM_NUM_BUFFERS 2

-

-#include <mavlink_types.h>

-static mavlink_system_t mavlink_system = {42,11,};

-

-#define MAVLINK_ASSERT(x) assert(x)

-static void comm_send_ch(mavlink_channel_t chan, uint8_t c);

-

-static mavlink_message_t last_msg;

-

-#include <common/mavlink.h>

-#include <common/testsuite.h>

-

-static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];

-

-static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;

-static unsigned error_count;

-

-static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;

-

-static void print_one_field(mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)

-{

-#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)

-	switch (f->type) {

-	case MAVLINK_TYPE_CHAR:

-		printf(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));

-		break;

-	case MAVLINK_TYPE_UINT8_T:

-		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));

-		break;

-	case MAVLINK_TYPE_INT8_T:

-		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));

-		break;

-	case MAVLINK_TYPE_UINT16_T:

-		printf(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));

-		break;

-	case MAVLINK_TYPE_INT16_T:

-		printf(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));

-		break;

-	case MAVLINK_TYPE_UINT32_T:

-		printf(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));

-		break;

-	case MAVLINK_TYPE_INT32_T:

-		printf(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));

-		break;

-	case MAVLINK_TYPE_UINT64_T:

-		printf(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));

-		break;

-	case MAVLINK_TYPE_INT64_T:

-		printf(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));

-		break;

-	case MAVLINK_TYPE_FLOAT:

-		printf(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));

-		break;

-	case MAVLINK_TYPE_DOUBLE:

-		printf(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));

-		break;

-	}

-}

-

-static void print_field(mavlink_message_t *msg, const mavlink_field_info_t *f)

-{

-	printf("%s: ", f->name);

-	if (f->array_length == 0) {

-		print_one_field(msg, f, 0);

-		printf(" ");

-	} else {

-		unsigned i;

-		/* print an array */

-		if (f->type == MAVLINK_TYPE_CHAR) {

-			printf("'%.*s'", f->array_length,

-			       f->wire_offset+(const char *)_MAV_PAYLOAD(msg));

-			

-		} else {

-			printf("[ ");

-			for (i=0; i<f->array_length; i++) {

-				print_one_field(msg, f, i);

-				if (i < f->array_length) {

-					printf(", ");

-				}

-			}

-			printf("]");

-		}

-	}

-	printf(" ");

-}

-

-static void print_message(mavlink_message_t *msg)

-{

-	const mavlink_message_info_t *m = &message_info[msg->msgid];

-	const mavlink_field_info_t *f = m->fields;

-	unsigned i;

-	printf("%s { ", m->name);

-	for (i=0; i<m->num_fields; i++) {

-		print_field(msg, &f[i]);

-	}

-	printf("}\n");

-}

-

-static void comm_send_ch(mavlink_channel_t chan, uint8_t c)

-{

-	mavlink_status_t status;

-	if (mavlink_parse_char(chan, c, &last_msg, &status)) {

-		print_message(&last_msg);

-		chan_counts[chan]++;

-		/* channel 0 gets 3 messages per message, because of

-		   the channel defaults for _pack() and _encode() */

-		if (chan == MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)(chan_counts[chan]*3)) {

-			printf("Channel 0 sequence mismatch error at packet %u (rx_seq=%u)\n", 

-			       chan_counts[chan], status.current_rx_seq);

-			error_count++;

-		} else if (chan > MAVLINK_COMM_0 && status.current_rx_seq != (uint8_t)chan_counts[chan]) {

-			printf("Channel %u sequence mismatch error at packet %u (rx_seq=%u)\n", 

-			       (unsigned)chan, chan_counts[chan], status.current_rx_seq);

-			error_count++;

-		}

-		if (message_lengths[last_msg.msgid] != last_msg.len) {

-			printf("Incorrect message length %u for message %u - expected %u\n", 

-			       (unsigned)last_msg.len, (unsigned)last_msg.msgid, message_lengths[last_msg.msgid]);

-			error_count++;

-		}

-	}

-	if (status.packet_rx_drop_count != 0) {

-		printf("Parse error at packet %u\n", chan_counts[chan]);

-		error_count++;

-	}

-}

-	

-int _tmain(int argc, _TCHAR* argv[])

-{

-	int chan;

-	mavlink_test_all(11, 10, &last_msg);

-	for (chan=MAVLINK_COMM_0; chan<=MAVLINK_COMM_1; chan++) {

-		printf("Received %u messages on channel %u OK\n", 

-		       chan_counts[chan], (unsigned)chan);

-	}

-	if (error_count != 0) {

-		printf("Error count %u\n", error_count);

-		return(1);

-	}

-	printf("No errors detected\n");

-	return 0;

-}

diff --git a/mavlink/share/pyshared/pymavlink/generator/gen_MatrixPilot.py b/mavlink/share/pyshared/pymavlink/generator/gen_MatrixPilot.py
deleted file mode 100644
index 165c1b343..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/gen_MatrixPilot.py
+++ /dev/null
@@ -1,93 +0,0 @@
-#!/usr/bin/env python
-'''
-Use mavgen.py matrixpilot.xml definitions to generate
-C and Python MAVLink routines for sending and parsing the protocol
-This python script is soley for MatrixPilot MAVLink impoementation
-
-Copyright Pete Hollands 2011
-Released under GNU GPL version 3 or later
-'''
-
-import os, sys, glob, re
-from shutil import copy
-from mavgen import mavgen
-
-# allow import from the parent directory, where mavutil.py is
-# Under Windows, this script must be run from a DOS command window
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-class options:
-    """ a class to simulate the options of mavgen OptionsParser"""
-    def __init__(self, lang, output, wire_protocol):
-        self.language = lang
-        self.wire_protocol = wire_protocol
-        self.output = output
-
-def remove_include_files(target_directory):
-    search_pattern = target_directory+'/*.h'
-    print "search pattern is", search_pattern
-    files_to_remove = glob.glob(search_pattern)
-    for afile in files_to_remove :
-        try:
-            print "removing", afile
-            os.remove(afile)
-        except:
-            print "error while trying to remove", afile
-
-def copy_include_files(source_directory,target_directory):
-    search_pattern = source_directory+'/*.h'
-    files_to_copy = glob.glob(search_pattern)
-    for afile in files_to_copy:
-        basename = os.path.basename(afile)
-        print "Copying ...", basename
-        copy(afile, target_directory)
-
-protocol = "1.0"
-
-xml_directory = './message_definitions/v'+protocol
-print "xml_directory is", xml_directory
-xml_file_names = []
-xml_file_names.append(xml_directory+"/"+"matrixpilot.xml")
-
-for xml_file in xml_file_names:
-    print "xml file is ", xml_file
-    opts = options(lang = "C", output = "C/include_v"+protocol, \
-                   wire_protocol=protocol)
-    args = []
-    args.append(xml_file)
-    mavgen(opts, args)
-    xml_file_base = os.path.basename(xml_file)
-    xml_file_base = re.sub("\.xml","", xml_file_base)
-    print "xml_file_base is", xml_file_base
-    opts = options(lang = "python", \
-                   output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
-                   wire_protocol=protocol)
-    mavgen(opts,args)
-
-mavlink_directory_list = ["common","matrixpilot"]
-for mavlink_directory in mavlink_directory_list :
-    # Look specifically for MatrixPilot directory structure
-    target_directory = "../../../../MAVLink/include/"+mavlink_directory
-    source_directory = "C/include_v"+protocol+"/"+mavlink_directory
-    if os.access(source_directory, os.R_OK):
-        if os.access(target_directory, os.W_OK):
-            print "Preparing to copy over files..."
-            print "About to remove all files in",target_directory
-            print "OK to continue ?[Yes / No]: ",
-            line = sys.stdin.readline()
-            if line == "Yes\n" or line == "yes\n" \
-               or line == "Y\n" or line == "y\n":
-                print "passed"
-                remove_include_files(target_directory)
-                copy_include_files(source_directory,target_directory)
-                print "Finished copying over include files"
-            else :
-                print "Your answer is No. Exiting Program"
-                sys.exit()
-        else :
-           print "Cannot find " + target_directory + "in MatrixPilot"
-           sys.exit()
-    else:
-        print "Could not find files to copy at", source_directory
-        print "Exiting Program."
-        sys.exit()
diff --git a/mavlink/share/pyshared/pymavlink/generator/gen_all.py b/mavlink/share/pyshared/pymavlink/generator/gen_all.py
deleted file mode 100644
index 5b24f85cb..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/gen_all.py
+++ /dev/null
@@ -1,44 +0,0 @@
-#!/usr/bin/env python
-
-'''
-Use mavgen.py on all available MAVLink XML definitions to generate
-C and Python MAVLink routines for sending and parsing the protocol
-
-Copyright Pete Hollands 2011
-Released under GNU GPL version 3 or later
-'''
-
-import os, sys, glob, re
-from mavgen import mavgen
-
-# allow import from the parent directory, where mavutil.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-class options:
-    """ a class to simulate the options of mavgen OptionsParser"""
-    def __init__(self, lang, output, wire_protocol):
-        self.language = lang
-        self.wire_protocol = wire_protocol
-        self.output = output
-
-protocols = [ '0.9', '1.0' ]
-
-for protocol in protocols :
-    xml_directory = './message_definitions/v'+protocol
-    print "xml_directory is", xml_directory
-    xml_file_names = glob.glob(xml_directory+'/*.xml')
-
-    for xml_file in xml_file_names:
-        print "xml file is ", xml_file
-        opts = options(lang = "C", output = "C/include_v"+protocol, \
-                       wire_protocol=protocol)
-        args = []
-        args.append(xml_file)
-        mavgen(opts, args)
-        xml_file_base = os.path.basename(xml_file)
-        xml_file_base = re.sub("\.xml","", xml_file_base)
-        print "xml_file_base is", xml_file_base
-        opts = options(lang = "python", \
-                       output="python/mavlink_"+xml_file_base+"_v"+protocol+".py", \
-                       wire_protocol=protocol)
-        mavgen(opts,args)
diff --git a/mavlink/share/pyshared/pymavlink/generator/gen_all.sh b/mavlink/share/pyshared/pymavlink/generator/gen_all.sh
deleted file mode 100644
index e8dafedc5..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/gen_all.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-
-for protocol in 0.9 1.0; do
- for xml in message_definitions/v$protocol/*.xml; do
-     base=$(basename $xml .xml)
-     ./mavgen.py --lang=C --wire-protocol=$protocol --output=C/include_v$protocol $xml || exit 1
-     ./mavgen.py --lang=python --wire-protocol=$protocol --output=python/mavlink_${base}_v$protocol.py $xml || exit 1
- done
-done
-
-cp -f python/mavlink_ardupilotmega_v0.9.py ../mavlink.py
-cp -f python/mavlink_ardupilotmega_v1.0.py ../mavlinkv10.py
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen.py b/mavlink/share/pyshared/pymavlink/generator/mavgen.py
deleted file mode 100644
index 05f71f778..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/mavgen.py
+++ /dev/null
@@ -1,82 +0,0 @@
-#!/usr/bin/env python
-'''
-parse a MAVLink protocol XML file and generate a python implementation
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-def mavgen(opts, args) :
-    """Generate mavlink message formatters and parsers (C and Python ) using options
-    and args where args are a list of xml files. This function allows python
-    scripts under Windows to control mavgen using the same interface as
-    shell scripts under Unix"""
-    import sys, textwrap, os
-
-    import mavparse
-    import mavgen_python
-    import mavgen_c
-
-    xml = []
-
-    for fname in args:
-        print("Parsing %s" % fname)
-        xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
-
-    # expand includes
-    for x in xml[:]:
-        for i in x.include:
-            fname = os.path.join(os.path.dirname(x.filename), i)
-            print("Parsing %s" % fname)
-            xml.append(mavparse.MAVXML(fname, opts.wire_protocol))
-
-            # include message lengths and CRCs too
-            for idx in range(0, 256):
-                if x.message_lengths[idx] == 0:
-                    x.message_lengths[idx] = xml[-1].message_lengths[idx]
-                    x.message_crcs[idx] = xml[-1].message_crcs[idx]
-                    x.message_names[idx] = xml[-1].message_names[idx]
-
-    # work out max payload size across all includes
-    largest_payload = 0
-    for x in xml:
-        if x.largest_payload > largest_payload:
-            largest_payload = x.largest_payload
-    for x in xml:
-        x.largest_payload = largest_payload
-
-    if mavparse.check_duplicates(xml):
-        sys.exit(1)
-
-    print("Found %u MAVLink message types in %u XML files" % (
-        mavparse.total_msgs(xml), len(xml)))
-
-    if opts.language == 'python':
-        mavgen_python.generate(opts.output, xml)
-    elif opts.language == 'C':
-        mavgen_c.generate(opts.output, xml)
-    else:
-        print("Unsupported language %s" % opts.language)
-    
-
-if __name__=="__main__":
-    import sys, textwrap, os
-
-    from optparse import OptionParser
-
-    # allow import from the parent directory, where mavutil.py is
-    sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-    import mavparse
-    import mavgen_python
-    import mavgen_c
-
-    parser = OptionParser("%prog [options] <XML files>")
-    parser.add_option("-o", "--output", dest="output", default="mavlink", help="output directory.")
-    parser.add_option("--lang", dest="language", default="python", help="language of generated code: 'Python' or 'C' [default: %default]")
-    parser.add_option("--wire-protocol", dest="wire_protocol", default=mavparse.PROTOCOL_0_9, help="MAVLink protocol version: '0.9' or '1.0'. [default: %default]")
-    (opts, args) = parser.parse_args()
-
-    if len(args) < 1:
-        parser.error("You must supply at least one MAVLink XML protocol definition")
-    mavgen(opts, args)
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py b/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py
deleted file mode 100644
index 255919f0d..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/mavgen_c.py
+++ /dev/null
@@ -1,581 +0,0 @@
-#!/usr/bin/env python
-'''
-parse a MAVLink protocol XML file and generate a C implementation
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-import sys, textwrap, os, time
-import mavparse, mavtemplate
-
-t = mavtemplate.MAVTemplate()
-
-def generate_version_h(directory, xml):
-    '''generate version.h'''
-    f = open(os.path.join(directory, "version.h"), mode='w')
-    t.write(f,'''
-/** @file
- *	@brief MAVLink comm protocol built from ${basename}.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "${parse_time}"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "${wire_protocol_version}"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE ${largest_payload}
- 
-#endif // MAVLINK_VERSION_H
-''', xml)
-    f.close()
-
-def generate_mavlink_h(directory, xml):
-    '''generate mavlink.h'''
-    f = open(os.path.join(directory, "mavlink.h"), mode='w')
-    t.write(f,'''
-/** @file
- *	@brief MAVLink comm protocol built from ${basename}.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX ${protocol_marker}
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN ${mavlink_endian}
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS ${aligned_fields_define}
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA ${crc_extra_define}
-#endif
-
-#include "version.h"
-#include "${basename}.h"
-
-#endif // MAVLINK_H
-''', xml)
-    f.close()
-
-def generate_main_h(directory, xml):
-    '''generate main header per XML file'''
-    f = open(os.path.join(directory, xml.basename + ".h"), mode='w')
-    t.write(f, '''
-/** @file
- *	@brief MAVLink comm protocol generated from ${basename}.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef ${basename_upper}_H
-#define ${basename_upper}_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// MESSAGE LENGTHS AND CRCS
-
-#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {${message_lengths_array}}
-#endif
-
-#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {${message_crcs_array}}
-#endif
-
-#ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {${message_info_array}}
-#endif
-
-#include "../protocol.h"
-
-#define MAVLINK_ENABLED_${basename_upper}
-
-${{include_list:#include "../${base}/${base}.h"
-}}
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION ${version}
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION ${version}
-#endif
-
-// ENUM DEFINITIONS
-
-${{enum:
-/** @brief ${description} */
-#ifndef HAVE_ENUM_${name}
-#define HAVE_ENUM_${name}
-enum ${name}
-{
-${{entry:	${name}=${value}, /* ${description} |${{param:${description}| }} */
-}}
-};
-#endif
-}}
-
-// MESSAGE DEFINITIONS
-${{message:#include "./mavlink_msg_${name_lower}.h"
-}}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ${basename_upper}_H
-''', xml)
-
-    f.close()
-             
-
-def generate_message_h(directory, m):
-    '''generate per-message header for a XML file'''
-    f = open(os.path.join(directory, 'mavlink_msg_%s.h' % m.name_lower), mode='w')
-    t.write(f, '''
-// MESSAGE ${name} PACKING
-
-#define MAVLINK_MSG_ID_${name} ${id}
-
-typedef struct __mavlink_${name_lower}_t
-{
-${{ordered_fields: ${type} ${name}${array_suffix}; ///< ${description}
-}}
-} mavlink_${name_lower}_t;
-
-#define MAVLINK_MSG_ID_${name}_LEN ${wire_length}
-#define MAVLINK_MSG_ID_${id}_LEN ${wire_length}
-
-${{array_fields:#define MAVLINK_MSG_${msg_name}_FIELD_${name_upper}_LEN ${array_length}
-}}
-
-#define MAVLINK_MESSAGE_INFO_${name} { \\
-	"${name}", \\
-	${num_fields}, \\
-	{ ${{ordered_fields: { "${name}", ${c_print_format}, MAVLINK_TYPE_${type_upper}, ${array_length}, ${wire_offset}, offsetof(mavlink_${name_lower}_t, ${name}) }, \\
-        }} } \\
-}
-
-
-/**
- * @brief Pack a ${name_lower} message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
-${{arg_fields: * @param ${name} ${description}
-}}
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_${name_lower}_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						      ${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[${wire_length}];
-${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
-}}
-${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
-}}
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
-#else
-	mavlink_${name_lower}_t packet;
-${{scalar_fields:	packet.${name} = ${putname};
-}}
-${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
-}}
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_${name};
-	return mavlink_finalize_message(msg, system_id, component_id, ${wire_length}${crc_extra_arg});
-}
-
-/**
- * @brief Pack a ${name_lower} message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
-${{arg_fields: * @param ${name} ${description}
-}}
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_${name_lower}_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           ${{arg_fields:${array_const}${type} ${array_prefix}${name},}})
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[${wire_length}];
-${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
-}}
-${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
-}}
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, ${wire_length});
-#else
-	mavlink_${name_lower}_t packet;
-${{scalar_fields:	packet.${name} = ${putname};
-}}
-${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
-}}
-        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, ${wire_length});
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_${name};
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, ${wire_length}${crc_extra_arg});
-}
-
-/**
- * @brief Encode a ${name_lower} 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 ${name_lower} C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_${name_lower}_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_${name_lower}_t* ${name_lower})
-{
-	return mavlink_msg_${name_lower}_pack(system_id, component_id, msg,${{arg_fields: ${name_lower}->${name},}});
-}
-
-/**
- * @brief Send a ${name_lower} message
- * @param chan MAVLink channel to send the message
- *
-${{arg_fields: * @param ${name} ${description}
-}}
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_${name_lower}_send(mavlink_channel_t chan,${{arg_fields: ${array_const}${type} ${array_prefix}${name},}})
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[${wire_length}];
-${{scalar_fields:	_mav_put_${type}(buf, ${wire_offset}, ${putname});
-}}
-${{array_fields:	_mav_put_${type}_array(buf, ${wire_offset}, ${name}, ${array_length});
-}}
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, buf, ${wire_length}${crc_extra_arg});
-#else
-	mavlink_${name_lower}_t packet;
-${{scalar_fields:	packet.${name} = ${putname};
-}}
-${{array_fields:	mav_array_memcpy(packet.${name}, ${name}, sizeof(${type})*${array_length});
-}}
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_${name}, (const char *)&packet, ${wire_length}${crc_extra_arg});
-#endif
-}
-
-#endif
-
-// MESSAGE ${name} UNPACKING
-
-${{fields:
-/**
- * @brief Get field ${name} from ${name_lower} message
- *
- * @return ${description}
- */
-static inline ${return_type} mavlink_msg_${name_lower}_get_${name}(const mavlink_message_t* msg${get_arg})
-{
-	return _MAV_RETURN_${type}${array_tag}(msg, ${array_return_arg} ${wire_offset});
-}
-}}
-
-/**
- * @brief Decode a ${name_lower} message into a struct
- *
- * @param msg The message to decode
- * @param ${name_lower} C-struct to decode the message contents into
- */
-static inline void mavlink_msg_${name_lower}_decode(const mavlink_message_t* msg, mavlink_${name_lower}_t* ${name_lower})
-{
-#if MAVLINK_NEED_BYTE_SWAP
-${{ordered_fields:	${decode_left}mavlink_msg_${name_lower}_get_${name}(msg${decode_right});
-}}
-#else
-	memcpy(${name_lower}, _MAV_PAYLOAD(msg), ${wire_length});
-#endif
-}
-''', m)
-    f.close()
-
-
-def generate_testsuite_h(directory, xml):
-    '''generate testsuite.h per XML file'''
-    f = open(os.path.join(directory, "testsuite.h"), mode='w')
-    t.write(f, '''
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from ${basename}.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef ${basename_upper}_TESTSUITE_H
-#define ${basename_upper}_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-${{include_list:static void mavlink_test_${base}(uint8_t, uint8_t, mavlink_message_t *last_msg);
-}}
-static void mavlink_test_${basename}(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-${{include_list:	mavlink_test_${base}(system_id, component_id, last_msg);
-}}
-	mavlink_test_${basename}(system_id, component_id, last_msg);
-}
-#endif
-
-${{include_list:#include "../${base}/testsuite.h"
-}}
-
-${{message:
-static void mavlink_test_${name_lower}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_${name_lower}_t packet_in = {
-		${{ordered_fields:${c_test_value},
-	}}};
-	mavlink_${name_lower}_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        ${{scalar_fields:	packet1.${name} = packet_in.${name};
-        }}
-        ${{array_fields:	mav_array_memcpy(packet1.${name}, packet_in.${name}, sizeof(${type})*${array_length});
-        }}
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_${name_lower}_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_${name_lower}_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_${name_lower}_pack(system_id, component_id, &msg ${{arg_fields:, packet1.${name} }});
-	mavlink_msg_${name_lower}_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_${name_lower}_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg ${{arg_fields:, packet1.${name} }});
-	mavlink_msg_${name_lower}_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_${name_lower}_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_${name_lower}_send(MAVLINK_COMM_1 ${{arg_fields:, packet1.${name} }});
-	mavlink_msg_${name_lower}_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-}}
-
-static void mavlink_test_${basename}(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-${{message:	mavlink_test_${name_lower}(system_id, component_id, last_msg);
-}}
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // ${basename_upper}_TESTSUITE_H
-''', xml)
-
-    f.close()
-
-def copy_fixed_headers(directory, xml):
-    '''copy the fixed protocol headers to the target directory'''
-    import shutil
-    hlist = [ 'protocol.h', 'mavlink_helpers.h', 'mavlink_types.h', 'checksum.h', 'mavlink_protobuf_manager.hpp' ]
-    basepath = os.path.dirname(os.path.realpath(__file__))
-    srcpath = os.path.join(basepath, 'C/include_v%s' % xml.wire_protocol_version)
-    print("Copying fixed headers")
-    for h in hlist:
-        if (not (h == 'mavlink_protobuf_manager.hpp' and xml.wire_protocol_version == '0.9')):
-           src = os.path.realpath(os.path.join(srcpath, h))
-           dest = os.path.realpath(os.path.join(directory, h))
-           if src == dest:
-               continue
-           shutil.copy(src, dest)
-    # XXX This is a hack - to be removed
-    if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
-        h = 'pixhawk/pixhawk.pb.h'
-        src = os.path.realpath(os.path.join(srcpath, h))
-        dest = os.path.realpath(os.path.join(directory, h))
-        shutil.copy(src, dest)
-        
-def copy_fixed_sources(directory, xml):
-    # XXX This is a hack - to be removed
-    import shutil
-    basepath = os.path.dirname(os.path.realpath(__file__))
-    srcpath = os.path.join(basepath, 'C/src_v%s' % xml.wire_protocol_version)
-    if (xml.basename == 'pixhawk' and xml.wire_protocol_version == '1.0'):
-        print("Copying fixed sources")
-        src = os.path.realpath(os.path.join(srcpath, 'pixhawk/pixhawk.pb.cc'))
-        dest = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk/pixhawk.pb.cc' % xml.wire_protocol_version))
-        destdir = os.path.realpath(os.path.join(directory, '../../../share/mavlink/src/v%s/pixhawk' % xml.wire_protocol_version))
-        try:
-           os.makedirs(destdir)
-        except:
-           print("Not re-creating directory")
-        shutil.copy(src, dest)
-        print("Copied to"),
-        print(dest)
-
-class mav_include(object):
-    def __init__(self, base):
-        self.base = base
-
-def generate_one(basename, xml):
-    '''generate headers for one XML file'''
-
-    directory = os.path.join(basename, xml.basename)
-
-    print("Generating C implementation in directory %s" % directory)
-    mavparse.mkdir_p(directory)
-
-    if xml.little_endian:
-        xml.mavlink_endian = "MAVLINK_LITTLE_ENDIAN"
-    else:
-        xml.mavlink_endian = "MAVLINK_BIG_ENDIAN"
-
-    if xml.crc_extra:
-        xml.crc_extra_define = "1"
-    else:
-        xml.crc_extra_define = "0"
-
-    if xml.sort_fields:
-        xml.aligned_fields_define = "1"
-    else:
-        xml.aligned_fields_define = "0"
-
-    # work out the included headers
-    xml.include_list = []
-    for i in xml.include:
-        base = i[:-4]
-        xml.include_list.append(mav_include(base))
-
-    # form message lengths array
-    xml.message_lengths_array = ''
-    for mlen in xml.message_lengths:
-        xml.message_lengths_array += '%u, ' % mlen
-    xml.message_lengths_array = xml.message_lengths_array[:-2]
-
-    # and message CRCs array
-    xml.message_crcs_array = ''
-    for crc in xml.message_crcs:
-        xml.message_crcs_array += '%u, ' % crc
-    xml.message_crcs_array = xml.message_crcs_array[:-2]
-
-    # form message info array
-    xml.message_info_array = ''
-    for name in xml.message_names:
-        if name is not None:
-            xml.message_info_array += 'MAVLINK_MESSAGE_INFO_%s, ' % name
-        else:
-            # Several C compilers don't accept {NULL} for
-            # multi-dimensional arrays and structs
-            # feed the compiler a "filled" empty message
-            xml.message_info_array += '{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, '
-    xml.message_info_array = xml.message_info_array[:-2]
-
-    # add some extra field attributes for convenience with arrays
-    for m in xml.message:
-        m.msg_name = m.name
-        if xml.crc_extra:
-            m.crc_extra_arg = ", %s" % m.crc_extra
-        else:
-            m.crc_extra_arg = ""
-        for f in m.fields:
-            if f.print_format is None:
-                f.c_print_format = 'NULL'
-            else:
-                f.c_print_format = '"%s"' % f.print_format
-            if f.array_length != 0:
-                f.array_suffix = '[%u]' % f.array_length
-                f.array_prefix = '*'
-                f.array_tag = '_array'
-                f.array_arg = ', %u' % f.array_length
-                f.array_return_arg = '%s, %u, ' % (f.name, f.array_length)
-                f.array_const = 'const '
-                f.decode_left = ''
-                f.decode_right = ', %s->%s' % (m.name_lower, f.name)
-                f.return_type = 'uint16_t'
-                f.get_arg = ', %s *%s' % (f.type, f.name)
-                if f.type == 'char':
-                    f.c_test_value = '"%s"' % f.test_value
-                else:
-                    test_strings = []
-                    for v in f.test_value:
-                        test_strings.append(str(v))
-                    f.c_test_value = '{ %s }' % ', '.join(test_strings)
-            else:
-                f.array_suffix = ''
-                f.array_prefix = ''
-                f.array_tag = ''
-                f.array_arg = ''
-                f.array_return_arg = ''
-                f.array_const = ''
-                f.decode_left = "%s->%s = " % (m.name_lower, f.name)
-                f.decode_right = ''
-                f.get_arg = ''
-                f.return_type = f.type
-                if f.type == 'char':
-                    f.c_test_value = "'%s'" % f.test_value
-                elif f.type == 'uint64_t':
-                    f.c_test_value = "%sULL" % f.test_value                    
-                elif f.type == 'int64_t':
-                    f.c_test_value = "%sLL" % f.test_value                    
-                else:
-                    f.c_test_value = f.test_value
-
-    # cope with uint8_t_mavlink_version
-    for m in xml.message:
-        m.arg_fields = []
-        m.array_fields = []
-        m.scalar_fields = []
-        for f in m.ordered_fields:
-            if f.array_length != 0:
-                m.array_fields.append(f)
-            else:
-                m.scalar_fields.append(f)
-        for f in m.fields:
-            if not f.omit_arg:
-                m.arg_fields.append(f)
-                f.putname = f.name
-            else:
-                f.putname = f.const_value
-
-    generate_mavlink_h(directory, xml)
-    generate_version_h(directory, xml)
-    generate_main_h(directory, xml)
-    for m in xml.message:
-        generate_message_h(directory, m)
-    generate_testsuite_h(directory, xml)
-
-
-def generate(basename, xml_list):
-    '''generate complete MAVLink C implemenation'''
-
-    for xml in xml_list:
-        generate_one(basename, xml)
-    copy_fixed_headers(basename, xml_list[0])
-    copy_fixed_sources(basename, xml_list[0])
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavgen_python.py b/mavlink/share/pyshared/pymavlink/generator/mavgen_python.py
deleted file mode 100644
index fad366a68..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/mavgen_python.py
+++ /dev/null
@@ -1,455 +0,0 @@
-#!/usr/bin/env python
-'''
-parse a MAVLink protocol XML file and generate a python implementation
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-import sys, textwrap, os
-import mavparse, mavtemplate
-
-t = mavtemplate.MAVTemplate()
-
-def generate_preamble(outf, msgs, args, xml):
-    print("Generating preamble")
-    t.write(outf, """
-'''
-MAVLink protocol implementation (auto-generated by mavgen.py)
-
-Generated from: ${FILELIST}
-
-Note: this file has been auto-generated. DO NOT EDIT
-'''
-
-import struct, array, mavutil, time
-
-WIRE_PROTOCOL_VERSION = "${WIRE_PROTOCOL_VERSION}"
-
-class MAVLink_header(object):
-    '''MAVLink message header'''
-    def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
-        self.mlen = mlen
-        self.seq = seq
-        self.srcSystem = srcSystem
-        self.srcComponent = srcComponent
-        self.msgId = msgId
-
-    def pack(self):
-        return struct.pack('BBBBBB', ${PROTOCOL_MARKER}, self.mlen, self.seq,
-                          self.srcSystem, self.srcComponent, self.msgId)
-
-class MAVLink_message(object):
-    '''base MAVLink message class'''
-    def __init__(self, msgId, name):
-        self._header     = MAVLink_header(msgId)
-        self._payload    = None
-        self._msgbuf     = None
-        self._crc        = None
-        self._fieldnames = []
-        self._type       = name
-
-    def get_msgbuf(self):
-        return self._msgbuf
-
-    def get_header(self):
-        return self._header
-
-    def get_payload(self):
-        return self._payload
-
-    def get_crc(self):
-        return self._crc
-
-    def get_fieldnames(self):
-        return self._fieldnames
-
-    def get_type(self):
-        return self._type
-
-    def get_msgId(self):
-        return self._header.msgId
-
-    def get_srcSystem(self):
-        return self._header.srcSystem
-
-    def get_srcComponent(self):
-        return self._header.srcComponent
-
-    def get_seq(self):
-        return self._header.seq
-
-    def __str__(self):
-        ret = '%s {' % self._type
-        for a in self._fieldnames:
-            v = getattr(self, a)
-            ret += '%s : %s, ' % (a, v)
-        ret = ret[0:-2] + '}'
-        return ret            
-
-    def pack(self, mav, crc_extra, payload):
-        self._payload = payload
-        self._header  = MAVLink_header(self._header.msgId, len(payload), mav.seq,
-                                       mav.srcSystem, mav.srcComponent)
-        self._msgbuf = self._header.pack() + payload
-        crc = mavutil.x25crc(self._msgbuf[1:])
-        if ${crc_extra}: # using CRC extra
-            crc.accumulate(chr(crc_extra))
-        self._crc = crc.crc
-        self._msgbuf += struct.pack('<H', self._crc)
-        return self._msgbuf
-
-""", {'FILELIST' : ",".join(args),
-      'PROTOCOL_MARKER' : xml.protocol_marker,
-      'crc_extra' : xml.crc_extra,
-      'WIRE_PROTOCOL_VERSION' : xml.wire_protocol_version })
-
-
-def generate_enums(outf, enums):
-    print("Generating enums")
-    outf.write("\n# enums\n")
-    wrapper = textwrap.TextWrapper(initial_indent="", subsequent_indent="                        # ")
-    for e in enums:
-        outf.write("\n# %s\n" % e.name)
-        for entry in e.entry:
-            outf.write("%s = %u # %s\n" % (entry.name, entry.value, wrapper.fill(entry.description)))
-
-def generate_message_ids(outf, msgs):
-    print("Generating message IDs")
-    outf.write("\n# message IDs\n")
-    outf.write("MAVLINK_MSG_ID_BAD_DATA = -1\n")
-    for m in msgs:
-        outf.write("MAVLINK_MSG_ID_%s = %u\n" % (m.name.upper(), m.id))
-
-def generate_classes(outf, msgs):
-    print("Generating class definitions")
-    wrapper = textwrap.TextWrapper(initial_indent="        ", subsequent_indent="        ")
-    for m in msgs:
-        outf.write("""
-class MAVLink_%s_message(MAVLink_message):
-        '''
-%s
-        '''
-        def __init__(self""" % (m.name.lower(), wrapper.fill(m.description.strip())))
-        if len(m.fields) != 0:
-                outf.write(", " + ", ".join(m.fieldnames))
-        outf.write("):\n")
-        outf.write("                MAVLink_message.__init__(self, MAVLINK_MSG_ID_%s, '%s')\n" % (m.name.upper(), m.name.upper()))
-        if len(m.fieldnames) != 0:
-                outf.write("                self._fieldnames = ['%s']\n" % "', '".join(m.fieldnames))
-        for f in m.fields:
-                outf.write("                self.%s = %s\n" % (f.name, f.name))
-        outf.write("""
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, %u, struct.pack('%s'""" % (m.crc_extra, m.fmtstr))
-        if len(m.fields) != 0:
-                outf.write(", self." + ", self.".join(m.ordered_fieldnames))
-        outf.write("))\n")
-
-
-def mavfmt(field):
-    '''work out the struct format for a type'''
-    map = {
-        'float'    : 'f',
-        'double'   : 'd',
-        'char'     : 'c',
-        'int8_t'   : 'b',
-        'uint8_t'  : 'B',
-        'uint8_t_mavlink_version'  : 'B',
-        'int16_t'  : 'h',
-        'uint16_t' : 'H',
-        'int32_t'  : 'i',
-        'uint32_t' : 'I',
-        'int64_t'  : 'q',
-        'uint64_t' : 'Q',
-        }
-
-    if field.array_length:
-        if field.type in ['char', 'int8_t', 'uint8_t']:
-            return str(field.array_length)+'s'
-        return str(field.array_length)+map[field.type]
-    return map[field.type]
-
-def generate_mavlink_class(outf, msgs, xml):
-    print("Generating MAVLink class")
-
-    outf.write("\n\nmavlink_map = {\n");
-    for m in msgs:
-        outf.write("        MAVLINK_MSG_ID_%s : ( '%s', MAVLink_%s_message, %s, %u ),\n" % (
-            m.name.upper(), m.fmtstr, m.name.lower(), m.order_map, m.crc_extra))
-    outf.write("}\n\n")
-    
-    t.write(outf, """
-class MAVError(Exception):
-        '''MAVLink error class'''
-        def __init__(self, msg):
-            Exception.__init__(self, msg)
-            self.message = msg
-
-class MAVString(str):
-        '''NUL terminated string'''
-        def __init__(self, s):
-                str.__init__(self)
-        def __str__(self):
-            i = self.find(chr(0))
-            if i == -1:
-                return self[:]
-            return self[0:i]
-
-class MAVLink_bad_data(MAVLink_message):
-        '''
-        a piece of bad data in a mavlink stream
-        '''
-        def __init__(self, data, reason):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
-                self._fieldnames = ['data', 'reason']
-                self.data = data
-                self.reason = reason
-                self._msgbuf = data
-            
-class MAVLink(object):
-        '''MAVLink protocol handling class'''
-        def __init__(self, file, srcSystem=0, srcComponent=0):
-                self.seq = 0
-                self.file = file
-                self.srcSystem = srcSystem
-                self.srcComponent = srcComponent
-                self.callback = None
-                self.callback_args = None
-                self.callback_kwargs = None
-                self.buf = array.array('B')
-                self.expected_length = 6
-                self.have_prefix_error = False
-                self.robust_parsing = False
-                self.protocol_marker = ${protocol_marker}
-                self.little_endian = ${little_endian}
-                self.crc_extra = ${crc_extra}
-                self.sort_fields = ${sort_fields}
-                self.total_packets_sent = 0
-                self.total_bytes_sent = 0
-                self.total_packets_received = 0
-                self.total_bytes_received = 0
-                self.total_receive_errors = 0
-                self.startup_time = time.time()
-
-        def set_callback(self, callback, *args, **kwargs):
-            self.callback = callback
-            self.callback_args = args
-            self.callback_kwargs = kwargs
-            
-        def send(self, mavmsg):
-                '''send a MAVLink message'''
-                buf = mavmsg.pack(self)
-                self.file.write(buf)
-                self.seq = (self.seq + 1) % 255
-                self.total_packets_sent += 1
-                self.total_bytes_sent += len(buf)
-
-        def bytes_needed(self):
-            '''return number of bytes needed for next parsing stage'''
-            ret = self.expected_length - len(self.buf)
-            if ret <= 0:
-                return 1
-            return ret
-
-        def parse_char(self, c):
-            '''input some data bytes, possibly returning a new message'''
-            if isinstance(c, str):
-                self.buf.fromstring(c)
-            else:
-                self.buf.extend(c)
-            self.total_bytes_received += len(c)
-            if len(self.buf) >= 1 and self.buf[0] != ${protocol_marker}:
-                magic = self.buf[0]
-                self.buf = self.buf[1:]
-                if self.robust_parsing:
-                    m = MAVLink_bad_data(chr(magic), "Bad prefix")
-                    if self.callback:
-                        self.callback(m, *self.callback_args, **self.callback_kwargs)
-                    self.expected_length = 6
-                    self.total_receive_errors += 1
-                    return m
-                if self.have_prefix_error:
-                    return None
-                self.have_prefix_error = True
-                self.total_receive_errors += 1
-                raise MAVError("invalid MAVLink prefix '%s'" % magic) 
-            self.have_prefix_error = False
-            if len(self.buf) >= 2:
-                (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
-                self.expected_length += 8
-            if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
-                mbuf = self.buf[0:self.expected_length]
-                self.buf = self.buf[self.expected_length:]
-                self.expected_length = 6
-                if self.robust_parsing:
-                    try:
-                        m = self.decode(mbuf)
-                        self.total_packets_received += 1
-                    except MAVError as reason:
-                        m = MAVLink_bad_data(mbuf, reason.message)
-                        self.total_receive_errors += 1
-                else:
-                    m = self.decode(mbuf)
-                    self.total_packets_received += 1
-                if self.callback:
-                    self.callback(m, *self.callback_args, **self.callback_kwargs)
-                return m
-            return None
-
-        def parse_buffer(self, s):
-            '''input some data bytes, possibly returning a list of new messages'''
-            m = self.parse_char(s)
-            if m is None:
-                return None
-            ret = [m]
-            while True:
-                m = self.parse_char("")
-                if m is None:
-                    return ret
-                ret.append(m)
-            return ret
-
-        def decode(self, msgbuf):
-                '''decode a buffer as a MAVLink message'''
-                # decode the header
-                try:
-                    magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
-                if ord(magic) != ${protocol_marker}:
-                    raise MAVError("invalid MAVLink prefix '%s'" % magic)
-                if mlen != len(msgbuf)-8:
-                    raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
-
-                if not msgId in mavlink_map:
-                    raise MAVError('unknown MAVLink message ID %u' % msgId)
-
-                # decode the payload
-                (fmt, type, order_map, crc_extra) = mavlink_map[msgId]
-
-                # decode the checksum
-                try:
-                    crc, = struct.unpack('<H', msgbuf[-2:])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
-                crc2 = mavutil.x25crc(msgbuf[1:-2])
-                if ${crc_extra}: # using CRC extra 
-                    crc2.accumulate(chr(crc_extra))
-                if crc != crc2.crc:
-                    raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
-
-                try:
-                    t = struct.unpack(fmt, msgbuf[6:-2])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
-                        type, fmt, len(msgbuf[6:-2]), emsg))
-
-                tlist = list(t)
-                # handle sorted fields
-                if ${sort_fields}:
-                    t = tlist[:]
-                    for i in range(0, len(tlist)):
-                        tlist[i] = t[order_map[i]]
-
-                # terminate any strings
-                for i in range(0, len(tlist)):
-                    if isinstance(tlist[i], str):
-                        tlist[i] = MAVString(tlist[i])
-                t = tuple(tlist)
-                # construct the message object
-                try:
-                    m = type(*t)
-                except Exception as emsg:
-                    raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
-                m._msgbuf = msgbuf
-                m._payload = msgbuf[6:-2]
-                m._crc = crc
-                m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
-                return m
-""", xml)
-
-def generate_methods(outf, msgs):
-    print("Generating methods")
-
-    def field_descriptions(fields):
-        ret = ""
-        for f in fields:
-            ret += "                %-18s        : %s (%s)\n" % (f.name, f.description.strip(), f.type)
-        return ret
-
-    wrapper = textwrap.TextWrapper(initial_indent="", subsequent_indent="                ")
-
-    for m in msgs:
-        comment = "%s\n\n%s" % (wrapper.fill(m.description.strip()), field_descriptions(m.fields))
-
-        selffieldnames = 'self, '
-        for f in m.fields:
-            if f.omit_arg:
-                selffieldnames += '%s=%s, ' % (f.name, f.const_value)
-            else:
-                selffieldnames += '%s, ' % f.name
-        selffieldnames = selffieldnames[:-2]
-
-        sub = {'NAMELOWER'      : m.name.lower(),
-               'SELFFIELDNAMES' : selffieldnames,
-               'COMMENT'        : comment,
-               'FIELDNAMES'     : ", ".join(m.fieldnames)}
-
-        t.write(outf, """
-        def ${NAMELOWER}_encode(${SELFFIELDNAMES}):
-                '''
-                ${COMMENT}
-                '''
-                msg = MAVLink_${NAMELOWER}_message(${FIELDNAMES})
-                msg.pack(self)
-                return msg
-            
-""", sub)
-
-        t.write(outf, """
-        def ${NAMELOWER}_send(${SELFFIELDNAMES}):
-                '''
-                ${COMMENT}
-                '''
-                return self.send(self.${NAMELOWER}_encode(${FIELDNAMES}))
-            
-""", sub)
-
-
-def generate(basename, xml):
-    '''generate complete python implemenation'''
-    if basename.endswith('.py'):
-        filename = basename
-    else:
-        filename = basename + '.py'
-
-    msgs = []
-    enums = []
-    filelist = []
-    for x in xml:
-        msgs.extend(x.message)
-        enums.extend(x.enum)
-        filelist.append(os.path.basename(x.filename))
-
-    for m in msgs:
-        if xml[0].little_endian:
-            m.fmtstr = '<'
-        else:
-            m.fmtstr = '>'
-        for f in m.ordered_fields:
-            m.fmtstr += mavfmt(f)
-        m.order_map = [ 0 ] * len(m.fieldnames)
-        for i in range(0, len(m.fieldnames)):
-            m.order_map[i] = m.ordered_fieldnames.index(m.fieldnames[i])
-
-    print("Generating %s" % filename)
-    outf = open(filename, "w")
-    generate_preamble(outf, msgs, filelist, xml[0])
-    generate_enums(outf, enums)
-    generate_message_ids(outf, msgs)
-    generate_classes(outf, msgs)
-    generate_mavlink_class(outf, msgs, xml[0])
-    generate_methods(outf, msgs)
-    outf.close()
-    print("Generated %s OK" % filename)
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavparse.py b/mavlink/share/pyshared/pymavlink/generator/mavparse.py
deleted file mode 100644
index cd2e6a55f..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/mavparse.py
+++ /dev/null
@@ -1,372 +0,0 @@
-#!/usr/bin/env python
-'''
-mavlink python parse functions
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-import xml.parsers.expat, os, errno, time, sys, operator, mavutil
-
-PROTOCOL_0_9 = "0.9"
-PROTOCOL_1_0 = "1.0"
-
-class MAVParseError(Exception):
-    def __init__(self, message, inner_exception=None):
-        self.message = message
-        self.inner_exception = inner_exception
-        self.exception_info = sys.exc_info()
-    def __str__(self):
-        return self.message
-
-class MAVField(object):
-    def __init__(self, name, type, print_format, xml, description=''):
-        self.name = name
-        self.name_upper = name.upper()
-        self.description = description
-        self.array_length = 0
-        self.omit_arg = False
-        self.const_value = None
-        self.print_format = print_format
-        lengths = {
-        'float'    : 4,
-        'double'   : 8,
-        'char'     : 1,
-        'int8_t'   : 1,
-        'uint8_t'  : 1,
-        'uint8_t_mavlink_version'  : 1,
-        'int16_t'  : 2,
-        'uint16_t' : 2,
-        'int32_t'  : 4,
-        'uint32_t' : 4,
-        'int64_t'  : 8,
-        'uint64_t' : 8,
-        }
-
-        if type=='uint8_t_mavlink_version':
-            type = 'uint8_t'
-            self.omit_arg = True
-            self.const_value = xml.version
-
-        aidx = type.find("[")
-        if aidx != -1:
-            assert type[-1:] == ']'
-            self.array_length = int(type[aidx+1:-1])
-            type = type[0:aidx]
-            if type == 'array':
-                type = 'int8_t'
-        if type in lengths:
-            self.type_length = lengths[type]
-            self.type = type
-        elif (type+"_t") in lengths:
-            self.type_length = lengths[type+"_t"]
-            self.type = type+'_t'
-        else:
-            raise MAVParseError("unknown type '%s'" % type)
-        if self.array_length != 0:
-            self.wire_length = self.array_length * self.type_length
-        else:
-            self.wire_length = self.type_length
-        self.type_upper = self.type.upper()
-
-    def gen_test_value(self, i):
-        '''generate a testsuite value for a MAVField'''
-        if self.const_value:
-            return self.const_value
-        elif self.type == 'float':
-            return 17.0 + self.wire_offset*7 + i
-        elif self.type == 'double':
-            return 123.0 + self.wire_offset*7 + i
-        elif self.type == 'char':
-            return chr(ord('A') + (self.wire_offset + i)%26)
-        elif self.type in [ 'int8_t', 'uint8_t' ]:
-            return (5 + self.wire_offset*67 + i) & 0xFF
-        elif self.type in ['int16_t', 'uint16_t']:
-            return (17235 + self.wire_offset*52 + i) & 0xFFFF
-        elif self.type in ['int32_t', 'uint32_t']:
-            return (963497464 + self.wire_offset*52 + i)&0xFFFFFFFF
-        elif self.type in ['int64_t', 'uint64_t']:
-            return 93372036854775807 + self.wire_offset*63 + i
-        else:
-            raise MAVError('unknown type %s' % self.type)
-
-    def set_test_value(self):
-        '''set a testsuite value for a MAVField'''
-        if self.array_length:
-            self.test_value = []
-            for i in range(self.array_length):
-                self.test_value.append(self.gen_test_value(i))
-        else:
-                self.test_value = self.gen_test_value(0)
-        if self.type == 'char' and self.array_length:
-            v = ""
-            for c in self.test_value:
-                v += c
-            self.test_value = v[:-1]
-
-
-class MAVType(object):
-    def __init__(self, name, id, linenumber, description=''):
-        self.name = name
-        self.name_lower = name.lower()
-        self.linenumber = linenumber
-        self.id = int(id)
-        self.description = description
-        self.fields = []
-        self.fieldnames = []
-
-class MAVEnumParam(object):
-    def __init__(self, index, description=''):
-        self.index = index
-        self.description = description
-
-class MAVEnumEntry(object):
-    def __init__(self, name, value, description='', end_marker=False):
-        self.name = name
-        self.value = value
-        self.description = description
-        self.param = []
-        self.end_marker = end_marker
-
-class MAVEnum(object):
-    def __init__(self, name, linenumber, description=''):
-        self.name = name
-        self.description = description
-        self.entry = []
-        self.highest_value = 0
-        self.linenumber = linenumber
-
-class MAVXML(object):
-    '''parse a mavlink XML file'''
-    def __init__(self, filename, wire_protocol_version=PROTOCOL_0_9):
-        self.filename = filename
-        self.basename = os.path.basename(filename)
-        if self.basename.lower().endswith(".xml"):
-            self.basename = self.basename[:-4]
-        self.basename_upper = self.basename.upper()
-        self.message = []
-        self.enum = []
-        self.parse_time = time.asctime()
-        self.version = 2
-        self.include = []
-        self.wire_protocol_version = wire_protocol_version
-
-        if wire_protocol_version == PROTOCOL_0_9:
-            self.protocol_marker = ord('U')
-            self.sort_fields = False
-            self.little_endian = False
-            self.crc_extra = False
-        elif wire_protocol_version == PROTOCOL_1_0:
-            self.protocol_marker = 0xFE
-            self.sort_fields = True
-            self.little_endian = True
-            self.crc_extra = True
-        else:
-            print("Unknown wire protocol version")
-            print("Available versions are: %s %s" % (PROTOCOL_0_9, PROTOCOL_1_0))
-            raise MAVParseError('Unknown MAVLink wire protocol version %s' % wire_protocol_version)
-
-        in_element_list = []
-
-        def check_attrs(attrs, check, where):
-            for c in check:
-                if not c in attrs:
-                    raise MAVParseError('expected missing %s "%s" attribute at %s:%u' % (
-                        where, c, filename, p.CurrentLineNumber))
-
-        def start_element(name, attrs):
-            in_element_list.append(name)
-            in_element = '.'.join(in_element_list)
-            #print in_element
-            if in_element == "mavlink.messages.message":
-                check_attrs(attrs, ['name', 'id'], 'message')
-                self.message.append(MAVType(attrs['name'], attrs['id'], p.CurrentLineNumber))
-            elif in_element == "mavlink.messages.message.field":
-                check_attrs(attrs, ['name', 'type'], 'field')
-                if 'print_format' in attrs:
-                    print_format = attrs['print_format']
-                else:
-                    print_format = None
-                self.message[-1].fields.append(MAVField(attrs['name'], attrs['type'],
-                                                        print_format, self))
-            elif in_element == "mavlink.enums.enum":
-                check_attrs(attrs, ['name'], 'enum')
-                self.enum.append(MAVEnum(attrs['name'], p.CurrentLineNumber))
-            elif in_element == "mavlink.enums.enum.entry":
-                check_attrs(attrs, ['name'], 'enum entry')
-                if 'value' in attrs:
-                    value = int(attrs['value'])
-                else:
-                    value = self.enum[-1].highest_value + 1
-                if (value > self.enum[-1].highest_value):
-                    self.enum[-1].highest_value = value
-                self.enum[-1].entry.append(MAVEnumEntry(attrs['name'], value))
-            elif in_element == "mavlink.enums.enum.entry.param":
-                check_attrs(attrs, ['index'], 'enum param')
-                self.enum[-1].entry[-1].param.append(MAVEnumParam(attrs['index']))
-
-        def end_element(name):
-            in_element = '.'.join(in_element_list)
-            if in_element == "mavlink.enums.enum":
-                # add a ENUM_END
-                self.enum[-1].entry.append(MAVEnumEntry("%s_ENUM_END" % self.enum[-1].name,
-                                                        self.enum[-1].highest_value+1, end_marker=True))
-            in_element_list.pop()
-
-        def char_data(data):
-            in_element = '.'.join(in_element_list)
-            if in_element == "mavlink.messages.message.description":
-                self.message[-1].description += data
-            elif in_element == "mavlink.messages.message.field":
-                self.message[-1].fields[-1].description += data
-            elif in_element == "mavlink.enums.enum.description":
-                self.enum[-1].description += data
-            elif in_element == "mavlink.enums.enum.entry.description":
-                self.enum[-1].entry[-1].description += data
-            elif in_element == "mavlink.enums.enum.entry.param":
-                self.enum[-1].entry[-1].param[-1].description += data
-            elif in_element == "mavlink.version":
-                self.version = int(data)
-            elif in_element == "mavlink.include":
-                self.include.append(data)
-
-        f = open(filename, mode='rb')
-        p = xml.parsers.expat.ParserCreate()
-        p.StartElementHandler = start_element
-        p.EndElementHandler = end_element
-        p.CharacterDataHandler = char_data
-        p.ParseFile(f)
-        f.close()
-
-        self.message_lengths = [ 0 ] * 256
-        self.message_crcs = [ 0 ] * 256
-        self.message_names = [ None ] * 256
-        self.largest_payload = 0
-
-        for m in self.message:
-            m.wire_length = 0
-            m.fieldnames = []
-            m.ordered_fieldnames = []
-            if self.sort_fields:
-                m.ordered_fields = sorted(m.fields,
-                                          key=operator.attrgetter('type_length'),
-                                          reverse=True)
-            else:
-                m.ordered_fields = m.fields
-            for f in m.fields:
-                m.fieldnames.append(f.name)
-            for f in m.ordered_fields:
-                f.wire_offset = m.wire_length
-                m.wire_length += f.wire_length
-                m.ordered_fieldnames.append(f.name)
-                f.set_test_value()
-            m.num_fields = len(m.fieldnames)
-            if m.num_fields > 64:
-                raise MAVParseError("num_fields=%u : Maximum number of field names allowed is" % (
-                    m.num_fields, 64))
-            m.crc_extra = message_checksum(m)
-            self.message_lengths[m.id] = m.wire_length
-            self.message_names[m.id] = m.name
-            self.message_crcs[m.id] = m.crc_extra
-            if m.wire_length > self.largest_payload:
-                self.largest_payload = m.wire_length
-
-            if m.wire_length+8 > 64:
-                print("Note: message %s is longer than 64 bytes long (%u bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit." % (m.name, m.wire_length+8))
-
-    def __str__(self):
-        return "MAVXML for %s from %s (%u message, %u enums)" % (
-            self.basename, self.filename, len(self.message), len(self.enum))
-    
-
-def message_checksum(msg):
-    '''calculate a 8-bit checksum of the key fields of a message, so we
-       can detect incompatible XML changes'''
-    crc = mavutil.x25crc(msg.name + ' ')
-    for f in msg.ordered_fields:
-        crc.accumulate(f.type + ' ')
-        crc.accumulate(f.name + ' ')
-        if f.array_length:
-            crc.accumulate(chr(f.array_length))
-    return (crc.crc&0xFF) ^ (crc.crc>>8)
-
-def merge_enums(xml):
-    '''merge enums between XML files'''
-    emap = {}
-    for x in xml:
-        newenums = []
-        for enum in x.enum:
-            if enum.name in emap:
-                emap[enum.name].entry.pop() # remove end marker
-                emap[enum.name].entry.extend(enum.entry)
-                print("Merged enum %s" % enum.name)
-            else:
-                newenums.append(enum)
-                emap[enum.name] = enum
-        x.enum = newenums
-    # sort by value
-    for e in emap:
-        emap[e].entry = sorted(emap[e].entry,
-                               key=operator.attrgetter('value'),
-                               reverse=False)
-
-
-def check_duplicates(xml):
-    '''check for duplicate message IDs'''
-
-    merge_enums(xml)
-
-    msgmap = {}
-    enummap = {}
-    for x in xml:
-        for m in x.message:
-            if m.id in msgmap:
-                print("ERROR: Duplicate message id %u for %s (%s:%u) also used by %s" % (
-                    m.id, m.name,
-                    x.filename, m.linenumber,
-                    msgmap[m.id]))
-                return True
-            fieldset = set()
-            for f in m.fields:
-                if f.name in fieldset:
-                    print("ERROR: Duplicate field %s in message %s (%s:%u)" % (
-                        f.name, m.name,
-                        x.filename, m.linenumber))
-                    return True
-                fieldset.add(f.name)
-            msgmap[m.id] = '%s (%s:%u)' % (m.name, x.filename, m.linenumber)
-        for enum in x.enum:
-            for entry in enum.entry:
-                s1 = "%s.%s" % (enum.name, entry.name)
-                s2 = "%s.%s" % (enum.name, entry.value)
-                if s1 in enummap or s2 in enummap:
-                    print("ERROR: Duplicate enums %s/%s at %s:%u and %s" % (
-                        s1, entry.value, x.filename, enum.linenumber,
-                        enummap.get(s1) or enummap.get(s2)))
-                    return True
-                enummap[s1] = "%s:%u" % (x.filename, enum.linenumber)
-                enummap[s2] = "%s:%u" % (x.filename, enum.linenumber)
-                    
-    return False
-
-
-
-def total_msgs(xml):
-    '''count total number of msgs'''
-    count = 0
-    for x in xml:
-        count += len(x.message)
-    return count
-
-def mkdir_p(dir):
-    try:
-        os.makedirs(dir)
-    except OSError as exc:
-        if exc.errno == errno.EEXIST:
-            pass
-        else: raise
-
-# check version consistent
-# add test.xml
-# finish test suite
-# printf style error macro, if defined call errors
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavtemplate.py b/mavlink/share/pyshared/pymavlink/generator/mavtemplate.py
deleted file mode 100644
index 6ef015315..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/mavtemplate.py
+++ /dev/null
@@ -1,121 +0,0 @@
-#!/usr/bin/env python
-'''
-simple templating system for mavlink generator
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-from mavparse import MAVParseError
-
-class MAVTemplate(object):
-    '''simple templating system'''
-    def __init__(self,
-                 start_var_token="${", 
-                 end_var_token="}", 
-                 start_rep_token="${{", 
-                 end_rep_token="}}",
-                 trim_leading_lf=True,
-                 checkmissing=True):
-        self.start_var_token = start_var_token
-        self.end_var_token = end_var_token
-        self.start_rep_token = start_rep_token
-        self.end_rep_token = end_rep_token
-        self.trim_leading_lf = trim_leading_lf
-        self.checkmissing = checkmissing
-
-    def find_end(self, text, start_token, end_token):
-        '''find the of a token.
-        Returns the offset in the string immediately after the matching end_token'''
-        if not text.startswith(start_token):
-            raise MAVParseError("invalid token start")
-        offset = len(start_token)
-        nesting = 1
-        while nesting > 0:
-            idx1 = text[offset:].find(start_token)
-            idx2 = text[offset:].find(end_token)
-            if idx1 == -1 and idx2 == -1:
-                raise MAVParseError("token nesting error")
-            if idx1 == -1 or idx1 > idx2:
-                offset += idx2 + len(end_token)
-                nesting -= 1
-            else:
-                offset += idx1 + len(start_token)
-                nesting += 1
-        return offset
-
-    def find_var_end(self, text):
-        '''find the of a variable'''
-        return self.find_end(text, self.start_var_token, self.end_var_token)
-
-    def find_rep_end(self, text):
-        '''find the of a repitition'''
-        return self.find_end(text, self.start_rep_token, self.end_rep_token)
-
-    def substitute(self, text, subvars={},
-                   trim_leading_lf=None, checkmissing=None):
-        '''substitute variables in a string'''
-
-        if trim_leading_lf is None:
-            trim_leading_lf = self.trim_leading_lf
-        if checkmissing is None:
-            checkmissing = self.checkmissing
-
-        # handle repititions
-        while True:
-            subidx = text.find(self.start_rep_token)
-            if subidx == -1:
-                break
-            endidx = self.find_rep_end(text[subidx:])
-            if endidx == -1:
-                raise MAVParseError("missing end macro in %s" % text[subidx:])
-            part1 = text[0:subidx]
-            part2 = text[subidx+len(self.start_rep_token):subidx+(endidx-len(self.end_rep_token))]
-            part3 = text[subidx+endidx:]
-            a = part2.split(':')
-            field_name = a[0]
-            rest = ':'.join(a[1:])
-            v = getattr(subvars, field_name, None)
-            if v is None:
-                raise MAVParseError('unable to find field %s' % field_name)
-            t1 = part1
-            for f in v:
-                t1 += self.substitute(rest, f, trim_leading_lf=False, checkmissing=False)
-            if len(v) != 0 and t1[-1] in ["\n", ","]:
-                t1 = t1[:-1]
-            t1 += part3
-            text = t1
-                
-        if trim_leading_lf:
-            if text[0] == '\n':
-                text = text[1:]
-        while True:
-            idx = text.find(self.start_var_token)
-            if idx == -1:
-                return text
-            endidx = text[idx:].find(self.end_var_token)
-            if endidx == -1:
-                raise MAVParseError('missing end of variable: %s' % text[idx:idx+10])
-            varname = text[idx+2:idx+endidx]
-            if isinstance(subvars, dict):
-                if not varname in subvars:
-                    if checkmissing:
-                        raise MAVParseError("unknown variable in '%s%s%s'" % (
-                            self.start_var_token, varname, self.end_var_token))
-                    return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars,
-                                                                trim_leading_lf=False, checkmissing=False)
-                value = subvars[varname]
-            else:
-                value = getattr(subvars, varname, None)
-                if value is None:
-                    if checkmissing:
-                        raise MAVParseError("unknown variable in '%s%s%s'" % (
-                            self.start_var_token, varname, self.end_var_token))
-                    return text[0:idx+endidx] + self.substitute(text[idx+endidx:], subvars,
-                                                                trim_leading_lf=False, checkmissing=False)
-            text = text.replace("%s%s%s" % (self.start_var_token, varname, self.end_var_token), str(value))
-        return text
-
-    def write(self, file, text, subvars={}, trim_leading_lf=True):
-        '''write to a file with variable substitution'''
-        file.write(self.substitute(text, subvars=subvars, trim_leading_lf=trim_leading_lf))
diff --git a/mavlink/share/pyshared/pymavlink/generator/mavtestgen.py b/mavlink/share/pyshared/pymavlink/generator/mavtestgen.py
deleted file mode 100644
index faffa1c19..000000000
--- a/mavlink/share/pyshared/pymavlink/generator/mavtestgen.py
+++ /dev/null
@@ -1,142 +0,0 @@
-#!/usr/bin/env python
-'''
-generate a MAVLink test suite
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-import sys, textwrap
-from optparse import OptionParser
-
-# mavparse is up a directory level
-sys.path.append('..')
-import mavparse
-
-def gen_value(f, i, language):
-    '''generate a test value for the ith field of a message'''
-    type = f.type
-
-    # could be an array
-    if type.find("[") != -1:
-        aidx = type.find("[")
-        basetype = type[0:aidx]
-        if basetype == "array":
-            basetype = "int8_t"
-        if language == 'C':
-            return '(const %s *)"%s%u"' % (basetype, f.name, i)
-        return '"%s%u"' % (f.name, i)
-
-    if type == 'float':
-        return 17.0 + i*7
-    if type == 'char':
-        return 'A' + i
-    if type == 'int8_t':
-        return 5 + i
-    if type in ['int8_t', 'uint8_t']:
-        return 5 + i
-    if type in ['uint8_t_mavlink_version']:
-        return 2
-    if type in ['int16_t', 'uint16_t']:
-        return 17235 + i*52
-    if type in ['int32_t', 'uint32_t']:
-        v = 963497464 + i*52
-        if language == 'C':
-            return "%sL" % v
-        return v
-    if type in ['int64_t', 'uint64_t']:
-        v = 9223372036854775807 + i*63
-        if language == 'C':
-            return "%sLL" % v
-        return v
-
-
-
-def generate_methods_python(outf, msgs):
-    outf.write("""
-'''
-MAVLink protocol test implementation (auto-generated by mavtestgen.py)
-
-Generated from: %s
-
-Note: this file has been auto-generated. DO NOT EDIT
-'''
-
-import mavlink
-
-def generate_outputs(mav):
-    '''generate all message types as outputs'''
-""")
-    for m in msgs:
-        if m.name == "HEARTBEAT": continue
-        outf.write("\tmav.%s_send(" % m.name.lower())
-        for i in range(0, len(m.fields)):
-            f = m.fields[i]
-            outf.write("%s=%s" % (f.name, gen_value(f, i, 'py')))
-            if i != len(m.fields)-1:
-                outf.write(",")
-        outf.write(")\n")
-
-
-def generate_methods_C(outf, msgs):
-    outf.write("""
-/*
-MAVLink protocol test implementation (auto-generated by mavtestgen.py)
-
-Generated from: %s
-
-Note: this file has been auto-generated. DO NOT EDIT
-*/
-
-static void mavtest_generate_outputs(mavlink_channel_t chan)
-{
-""")
-    for m in msgs:
-        if m.name == "HEARTBEAT": continue
-        outf.write("\tmavlink_msg_%s_send(chan," % m.name.lower())
-        for i in range(0, len(m.fields)):
-            f = m.fields[i]
-            outf.write("%s" % gen_value(f, i, 'C'))
-            if i != len(m.fields)-1:
-                outf.write(",")
-        outf.write(");\n")
-    outf.write("}\n")
-
-
-
-######################################################################
-'''main program'''
-
-parser = OptionParser("%prog [options] <XML files>")
-parser.add_option("-o", "--output", dest="output", default="mavtest", help="output folder [default: %default]")
-(opts, args) = parser.parse_args()
-
-if len(args) < 1:
-    parser.error("You must supply at least one MAVLink XML protocol definition")
-    
-
-msgs = []
-enums = []
-
-for fname in args:
-    (m, e) = mavparse.parse_mavlink_xml(fname)
-    msgs.extend(m)
-    enums.extend(e)
-
-
-if mavparse.check_duplicates(msgs):
-    sys.exit(1)
-
-print("Found %u MAVLink message types" % len(msgs))
-
-print("Generating python %s" % (opts.output+'.py'))
-outf = open(opts.output + '.py', "w")
-generate_methods_python(outf, msgs)
-outf.close()
-
-print("Generating C %s" % (opts.output+'.h'))
-outf = open(opts.output + '.h', "w")
-generate_methods_C(outf, msgs)
-outf.close()
-
-print("Generated %s OK" % opts.output)
diff --git a/mavlink/share/pyshared/pymavlink/mavextra.py b/mavlink/share/pyshared/pymavlink/mavextra.py
deleted file mode 100644
index 5395f6036..000000000
--- a/mavlink/share/pyshared/pymavlink/mavextra.py
+++ /dev/null
@@ -1,154 +0,0 @@
-#!/usr/bin/env python
-'''
-useful extra functions for use by mavlink clients
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-from math import *
-
-
-def kmh(mps):
-    '''convert m/s to Km/h'''
-    return mps*3.6
-
-def altitude(press_abs, ground_press=955.0, ground_temp=30):
-    '''calculate barometric altitude'''
-    return log(ground_press/press_abs)*(ground_temp+273.15)*29271.267*0.001
-
-
-def mag_heading(RAW_IMU, ATTITUDE, declination=0, SENSOR_OFFSETS=None, ofs=None):
-    '''calculate heading from raw magnetometer'''
-    mag_x = RAW_IMU.xmag
-    mag_y = RAW_IMU.ymag
-    mag_z = RAW_IMU.zmag
-    if SENSOR_OFFSETS is not None and ofs is not None:
-        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
-        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
-        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z
-
-    headX = mag_x*cos(ATTITUDE.pitch) + mag_y*sin(ATTITUDE.roll)*sin(ATTITUDE.pitch) + mag_z*cos(ATTITUDE.roll)*sin(ATTITUDE.pitch)
-    headY = mag_y*cos(ATTITUDE.roll) - mag_z*sin(ATTITUDE.roll)
-    heading = degrees(atan2(-headY,headX)) + declination
-    if heading < 0:
-        heading += 360
-    return heading
-
-def mag_field(RAW_IMU, SENSOR_OFFSETS=None, ofs=None):
-    '''calculate magnetic field strength from raw magnetometer'''
-    mag_x = RAW_IMU.xmag
-    mag_y = RAW_IMU.ymag
-    mag_z = RAW_IMU.zmag
-    if SENSOR_OFFSETS is not None and ofs is not None:
-        mag_x += ofs[0] - SENSOR_OFFSETS.mag_ofs_x
-        mag_y += ofs[1] - SENSOR_OFFSETS.mag_ofs_y
-        mag_z += ofs[2] - SENSOR_OFFSETS.mag_ofs_z
-    return sqrt(mag_x**2 + mag_y**2 + mag_z**2)
-
-def angle_diff(angle1, angle2):
-    '''show the difference between two angles in degrees'''
-    ret = angle1 - angle2
-    if ret > 180:
-        ret -= 360;
-    if ret < -180:
-        ret += 360
-    return ret
-
-
-lowpass_data = {}
-
-def lowpass(var, key, factor):
-    '''a simple lowpass filter'''
-    global lowpass_data
-    if not key in lowpass_data:
-        lowpass_data[key] = var
-    else:
-        lowpass_data[key] = factor*lowpass_data[key] + (1.0 - factor)*var
-    return lowpass_data[key]
-
-last_delta = {}
-
-def delta(var, key):
-    '''calculate slope'''
-    global last_delta
-    dv = 0
-    if key in last_delta:
-        dv = var - last_delta[key]
-    last_delta[key] = var
-    return dv
-
-def delta_angle(var, key):
-    '''calculate slope of an angle'''
-    global last_delta
-    dv = 0
-    if key in last_delta:
-        dv = var - last_delta[key]
-    last_delta[key] = var
-    if dv > 180:
-        dv -= 360
-    if dv < -180:
-        dv += 360
-    return dv
-
-def roll_estimate(RAW_IMU,smooth=0.7):
-    '''estimate roll from accelerometer'''
-    rx = lowpass(RAW_IMU.xacc,'rx',smooth)
-    ry = lowpass(RAW_IMU.yacc,'ry',smooth)
-    rz = lowpass(RAW_IMU.zacc,'rz',smooth)
-    return degrees(-asin(ry/sqrt(rx**2+ry**2+rz**2)))
-
-def pitch_estimate(RAW_IMU, smooth=0.7):
-    '''estimate pitch from accelerometer'''
-    rx = lowpass(RAW_IMU.xacc,'rx',smooth)
-    ry = lowpass(RAW_IMU.yacc,'ry',smooth)
-    rz = lowpass(RAW_IMU.zacc,'rz',smooth)
-    return degrees(asin(rx/sqrt(rx**2+ry**2+rz**2)))
-
-def gravity(RAW_IMU, SENSOR_OFFSETS=None, ofs=None, smooth=0.7):
-    '''estimate pitch from accelerometer'''
-    rx = RAW_IMU.xacc
-    ry = RAW_IMU.yacc
-    rz = RAW_IMU.zacc+45
-    if SENSOR_OFFSETS is not None and ofs is not None:
-        rx += ofs[0] - SENSOR_OFFSETS.accel_cal_x
-        ry += ofs[1] - SENSOR_OFFSETS.accel_cal_y
-        rz += ofs[2] - SENSOR_OFFSETS.accel_cal_z
-    return lowpass(sqrt(rx**2+ry**2+rz**2)*0.01,'_gravity',smooth)
-
-
-
-def pitch_sim(SIMSTATE, GPS_RAW):
-    '''estimate pitch from SIMSTATE accels'''
-    xacc = SIMSTATE.xacc - lowpass(delta(GPS_RAW.v,"v")*6.6, "v", 0.9)
-    zacc = SIMSTATE.zacc
-    zacc += SIMSTATE.ygyro * GPS_RAW.v;
-    if xacc/zacc >= 1:
-        return 0
-    if xacc/zacc <= -1:
-        return -0
-    return degrees(-asin(xacc/zacc))
-
-def distance_two(GPS_RAW1, GPS_RAW2):
-    '''distance between two points'''
-    lat1 = radians(GPS_RAW1.lat)
-    lat2 = radians(GPS_RAW2.lat)
-    lon1 = radians(GPS_RAW1.lon)
-    lon2 = radians(GPS_RAW2.lon)
-    dLat = lat2 - lat1
-    dLon = lon2 - lon1
-
-    a = sin(0.5*dLat) * sin(0.5*dLat) + sin(0.5*dLon) * sin(0.5*dLon) * cos(lat1) * cos(lat2)
-    c = 2.0 * atan2(sqrt(a), sqrt(1.0-a))
-    return 6371 * 1000 * c
-
-
-first_fix = None
-
-def distance_home(GPS_RAW):
-    '''distance from first fix point'''
-    global first_fix
-    if first_fix == None or first_fix.fix_type < 2:
-        first_fix = GPS_RAW
-        return 0
-    return distance_two(GPS_RAW, first_fix)
diff --git a/mavlink/share/pyshared/pymavlink/mavlink.py b/mavlink/share/pyshared/pymavlink/mavlink.py
deleted file mode 100644
index 3287a921d..000000000
--- a/mavlink/share/pyshared/pymavlink/mavlink.py
+++ /dev/null
@@ -1,4930 +0,0 @@
-'''
-MAVLink protocol implementation (auto-generated by mavgen.py)
-
-Generated from: ardupilotmega.xml,common.xml
-
-Note: this file has been auto-generated. DO NOT EDIT
-'''
-
-import struct, array, mavutil, time
-
-WIRE_PROTOCOL_VERSION = "0.9"
-
-class MAVLink_header(object):
-    '''MAVLink message header'''
-    def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
-        self.mlen = mlen
-        self.seq = seq
-        self.srcSystem = srcSystem
-        self.srcComponent = srcComponent
-        self.msgId = msgId
-
-    def pack(self):
-        return struct.pack('BBBBBB', 85, self.mlen, self.seq,
-                          self.srcSystem, self.srcComponent, self.msgId)
-
-class MAVLink_message(object):
-    '''base MAVLink message class'''
-    def __init__(self, msgId, name):
-        self._header     = MAVLink_header(msgId)
-        self._payload    = None
-        self._msgbuf     = None
-        self._crc        = None
-        self._fieldnames = []
-        self._type       = name
-
-    def get_msgbuf(self):
-        return self._msgbuf
-
-    def get_header(self):
-        return self._header
-
-    def get_payload(self):
-        return self._payload
-
-    def get_crc(self):
-        return self._crc
-
-    def get_fieldnames(self):
-        return self._fieldnames
-
-    def get_type(self):
-        return self._type
-
-    def get_msgId(self):
-        return self._header.msgId
-
-    def get_srcSystem(self):
-        return self._header.srcSystem
-
-    def get_srcComponent(self):
-        return self._header.srcComponent
-
-    def get_seq(self):
-        return self._header.seq
-
-    def __str__(self):
-        ret = '%s {' % self._type
-        for a in self._fieldnames:
-            v = getattr(self, a)
-            ret += '%s : %s, ' % (a, v)
-        ret = ret[0:-2] + '}'
-        return ret            
-
-    def pack(self, mav, crc_extra, payload):
-        self._payload = payload
-        self._header  = MAVLink_header(self._header.msgId, len(payload), mav.seq,
-                                       mav.srcSystem, mav.srcComponent)
-        self._msgbuf = self._header.pack() + payload
-        crc = mavutil.x25crc(self._msgbuf[1:])
-        if False: # using CRC extra
-            crc.accumulate(chr(crc_extra))
-        self._crc = crc.crc
-        self._msgbuf += struct.pack('<H', self._crc)
-        return self._msgbuf
-
-
-# enums
-
-# MAV_MOUNT_MODE
-MAV_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop
-                        # stabilization
-MAV_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM.
-MAV_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with
-                        # stabilization
-MAV_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with
-                        # stabilization
-MAV_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt
-MAV_MOUNT_MODE_ENUM_END = 5 # 
-
-# MAV_CMD
-MAV_CMD_NAV_WAYPOINT = 16 # Navigate to waypoint.
-MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this waypoint an unlimited amount of time
-MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this waypoint for X turns
-MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this waypoint for X seconds
-MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location
-MAV_CMD_NAV_LAND = 21 # Land at location
-MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand
-MAV_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the
-                        # vehicle itself. This can then be used by the
-                        # vehicles control             system to
-                        # control the vehicle attitude and the
-                        # attitude of various             sensors such
-                        # as cameras.
-MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV.
-MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the
-                        # NAV/ACTION commands in the enumeration
-MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine.
-MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate.  Delay mission state machine until desired
-                        # altitude reached.
-MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV
-                        # point.
-MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle.
-MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the
-                        # CONDITION commands in the enumeration
-MAV_CMD_DO_SET_MODE = 176 # Set system mode.
-MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list.  Repeat this action
-                        # only the specified number of times
-MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points.
-MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a
-                        # specified location.
-MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter.  Caution!  Use of this command requires
-                        # knowledge of the numeric enumeration value
-                        # of the parameter.
-MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition.
-MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired
-                        # period.
-MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value.
-MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired
-                        # number of cycles with a desired period.
-MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera capturing.
-MAV_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the
-                        # vehicle itself. This can then be used by the
-                        # vehicles control                     system
-                        # to control the vehicle attitude and the
-                        # attitude of various
-                        # devices such as cameras.
-MAV_CMD_DO_DIGICAM_CONFIGURE = 202 # Mission command to configure an on-board camera controller system.
-MAV_CMD_DO_DIGICAM_CONTROL = 203 # Mission command to control an on-board camera controller system.
-MAV_CMD_DO_MOUNT_CONFIGURE = 204 # Mission command to configure a camera or antenna mount
-MAV_CMD_DO_MOUNT_CONTROL = 205 # Mission command to control a camera or antenna mount
-MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO
-                        # commands in the enumeration
-MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-
-                        # flight mode.
-MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command
-                        # will be only accepted if in pre-flight mode.
-MAV_CMD_ENUM_END = 246 # 
-
-# 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_BREACH
-FENCE_BREACH_NONE = 0 # No last fence breach
-FENCE_BREACH_MINALT = 1 # Breached minimum altitude
-FENCE_BREACH_MAXALT = 2 # Breached minimum altitude
-FENCE_BREACH_BOUNDARY = 3 # Breached fence boundary
-FENCE_BREACH_ENUM_END = 4 # 
-
-# MAV_DATA_STREAM
-MAV_DATA_STREAM_ALL = 0 # Enable all data streams
-MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
-MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
-MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
-MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT,
-                        # NAV_CONTROLLER_OUTPUT.
-MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
-MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot
-MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot
-MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot
-MAV_DATA_STREAM_ENUM_END = 13 # 
-
-# MAV_ROI
-MAV_ROI_NONE = 0 # No region of interest.
-MAV_ROI_WPNEXT = 1 # Point toward next waypoint.
-MAV_ROI_WPINDEX = 2 # Point toward given waypoint.
-MAV_ROI_LOCATION = 3 # Point toward fixed location.
-MAV_ROI_TARGET = 4 # Point toward of given id.
-MAV_ROI_ENUM_END = 5 # 
-
-# message IDs
-MAVLINK_MSG_ID_BAD_DATA = -1
-MAVLINK_MSG_ID_SENSOR_OFFSETS = 150
-MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151
-MAVLINK_MSG_ID_MEMINFO = 152
-MAVLINK_MSG_ID_AP_ADC = 153
-MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154
-MAVLINK_MSG_ID_DIGICAM_CONTROL = 155
-MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156
-MAVLINK_MSG_ID_MOUNT_CONTROL = 157
-MAVLINK_MSG_ID_MOUNT_STATUS = 158
-MAVLINK_MSG_ID_FENCE_POINT = 160
-MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161
-MAVLINK_MSG_ID_FENCE_STATUS = 162
-MAVLINK_MSG_ID_AHRS = 163
-MAVLINK_MSG_ID_SIMSTATE = 164
-MAVLINK_MSG_ID_HWSTATUS = 165
-MAVLINK_MSG_ID_RADIO = 166
-MAVLINK_MSG_ID_HEARTBEAT = 0
-MAVLINK_MSG_ID_BOOT = 1
-MAVLINK_MSG_ID_SYSTEM_TIME = 2
-MAVLINK_MSG_ID_PING = 3
-MAVLINK_MSG_ID_SYSTEM_TIME_UTC = 4
-MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5
-MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6
-MAVLINK_MSG_ID_AUTH_KEY = 7
-MAVLINK_MSG_ID_ACTION_ACK = 9
-MAVLINK_MSG_ID_ACTION = 10
-MAVLINK_MSG_ID_SET_MODE = 11
-MAVLINK_MSG_ID_SET_NAV_MODE = 12
-MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20
-MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
-MAVLINK_MSG_ID_PARAM_VALUE = 22
-MAVLINK_MSG_ID_PARAM_SET = 23
-MAVLINK_MSG_ID_GPS_RAW_INT = 25
-MAVLINK_MSG_ID_SCALED_IMU = 26
-MAVLINK_MSG_ID_GPS_STATUS = 27
-MAVLINK_MSG_ID_RAW_IMU = 28
-MAVLINK_MSG_ID_RAW_PRESSURE = 29
-MAVLINK_MSG_ID_SCALED_PRESSURE = 38
-MAVLINK_MSG_ID_ATTITUDE = 30
-MAVLINK_MSG_ID_LOCAL_POSITION = 31
-MAVLINK_MSG_ID_GLOBAL_POSITION = 33
-MAVLINK_MSG_ID_GPS_RAW = 32
-MAVLINK_MSG_ID_SYS_STATUS = 34
-MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35
-MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 36
-MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 37
-MAVLINK_MSG_ID_WAYPOINT = 39
-MAVLINK_MSG_ID_WAYPOINT_REQUEST = 40
-MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT = 41
-MAVLINK_MSG_ID_WAYPOINT_CURRENT = 42
-MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST = 43
-MAVLINK_MSG_ID_WAYPOINT_COUNT = 44
-MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL = 45
-MAVLINK_MSG_ID_WAYPOINT_REACHED = 46
-MAVLINK_MSG_ID_WAYPOINT_ACK = 47
-MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN = 48
-MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET = 49
-MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET = 50
-MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51
-MAVLINK_MSG_ID_CONTROL_STATUS = 52
-MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 53
-MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 54
-MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 55
-MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 56
-MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 57
-MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 58
-MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
-MAVLINK_MSG_ID_POSITION_TARGET = 63
-MAVLINK_MSG_ID_STATE_CORRECTION = 64
-MAVLINK_MSG_ID_SET_ALTITUDE = 65
-MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
-MAVLINK_MSG_ID_HIL_STATE = 67
-MAVLINK_MSG_ID_HIL_CONTROLS = 68
-MAVLINK_MSG_ID_MANUAL_CONTROL = 69
-MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70
-MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 73
-MAVLINK_MSG_ID_VFR_HUD = 74
-MAVLINK_MSG_ID_COMMAND = 75
-MAVLINK_MSG_ID_COMMAND_ACK = 76
-MAVLINK_MSG_ID_OPTICAL_FLOW = 100
-MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT = 140
-MAVLINK_MSG_ID_DEBUG_VECT = 251
-MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 252
-MAVLINK_MSG_ID_NAMED_VALUE_INT = 253
-MAVLINK_MSG_ID_STATUSTEXT = 254
-MAVLINK_MSG_ID_DEBUG = 255
-
-class MAVLink_sensor_offsets_message(MAVLink_message):
-        '''
-        Offsets and calibrations values for hardware         sensors.
-        This makes it easier to debug the calibration process.
-        '''
-        def __init__(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SENSOR_OFFSETS, 'SENSOR_OFFSETS')
-                self._fieldnames = ['mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z', 'mag_declination', 'raw_press', 'raw_temp', 'gyro_cal_x', 'gyro_cal_y', 'gyro_cal_z', 'accel_cal_x', 'accel_cal_y', 'accel_cal_z']
-                self.mag_ofs_x = mag_ofs_x
-                self.mag_ofs_y = mag_ofs_y
-                self.mag_ofs_z = mag_ofs_z
-                self.mag_declination = mag_declination
-                self.raw_press = raw_press
-                self.raw_temp = raw_temp
-                self.gyro_cal_x = gyro_cal_x
-                self.gyro_cal_y = gyro_cal_y
-                self.gyro_cal_z = gyro_cal_z
-                self.accel_cal_x = accel_cal_x
-                self.accel_cal_y = accel_cal_y
-                self.accel_cal_z = accel_cal_z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 143, struct.pack('>hhhfiiffffff', self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z, self.mag_declination, self.raw_press, self.raw_temp, self.gyro_cal_x, self.gyro_cal_y, self.gyro_cal_z, self.accel_cal_x, self.accel_cal_y, self.accel_cal_z))
-
-class MAVLink_set_mag_offsets_message(MAVLink_message):
-        '''
-        set the magnetometer offsets
-        '''
-        def __init__(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MAG_OFFSETS, 'SET_MAG_OFFSETS')
-                self._fieldnames = ['target_system', 'target_component', 'mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.mag_ofs_x = mag_ofs_x
-                self.mag_ofs_y = mag_ofs_y
-                self.mag_ofs_z = mag_ofs_z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 29, struct.pack('>BBhhh', self.target_system, self.target_component, self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z))
-
-class MAVLink_meminfo_message(MAVLink_message):
-        '''
-        state of APM memory
-        '''
-        def __init__(self, brkval, freemem):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO')
-                self._fieldnames = ['brkval', 'freemem']
-                self.brkval = brkval
-                self.freemem = freemem
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 208, struct.pack('>HH', self.brkval, self.freemem))
-
-class MAVLink_ap_adc_message(MAVLink_message):
-        '''
-        raw ADC output
-        '''
-        def __init__(self, adc1, adc2, adc3, adc4, adc5, adc6):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AP_ADC, 'AP_ADC')
-                self._fieldnames = ['adc1', 'adc2', 'adc3', 'adc4', 'adc5', 'adc6']
-                self.adc1 = adc1
-                self.adc2 = adc2
-                self.adc3 = adc3
-                self.adc4 = adc4
-                self.adc5 = adc5
-                self.adc6 = adc6
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 188, struct.pack('>HHHHHH', self.adc1, self.adc2, self.adc3, self.adc4, self.adc5, self.adc6))
-
-class MAVLink_digicam_configure_message(MAVLink_message):
-        '''
-        Configure on-board Camera Control System.
-        '''
-        def __init__(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, 'DIGICAM_CONFIGURE')
-                self._fieldnames = ['target_system', 'target_component', 'mode', 'shutter_speed', 'aperture', 'iso', 'exposure_type', 'command_id', 'engine_cut_off', 'extra_param', 'extra_value']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.mode = mode
-                self.shutter_speed = shutter_speed
-                self.aperture = aperture
-                self.iso = iso
-                self.exposure_type = exposure_type
-                self.command_id = command_id
-                self.engine_cut_off = engine_cut_off
-                self.extra_param = extra_param
-                self.extra_value = extra_value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 118, struct.pack('>BBBHBBBBBBf', self.target_system, self.target_component, self.mode, self.shutter_speed, self.aperture, self.iso, self.exposure_type, self.command_id, self.engine_cut_off, self.extra_param, self.extra_value))
-
-class MAVLink_digicam_control_message(MAVLink_message):
-        '''
-        Control on-board Camera Control System to take shots.
-        '''
-        def __init__(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONTROL, 'DIGICAM_CONTROL')
-                self._fieldnames = ['target_system', 'target_component', 'session', 'zoom_pos', 'zoom_step', 'focus_lock', 'shot', 'command_id', 'extra_param', 'extra_value']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.session = session
-                self.zoom_pos = zoom_pos
-                self.zoom_step = zoom_step
-                self.focus_lock = focus_lock
-                self.shot = shot
-                self.command_id = command_id
-                self.extra_param = extra_param
-                self.extra_value = extra_value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 242, struct.pack('>BBBBbBBBBf', self.target_system, self.target_component, self.session, self.zoom_pos, self.zoom_step, self.focus_lock, self.shot, self.command_id, self.extra_param, self.extra_value))
-
-class MAVLink_mount_configure_message(MAVLink_message):
-        '''
-        Message to configure a camera mount, directional antenna, etc.
-        '''
-        def __init__(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONFIGURE, 'MOUNT_CONFIGURE')
-                self._fieldnames = ['target_system', 'target_component', 'mount_mode', 'stab_roll', 'stab_pitch', 'stab_yaw']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.mount_mode = mount_mode
-                self.stab_roll = stab_roll
-                self.stab_pitch = stab_pitch
-                self.stab_yaw = stab_yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 19, struct.pack('>BBBBBB', self.target_system, self.target_component, self.mount_mode, self.stab_roll, self.stab_pitch, self.stab_yaw))
-
-class MAVLink_mount_control_message(MAVLink_message):
-        '''
-        Message to control a camera mount, directional antenna, etc.
-        '''
-        def __init__(self, target_system, target_component, input_a, input_b, input_c, save_position):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONTROL, 'MOUNT_CONTROL')
-                self._fieldnames = ['target_system', 'target_component', 'input_a', 'input_b', 'input_c', 'save_position']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.input_a = input_a
-                self.input_b = input_b
-                self.input_c = input_c
-                self.save_position = save_position
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 97, struct.pack('>BBiiiB', self.target_system, self.target_component, self.input_a, self.input_b, self.input_c, self.save_position))
-
-class MAVLink_mount_status_message(MAVLink_message):
-        '''
-        Message with some status from APM to GCS about camera or
-        antenna mount
-        '''
-        def __init__(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_STATUS, 'MOUNT_STATUS')
-                self._fieldnames = ['target_system', 'target_component', 'pointing_a', 'pointing_b', 'pointing_c']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.pointing_a = pointing_a
-                self.pointing_b = pointing_b
-                self.pointing_c = pointing_c
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 233, struct.pack('>BBiii', self.target_system, self.target_component, self.pointing_a, self.pointing_b, self.pointing_c))
-
-class MAVLink_fence_point_message(MAVLink_message):
-        '''
-        A fence point. Used to set a point when from               GCS
-        -> MAV. Also used to return a point from MAV -> GCS
-        '''
-        def __init__(self, target_system, target_component, idx, count, lat, lng):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_POINT, 'FENCE_POINT')
-                self._fieldnames = ['target_system', 'target_component', 'idx', 'count', 'lat', 'lng']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.idx = idx
-                self.count = count
-                self.lat = lat
-                self.lng = lng
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 18, struct.pack('>BBBBff', self.target_system, self.target_component, self.idx, self.count, self.lat, self.lng))
-
-class MAVLink_fence_fetch_point_message(MAVLink_message):
-        '''
-        Request a current fence point from MAV
-        '''
-        def __init__(self, target_system, target_component, idx):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_FETCH_POINT, 'FENCE_FETCH_POINT')
-                self._fieldnames = ['target_system', 'target_component', 'idx']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.idx = idx
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 68, struct.pack('>BBB', self.target_system, self.target_component, self.idx))
-
-class MAVLink_fence_status_message(MAVLink_message):
-        '''
-        Status of geo-fencing. Sent in extended             status
-        stream when fencing enabled
-        '''
-        def __init__(self, breach_status, breach_count, breach_type, breach_time):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_STATUS, 'FENCE_STATUS')
-                self._fieldnames = ['breach_status', 'breach_count', 'breach_type', 'breach_time']
-                self.breach_status = breach_status
-                self.breach_count = breach_count
-                self.breach_type = breach_type
-                self.breach_time = breach_time
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 136, struct.pack('>BHBI', self.breach_status, self.breach_count, self.breach_type, self.breach_time))
-
-class MAVLink_ahrs_message(MAVLink_message):
-        '''
-        Status of DCM attitude estimator
-        '''
-        def __init__(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AHRS, 'AHRS')
-                self._fieldnames = ['omegaIx', 'omegaIy', 'omegaIz', 'accel_weight', 'renorm_val', 'error_rp', 'error_yaw']
-                self.omegaIx = omegaIx
-                self.omegaIy = omegaIy
-                self.omegaIz = omegaIz
-                self.accel_weight = accel_weight
-                self.renorm_val = renorm_val
-                self.error_rp = error_rp
-                self.error_yaw = error_yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 127, struct.pack('>fffffff', self.omegaIx, self.omegaIy, self.omegaIz, self.accel_weight, self.renorm_val, self.error_rp, self.error_yaw))
-
-class MAVLink_simstate_message(MAVLink_message):
-        '''
-        Status of simulation environment, if used
-        '''
-        def __init__(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SIMSTATE, 'SIMSTATE')
-                self._fieldnames = ['roll', 'pitch', 'yaw', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro']
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-                self.xgyro = xgyro
-                self.ygyro = ygyro
-                self.zgyro = zgyro
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 42, struct.pack('>fffffffff', self.roll, self.pitch, self.yaw, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro))
-
-class MAVLink_hwstatus_message(MAVLink_message):
-        '''
-        Status of key hardware
-        '''
-        def __init__(self, Vcc, I2Cerr):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HWSTATUS, 'HWSTATUS')
-                self._fieldnames = ['Vcc', 'I2Cerr']
-                self.Vcc = Vcc
-                self.I2Cerr = I2Cerr
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 21, struct.pack('>HB', self.Vcc, self.I2Cerr))
-
-class MAVLink_radio_message(MAVLink_message):
-        '''
-        Status generated by radio
-        '''
-        def __init__(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RADIO, 'RADIO')
-                self._fieldnames = ['rssi', 'remrssi', 'txbuf', 'noise', 'remnoise', 'rxerrors', 'fixed']
-                self.rssi = rssi
-                self.remrssi = remrssi
-                self.txbuf = txbuf
-                self.noise = noise
-                self.remnoise = remnoise
-                self.rxerrors = rxerrors
-                self.fixed = fixed
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 93, struct.pack('>BBBBBHH', self.rssi, self.remrssi, self.txbuf, self.noise, self.remnoise, self.rxerrors, self.fixed))
-
-class MAVLink_heartbeat_message(MAVLink_message):
-        '''
-        The heartbeat message shows that a system is present and
-        responding. The type of the MAV and Autopilot hardware allow
-        the receiving system to treat further messages from this
-        system appropriate (e.g. by laying out the user interface
-        based on the autopilot).
-        '''
-        def __init__(self, type, autopilot, mavlink_version):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT')
-                self._fieldnames = ['type', 'autopilot', 'mavlink_version']
-                self.type = type
-                self.autopilot = autopilot
-                self.mavlink_version = mavlink_version
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 72, struct.pack('>BBB', self.type, self.autopilot, self.mavlink_version))
-
-class MAVLink_boot_message(MAVLink_message):
-        '''
-        The boot message indicates that a system is starting. The
-        onboard software version allows to keep track of onboard
-        soft/firmware revisions.
-        '''
-        def __init__(self, version):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BOOT, 'BOOT')
-                self._fieldnames = ['version']
-                self.version = version
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 39, struct.pack('>I', self.version))
-
-class MAVLink_system_time_message(MAVLink_message):
-        '''
-        The system time is the time of the master clock, typically the
-        computer clock of the main onboard computer.
-        '''
-        def __init__(self, time_usec):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME')
-                self._fieldnames = ['time_usec']
-                self.time_usec = time_usec
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 190, struct.pack('>Q', self.time_usec))
-
-class MAVLink_ping_message(MAVLink_message):
-        '''
-        A ping message either requesting or responding to a ping. This
-        allows to measure the system latencies, including serial port,
-        radio modem and UDP connections.
-        '''
-        def __init__(self, seq, target_system, target_component, time):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING')
-                self._fieldnames = ['seq', 'target_system', 'target_component', 'time']
-                self.seq = seq
-                self.target_system = target_system
-                self.target_component = target_component
-                self.time = time
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 92, struct.pack('>IBBQ', self.seq, self.target_system, self.target_component, self.time))
-
-class MAVLink_system_time_utc_message(MAVLink_message):
-        '''
-        UTC date and time from GPS module
-        '''
-        def __init__(self, utc_date, utc_time):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME_UTC, 'SYSTEM_TIME_UTC')
-                self._fieldnames = ['utc_date', 'utc_time']
-                self.utc_date = utc_date
-                self.utc_time = utc_time
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 191, struct.pack('>II', self.utc_date, self.utc_time))
-
-class MAVLink_change_operator_control_message(MAVLink_message):
-        '''
-        Request to control this MAV
-        '''
-        def __init__(self, target_system, control_request, version, passkey):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL')
-                self._fieldnames = ['target_system', 'control_request', 'version', 'passkey']
-                self.target_system = target_system
-                self.control_request = control_request
-                self.version = version
-                self.passkey = passkey
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 217, struct.pack('>BBB25s', self.target_system, self.control_request, self.version, self.passkey))
-
-class MAVLink_change_operator_control_ack_message(MAVLink_message):
-        '''
-        Accept / deny control of this MAV
-        '''
-        def __init__(self, gcs_system_id, control_request, ack):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK')
-                self._fieldnames = ['gcs_system_id', 'control_request', 'ack']
-                self.gcs_system_id = gcs_system_id
-                self.control_request = control_request
-                self.ack = ack
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 104, struct.pack('>BBB', self.gcs_system_id, self.control_request, self.ack))
-
-class MAVLink_auth_key_message(MAVLink_message):
-        '''
-        Emit an encrypted signature / key identifying this system.
-        PLEASE NOTE: This protocol has been kept simple, so
-        transmitting the key requires an encrypted channel for true
-        safety.
-        '''
-        def __init__(self, key):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY')
-                self._fieldnames = ['key']
-                self.key = key
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 119, struct.pack('>32s', self.key))
-
-class MAVLink_action_ack_message(MAVLink_message):
-        '''
-        This message acknowledges an action. IMPORTANT: The
-        acknowledgement can be also negative, e.g. the MAV rejects a
-        reset message because it is in-flight. The action ids are
-        defined in ENUM MAV_ACTION in mavlink/include/mavlink_types.h
-        '''
-        def __init__(self, action, result):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ACTION_ACK, 'ACTION_ACK')
-                self._fieldnames = ['action', 'result']
-                self.action = action
-                self.result = result
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 219, struct.pack('>BB', self.action, self.result))
-
-class MAVLink_action_message(MAVLink_message):
-        '''
-        An action message allows to execute a certain onboard action.
-        These include liftoff, land, storing parameters too EEPROM,
-        shutddown, etc. The action ids are defined in ENUM MAV_ACTION
-        in mavlink/include/mavlink_types.h
-        '''
-        def __init__(self, target, target_component, action):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ACTION, 'ACTION')
-                self._fieldnames = ['target', 'target_component', 'action']
-                self.target = target
-                self.target_component = target_component
-                self.action = action
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 60, struct.pack('>BBB', self.target, self.target_component, self.action))
-
-class MAVLink_set_mode_message(MAVLink_message):
-        '''
-        Set the system mode, as defined by enum MAV_MODE in
-        mavlink/include/mavlink_types.h. There is no target component
-        id as the mode is by definition for the overall aircraft, not
-        only for one component.
-        '''
-        def __init__(self, target, mode):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE')
-                self._fieldnames = ['target', 'mode']
-                self.target = target
-                self.mode = mode
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 186, struct.pack('>BB', self.target, self.mode))
-
-class MAVLink_set_nav_mode_message(MAVLink_message):
-        '''
-        Set the system navigation mode, as defined by enum
-        MAV_NAV_MODE in mavlink/include/mavlink_types.h. The
-        navigation mode applies to the whole aircraft and thus all
-        components.
-        '''
-        def __init__(self, target, nav_mode):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_NAV_MODE, 'SET_NAV_MODE')
-                self._fieldnames = ['target', 'nav_mode']
-                self.target = target
-                self.nav_mode = nav_mode
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 10, struct.pack('>BB', self.target, self.nav_mode))
-
-class MAVLink_param_request_read_message(MAVLink_message):
-        '''
-        Request to read the onboard parameter with the param_id string
-        id. Onboard parameters are stored as key[const char*] ->
-        value[float]. This allows to send a parameter to any other
-        component (such as the GCS) without the need of previous
-        knowledge of possible parameter names. Thus the same GCS can
-        store different parameters for different autopilots. See also
-        http://qgroundcontrol.org/parameter_interface for a full
-        documentation of QGroundControl and IMU code.
-        '''
-        def __init__(self, target_system, target_component, param_id, param_index):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ')
-                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.param_id = param_id
-                self.param_index = param_index
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 89, struct.pack('>BB15sh', self.target_system, self.target_component, self.param_id, self.param_index))
-
-class MAVLink_param_request_list_message(MAVLink_message):
-        '''
-        Request all parameters of this component. After his request,
-        all parameters are emitted.
-        '''
-        def __init__(self, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST')
-                self._fieldnames = ['target_system', 'target_component']
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 159, struct.pack('>BB', self.target_system, self.target_component))
-
-class MAVLink_param_value_message(MAVLink_message):
-        '''
-        Emit the value of a onboard parameter. The inclusion of
-        param_count and param_index in the message allows the
-        recipient to keep track of received parameters and allows him
-        to re-request missing parameters after a loss or timeout.
-        '''
-        def __init__(self, param_id, param_value, param_count, param_index):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE')
-                self._fieldnames = ['param_id', 'param_value', 'param_count', 'param_index']
-                self.param_id = param_id
-                self.param_value = param_value
-                self.param_count = param_count
-                self.param_index = param_index
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 162, struct.pack('>15sfHH', self.param_id, self.param_value, self.param_count, self.param_index))
-
-class MAVLink_param_set_message(MAVLink_message):
-        '''
-        Set a parameter value TEMPORARILY to RAM. It will be reset to
-        default on system reboot. Send the ACTION
-        MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents
-        to EEPROM. IMPORTANT: The receiving component should
-        acknowledge the new parameter value by sending a param_value
-        message to all communication partners. This will also ensure
-        that multiple GCS all have an up-to-date list of all
-        parameters. If the sending GCS did not receive a PARAM_VALUE
-        message within its timeout time, it should re-send the
-        PARAM_SET message.
-        '''
-        def __init__(self, target_system, target_component, param_id, param_value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET')
-                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.param_id = param_id
-                self.param_value = param_value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 121, struct.pack('>BB15sf', self.target_system, self.target_component, self.param_id, self.param_value))
-
-class MAVLink_gps_raw_int_message(MAVLink_message):
-        '''
-        The global position, as returned by the Global Positioning
-        System (GPS). This is NOT the global position estimate of the
-        sytem, but rather a RAW sensor value. See message
-        GLOBAL_POSITION for the global position estimate. Coordinate
-        frame is right-handed, Z-axis up (GPS frame)
-        '''
-        def __init__(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT')
-                self._fieldnames = ['usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'v', 'hdg']
-                self.usec = usec
-                self.fix_type = fix_type
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.eph = eph
-                self.epv = epv
-                self.v = v
-                self.hdg = hdg
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 149, struct.pack('>QBiiiffff', self.usec, self.fix_type, self.lat, self.lon, self.alt, self.eph, self.epv, self.v, self.hdg))
-
-class MAVLink_scaled_imu_message(MAVLink_message):
-        '''
-        The RAW IMU readings for the usual 9DOF sensor setup. This
-        message should contain the scaled values to the described
-        units
-        '''
-        def __init__(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU')
-                self._fieldnames = ['usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
-                self.usec = usec
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-                self.xgyro = xgyro
-                self.ygyro = ygyro
-                self.zgyro = zgyro
-                self.xmag = xmag
-                self.ymag = ymag
-                self.zmag = zmag
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 222, struct.pack('>Qhhhhhhhhh', self.usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
-
-class MAVLink_gps_status_message(MAVLink_message):
-        '''
-        The positioning status, as reported by GPS. This message is
-        intended to display status information about each satellite
-        visible to the receiver. See message GLOBAL_POSITION for the
-        global position estimate. This message can contain information
-        for up to 20 satellites.
-        '''
-        def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS')
-                self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr']
-                self.satellites_visible = satellites_visible
-                self.satellite_prn = satellite_prn
-                self.satellite_used = satellite_used
-                self.satellite_elevation = satellite_elevation
-                self.satellite_azimuth = satellite_azimuth
-                self.satellite_snr = satellite_snr
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 110, struct.pack('>B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr))
-
-class MAVLink_raw_imu_message(MAVLink_message):
-        '''
-        The RAW IMU readings for the usual 9DOF sensor setup. This
-        message should always contain the true raw values without any
-        scaling to allow data capture and system debugging.
-        '''
-        def __init__(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU')
-                self._fieldnames = ['usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
-                self.usec = usec
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-                self.xgyro = xgyro
-                self.ygyro = ygyro
-                self.zgyro = zgyro
-                self.xmag = xmag
-                self.ymag = ymag
-                self.zmag = zmag
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 179, struct.pack('>Qhhhhhhhhh', self.usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
-
-class MAVLink_raw_pressure_message(MAVLink_message):
-        '''
-        The RAW pressure readings for the typical setup of one
-        absolute pressure and one differential pressure sensor. The
-        sensor values should be the raw, UNSCALED ADC values.
-        '''
-        def __init__(self, usec, press_abs, press_diff1, press_diff2, temperature):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE')
-                self._fieldnames = ['usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature']
-                self.usec = usec
-                self.press_abs = press_abs
-                self.press_diff1 = press_diff1
-                self.press_diff2 = press_diff2
-                self.temperature = temperature
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 136, struct.pack('>Qhhhh', self.usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature))
-
-class MAVLink_scaled_pressure_message(MAVLink_message):
-        '''
-        The pressure readings for the typical setup of one absolute
-        and differential pressure sensor. The units are as specified
-        in each field.
-        '''
-        def __init__(self, usec, press_abs, press_diff, temperature):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE')
-                self._fieldnames = ['usec', 'press_abs', 'press_diff', 'temperature']
-                self.usec = usec
-                self.press_abs = press_abs
-                self.press_diff = press_diff
-                self.temperature = temperature
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 229, struct.pack('>Qffh', self.usec, self.press_abs, self.press_diff, self.temperature))
-
-class MAVLink_attitude_message(MAVLink_message):
-        '''
-        The attitude in the aeronautical frame (right-handed, Z-down,
-        X-front, Y-right).
-        '''
-        def __init__(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE')
-                self._fieldnames = ['usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed']
-                self.usec = usec
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.rollspeed = rollspeed
-                self.pitchspeed = pitchspeed
-                self.yawspeed = yawspeed
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 66, struct.pack('>Qffffff', self.usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed))
-
-class MAVLink_local_position_message(MAVLink_message):
-        '''
-        The filtered local position (e.g. fused computer vision and
-        accelerometers). Coordinate frame is right-handed, Z-axis down
-        (aeronautical frame)
-        '''
-        def __init__(self, usec, x, y, z, vx, vy, vz):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION, 'LOCAL_POSITION')
-                self._fieldnames = ['usec', 'x', 'y', 'z', 'vx', 'vy', 'vz']
-                self.usec = usec
-                self.x = x
-                self.y = y
-                self.z = z
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 126, struct.pack('>Qffffff', self.usec, self.x, self.y, self.z, self.vx, self.vy, self.vz))
-
-class MAVLink_global_position_message(MAVLink_message):
-        '''
-        The filtered global position (e.g. fused GPS and
-        accelerometers). Coordinate frame is right-handed, Z-axis up
-        (GPS frame)
-        '''
-        def __init__(self, usec, lat, lon, alt, vx, vy, vz):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION, 'GLOBAL_POSITION')
-                self._fieldnames = ['usec', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz']
-                self.usec = usec
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 147, struct.pack('>Qffffff', self.usec, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz))
-
-class MAVLink_gps_raw_message(MAVLink_message):
-        '''
-        The global position, as returned by the Global Positioning
-        System (GPS). This is NOT the global position estimate of the
-        sytem, but rather a RAW sensor value. See message
-        GLOBAL_POSITION for the global position estimate. Coordinate
-        frame is right-handed, Z-axis up (GPS frame)
-        '''
-        def __init__(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW, 'GPS_RAW')
-                self._fieldnames = ['usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'v', 'hdg']
-                self.usec = usec
-                self.fix_type = fix_type
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.eph = eph
-                self.epv = epv
-                self.v = v
-                self.hdg = hdg
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 185, struct.pack('>QBfffffff', self.usec, self.fix_type, self.lat, self.lon, self.alt, self.eph, self.epv, self.v, self.hdg))
-
-class MAVLink_sys_status_message(MAVLink_message):
-        '''
-        The general system state. If the system is following the
-        MAVLink standard, the system state is mainly defined by three
-        orthogonal states/modes: The system mode, which is either
-        LOCKED (motors shut down and locked), MANUAL (system under RC
-        control), GUIDED (system with autonomous position control,
-        position setpoint controlled manually) or AUTO (system guided
-        by path/waypoint planner). The NAV_MODE defined the current
-        flight state: LIFTOFF (often an open-loop maneuver), LANDING,
-        WAYPOINTS or VECTOR. This represents the internal navigation
-        state machine. The system status shows wether the system is
-        currently active or not and if an emergency occured. During
-        the CRITICAL and EMERGENCY states the MAV is still considered
-        to be active, but should start emergency procedures
-        autonomously. After a failure occured it should first move
-        from active to critical to allow manual intervention and then
-        move to emergency after a certain timeout.
-        '''
-        def __init__(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS')
-                self._fieldnames = ['mode', 'nav_mode', 'status', 'load', 'vbat', 'battery_remaining', 'packet_drop']
-                self.mode = mode
-                self.nav_mode = nav_mode
-                self.status = status
-                self.load = load
-                self.vbat = vbat
-                self.battery_remaining = battery_remaining
-                self.packet_drop = packet_drop
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 112, struct.pack('>BBBHHHH', self.mode, self.nav_mode, self.status, self.load, self.vbat, self.battery_remaining, self.packet_drop))
-
-class MAVLink_rc_channels_raw_message(MAVLink_message):
-        '''
-        The RAW values of the RC channels received. The standard PPM
-        modulation is as follows: 1000 microseconds: 0%, 2000
-        microseconds: 100%. Individual receivers/transmitters might
-        violate this specification.
-        '''
-        def __init__(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW')
-                self._fieldnames = ['chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi']
-                self.chan1_raw = chan1_raw
-                self.chan2_raw = chan2_raw
-                self.chan3_raw = chan3_raw
-                self.chan4_raw = chan4_raw
-                self.chan5_raw = chan5_raw
-                self.chan6_raw = chan6_raw
-                self.chan7_raw = chan7_raw
-                self.chan8_raw = chan8_raw
-                self.rssi = rssi
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 252, struct.pack('>HHHHHHHHB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.rssi))
-
-class MAVLink_rc_channels_scaled_message(MAVLink_message):
-        '''
-        The scaled values of the RC channels received. (-100%) -10000,
-        (0%) 0, (100%) 10000
-        '''
-        def __init__(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED')
-                self._fieldnames = ['chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi']
-                self.chan1_scaled = chan1_scaled
-                self.chan2_scaled = chan2_scaled
-                self.chan3_scaled = chan3_scaled
-                self.chan4_scaled = chan4_scaled
-                self.chan5_scaled = chan5_scaled
-                self.chan6_scaled = chan6_scaled
-                self.chan7_scaled = chan7_scaled
-                self.chan8_scaled = chan8_scaled
-                self.rssi = rssi
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 162, struct.pack('>hhhhhhhhB', self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.rssi))
-
-class MAVLink_servo_output_raw_message(MAVLink_message):
-        '''
-        The RAW values of the servo outputs (for RC input from the
-        remote, use the RC_CHANNELS messages). The standard PPM
-        modulation is as follows: 1000 microseconds: 0%, 2000
-        microseconds: 100%.
-        '''
-        def __init__(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW')
-                self._fieldnames = ['servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw']
-                self.servo1_raw = servo1_raw
-                self.servo2_raw = servo2_raw
-                self.servo3_raw = servo3_raw
-                self.servo4_raw = servo4_raw
-                self.servo5_raw = servo5_raw
-                self.servo6_raw = servo6_raw
-                self.servo7_raw = servo7_raw
-                self.servo8_raw = servo8_raw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 215, struct.pack('>HHHHHHHH', self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw))
-
-class MAVLink_waypoint_message(MAVLink_message):
-        '''
-        Message encoding a waypoint. This message is emitted to
-        announce      the presence of a waypoint and to set a waypoint
-        on the system. The waypoint can be either in x, y, z meters
-        (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is
-        Z-down, right handed, global frame is Z-up, right handed
-        '''
-        def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT, 'WAYPOINT')
-                self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.seq = seq
-                self.frame = frame
-                self.command = command
-                self.current = current
-                self.autocontinue = autocontinue
-                self.param1 = param1
-                self.param2 = param2
-                self.param3 = param3
-                self.param4 = param4
-                self.x = x
-                self.y = y
-                self.z = z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 128, struct.pack('>BBHBBBBfffffff', self.target_system, self.target_component, self.seq, self.frame, self.command, self.current, self.autocontinue, self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z))
-
-class MAVLink_waypoint_request_message(MAVLink_message):
-        '''
-        Request the information of the waypoint with the sequence
-        number seq. The response of the system to this message should
-        be a WAYPOINT message.
-        '''
-        def __init__(self, target_system, target_component, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REQUEST, 'WAYPOINT_REQUEST')
-                self._fieldnames = ['target_system', 'target_component', 'seq']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 9, struct.pack('>BBH', self.target_system, self.target_component, self.seq))
-
-class MAVLink_waypoint_set_current_message(MAVLink_message):
-        '''
-        Set the waypoint with sequence number seq as current waypoint.
-        This means that the MAV will continue to this waypoint on the
-        shortest path (not following the waypoints in-between).
-        '''
-        def __init__(self, target_system, target_component, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT, 'WAYPOINT_SET_CURRENT')
-                self._fieldnames = ['target_system', 'target_component', 'seq']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 106, struct.pack('>BBH', self.target_system, self.target_component, self.seq))
-
-class MAVLink_waypoint_current_message(MAVLink_message):
-        '''
-        Message that announces the sequence number of the current
-        active waypoint. The MAV will fly towards this waypoint.
-        '''
-        def __init__(self, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_CURRENT, 'WAYPOINT_CURRENT')
-                self._fieldnames = ['seq']
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 101, struct.pack('>H', self.seq))
-
-class MAVLink_waypoint_request_list_message(MAVLink_message):
-        '''
-        Request the overall list of waypoints from the
-        system/component.
-        '''
-        def __init__(self, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST, 'WAYPOINT_REQUEST_LIST')
-                self._fieldnames = ['target_system', 'target_component']
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 213, struct.pack('>BB', self.target_system, self.target_component))
-
-class MAVLink_waypoint_count_message(MAVLink_message):
-        '''
-        This message is emitted as response to WAYPOINT_REQUEST_LIST
-        by the MAV. The GCS can then request the individual waypoints
-        based on the knowledge of the total number of waypoints.
-        '''
-        def __init__(self, target_system, target_component, count):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_COUNT, 'WAYPOINT_COUNT')
-                self._fieldnames = ['target_system', 'target_component', 'count']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.count = count
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 4, struct.pack('>BBH', self.target_system, self.target_component, self.count))
-
-class MAVLink_waypoint_clear_all_message(MAVLink_message):
-        '''
-        Delete all waypoints at once.
-        '''
-        def __init__(self, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL, 'WAYPOINT_CLEAR_ALL')
-                self._fieldnames = ['target_system', 'target_component']
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 229, struct.pack('>BB', self.target_system, self.target_component))
-
-class MAVLink_waypoint_reached_message(MAVLink_message):
-        '''
-        A certain waypoint has been reached. The system will either
-        hold this position (or circle on the orbit) or (if the
-        autocontinue on the WP was set) continue to the next waypoint.
-        '''
-        def __init__(self, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_REACHED, 'WAYPOINT_REACHED')
-                self._fieldnames = ['seq']
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 21, struct.pack('>H', self.seq))
-
-class MAVLink_waypoint_ack_message(MAVLink_message):
-        '''
-        Ack message during waypoint handling. The type field states if
-        this message is a positive ack (type=0) or if an error
-        happened (type=non-zero).
-        '''
-        def __init__(self, target_system, target_component, type):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_WAYPOINT_ACK, 'WAYPOINT_ACK')
-                self._fieldnames = ['target_system', 'target_component', 'type']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.type = type
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 214, struct.pack('>BBB', self.target_system, self.target_component, self.type))
-
-class MAVLink_gps_set_global_origin_message(MAVLink_message):
-        '''
-        As local waypoints exist, the global waypoint reference allows
-        to transform between the local coordinate frame and the global
-        (GPS) coordinate frame. This can be necessary when e.g. in-
-        and outdoor settings are connected and the MAV should move
-        from in- to outdoor.
-        '''
-        def __init__(self, target_system, target_component, latitude, longitude, altitude):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN, 'GPS_SET_GLOBAL_ORIGIN')
-                self._fieldnames = ['target_system', 'target_component', 'latitude', 'longitude', 'altitude']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.latitude = latitude
-                self.longitude = longitude
-                self.altitude = altitude
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 215, struct.pack('>BBiii', self.target_system, self.target_component, self.latitude, self.longitude, self.altitude))
-
-class MAVLink_gps_local_origin_set_message(MAVLink_message):
-        '''
-        Once the MAV sets a new GPS-Local correspondence, this message
-        announces the origin (0,0,0) position
-        '''
-        def __init__(self, latitude, longitude, altitude):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET, 'GPS_LOCAL_ORIGIN_SET')
-                self._fieldnames = ['latitude', 'longitude', 'altitude']
-                self.latitude = latitude
-                self.longitude = longitude
-                self.altitude = altitude
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 14, struct.pack('>iii', self.latitude, self.longitude, self.altitude))
-
-class MAVLink_local_position_setpoint_set_message(MAVLink_message):
-        '''
-        Set the setpoint for a local position controller. This is the
-        position in local coordinates the MAV should fly to. This
-        message is sent by the path/waypoint planner to the onboard
-        position controller. As some MAVs have a degree of freedom in
-        yaw (e.g. all helicopters/quadrotors), the desired yaw angle
-        is part of the message.
-        '''
-        def __init__(self, target_system, target_component, x, y, z, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET, 'LOCAL_POSITION_SETPOINT_SET')
-                self._fieldnames = ['target_system', 'target_component', 'x', 'y', 'z', 'yaw']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.x = x
-                self.y = y
-                self.z = z
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 206, struct.pack('>BBffff', self.target_system, self.target_component, self.x, self.y, self.z, self.yaw))
-
-class MAVLink_local_position_setpoint_message(MAVLink_message):
-        '''
-        Transmit the current local setpoint of the controller to other
-        MAVs (collision avoidance) and to the GCS.
-        '''
-        def __init__(self, x, y, z, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT')
-                self._fieldnames = ['x', 'y', 'z', 'yaw']
-                self.x = x
-                self.y = y
-                self.z = z
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 50, struct.pack('>ffff', self.x, self.y, self.z, self.yaw))
-
-class MAVLink_control_status_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CONTROL_STATUS, 'CONTROL_STATUS')
-                self._fieldnames = ['position_fix', 'vision_fix', 'gps_fix', 'ahrs_health', 'control_att', 'control_pos_xy', 'control_pos_z', 'control_pos_yaw']
-                self.position_fix = position_fix
-                self.vision_fix = vision_fix
-                self.gps_fix = gps_fix
-                self.ahrs_health = ahrs_health
-                self.control_att = control_att
-                self.control_pos_xy = control_pos_xy
-                self.control_pos_z = control_pos_z
-                self.control_pos_yaw = control_pos_yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 157, struct.pack('>BBBBBBBB', self.position_fix, self.vision_fix, self.gps_fix, self.ahrs_health, self.control_att, self.control_pos_xy, self.control_pos_z, self.control_pos_yaw))
-
-class MAVLink_safety_set_allowed_area_message(MAVLink_message):
-        '''
-        Set a safety zone (volume), which is defined by two corners of
-        a cube. This message can be used to tell the MAV which
-        setpoints/waypoints to accept and which to reject. Safety
-        areas are often enforced by national or competition
-        regulations.
-        '''
-        def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA')
-                self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.frame = frame
-                self.p1x = p1x
-                self.p1y = p1y
-                self.p1z = p1z
-                self.p2x = p2x
-                self.p2y = p2y
-                self.p2z = p2z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 126, struct.pack('>BBBffffff', self.target_system, self.target_component, self.frame, self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z))
-
-class MAVLink_safety_allowed_area_message(MAVLink_message):
-        '''
-        Read out the safety zone the MAV currently assumes.
-        '''
-        def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA')
-                self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
-                self.frame = frame
-                self.p1x = p1x
-                self.p1y = p1y
-                self.p1z = p1z
-                self.p2x = p2x
-                self.p2y = p2y
-                self.p2z = p2z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 108, struct.pack('>Bffffff', self.frame, self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z))
-
-class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message):
-        '''
-        Set roll, pitch and yaw.
-        '''
-        def __init__(self, target_system, target_component, roll, pitch, yaw, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST')
-                self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 213, struct.pack('>BBffff', self.target_system, self.target_component, self.roll, self.pitch, self.yaw, self.thrust))
-
-class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message):
-        '''
-        Set roll, pitch and yaw.
-        '''
-        def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST')
-                self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.roll_speed = roll_speed
-                self.pitch_speed = pitch_speed
-                self.yaw_speed = yaw_speed
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 95, struct.pack('>BBffff', self.target_system, self.target_component, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
-
-class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message):
-        '''
-        Setpoint in roll, pitch, yaw currently active on the system.
-        '''
-        def __init__(self, time_us, roll, pitch, yaw, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT')
-                self._fieldnames = ['time_us', 'roll', 'pitch', 'yaw', 'thrust']
-                self.time_us = time_us
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 5, struct.pack('>Qffff', self.time_us, self.roll, self.pitch, self.yaw, self.thrust))
-
-class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message):
-        '''
-        Setpoint in rollspeed, pitchspeed, yawspeed currently active
-        on the system.
-        '''
-        def __init__(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT')
-                self._fieldnames = ['time_us', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
-                self.time_us = time_us
-                self.roll_speed = roll_speed
-                self.pitch_speed = pitch_speed
-                self.yaw_speed = yaw_speed
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 127, struct.pack('>Qffff', self.time_us, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
-
-class MAVLink_nav_controller_output_message(MAVLink_message):
-        '''
-        Outputs of the APM navigation controller. The primary use of
-        this message is to check the response and signs of the
-        controller before actual flight and to assist with tuning
-        controller parameters
-        '''
-        def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT')
-                self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error']
-                self.nav_roll = nav_roll
-                self.nav_pitch = nav_pitch
-                self.nav_bearing = nav_bearing
-                self.target_bearing = target_bearing
-                self.wp_dist = wp_dist
-                self.alt_error = alt_error
-                self.aspd_error = aspd_error
-                self.xtrack_error = xtrack_error
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 57, struct.pack('>ffhhHfff', self.nav_roll, self.nav_pitch, self.nav_bearing, self.target_bearing, self.wp_dist, self.alt_error, self.aspd_error, self.xtrack_error))
-
-class MAVLink_position_target_message(MAVLink_message):
-        '''
-        The goal position of the system. This position is the input to
-        any navigation or path planning algorithm and does NOT
-        represent the current controller setpoint.
-        '''
-        def __init__(self, x, y, z, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_POSITION_TARGET, 'POSITION_TARGET')
-                self._fieldnames = ['x', 'y', 'z', 'yaw']
-                self.x = x
-                self.y = y
-                self.z = z
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 126, struct.pack('>ffff', self.x, self.y, self.z, self.yaw))
-
-class MAVLink_state_correction_message(MAVLink_message):
-        '''
-        Corrects the systems state by adding an error correction term
-        to the position and velocity, and by rotating the attitude by
-        a correction angle.
-        '''
-        def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION')
-                self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr']
-                self.xErr = xErr
-                self.yErr = yErr
-                self.zErr = zErr
-                self.rollErr = rollErr
-                self.pitchErr = pitchErr
-                self.yawErr = yawErr
-                self.vxErr = vxErr
-                self.vyErr = vyErr
-                self.vzErr = vzErr
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 130, struct.pack('>fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr))
-
-class MAVLink_set_altitude_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, target, mode):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ALTITUDE, 'SET_ALTITUDE')
-                self._fieldnames = ['target', 'mode']
-                self.target = target
-                self.mode = mode
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 119, struct.pack('>BI', self.target, self.mode))
-
-class MAVLink_request_data_stream_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM')
-                self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.req_stream_id = req_stream_id
-                self.req_message_rate = req_message_rate
-                self.start_stop = start_stop
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 193, struct.pack('>BBBHB', self.target_system, self.target_component, self.req_stream_id, self.req_message_rate, self.start_stop))
-
-class MAVLink_hil_state_message(MAVLink_message):
-        '''
-        This packet is useful for high throughput
-        applications such as hardware in the loop simulations.
-        '''
-        def __init__(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE')
-                self._fieldnames = ['usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc']
-                self.usec = usec
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.rollspeed = rollspeed
-                self.pitchspeed = pitchspeed
-                self.yawspeed = yawspeed
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 191, struct.pack('>Qffffffiiihhhhhh', self.usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc))
-
-class MAVLink_hil_controls_message(MAVLink_message):
-        '''
-        Hardware in the loop control outputs
-        '''
-        def __init__(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS')
-                self._fieldnames = ['time_us', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'mode', 'nav_mode']
-                self.time_us = time_us
-                self.roll_ailerons = roll_ailerons
-                self.pitch_elevator = pitch_elevator
-                self.yaw_rudder = yaw_rudder
-                self.throttle = throttle
-                self.mode = mode
-                self.nav_mode = nav_mode
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 236, struct.pack('>QffffBB', self.time_us, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.mode, self.nav_mode))
-
-class MAVLink_manual_control_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL')
-                self._fieldnames = ['target', 'roll', 'pitch', 'yaw', 'thrust', 'roll_manual', 'pitch_manual', 'yaw_manual', 'thrust_manual']
-                self.target = target
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.thrust = thrust
-                self.roll_manual = roll_manual
-                self.pitch_manual = pitch_manual
-                self.yaw_manual = yaw_manual
-                self.thrust_manual = thrust_manual
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 158, struct.pack('>BffffBBBB', self.target, self.roll, self.pitch, self.yaw, self.thrust, self.roll_manual, self.pitch_manual, self.yaw_manual, self.thrust_manual))
-
-class MAVLink_rc_channels_override_message(MAVLink_message):
-        '''
-        The RAW values of the RC channels sent to the MAV to override
-        info received from the RC radio. A value of -1 means no change
-        to that channel. A value of 0 means control of that channel
-        should be released back to the RC radio. The standard PPM
-        modulation is as follows: 1000 microseconds: 0%, 2000
-        microseconds: 100%. Individual receivers/transmitters might
-        violate this specification.
-        '''
-        def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE')
-                self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.chan1_raw = chan1_raw
-                self.chan2_raw = chan2_raw
-                self.chan3_raw = chan3_raw
-                self.chan4_raw = chan4_raw
-                self.chan5_raw = chan5_raw
-                self.chan6_raw = chan6_raw
-                self.chan7_raw = chan7_raw
-                self.chan8_raw = chan8_raw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 143, struct.pack('>BBHHHHHHHH', self.target_system, self.target_component, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw))
-
-class MAVLink_global_position_int_message(MAVLink_message):
-        '''
-        The filtered global position (e.g. fused GPS and
-        accelerometers). The position is in GPS-frame (right-handed,
-        Z-up)
-        '''
-        def __init__(self, lat, lon, alt, vx, vy, vz):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT')
-                self._fieldnames = ['lat', 'lon', 'alt', 'vx', 'vy', 'vz']
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 104, struct.pack('>iiihhh', self.lat, self.lon, self.alt, self.vx, self.vy, self.vz))
-
-class MAVLink_vfr_hud_message(MAVLink_message):
-        '''
-        Metrics typically displayed on a HUD for fixed wing aircraft
-        '''
-        def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD')
-                self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb']
-                self.airspeed = airspeed
-                self.groundspeed = groundspeed
-                self.heading = heading
-                self.throttle = throttle
-                self.alt = alt
-                self.climb = climb
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 123, struct.pack('>ffhHff', self.airspeed, self.groundspeed, self.heading, self.throttle, self.alt, self.climb))
-
-class MAVLink_command_message(MAVLink_message):
-        '''
-        Send a command with up to four parameters to the MAV
-        '''
-        def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND, 'COMMAND')
-                self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.command = command
-                self.confirmation = confirmation
-                self.param1 = param1
-                self.param2 = param2
-                self.param3 = param3
-                self.param4 = param4
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 131, struct.pack('>BBBBffff', self.target_system, self.target_component, self.command, self.confirmation, self.param1, self.param2, self.param3, self.param4))
-
-class MAVLink_command_ack_message(MAVLink_message):
-        '''
-        Report status of a command. Includes feedback wether the
-        command was executed
-        '''
-        def __init__(self, command, result):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK')
-                self._fieldnames = ['command', 'result']
-                self.command = command
-                self.result = result
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 8, struct.pack('>ff', self.command, self.result))
-
-class MAVLink_optical_flow_message(MAVLink_message):
-        '''
-        Optical flow from a flow sensor (e.g. optical mouse sensor)
-        '''
-        def __init__(self, time, sensor_id, flow_x, flow_y, quality, ground_distance):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW')
-                self._fieldnames = ['time', 'sensor_id', 'flow_x', 'flow_y', 'quality', 'ground_distance']
-                self.time = time
-                self.sensor_id = sensor_id
-                self.flow_x = flow_x
-                self.flow_y = flow_y
-                self.quality = quality
-                self.ground_distance = ground_distance
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 174, struct.pack('>QBhhBf', self.time, self.sensor_id, self.flow_x, self.flow_y, self.quality, self.ground_distance))
-
-class MAVLink_object_detection_event_message(MAVLink_message):
-        '''
-        Object has been detected
-        '''
-        def __init__(self, time, object_id, type, name, quality, bearing, distance):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT, 'OBJECT_DETECTION_EVENT')
-                self._fieldnames = ['time', 'object_id', 'type', 'name', 'quality', 'bearing', 'distance']
-                self.time = time
-                self.object_id = object_id
-                self.type = type
-                self.name = name
-                self.quality = quality
-                self.bearing = bearing
-                self.distance = distance
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 155, struct.pack('>IHB20sBff', self.time, self.object_id, self.type, self.name, self.quality, self.bearing, self.distance))
-
-class MAVLink_debug_vect_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, name, usec, x, y, z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT')
-                self._fieldnames = ['name', 'usec', 'x', 'y', 'z']
-                self.name = name
-                self.usec = usec
-                self.x = x
-                self.y = y
-                self.z = z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 178, struct.pack('>10sQfff', self.name, self.usec, self.x, self.y, self.z))
-
-class MAVLink_named_value_float_message(MAVLink_message):
-        '''
-        Send a key-value pair as float. The use of this message is
-        discouraged for normal packets, but a quite efficient way for
-        testing new messages and getting experimental debug output.
-        '''
-        def __init__(self, name, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT')
-                self._fieldnames = ['name', 'value']
-                self.name = name
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 224, struct.pack('>10sf', self.name, self.value))
-
-class MAVLink_named_value_int_message(MAVLink_message):
-        '''
-        Send a key-value pair as integer. The use of this message is
-        discouraged for normal packets, but a quite efficient way for
-        testing new messages and getting experimental debug output.
-        '''
-        def __init__(self, name, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT')
-                self._fieldnames = ['name', 'value']
-                self.name = name
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 60, struct.pack('>10si', self.name, self.value))
-
-class MAVLink_statustext_message(MAVLink_message):
-        '''
-        Status text message. These messages are printed in yellow in
-        the COMM console of QGroundControl. WARNING: They consume
-        quite some bandwidth, so use only for important status and
-        error messages. If implemented wisely, these messages are
-        buffered on the MCU and sent only at a limited rate (e.g. 10
-        Hz).
-        '''
-        def __init__(self, severity, text):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT')
-                self._fieldnames = ['severity', 'text']
-                self.severity = severity
-                self.text = text
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 106, struct.pack('>B50s', self.severity, self.text))
-
-class MAVLink_debug_message(MAVLink_message):
-        '''
-        Send a debug value. The index is used to discriminate between
-        values. These values show up in the plot of QGroundControl as
-        DEBUG N.
-        '''
-        def __init__(self, ind, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG')
-                self._fieldnames = ['ind', 'value']
-                self.ind = ind
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 7, struct.pack('>Bf', self.ind, self.value))
-
-
-mavlink_map = {
-        MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '>hhhfiiffffff', MAVLink_sensor_offsets_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11], 143 ),
-        MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '>BBhhh', MAVLink_set_mag_offsets_message, [0, 1, 2, 3, 4], 29 ),
-        MAVLINK_MSG_ID_MEMINFO : ( '>HH', MAVLink_meminfo_message, [0, 1], 208 ),
-        MAVLINK_MSG_ID_AP_ADC : ( '>HHHHHH', MAVLink_ap_adc_message, [0, 1, 2, 3, 4, 5], 188 ),
-        MAVLINK_MSG_ID_DIGICAM_CONFIGURE : ( '>BBBHBBBBBBf', MAVLink_digicam_configure_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 118 ),
-        MAVLINK_MSG_ID_DIGICAM_CONTROL : ( '>BBBBbBBBBf', MAVLink_digicam_control_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 242 ),
-        MAVLINK_MSG_ID_MOUNT_CONFIGURE : ( '>BBBBBB', MAVLink_mount_configure_message, [0, 1, 2, 3, 4, 5], 19 ),
-        MAVLINK_MSG_ID_MOUNT_CONTROL : ( '>BBiiiB', MAVLink_mount_control_message, [0, 1, 2, 3, 4, 5], 97 ),
-        MAVLINK_MSG_ID_MOUNT_STATUS : ( '>BBiii', MAVLink_mount_status_message, [0, 1, 2, 3, 4], 233 ),
-        MAVLINK_MSG_ID_FENCE_POINT : ( '>BBBBff', MAVLink_fence_point_message, [0, 1, 2, 3, 4, 5], 18 ),
-        MAVLINK_MSG_ID_FENCE_FETCH_POINT : ( '>BBB', MAVLink_fence_fetch_point_message, [0, 1, 2], 68 ),
-        MAVLINK_MSG_ID_FENCE_STATUS : ( '>BHBI', MAVLink_fence_status_message, [0, 1, 2, 3], 136 ),
-        MAVLINK_MSG_ID_AHRS : ( '>fffffff', MAVLink_ahrs_message, [0, 1, 2, 3, 4, 5, 6], 127 ),
-        MAVLINK_MSG_ID_SIMSTATE : ( '>fffffffff', MAVLink_simstate_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 42 ),
-        MAVLINK_MSG_ID_HWSTATUS : ( '>HB', MAVLink_hwstatus_message, [0, 1], 21 ),
-        MAVLINK_MSG_ID_RADIO : ( '>BBBBBHH', MAVLink_radio_message, [0, 1, 2, 3, 4, 5, 6], 93 ),
-        MAVLINK_MSG_ID_HEARTBEAT : ( '>BBB', MAVLink_heartbeat_message, [0, 1, 2], 72 ),
-        MAVLINK_MSG_ID_BOOT : ( '>I', MAVLink_boot_message, [0], 39 ),
-        MAVLINK_MSG_ID_SYSTEM_TIME : ( '>Q', MAVLink_system_time_message, [0], 190 ),
-        MAVLINK_MSG_ID_PING : ( '>IBBQ', MAVLink_ping_message, [0, 1, 2, 3], 92 ),
-        MAVLINK_MSG_ID_SYSTEM_TIME_UTC : ( '>II', MAVLink_system_time_utc_message, [0, 1], 191 ),
-        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '>BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ),
-        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '>BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ),
-        MAVLINK_MSG_ID_AUTH_KEY : ( '>32s', MAVLink_auth_key_message, [0], 119 ),
-        MAVLINK_MSG_ID_ACTION_ACK : ( '>BB', MAVLink_action_ack_message, [0, 1], 219 ),
-        MAVLINK_MSG_ID_ACTION : ( '>BBB', MAVLink_action_message, [0, 1, 2], 60 ),
-        MAVLINK_MSG_ID_SET_MODE : ( '>BB', MAVLink_set_mode_message, [0, 1], 186 ),
-        MAVLINK_MSG_ID_SET_NAV_MODE : ( '>BB', MAVLink_set_nav_mode_message, [0, 1], 10 ),
-        MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '>BB15sh', MAVLink_param_request_read_message, [0, 1, 2, 3], 89 ),
-        MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '>BB', MAVLink_param_request_list_message, [0, 1], 159 ),
-        MAVLINK_MSG_ID_PARAM_VALUE : ( '>15sfHH', MAVLink_param_value_message, [0, 1, 2, 3], 162 ),
-        MAVLINK_MSG_ID_PARAM_SET : ( '>BB15sf', MAVLink_param_set_message, [0, 1, 2, 3], 121 ),
-        MAVLINK_MSG_ID_GPS_RAW_INT : ( '>QBiiiffff', MAVLink_gps_raw_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 149 ),
-        MAVLINK_MSG_ID_SCALED_IMU : ( '>Qhhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 222 ),
-        MAVLINK_MSG_ID_GPS_STATUS : ( '>B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 110 ),
-        MAVLINK_MSG_ID_RAW_IMU : ( '>Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 179 ),
-        MAVLINK_MSG_ID_RAW_PRESSURE : ( '>Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 136 ),
-        MAVLINK_MSG_ID_SCALED_PRESSURE : ( '>Qffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 229 ),
-        MAVLINK_MSG_ID_ATTITUDE : ( '>Qffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 66 ),
-        MAVLINK_MSG_ID_LOCAL_POSITION : ( '>Qffffff', MAVLink_local_position_message, [0, 1, 2, 3, 4, 5, 6], 126 ),
-        MAVLINK_MSG_ID_GLOBAL_POSITION : ( '>Qffffff', MAVLink_global_position_message, [0, 1, 2, 3, 4, 5, 6], 147 ),
-        MAVLINK_MSG_ID_GPS_RAW : ( '>QBfffffff', MAVLink_gps_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 185 ),
-        MAVLINK_MSG_ID_SYS_STATUS : ( '>BBBHHHH', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 6], 112 ),
-        MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '>HHHHHHHHB', MAVLink_rc_channels_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 252 ),
-        MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '>hhhhhhhhB', MAVLink_rc_channels_scaled_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 162 ),
-        MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '>HHHHHHHH', MAVLink_servo_output_raw_message, [0, 1, 2, 3, 4, 5, 6, 7], 215 ),
-        MAVLINK_MSG_ID_WAYPOINT : ( '>BBHBBBBfffffff', MAVLink_waypoint_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 128 ),
-        MAVLINK_MSG_ID_WAYPOINT_REQUEST : ( '>BBH', MAVLink_waypoint_request_message, [0, 1, 2], 9 ),
-        MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT : ( '>BBH', MAVLink_waypoint_set_current_message, [0, 1, 2], 106 ),
-        MAVLINK_MSG_ID_WAYPOINT_CURRENT : ( '>H', MAVLink_waypoint_current_message, [0], 101 ),
-        MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST : ( '>BB', MAVLink_waypoint_request_list_message, [0, 1], 213 ),
-        MAVLINK_MSG_ID_WAYPOINT_COUNT : ( '>BBH', MAVLink_waypoint_count_message, [0, 1, 2], 4 ),
-        MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL : ( '>BB', MAVLink_waypoint_clear_all_message, [0, 1], 229 ),
-        MAVLINK_MSG_ID_WAYPOINT_REACHED : ( '>H', MAVLink_waypoint_reached_message, [0], 21 ),
-        MAVLINK_MSG_ID_WAYPOINT_ACK : ( '>BBB', MAVLink_waypoint_ack_message, [0, 1, 2], 214 ),
-        MAVLINK_MSG_ID_GPS_SET_GLOBAL_ORIGIN : ( '>BBiii', MAVLink_gps_set_global_origin_message, [0, 1, 2, 3, 4], 215 ),
-        MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET : ( '>iii', MAVLink_gps_local_origin_set_message, [0, 1, 2], 14 ),
-        MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET : ( '>BBffff', MAVLink_local_position_setpoint_set_message, [0, 1, 2, 3, 4, 5], 206 ),
-        MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '>ffff', MAVLink_local_position_setpoint_message, [0, 1, 2, 3], 50 ),
-        MAVLINK_MSG_ID_CONTROL_STATUS : ( '>BBBBBBBB', MAVLink_control_status_message, [0, 1, 2, 3, 4, 5, 6, 7], 157 ),
-        MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '>BBBffffff', MAVLink_safety_set_allowed_area_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 126 ),
-        MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '>Bffffff', MAVLink_safety_allowed_area_message, [0, 1, 2, 3, 4, 5, 6], 108 ),
-        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '>BBffff', MAVLink_set_roll_pitch_yaw_thrust_message, [0, 1, 2, 3, 4, 5], 213 ),
-        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '>BBffff', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [0, 1, 2, 3, 4, 5], 95 ),
-        MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '>Qffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 5 ),
-        MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '>Qffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 127 ),
-        MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '>ffhhHfff', MAVLink_nav_controller_output_message, [0, 1, 2, 3, 4, 5, 6, 7], 57 ),
-        MAVLINK_MSG_ID_POSITION_TARGET : ( '>ffff', MAVLink_position_target_message, [0, 1, 2, 3], 126 ),
-        MAVLINK_MSG_ID_STATE_CORRECTION : ( '>fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
-        MAVLINK_MSG_ID_SET_ALTITUDE : ( '>BI', MAVLink_set_altitude_message, [0, 1], 119 ),
-        MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '>BBBHB', MAVLink_request_data_stream_message, [0, 1, 2, 3, 4], 193 ),
-        MAVLINK_MSG_ID_HIL_STATE : ( '>Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 191 ),
-        MAVLINK_MSG_ID_HIL_CONTROLS : ( '>QffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6], 236 ),
-        MAVLINK_MSG_ID_MANUAL_CONTROL : ( '>BffffBBBB', MAVLink_manual_control_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 158 ),
-        MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '>BBHHHHHHHH', MAVLink_rc_channels_override_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 143 ),
-        MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '>iiihhh', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5], 104 ),
-        MAVLINK_MSG_ID_VFR_HUD : ( '>ffhHff', MAVLink_vfr_hud_message, [0, 1, 2, 3, 4, 5], 123 ),
-        MAVLINK_MSG_ID_COMMAND : ( '>BBBBffff', MAVLink_command_message, [0, 1, 2, 3, 4, 5, 6, 7], 131 ),
-        MAVLINK_MSG_ID_COMMAND_ACK : ( '>ff', MAVLink_command_ack_message, [0, 1], 8 ),
-        MAVLINK_MSG_ID_OPTICAL_FLOW : ( '>QBhhBf', MAVLink_optical_flow_message, [0, 1, 2, 3, 4, 5], 174 ),
-        MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT : ( '>IHB20sBff', MAVLink_object_detection_event_message, [0, 1, 2, 3, 4, 5, 6], 155 ),
-        MAVLINK_MSG_ID_DEBUG_VECT : ( '>10sQfff', MAVLink_debug_vect_message, [0, 1, 2, 3, 4], 178 ),
-        MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '>10sf', MAVLink_named_value_float_message, [0, 1], 224 ),
-        MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '>10si', MAVLink_named_value_int_message, [0, 1], 60 ),
-        MAVLINK_MSG_ID_STATUSTEXT : ( '>B50s', MAVLink_statustext_message, [0, 1], 106 ),
-        MAVLINK_MSG_ID_DEBUG : ( '>Bf', MAVLink_debug_message, [0, 1], 7 ),
-}
-
-class MAVError(Exception):
-        '''MAVLink error class'''
-        def __init__(self, msg):
-            Exception.__init__(self, msg)
-            self.message = msg
-
-class MAVString(str):
-        '''NUL terminated string'''
-        def __init__(self, s):
-                str.__init__(self)
-        def __str__(self):
-            i = self.find(chr(0))
-            if i == -1:
-                return self[:]
-            return self[0:i]
-
-class MAVLink_bad_data(MAVLink_message):
-        '''
-        a piece of bad data in a mavlink stream
-        '''
-        def __init__(self, data, reason):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
-                self._fieldnames = ['data', 'reason']
-                self.data = data
-                self.reason = reason
-                self._msgbuf = data
-            
-class MAVLink(object):
-        '''MAVLink protocol handling class'''
-        def __init__(self, file, srcSystem=0, srcComponent=0):
-                self.seq = 0
-                self.file = file
-                self.srcSystem = srcSystem
-                self.srcComponent = srcComponent
-                self.callback = None
-                self.callback_args = None
-                self.callback_kwargs = None
-                self.buf = array.array('B')
-                self.expected_length = 6
-                self.have_prefix_error = False
-                self.robust_parsing = False
-                self.protocol_marker = 85
-                self.little_endian = False
-                self.crc_extra = False
-                self.sort_fields = False
-                self.total_packets_sent = 0
-                self.total_bytes_sent = 0
-                self.total_packets_received = 0
-                self.total_bytes_received = 0
-                self.total_receive_errors = 0
-                self.startup_time = time.time()
-
-        def set_callback(self, callback, *args, **kwargs):
-            self.callback = callback
-            self.callback_args = args
-            self.callback_kwargs = kwargs
-            
-        def send(self, mavmsg):
-                '''send a MAVLink message'''
-                buf = mavmsg.pack(self)
-                self.file.write(buf)
-                self.seq = (self.seq + 1) % 255
-                self.total_packets_sent += 1
-                self.total_bytes_sent += len(buf)
-
-        def bytes_needed(self):
-            '''return number of bytes needed for next parsing stage'''
-            ret = self.expected_length - len(self.buf)
-            if ret <= 0:
-                return 1
-            return ret
-
-        def parse_char(self, c):
-            '''input some data bytes, possibly returning a new message'''
-            if isinstance(c, str):
-                self.buf.fromstring(c)
-            else:
-                self.buf.extend(c)
-            self.total_bytes_received += len(c)
-            if len(self.buf) >= 1 and self.buf[0] != 85:
-                magic = self.buf[0]
-                self.buf = self.buf[1:]
-                if self.robust_parsing:
-                    m = MAVLink_bad_data(chr(magic), "Bad prefix")
-                    if self.callback:
-                        self.callback(m, *self.callback_args, **self.callback_kwargs)
-                    self.expected_length = 6
-                    self.total_receive_errors += 1
-                    return m
-                if self.have_prefix_error:
-                    return None
-                self.have_prefix_error = True
-                self.total_receive_errors += 1
-                raise MAVError("invalid MAVLink prefix '%s'" % magic) 
-            self.have_prefix_error = False
-            if len(self.buf) >= 2:
-                (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
-                self.expected_length += 8
-            if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
-                mbuf = self.buf[0:self.expected_length]
-                self.buf = self.buf[self.expected_length:]
-                self.expected_length = 6
-                if self.robust_parsing:
-                    try:
-                        m = self.decode(mbuf)
-                        self.total_packets_received += 1
-                    except MAVError as reason:
-                        m = MAVLink_bad_data(mbuf, reason.message)
-                        self.total_receive_errors += 1
-                else:
-                    m = self.decode(mbuf)
-                    self.total_packets_received += 1
-                if self.callback:
-                    self.callback(m, *self.callback_args, **self.callback_kwargs)
-                return m
-            return None
-
-        def parse_buffer(self, s):
-            '''input some data bytes, possibly returning a list of new messages'''
-            m = self.parse_char(s)
-            if m is None:
-                return None
-            ret = [m]
-            while True:
-                m = self.parse_char("")
-                if m is None:
-                    return ret
-                ret.append(m)
-            return ret
-
-        def decode(self, msgbuf):
-                '''decode a buffer as a MAVLink message'''
-                # decode the header
-                try:
-                    magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
-                if ord(magic) != 85:
-                    raise MAVError("invalid MAVLink prefix '%s'" % magic)
-                if mlen != len(msgbuf)-8:
-                    raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
-
-                if not msgId in mavlink_map:
-                    raise MAVError('unknown MAVLink message ID %u' % msgId)
-
-                # decode the payload
-                (fmt, type, order_map, crc_extra) = mavlink_map[msgId]
-
-                # decode the checksum
-                try:
-                    crc, = struct.unpack('<H', msgbuf[-2:])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
-                crc2 = mavutil.x25crc(msgbuf[1:-2])
-                if False: # using CRC extra 
-                    crc2.accumulate(chr(crc_extra))
-                if crc != crc2.crc:
-                    raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
-
-                try:
-                    t = struct.unpack(fmt, msgbuf[6:-2])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
-                        type, fmt, len(msgbuf[6:-2]), emsg))
-
-                tlist = list(t)
-                # handle sorted fields
-                if False:
-                    t = tlist[:]
-                    for i in range(0, len(tlist)):
-                        tlist[i] = t[order_map[i]]
-
-                # terminate any strings
-                for i in range(0, len(tlist)):
-                    if isinstance(tlist[i], str):
-                        tlist[i] = MAVString(tlist[i])
-                t = tuple(tlist)
-                # construct the message object
-                try:
-                    m = type(*t)
-                except Exception as emsg:
-                    raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
-                m._msgbuf = msgbuf
-                m._payload = msgbuf[6:-2]
-                m._crc = crc
-                m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
-                return m
-        def sensor_offsets_encode(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
-                '''
-                Offsets and calibrations values for hardware         sensors. This
-                makes it easier to debug the calibration process.
-
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-                mag_declination           : magnetic declination (radians) (float)
-                raw_press                 : raw pressure from barometer (int32_t)
-                raw_temp                  : raw temperature from barometer (int32_t)
-                gyro_cal_x                : gyro X calibration (float)
-                gyro_cal_y                : gyro Y calibration (float)
-                gyro_cal_z                : gyro Z calibration (float)
-                accel_cal_x               : accel X calibration (float)
-                accel_cal_y               : accel Y calibration (float)
-                accel_cal_z               : accel Z calibration (float)
-
-                '''
-                msg = MAVLink_sensor_offsets_message(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z)
-                msg.pack(self)
-                return msg
-            
-        def sensor_offsets_send(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
-                '''
-                Offsets and calibrations values for hardware         sensors. This
-                makes it easier to debug the calibration process.
-
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-                mag_declination           : magnetic declination (radians) (float)
-                raw_press                 : raw pressure from barometer (int32_t)
-                raw_temp                  : raw temperature from barometer (int32_t)
-                gyro_cal_x                : gyro X calibration (float)
-                gyro_cal_y                : gyro Y calibration (float)
-                gyro_cal_z                : gyro Z calibration (float)
-                accel_cal_x               : accel X calibration (float)
-                accel_cal_y               : accel Y calibration (float)
-                accel_cal_z               : accel Z calibration (float)
-
-                '''
-                return self.send(self.sensor_offsets_encode(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z))
-            
-        def set_mag_offsets_encode(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
-                '''
-                set the magnetometer offsets
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-
-                '''
-                msg = MAVLink_set_mag_offsets_message(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z)
-                msg.pack(self)
-                return msg
-            
-        def set_mag_offsets_send(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
-                '''
-                set the magnetometer offsets
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-
-                '''
-                return self.send(self.set_mag_offsets_encode(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z))
-            
-        def meminfo_encode(self, brkval, freemem):
-                '''
-                state of APM memory
-
-                brkval                    : heap top (uint16_t)
-                freemem                   : free memory (uint16_t)
-
-                '''
-                msg = MAVLink_meminfo_message(brkval, freemem)
-                msg.pack(self)
-                return msg
-            
-        def meminfo_send(self, brkval, freemem):
-                '''
-                state of APM memory
-
-                brkval                    : heap top (uint16_t)
-                freemem                   : free memory (uint16_t)
-
-                '''
-                return self.send(self.meminfo_encode(brkval, freemem))
-            
-        def ap_adc_encode(self, adc1, adc2, adc3, adc4, adc5, adc6):
-                '''
-                raw ADC output
-
-                adc1                      : ADC output 1 (uint16_t)
-                adc2                      : ADC output 2 (uint16_t)
-                adc3                      : ADC output 3 (uint16_t)
-                adc4                      : ADC output 4 (uint16_t)
-                adc5                      : ADC output 5 (uint16_t)
-                adc6                      : ADC output 6 (uint16_t)
-
-                '''
-                msg = MAVLink_ap_adc_message(adc1, adc2, adc3, adc4, adc5, adc6)
-                msg.pack(self)
-                return msg
-            
-        def ap_adc_send(self, adc1, adc2, adc3, adc4, adc5, adc6):
-                '''
-                raw ADC output
-
-                adc1                      : ADC output 1 (uint16_t)
-                adc2                      : ADC output 2 (uint16_t)
-                adc3                      : ADC output 3 (uint16_t)
-                adc4                      : ADC output 4 (uint16_t)
-                adc5                      : ADC output 5 (uint16_t)
-                adc6                      : ADC output 6 (uint16_t)
-
-                '''
-                return self.send(self.ap_adc_encode(adc1, adc2, adc3, adc4, adc5, adc6))
-            
-        def digicam_configure_encode(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
-                '''
-                Configure on-board Camera Control System.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
-                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
-                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
-                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
-                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                msg = MAVLink_digicam_configure_message(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value)
-                msg.pack(self)
-                return msg
-            
-        def digicam_configure_send(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
-                '''
-                Configure on-board Camera Control System.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
-                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
-                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
-                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
-                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                return self.send(self.digicam_configure_encode(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value))
-            
-        def digicam_control_encode(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
-                '''
-                Control on-board Camera Control System to take shots.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
-                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
-                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
-                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
-                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                msg = MAVLink_digicam_control_message(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value)
-                msg.pack(self)
-                return msg
-            
-        def digicam_control_send(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
-                '''
-                Control on-board Camera Control System to take shots.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
-                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
-                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
-                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
-                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                return self.send(self.digicam_control_encode(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value))
-            
-        def mount_configure_encode(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
-                '''
-                Message to configure a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
-                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
-                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
-                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
-
-                '''
-                msg = MAVLink_mount_configure_message(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw)
-                msg.pack(self)
-                return msg
-            
-        def mount_configure_send(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
-                '''
-                Message to configure a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
-                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
-                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
-                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
-
-                '''
-                return self.send(self.mount_configure_encode(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw))
-            
-        def mount_control_encode(self, target_system, target_component, input_a, input_b, input_c, save_position):
-                '''
-                Message to control a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
-                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
-
-                '''
-                msg = MAVLink_mount_control_message(target_system, target_component, input_a, input_b, input_c, save_position)
-                msg.pack(self)
-                return msg
-            
-        def mount_control_send(self, target_system, target_component, input_a, input_b, input_c, save_position):
-                '''
-                Message to control a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
-                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
-
-                '''
-                return self.send(self.mount_control_encode(target_system, target_component, input_a, input_b, input_c, save_position))
-            
-        def mount_status_encode(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
-                '''
-                Message with some status from APM to GCS about camera or antenna mount
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
-                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-
-                '''
-                msg = MAVLink_mount_status_message(target_system, target_component, pointing_a, pointing_b, pointing_c)
-                msg.pack(self)
-                return msg
-            
-        def mount_status_send(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
-                '''
-                Message with some status from APM to GCS about camera or antenna mount
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
-                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-
-                '''
-                return self.send(self.mount_status_encode(target_system, target_component, pointing_a, pointing_b, pointing_c))
-            
-        def fence_point_encode(self, target_system, target_component, idx, count, lat, lng):
-                '''
-                A fence point. Used to set a point when from               GCS -> MAV.
-                Also used to return a point from MAV -> GCS
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-                count                     : total number of points (for sanity checking) (uint8_t)
-                lat                       : Latitude of point (float)
-                lng                       : Longitude of point (float)
-
-                '''
-                msg = MAVLink_fence_point_message(target_system, target_component, idx, count, lat, lng)
-                msg.pack(self)
-                return msg
-            
-        def fence_point_send(self, target_system, target_component, idx, count, lat, lng):
-                '''
-                A fence point. Used to set a point when from               GCS -> MAV.
-                Also used to return a point from MAV -> GCS
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-                count                     : total number of points (for sanity checking) (uint8_t)
-                lat                       : Latitude of point (float)
-                lng                       : Longitude of point (float)
-
-                '''
-                return self.send(self.fence_point_encode(target_system, target_component, idx, count, lat, lng))
-            
-        def fence_fetch_point_encode(self, target_system, target_component, idx):
-                '''
-                Request a current fence point from MAV
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-
-                '''
-                msg = MAVLink_fence_fetch_point_message(target_system, target_component, idx)
-                msg.pack(self)
-                return msg
-            
-        def fence_fetch_point_send(self, target_system, target_component, idx):
-                '''
-                Request a current fence point from MAV
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-
-                '''
-                return self.send(self.fence_fetch_point_encode(target_system, target_component, idx))
-            
-        def fence_status_encode(self, breach_status, breach_count, breach_type, breach_time):
-                '''
-                Status of geo-fencing. Sent in extended             status stream when
-                fencing enabled
-
-                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
-                breach_count              : number of fence breaches (uint16_t)
-                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
-                breach_time               : time of last breach in milliseconds since boot (uint32_t)
-
-                '''
-                msg = MAVLink_fence_status_message(breach_status, breach_count, breach_type, breach_time)
-                msg.pack(self)
-                return msg
-            
-        def fence_status_send(self, breach_status, breach_count, breach_type, breach_time):
-                '''
-                Status of geo-fencing. Sent in extended             status stream when
-                fencing enabled
-
-                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
-                breach_count              : number of fence breaches (uint16_t)
-                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
-                breach_time               : time of last breach in milliseconds since boot (uint32_t)
-
-                '''
-                return self.send(self.fence_status_encode(breach_status, breach_count, breach_type, breach_time))
-            
-        def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
-                '''
-                Status of DCM attitude estimator
-
-                omegaIx                   : X gyro drift estimate rad/s (float)
-                omegaIy                   : Y gyro drift estimate rad/s (float)
-                omegaIz                   : Z gyro drift estimate rad/s (float)
-                accel_weight              : average accel_weight (float)
-                renorm_val                : average renormalisation value (float)
-                error_rp                  : average error_roll_pitch value (float)
-                error_yaw                 : average error_yaw value (float)
-
-                '''
-                msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)
-                msg.pack(self)
-                return msg
-            
-        def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
-                '''
-                Status of DCM attitude estimator
-
-                omegaIx                   : X gyro drift estimate rad/s (float)
-                omegaIy                   : Y gyro drift estimate rad/s (float)
-                omegaIz                   : Z gyro drift estimate rad/s (float)
-                accel_weight              : average accel_weight (float)
-                renorm_val                : average renormalisation value (float)
-                error_rp                  : average error_roll_pitch value (float)
-                error_yaw                 : average error_yaw value (float)
-
-                '''
-                return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw))
-            
-        def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
-                '''
-                Status of simulation environment, if used
-
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                xacc                      : X acceleration m/s/s (float)
-                yacc                      : Y acceleration m/s/s (float)
-                zacc                      : Z acceleration m/s/s (float)
-                xgyro                     : Angular speed around X axis rad/s (float)
-                ygyro                     : Angular speed around Y axis rad/s (float)
-                zgyro                     : Angular speed around Z axis rad/s (float)
-
-                '''
-                msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro)
-                msg.pack(self)
-                return msg
-            
-        def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
-                '''
-                Status of simulation environment, if used
-
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                xacc                      : X acceleration m/s/s (float)
-                yacc                      : Y acceleration m/s/s (float)
-                zacc                      : Z acceleration m/s/s (float)
-                xgyro                     : Angular speed around X axis rad/s (float)
-                ygyro                     : Angular speed around Y axis rad/s (float)
-                zgyro                     : Angular speed around Z axis rad/s (float)
-
-                '''
-                return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro))
-            
-        def hwstatus_encode(self, Vcc, I2Cerr):
-                '''
-                Status of key hardware
-
-                Vcc                       : board voltage (mV) (uint16_t)
-                I2Cerr                    : I2C error count (uint8_t)
-
-                '''
-                msg = MAVLink_hwstatus_message(Vcc, I2Cerr)
-                msg.pack(self)
-                return msg
-            
-        def hwstatus_send(self, Vcc, I2Cerr):
-                '''
-                Status of key hardware
-
-                Vcc                       : board voltage (mV) (uint16_t)
-                I2Cerr                    : I2C error count (uint8_t)
-
-                '''
-                return self.send(self.hwstatus_encode(Vcc, I2Cerr))
-            
-        def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
-                '''
-                Status generated by radio
-
-                rssi                      : local signal strength (uint8_t)
-                remrssi                   : remote signal strength (uint8_t)
-                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
-                noise                     : background noise level (uint8_t)
-                remnoise                  : remote background noise level (uint8_t)
-                rxerrors                  : receive errors (uint16_t)
-                fixed                     : count of error corrected packets (uint16_t)
-
-                '''
-                msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)
-                msg.pack(self)
-                return msg
-            
-        def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
-                '''
-                Status generated by radio
-
-                rssi                      : local signal strength (uint8_t)
-                remrssi                   : remote signal strength (uint8_t)
-                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
-                noise                     : background noise level (uint8_t)
-                remnoise                  : remote background noise level (uint8_t)
-                rxerrors                  : receive errors (uint16_t)
-                fixed                     : count of error corrected packets (uint16_t)
-
-                '''
-                return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed))
-            
-        def heartbeat_encode(self, type, autopilot, mavlink_version=2):
-                '''
-                The heartbeat message shows that a system is present and responding.
-                The type of the MAV and Autopilot hardware allow the
-                receiving system to treat further messages from this
-                system appropriate (e.g. by laying out the user
-                interface based on the autopilot).
-
-                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
-                autopilot                 : Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM (uint8_t)
-                mavlink_version           : MAVLink version (uint8_t)
-
-                '''
-                msg = MAVLink_heartbeat_message(type, autopilot, mavlink_version)
-                msg.pack(self)
-                return msg
-            
-        def heartbeat_send(self, type, autopilot, mavlink_version=2):
-                '''
-                The heartbeat message shows that a system is present and responding.
-                The type of the MAV and Autopilot hardware allow the
-                receiving system to treat further messages from this
-                system appropriate (e.g. by laying out the user
-                interface based on the autopilot).
-
-                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
-                autopilot                 : Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM (uint8_t)
-                mavlink_version           : MAVLink version (uint8_t)
-
-                '''
-                return self.send(self.heartbeat_encode(type, autopilot, mavlink_version))
-            
-        def boot_encode(self, version):
-                '''
-                The boot message indicates that a system is starting. The onboard
-                software version allows to keep track of onboard
-                soft/firmware revisions.
-
-                version                   : The onboard software version (uint32_t)
-
-                '''
-                msg = MAVLink_boot_message(version)
-                msg.pack(self)
-                return msg
-            
-        def boot_send(self, version):
-                '''
-                The boot message indicates that a system is starting. The onboard
-                software version allows to keep track of onboard
-                soft/firmware revisions.
-
-                version                   : The onboard software version (uint32_t)
-
-                '''
-                return self.send(self.boot_encode(version))
-            
-        def system_time_encode(self, time_usec):
-                '''
-                The system time is the time of the master clock, typically the
-                computer clock of the main onboard computer.
-
-                time_usec                 : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
-
-                '''
-                msg = MAVLink_system_time_message(time_usec)
-                msg.pack(self)
-                return msg
-            
-        def system_time_send(self, time_usec):
-                '''
-                The system time is the time of the master clock, typically the
-                computer clock of the main onboard computer.
-
-                time_usec                 : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
-
-                '''
-                return self.send(self.system_time_encode(time_usec))
-            
-        def ping_encode(self, seq, target_system, target_component, time):
-                '''
-                A ping message either requesting or responding to a ping. This allows
-                to measure the system latencies, including serial
-                port, radio modem and UDP connections.
-
-                seq                       : PING sequence (uint32_t)
-                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-                time                      : Unix timestamp in microseconds (uint64_t)
-
-                '''
-                msg = MAVLink_ping_message(seq, target_system, target_component, time)
-                msg.pack(self)
-                return msg
-            
-        def ping_send(self, seq, target_system, target_component, time):
-                '''
-                A ping message either requesting or responding to a ping. This allows
-                to measure the system latencies, including serial
-                port, radio modem and UDP connections.
-
-                seq                       : PING sequence (uint32_t)
-                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-                time                      : Unix timestamp in microseconds (uint64_t)
-
-                '''
-                return self.send(self.ping_encode(seq, target_system, target_component, time))
-            
-        def system_time_utc_encode(self, utc_date, utc_time):
-                '''
-                UTC date and time from GPS module
-
-                utc_date                  : GPS UTC date ddmmyy (uint32_t)
-                utc_time                  : GPS UTC time hhmmss (uint32_t)
-
-                '''
-                msg = MAVLink_system_time_utc_message(utc_date, utc_time)
-                msg.pack(self)
-                return msg
-            
-        def system_time_utc_send(self, utc_date, utc_time):
-                '''
-                UTC date and time from GPS module
-
-                utc_date                  : GPS UTC date ddmmyy (uint32_t)
-                utc_time                  : GPS UTC time hhmmss (uint32_t)
-
-                '''
-                return self.send(self.system_time_utc_encode(utc_date, utc_time))
-            
-        def change_operator_control_encode(self, target_system, control_request, version, passkey):
-                '''
-                Request to control this MAV
-
-                target_system             : System the GCS requests control for (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
-                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
-
-                '''
-                msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey)
-                msg.pack(self)
-                return msg
-            
-        def change_operator_control_send(self, target_system, control_request, version, passkey):
-                '''
-                Request to control this MAV
-
-                target_system             : System the GCS requests control for (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
-                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
-
-                '''
-                return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey))
-            
-        def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack):
-                '''
-                Accept / deny control of this MAV
-
-                gcs_system_id             : ID of the GCS this message (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
-
-                '''
-                msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack)
-                msg.pack(self)
-                return msg
-            
-        def change_operator_control_ack_send(self, gcs_system_id, control_request, ack):
-                '''
-                Accept / deny control of this MAV
-
-                gcs_system_id             : ID of the GCS this message (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
-
-                '''
-                return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack))
-            
-        def auth_key_encode(self, key):
-                '''
-                Emit an encrypted signature / key identifying this system. PLEASE
-                NOTE: This protocol has been kept simple, so
-                transmitting the key requires an encrypted channel for
-                true safety.
-
-                key                       : key (char)
-
-                '''
-                msg = MAVLink_auth_key_message(key)
-                msg.pack(self)
-                return msg
-            
-        def auth_key_send(self, key):
-                '''
-                Emit an encrypted signature / key identifying this system. PLEASE
-                NOTE: This protocol has been kept simple, so
-                transmitting the key requires an encrypted channel for
-                true safety.
-
-                key                       : key (char)
-
-                '''
-                return self.send(self.auth_key_encode(key))
-            
-        def action_ack_encode(self, action, result):
-                '''
-                This message acknowledges an action. IMPORTANT: The acknowledgement
-                can be also negative, e.g. the MAV rejects a reset
-                message because it is in-flight. The action ids are
-                defined in ENUM MAV_ACTION in
-                mavlink/include/mavlink_types.h
-
-                action                    : The action id (uint8_t)
-                result                    : 0: Action DENIED, 1: Action executed (uint8_t)
-
-                '''
-                msg = MAVLink_action_ack_message(action, result)
-                msg.pack(self)
-                return msg
-            
-        def action_ack_send(self, action, result):
-                '''
-                This message acknowledges an action. IMPORTANT: The acknowledgement
-                can be also negative, e.g. the MAV rejects a reset
-                message because it is in-flight. The action ids are
-                defined in ENUM MAV_ACTION in
-                mavlink/include/mavlink_types.h
-
-                action                    : The action id (uint8_t)
-                result                    : 0: Action DENIED, 1: Action executed (uint8_t)
-
-                '''
-                return self.send(self.action_ack_encode(action, result))
-            
-        def action_encode(self, target, target_component, action):
-                '''
-                An action message allows to execute a certain onboard action. These
-                include liftoff, land, storing parameters too EEPROM,
-                shutddown, etc. The action ids are defined in ENUM
-                MAV_ACTION in mavlink/include/mavlink_types.h
-
-                target                    : The system executing the action (uint8_t)
-                target_component          : The component executing the action (uint8_t)
-                action                    : The action id (uint8_t)
-
-                '''
-                msg = MAVLink_action_message(target, target_component, action)
-                msg.pack(self)
-                return msg
-            
-        def action_send(self, target, target_component, action):
-                '''
-                An action message allows to execute a certain onboard action. These
-                include liftoff, land, storing parameters too EEPROM,
-                shutddown, etc. The action ids are defined in ENUM
-                MAV_ACTION in mavlink/include/mavlink_types.h
-
-                target                    : The system executing the action (uint8_t)
-                target_component          : The component executing the action (uint8_t)
-                action                    : The action id (uint8_t)
-
-                '''
-                return self.send(self.action_encode(target, target_component, action))
-            
-        def set_mode_encode(self, target, mode):
-                '''
-                Set the system mode, as defined by enum MAV_MODE in
-                mavlink/include/mavlink_types.h. There is no target
-                component id as the mode is by definition for the
-                overall aircraft, not only for one component.
-
-                target                    : The system setting the mode (uint8_t)
-                mode                      : The new mode (uint8_t)
-
-                '''
-                msg = MAVLink_set_mode_message(target, mode)
-                msg.pack(self)
-                return msg
-            
-        def set_mode_send(self, target, mode):
-                '''
-                Set the system mode, as defined by enum MAV_MODE in
-                mavlink/include/mavlink_types.h. There is no target
-                component id as the mode is by definition for the
-                overall aircraft, not only for one component.
-
-                target                    : The system setting the mode (uint8_t)
-                mode                      : The new mode (uint8_t)
-
-                '''
-                return self.send(self.set_mode_encode(target, mode))
-            
-        def set_nav_mode_encode(self, target, nav_mode):
-                '''
-                Set the system navigation mode, as defined by enum MAV_NAV_MODE in
-                mavlink/include/mavlink_types.h. The navigation mode
-                applies to the whole aircraft and thus all components.
-
-                target                    : The system setting the mode (uint8_t)
-                nav_mode                  : The new navigation mode (uint8_t)
-
-                '''
-                msg = MAVLink_set_nav_mode_message(target, nav_mode)
-                msg.pack(self)
-                return msg
-            
-        def set_nav_mode_send(self, target, nav_mode):
-                '''
-                Set the system navigation mode, as defined by enum MAV_NAV_MODE in
-                mavlink/include/mavlink_types.h. The navigation mode
-                applies to the whole aircraft and thus all components.
-
-                target                    : The system setting the mode (uint8_t)
-                nav_mode                  : The new navigation mode (uint8_t)
-
-                '''
-                return self.send(self.set_nav_mode_encode(target, nav_mode))
-            
-        def param_request_read_encode(self, target_system, target_component, param_id, param_index):
-                '''
-                Request to read the onboard parameter with the param_id string id.
-                Onboard parameters are stored as key[const char*] ->
-                value[float]. This allows to send a parameter to any
-                other component (such as the GCS) without the need of
-                previous knowledge of possible parameter names. Thus
-                the same GCS can store different parameters for
-                different autopilots. See also
-                http://qgroundcontrol.org/parameter_interface for a
-                full documentation of QGroundControl and IMU code.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (int8_t)
-                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
-
-                '''
-                msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)
-                msg.pack(self)
-                return msg
-            
-        def param_request_read_send(self, target_system, target_component, param_id, param_index):
-                '''
-                Request to read the onboard parameter with the param_id string id.
-                Onboard parameters are stored as key[const char*] ->
-                value[float]. This allows to send a parameter to any
-                other component (such as the GCS) without the need of
-                previous knowledge of possible parameter names. Thus
-                the same GCS can store different parameters for
-                different autopilots. See also
-                http://qgroundcontrol.org/parameter_interface for a
-                full documentation of QGroundControl and IMU code.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (int8_t)
-                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
-
-                '''
-                return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index))
-            
-        def param_request_list_encode(self, target_system, target_component):
-                '''
-                Request all parameters of this component. After his request, all
-                parameters are emitted.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                msg = MAVLink_param_request_list_message(target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def param_request_list_send(self, target_system, target_component):
-                '''
-                Request all parameters of this component. After his request, all
-                parameters are emitted.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                return self.send(self.param_request_list_encode(target_system, target_component))
-            
-        def param_value_encode(self, param_id, param_value, param_count, param_index):
-                '''
-                Emit the value of a onboard parameter. The inclusion of param_count
-                and param_index in the message allows the recipient to
-                keep track of received parameters and allows him to
-                re-request missing parameters after a loss or timeout.
-
-                param_id                  : Onboard parameter id (int8_t)
-                param_value               : Onboard parameter value (float)
-                param_count               : Total number of onboard parameters (uint16_t)
-                param_index               : Index of this onboard parameter (uint16_t)
-
-                '''
-                msg = MAVLink_param_value_message(param_id, param_value, param_count, param_index)
-                msg.pack(self)
-                return msg
-            
-        def param_value_send(self, param_id, param_value, param_count, param_index):
-                '''
-                Emit the value of a onboard parameter. The inclusion of param_count
-                and param_index in the message allows the recipient to
-                keep track of received parameters and allows him to
-                re-request missing parameters after a loss or timeout.
-
-                param_id                  : Onboard parameter id (int8_t)
-                param_value               : Onboard parameter value (float)
-                param_count               : Total number of onboard parameters (uint16_t)
-                param_index               : Index of this onboard parameter (uint16_t)
-
-                '''
-                return self.send(self.param_value_encode(param_id, param_value, param_count, param_index))
-            
-        def param_set_encode(self, target_system, target_component, param_id, param_value):
-                '''
-                Set a parameter value TEMPORARILY to RAM. It will be reset to default
-                on system reboot. Send the ACTION
-                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
-                contents to EEPROM. IMPORTANT: The receiving component
-                should acknowledge the new parameter value by sending
-                a param_value message to all communication partners.
-                This will also ensure that multiple GCS all have an
-                up-to-date list of all parameters. If the sending GCS
-                did not receive a PARAM_VALUE message within its
-                timeout time, it should re-send the PARAM_SET message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (int8_t)
-                param_value               : Onboard parameter value (float)
-
-                '''
-                msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value)
-                msg.pack(self)
-                return msg
-            
-        def param_set_send(self, target_system, target_component, param_id, param_value):
-                '''
-                Set a parameter value TEMPORARILY to RAM. It will be reset to default
-                on system reboot. Send the ACTION
-                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
-                contents to EEPROM. IMPORTANT: The receiving component
-                should acknowledge the new parameter value by sending
-                a param_value message to all communication partners.
-                This will also ensure that multiple GCS all have an
-                up-to-date list of all parameters. If the sending GCS
-                did not receive a PARAM_VALUE message within its
-                timeout time, it should re-send the PARAM_SET message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (int8_t)
-                param_value               : Onboard parameter value (float)
-
-                '''
-                return self.send(self.param_set_encode(target_system, target_component, param_id, param_value))
-            
-        def gps_raw_int_encode(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
-                '''
-                The global position, as returned by the Global Positioning System
-                (GPS). This is NOT the global position estimate of the
-                sytem, but rather a RAW sensor value. See message
-                GLOBAL_POSITION for the global position estimate.
-                Coordinate frame is right-handed, Z-axis up (GPS
-                frame)
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
-                lat                       : Latitude in 1E7 degrees (int32_t)
-                lon                       : Longitude in 1E7 degrees (int32_t)
-                alt                       : Altitude in 1E3 meters (millimeters) (int32_t)
-                eph                       : GPS HDOP (float)
-                epv                       : GPS VDOP (float)
-                v                         : GPS ground speed (m/s) (float)
-                hdg                       : Compass heading in degrees, 0..360 degrees (float)
-
-                '''
-                msg = MAVLink_gps_raw_int_message(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)
-                msg.pack(self)
-                return msg
-            
-        def gps_raw_int_send(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
-                '''
-                The global position, as returned by the Global Positioning System
-                (GPS). This is NOT the global position estimate of the
-                sytem, but rather a RAW sensor value. See message
-                GLOBAL_POSITION for the global position estimate.
-                Coordinate frame is right-handed, Z-axis up (GPS
-                frame)
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
-                lat                       : Latitude in 1E7 degrees (int32_t)
-                lon                       : Longitude in 1E7 degrees (int32_t)
-                alt                       : Altitude in 1E3 meters (millimeters) (int32_t)
-                eph                       : GPS HDOP (float)
-                epv                       : GPS VDOP (float)
-                v                         : GPS ground speed (m/s) (float)
-                hdg                       : Compass heading in degrees, 0..360 degrees (float)
-
-                '''
-                return self.send(self.gps_raw_int_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg))
-            
-        def scaled_imu_encode(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should contain the scaled values to the described
-                units
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
-                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
-                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
-                xmag                      : X Magnetic field (milli tesla) (int16_t)
-                ymag                      : Y Magnetic field (milli tesla) (int16_t)
-                zmag                      : Z Magnetic field (milli tesla) (int16_t)
-
-                '''
-                msg = MAVLink_scaled_imu_message(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
-                msg.pack(self)
-                return msg
-            
-        def scaled_imu_send(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should contain the scaled values to the described
-                units
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
-                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
-                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
-                xmag                      : X Magnetic field (milli tesla) (int16_t)
-                ymag                      : Y Magnetic field (milli tesla) (int16_t)
-                zmag                      : Z Magnetic field (milli tesla) (int16_t)
-
-                '''
-                return self.send(self.scaled_imu_encode(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
-            
-        def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
-                '''
-                The positioning status, as reported by GPS. This message is intended
-                to display status information about each satellite
-                visible to the receiver. See message GLOBAL_POSITION
-                for the global position estimate. This message can
-                contain information for up to 20 satellites.
-
-                satellites_visible        : Number of satellites visible (uint8_t)
-                satellite_prn             : Global satellite ID (int8_t)
-                satellite_used            : 0: Satellite not used, 1: used for localization (int8_t)
-                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (int8_t)
-                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (int8_t)
-                satellite_snr             : Signal to noise ratio of satellite (int8_t)
-
-                '''
-                msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)
-                msg.pack(self)
-                return msg
-            
-        def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
-                '''
-                The positioning status, as reported by GPS. This message is intended
-                to display status information about each satellite
-                visible to the receiver. See message GLOBAL_POSITION
-                for the global position estimate. This message can
-                contain information for up to 20 satellites.
-
-                satellites_visible        : Number of satellites visible (uint8_t)
-                satellite_prn             : Global satellite ID (int8_t)
-                satellite_used            : 0: Satellite not used, 1: used for localization (int8_t)
-                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (int8_t)
-                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (int8_t)
-                satellite_snr             : Signal to noise ratio of satellite (int8_t)
-
-                '''
-                return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr))
-            
-        def raw_imu_encode(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should always contain the true raw values without any
-                scaling to allow data capture and system debugging.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                xacc                      : X acceleration (raw) (int16_t)
-                yacc                      : Y acceleration (raw) (int16_t)
-                zacc                      : Z acceleration (raw) (int16_t)
-                xgyro                     : Angular speed around X axis (raw) (int16_t)
-                ygyro                     : Angular speed around Y axis (raw) (int16_t)
-                zgyro                     : Angular speed around Z axis (raw) (int16_t)
-                xmag                      : X Magnetic field (raw) (int16_t)
-                ymag                      : Y Magnetic field (raw) (int16_t)
-                zmag                      : Z Magnetic field (raw) (int16_t)
-
-                '''
-                msg = MAVLink_raw_imu_message(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
-                msg.pack(self)
-                return msg
-            
-        def raw_imu_send(self, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should always contain the true raw values without any
-                scaling to allow data capture and system debugging.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                xacc                      : X acceleration (raw) (int16_t)
-                yacc                      : Y acceleration (raw) (int16_t)
-                zacc                      : Z acceleration (raw) (int16_t)
-                xgyro                     : Angular speed around X axis (raw) (int16_t)
-                ygyro                     : Angular speed around Y axis (raw) (int16_t)
-                zgyro                     : Angular speed around Z axis (raw) (int16_t)
-                xmag                      : X Magnetic field (raw) (int16_t)
-                ymag                      : Y Magnetic field (raw) (int16_t)
-                zmag                      : Z Magnetic field (raw) (int16_t)
-
-                '''
-                return self.send(self.raw_imu_encode(usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
-            
-        def raw_pressure_encode(self, usec, press_abs, press_diff1, press_diff2, temperature):
-                '''
-                The RAW pressure readings for the typical setup of one absolute
-                pressure and one differential pressure sensor. The
-                sensor values should be the raw, UNSCALED ADC values.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                press_abs                 : Absolute pressure (raw) (int16_t)
-                press_diff1               : Differential pressure 1 (raw) (int16_t)
-                press_diff2               : Differential pressure 2 (raw) (int16_t)
-                temperature               : Raw Temperature measurement (raw) (int16_t)
-
-                '''
-                msg = MAVLink_raw_pressure_message(usec, press_abs, press_diff1, press_diff2, temperature)
-                msg.pack(self)
-                return msg
-            
-        def raw_pressure_send(self, usec, press_abs, press_diff1, press_diff2, temperature):
-                '''
-                The RAW pressure readings for the typical setup of one absolute
-                pressure and one differential pressure sensor. The
-                sensor values should be the raw, UNSCALED ADC values.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                press_abs                 : Absolute pressure (raw) (int16_t)
-                press_diff1               : Differential pressure 1 (raw) (int16_t)
-                press_diff2               : Differential pressure 2 (raw) (int16_t)
-                temperature               : Raw Temperature measurement (raw) (int16_t)
-
-                '''
-                return self.send(self.raw_pressure_encode(usec, press_abs, press_diff1, press_diff2, temperature))
-            
-        def scaled_pressure_encode(self, usec, press_abs, press_diff, temperature):
-                '''
-                The pressure readings for the typical setup of one absolute and
-                differential pressure sensor. The units are as
-                specified in each field.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                press_abs                 : Absolute pressure (hectopascal) (float)
-                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
-
-                '''
-                msg = MAVLink_scaled_pressure_message(usec, press_abs, press_diff, temperature)
-                msg.pack(self)
-                return msg
-            
-        def scaled_pressure_send(self, usec, press_abs, press_diff, temperature):
-                '''
-                The pressure readings for the typical setup of one absolute and
-                differential pressure sensor. The units are as
-                specified in each field.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                press_abs                 : Absolute pressure (hectopascal) (float)
-                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
-
-                '''
-                return self.send(self.scaled_pressure_encode(usec, press_abs, press_diff, temperature))
-            
-        def attitude_encode(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
-                '''
-                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
-                Y-right).
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-
-                '''
-                msg = MAVLink_attitude_message(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)
-                msg.pack(self)
-                return msg
-            
-        def attitude_send(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
-                '''
-                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
-                Y-right).
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-
-                '''
-                return self.send(self.attitude_encode(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed))
-            
-        def local_position_encode(self, usec, x, y, z, vx, vy, vz):
-                '''
-                The filtered local position (e.g. fused computer vision and
-                accelerometers). Coordinate frame is right-handed,
-                Z-axis down (aeronautical frame)
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                x                         : X Position (float)
-                y                         : Y Position (float)
-                z                         : Z Position (float)
-                vx                        : X Speed (float)
-                vy                        : Y Speed (float)
-                vz                        : Z Speed (float)
-
-                '''
-                msg = MAVLink_local_position_message(usec, x, y, z, vx, vy, vz)
-                msg.pack(self)
-                return msg
-            
-        def local_position_send(self, usec, x, y, z, vx, vy, vz):
-                '''
-                The filtered local position (e.g. fused computer vision and
-                accelerometers). Coordinate frame is right-handed,
-                Z-axis down (aeronautical frame)
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                x                         : X Position (float)
-                y                         : Y Position (float)
-                z                         : Z Position (float)
-                vx                        : X Speed (float)
-                vy                        : Y Speed (float)
-                vz                        : Z Speed (float)
-
-                '''
-                return self.send(self.local_position_encode(usec, x, y, z, vx, vy, vz))
-            
-        def global_position_encode(self, usec, lat, lon, alt, vx, vy, vz):
-                '''
-                The filtered global position (e.g. fused GPS and accelerometers).
-                Coordinate frame is right-handed, Z-axis up (GPS
-                frame)
-
-                usec                      : Timestamp (microseconds since unix epoch) (uint64_t)
-                lat                       : Latitude, in degrees (float)
-                lon                       : Longitude, in degrees (float)
-                alt                       : Absolute altitude, in meters (float)
-                vx                        : X Speed (in Latitude direction, positive: going north) (float)
-                vy                        : Y Speed (in Longitude direction, positive: going east) (float)
-                vz                        : Z Speed (in Altitude direction, positive: going up) (float)
-
-                '''
-                msg = MAVLink_global_position_message(usec, lat, lon, alt, vx, vy, vz)
-                msg.pack(self)
-                return msg
-            
-        def global_position_send(self, usec, lat, lon, alt, vx, vy, vz):
-                '''
-                The filtered global position (e.g. fused GPS and accelerometers).
-                Coordinate frame is right-handed, Z-axis up (GPS
-                frame)
-
-                usec                      : Timestamp (microseconds since unix epoch) (uint64_t)
-                lat                       : Latitude, in degrees (float)
-                lon                       : Longitude, in degrees (float)
-                alt                       : Absolute altitude, in meters (float)
-                vx                        : X Speed (in Latitude direction, positive: going north) (float)
-                vy                        : Y Speed (in Longitude direction, positive: going east) (float)
-                vz                        : Z Speed (in Altitude direction, positive: going up) (float)
-
-                '''
-                return self.send(self.global_position_encode(usec, lat, lon, alt, vx, vy, vz))
-            
-        def gps_raw_encode(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
-                '''
-                The global position, as returned by the Global Positioning System
-                (GPS). This is NOT the global position estimate of the
-                sytem, but rather a RAW sensor value. See message
-                GLOBAL_POSITION for the global position estimate.
-                Coordinate frame is right-handed, Z-axis up (GPS
-                frame)
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
-                lat                       : Latitude in degrees (float)
-                lon                       : Longitude in degrees (float)
-                alt                       : Altitude in meters (float)
-                eph                       : GPS HDOP (float)
-                epv                       : GPS VDOP (float)
-                v                         : GPS ground speed (float)
-                hdg                       : Compass heading in degrees, 0..360 degrees (float)
-
-                '''
-                msg = MAVLink_gps_raw_message(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)
-                msg.pack(self)
-                return msg
-            
-        def gps_raw_send(self, usec, fix_type, lat, lon, alt, eph, epv, v, hdg):
-                '''
-                The global position, as returned by the Global Positioning System
-                (GPS). This is NOT the global position estimate of the
-                sytem, but rather a RAW sensor value. See message
-                GLOBAL_POSITION for the global position estimate.
-                Coordinate frame is right-handed, Z-axis up (GPS
-                frame)
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
-                lat                       : Latitude in degrees (float)
-                lon                       : Longitude in degrees (float)
-                alt                       : Altitude in meters (float)
-                eph                       : GPS HDOP (float)
-                epv                       : GPS VDOP (float)
-                v                         : GPS ground speed (float)
-                hdg                       : Compass heading in degrees, 0..360 degrees (float)
-
-                '''
-                return self.send(self.gps_raw_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg))
-            
-        def sys_status_encode(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop):
-                '''
-                The general system state. If the system is following the MAVLink
-                standard, the system state is mainly defined by three
-                orthogonal states/modes: The system mode, which is
-                either LOCKED (motors shut down and locked), MANUAL
-                (system under RC control), GUIDED (system with
-                autonomous position control, position setpoint
-                controlled manually) or AUTO (system guided by
-                path/waypoint planner). The NAV_MODE defined the
-                current flight state: LIFTOFF (often an open-loop
-                maneuver), LANDING, WAYPOINTS or VECTOR. This
-                represents the internal navigation state machine. The
-                system status shows wether the system is currently
-                active or not and if an emergency occured. During the
-                CRITICAL and EMERGENCY states the MAV is still
-                considered to be active, but should start emergency
-                procedures autonomously. After a failure occured it
-                should first move from active to critical to allow
-                manual intervention and then move to emergency after a
-                certain timeout.
-
-                mode                      : System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h (uint8_t)
-                nav_mode                  : Navigation mode, see MAV_NAV_MODE ENUM (uint8_t)
-                status                    : System status flag, see MAV_STATUS ENUM (uint8_t)
-                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
-                vbat                      : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
-                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 1000) (uint16_t)
-                packet_drop               : Dropped packets (packets that were corrupted on reception on the MAV) (uint16_t)
-
-                '''
-                msg = MAVLink_sys_status_message(mode, nav_mode, status, load, vbat, battery_remaining, packet_drop)
-                msg.pack(self)
-                return msg
-            
-        def sys_status_send(self, mode, nav_mode, status, load, vbat, battery_remaining, packet_drop):
-                '''
-                The general system state. If the system is following the MAVLink
-                standard, the system state is mainly defined by three
-                orthogonal states/modes: The system mode, which is
-                either LOCKED (motors shut down and locked), MANUAL
-                (system under RC control), GUIDED (system with
-                autonomous position control, position setpoint
-                controlled manually) or AUTO (system guided by
-                path/waypoint planner). The NAV_MODE defined the
-                current flight state: LIFTOFF (often an open-loop
-                maneuver), LANDING, WAYPOINTS or VECTOR. This
-                represents the internal navigation state machine. The
-                system status shows wether the system is currently
-                active or not and if an emergency occured. During the
-                CRITICAL and EMERGENCY states the MAV is still
-                considered to be active, but should start emergency
-                procedures autonomously. After a failure occured it
-                should first move from active to critical to allow
-                manual intervention and then move to emergency after a
-                certain timeout.
-
-                mode                      : System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h (uint8_t)
-                nav_mode                  : Navigation mode, see MAV_NAV_MODE ENUM (uint8_t)
-                status                    : System status flag, see MAV_STATUS ENUM (uint8_t)
-                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
-                vbat                      : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
-                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 1000) (uint16_t)
-                packet_drop               : Dropped packets (packets that were corrupted on reception on the MAV) (uint16_t)
-
-                '''
-                return self.send(self.sys_status_encode(mode, nav_mode, status, load, vbat, battery_remaining, packet_drop))
-            
-        def rc_channels_raw_encode(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
-                '''
-                The RAW values of the RC channels received. The standard PPM
-                modulation is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%. Individual receivers/transmitters
-                might violate this specification.
-
-                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 (uint16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                msg = MAVLink_rc_channels_raw_message(chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)
-                msg.pack(self)
-                return msg
-            
-        def rc_channels_raw_send(self, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
-                '''
-                The RAW values of the RC channels received. The standard PPM
-                modulation is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%. Individual receivers/transmitters
-                might violate this specification.
-
-                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 (uint16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                return self.send(self.rc_channels_raw_encode(chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi))
-            
-        def rc_channels_scaled_encode(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
-                '''
-                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
-                (100%) 10000
-
-                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 (int16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                msg = MAVLink_rc_channels_scaled_message(chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)
-                msg.pack(self)
-                return msg
-            
-        def rc_channels_scaled_send(self, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
-                '''
-                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
-                (100%) 10000
-
-                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 (int16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                return self.send(self.rc_channels_scaled_encode(chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi))
-            
-        def servo_output_raw_encode(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
-                '''
-                The RAW values of the servo outputs (for RC input from the remote, use
-                the RC_CHANNELS messages). The standard PPM modulation
-                is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%.
-
-                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 (uint16_t)
-                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
-                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
-                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
-                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
-                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
-
-                '''
-                msg = MAVLink_servo_output_raw_message(servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)
-                msg.pack(self)
-                return msg
-            
-        def servo_output_raw_send(self, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
-                '''
-                The RAW values of the servo outputs (for RC input from the remote, use
-                the RC_CHANNELS messages). The standard PPM modulation
-                is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%.
-
-                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 (uint16_t)
-                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
-                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
-                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
-                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
-                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
-
-                '''
-                return self.send(self.servo_output_raw_encode(servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw))
-            
-        def waypoint_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
-                '''
-                Message encoding a waypoint. This message is emitted to announce
-                the presence of a waypoint and to set a waypoint on
-                the system. The waypoint can be either in x, y, z
-                meters (type: LOCAL) or x:lat, y:lon, z:altitude.
-                Local frame is Z-down, right handed, global frame is
-                Z-up, right handed
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-                frame                     : The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h (uint8_t)
-                command                   : The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs (uint8_t)
-                current                   : false:0, true:1 (uint8_t)
-                autocontinue              : autocontinue to next wp (uint8_t)
-                param1                    : PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters (float)
-                param2                    : PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
-                param3                    : PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
-                param4                    : PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
-                x                         : PARAM5 / local: x position, global: latitude (float)
-                y                         : PARAM6 / y position: global: longitude (float)
-                z                         : PARAM7 / z position: global: altitude (float)
-
-                '''
-                msg = MAVLink_waypoint_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
-                '''
-                Message encoding a waypoint. This message is emitted to announce
-                the presence of a waypoint and to set a waypoint on
-                the system. The waypoint can be either in x, y, z
-                meters (type: LOCAL) or x:lat, y:lon, z:altitude.
-                Local frame is Z-down, right handed, global frame is
-                Z-up, right handed
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-                frame                     : The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h (uint8_t)
-                command                   : The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs (uint8_t)
-                current                   : false:0, true:1 (uint8_t)
-                autocontinue              : autocontinue to next wp (uint8_t)
-                param1                    : PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters (float)
-                param2                    : PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
-                param3                    : PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
-                param4                    : PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
-                x                         : PARAM5 / local: x position, global: latitude (float)
-                y                         : PARAM6 / y position: global: longitude (float)
-                z                         : PARAM7 / z position: global: altitude (float)
-
-                '''
-                return self.send(self.waypoint_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z))
-            
-        def waypoint_request_encode(self, target_system, target_component, seq):
-                '''
-                Request the information of the waypoint with the sequence number seq.
-                The response of the system to this message should be a
-                WAYPOINT message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_waypoint_request_message(target_system, target_component, seq)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_request_send(self, target_system, target_component, seq):
-                '''
-                Request the information of the waypoint with the sequence number seq.
-                The response of the system to this message should be a
-                WAYPOINT message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.waypoint_request_encode(target_system, target_component, seq))
-            
-        def waypoint_set_current_encode(self, target_system, target_component, seq):
-                '''
-                Set the waypoint with sequence number seq as current waypoint. This
-                means that the MAV will continue to this waypoint on
-                the shortest path (not following the waypoints in-
-                between).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_waypoint_set_current_message(target_system, target_component, seq)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_set_current_send(self, target_system, target_component, seq):
-                '''
-                Set the waypoint with sequence number seq as current waypoint. This
-                means that the MAV will continue to this waypoint on
-                the shortest path (not following the waypoints in-
-                between).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.waypoint_set_current_encode(target_system, target_component, seq))
-            
-        def waypoint_current_encode(self, seq):
-                '''
-                Message that announces the sequence number of the current active
-                waypoint. The MAV will fly towards this waypoint.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_waypoint_current_message(seq)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_current_send(self, seq):
-                '''
-                Message that announces the sequence number of the current active
-                waypoint. The MAV will fly towards this waypoint.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.waypoint_current_encode(seq))
-            
-        def waypoint_request_list_encode(self, target_system, target_component):
-                '''
-                Request the overall list of waypoints from the system/component.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                msg = MAVLink_waypoint_request_list_message(target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_request_list_send(self, target_system, target_component):
-                '''
-                Request the overall list of waypoints from the system/component.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                return self.send(self.waypoint_request_list_encode(target_system, target_component))
-            
-        def waypoint_count_encode(self, target_system, target_component, count):
-                '''
-                This message is emitted as response to WAYPOINT_REQUEST_LIST by the
-                MAV. The GCS can then request the individual waypoints
-                based on the knowledge of the total number of
-                waypoints.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                count                     : Number of Waypoints in the Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_waypoint_count_message(target_system, target_component, count)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_count_send(self, target_system, target_component, count):
-                '''
-                This message is emitted as response to WAYPOINT_REQUEST_LIST by the
-                MAV. The GCS can then request the individual waypoints
-                based on the knowledge of the total number of
-                waypoints.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                count                     : Number of Waypoints in the Sequence (uint16_t)
-
-                '''
-                return self.send(self.waypoint_count_encode(target_system, target_component, count))
-            
-        def waypoint_clear_all_encode(self, target_system, target_component):
-                '''
-                Delete all waypoints at once.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                msg = MAVLink_waypoint_clear_all_message(target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_clear_all_send(self, target_system, target_component):
-                '''
-                Delete all waypoints at once.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                return self.send(self.waypoint_clear_all_encode(target_system, target_component))
-            
-        def waypoint_reached_encode(self, seq):
-                '''
-                A certain waypoint has been reached. The system will either hold this
-                position (or circle on the orbit) or (if the
-                autocontinue on the WP was set) continue to the next
-                waypoint.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_waypoint_reached_message(seq)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_reached_send(self, seq):
-                '''
-                A certain waypoint has been reached. The system will either hold this
-                position (or circle on the orbit) or (if the
-                autocontinue on the WP was set) continue to the next
-                waypoint.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.waypoint_reached_encode(seq))
-            
-        def waypoint_ack_encode(self, target_system, target_component, type):
-                '''
-                Ack message during waypoint handling. The type field states if this
-                message is a positive ack (type=0) or if an error
-                happened (type=non-zero).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                type                      : 0: OK, 1: Error (uint8_t)
-
-                '''
-                msg = MAVLink_waypoint_ack_message(target_system, target_component, type)
-                msg.pack(self)
-                return msg
-            
-        def waypoint_ack_send(self, target_system, target_component, type):
-                '''
-                Ack message during waypoint handling. The type field states if this
-                message is a positive ack (type=0) or if an error
-                happened (type=non-zero).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                type                      : 0: OK, 1: Error (uint8_t)
-
-                '''
-                return self.send(self.waypoint_ack_encode(target_system, target_component, type))
-            
-        def gps_set_global_origin_encode(self, target_system, target_component, latitude, longitude, altitude):
-                '''
-                As local waypoints exist, the global waypoint reference allows to
-                transform between the local coordinate frame and the
-                global (GPS) coordinate frame. This can be necessary
-                when e.g. in- and outdoor settings are connected and
-                the MAV should move from in- to outdoor.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                latitude                  : global position * 1E7 (int32_t)
-                longitude                 : global position * 1E7 (int32_t)
-                altitude                  : global position * 1000 (int32_t)
-
-                '''
-                msg = MAVLink_gps_set_global_origin_message(target_system, target_component, latitude, longitude, altitude)
-                msg.pack(self)
-                return msg
-            
-        def gps_set_global_origin_send(self, target_system, target_component, latitude, longitude, altitude):
-                '''
-                As local waypoints exist, the global waypoint reference allows to
-                transform between the local coordinate frame and the
-                global (GPS) coordinate frame. This can be necessary
-                when e.g. in- and outdoor settings are connected and
-                the MAV should move from in- to outdoor.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                latitude                  : global position * 1E7 (int32_t)
-                longitude                 : global position * 1E7 (int32_t)
-                altitude                  : global position * 1000 (int32_t)
-
-                '''
-                return self.send(self.gps_set_global_origin_encode(target_system, target_component, latitude, longitude, altitude))
-            
-        def gps_local_origin_set_encode(self, latitude, longitude, altitude):
-                '''
-                Once the MAV sets a new GPS-Local correspondence, this message
-                announces the origin (0,0,0) position
-
-                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
-                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
-                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
-
-                '''
-                msg = MAVLink_gps_local_origin_set_message(latitude, longitude, altitude)
-                msg.pack(self)
-                return msg
-            
-        def gps_local_origin_set_send(self, latitude, longitude, altitude):
-                '''
-                Once the MAV sets a new GPS-Local correspondence, this message
-                announces the origin (0,0,0) position
-
-                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
-                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
-                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
-
-                '''
-                return self.send(self.gps_local_origin_set_encode(latitude, longitude, altitude))
-            
-        def local_position_setpoint_set_encode(self, target_system, target_component, x, y, z, yaw):
-                '''
-                Set the setpoint for a local position controller. This is the position
-                in local coordinates the MAV should fly to. This
-                message is sent by the path/waypoint planner to the
-                onboard position controller. As some MAVs have a
-                degree of freedom in yaw (e.g. all
-                helicopters/quadrotors), the desired yaw angle is part
-                of the message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                msg = MAVLink_local_position_setpoint_set_message(target_system, target_component, x, y, z, yaw)
-                msg.pack(self)
-                return msg
-            
-        def local_position_setpoint_set_send(self, target_system, target_component, x, y, z, yaw):
-                '''
-                Set the setpoint for a local position controller. This is the position
-                in local coordinates the MAV should fly to. This
-                message is sent by the path/waypoint planner to the
-                onboard position controller. As some MAVs have a
-                degree of freedom in yaw (e.g. all
-                helicopters/quadrotors), the desired yaw angle is part
-                of the message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                return self.send(self.local_position_setpoint_set_encode(target_system, target_component, x, y, z, yaw))
-            
-        def local_position_setpoint_encode(self, x, y, z, yaw):
-                '''
-                Transmit the current local setpoint of the controller to other MAVs
-                (collision avoidance) and to the GCS.
-
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                msg = MAVLink_local_position_setpoint_message(x, y, z, yaw)
-                msg.pack(self)
-                return msg
-            
-        def local_position_setpoint_send(self, x, y, z, yaw):
-                '''
-                Transmit the current local setpoint of the controller to other MAVs
-                (collision avoidance) and to the GCS.
-
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                return self.send(self.local_position_setpoint_encode(x, y, z, yaw))
-            
-        def control_status_encode(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw):
-                '''
-                
-
-                position_fix              : Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix (uint8_t)
-                vision_fix                : Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix (uint8_t)
-                gps_fix                   : GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix (uint8_t)
-                ahrs_health               : Attitude estimation health: 0: poor, 255: excellent (uint8_t)
-                control_att               : 0: Attitude control disabled, 1: enabled (uint8_t)
-                control_pos_xy            : 0: X, Y position control disabled, 1: enabled (uint8_t)
-                control_pos_z             : 0: Z position control disabled, 1: enabled (uint8_t)
-                control_pos_yaw           : 0: Yaw angle control disabled, 1: enabled (uint8_t)
-
-                '''
-                msg = MAVLink_control_status_message(position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw)
-                msg.pack(self)
-                return msg
-            
-        def control_status_send(self, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw):
-                '''
-                
-
-                position_fix              : Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix (uint8_t)
-                vision_fix                : Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix (uint8_t)
-                gps_fix                   : GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix (uint8_t)
-                ahrs_health               : Attitude estimation health: 0: poor, 255: excellent (uint8_t)
-                control_att               : 0: Attitude control disabled, 1: enabled (uint8_t)
-                control_pos_xy            : 0: X, Y position control disabled, 1: enabled (uint8_t)
-                control_pos_z             : 0: Z position control disabled, 1: enabled (uint8_t)
-                control_pos_yaw           : 0: Yaw angle control disabled, 1: enabled (uint8_t)
-
-                '''
-                return self.send(self.control_status_encode(position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw))
-            
-        def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Set a safety zone (volume), which is defined by two corners of a cube.
-                This message can be used to tell the MAV which
-                setpoints/waypoints to accept and which to reject.
-                Safety areas are often enforced by national or
-                competition regulations.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)
-                msg.pack(self)
-                return msg
-            
-        def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Set a safety zone (volume), which is defined by two corners of a cube.
-                This message can be used to tell the MAV which
-                setpoints/waypoints to accept and which to reject.
-                Safety areas are often enforced by national or
-                competition regulations.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z))
-            
-        def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Read out the safety zone the MAV currently assumes.
-
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z)
-                msg.pack(self)
-                return msg
-            
-        def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Read out the safety zone the MAV currently assumes.
-
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z))
-            
-        def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust)
-                msg.pack(self)
-                return msg
-            
-        def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust))
-            
-        def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)
-                msg.pack(self)
-                return msg
-            
-        def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust))
-            
-        def roll_pitch_yaw_thrust_setpoint_encode(self, time_us, roll, pitch, yaw, thrust):
-                '''
-                Setpoint in roll, pitch, yaw currently active on the system.
-
-                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_us, roll, pitch, yaw, thrust)
-                msg.pack(self)
-                return msg
-            
-        def roll_pitch_yaw_thrust_setpoint_send(self, time_us, roll, pitch, yaw, thrust):
-                '''
-                Setpoint in roll, pitch, yaw currently active on the system.
-
-                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_us, roll, pitch, yaw, thrust))
-            
-        def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
-                system.
-
-                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_us, roll_speed, pitch_speed, yaw_speed, thrust)
-                msg.pack(self)
-                return msg
-            
-        def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_us, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
-                system.
-
-                time_us                   : Timestamp in micro seconds since unix epoch (uint64_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_us, roll_speed, pitch_speed, yaw_speed, thrust))
-            
-        def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
-                '''
-                Outputs of the APM navigation controller. The primary use of this
-                message is to check the response and signs of the
-                controller before actual flight and to assist with
-                tuning controller parameters
-
-                nav_roll                  : Current desired roll in degrees (float)
-                nav_pitch                 : Current desired pitch in degrees (float)
-                nav_bearing               : Current desired heading in degrees (int16_t)
-                target_bearing            : Bearing to current waypoint/target in degrees (int16_t)
-                wp_dist                   : Distance to active waypoint in meters (uint16_t)
-                alt_error                 : Current altitude error in meters (float)
-                aspd_error                : Current airspeed error in meters/second (float)
-                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
-
-                '''
-                msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)
-                msg.pack(self)
-                return msg
-            
-        def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
-                '''
-                Outputs of the APM navigation controller. The primary use of this
-                message is to check the response and signs of the
-                controller before actual flight and to assist with
-                tuning controller parameters
-
-                nav_roll                  : Current desired roll in degrees (float)
-                nav_pitch                 : Current desired pitch in degrees (float)
-                nav_bearing               : Current desired heading in degrees (int16_t)
-                target_bearing            : Bearing to current waypoint/target in degrees (int16_t)
-                wp_dist                   : Distance to active waypoint in meters (uint16_t)
-                alt_error                 : Current altitude error in meters (float)
-                aspd_error                : Current airspeed error in meters/second (float)
-                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
-
-                '''
-                return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error))
-            
-        def position_target_encode(self, x, y, z, yaw):
-                '''
-                The goal position of the system. This position is the input to any
-                navigation or path planning algorithm and does NOT
-                represent the current controller setpoint.
-
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : yaw orientation in radians, 0 = NORTH (float)
-
-                '''
-                msg = MAVLink_position_target_message(x, y, z, yaw)
-                msg.pack(self)
-                return msg
-            
-        def position_target_send(self, x, y, z, yaw):
-                '''
-                The goal position of the system. This position is the input to any
-                navigation or path planning algorithm and does NOT
-                represent the current controller setpoint.
-
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : yaw orientation in radians, 0 = NORTH (float)
-
-                '''
-                return self.send(self.position_target_encode(x, y, z, yaw))
-            
-        def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
-                '''
-                Corrects the systems state by adding an error correction term to the
-                position and velocity, and by rotating the attitude by
-                a correction angle.
-
-                xErr                      : x position error (float)
-                yErr                      : y position error (float)
-                zErr                      : z position error (float)
-                rollErr                   : roll error (radians) (float)
-                pitchErr                  : pitch error (radians) (float)
-                yawErr                    : yaw error (radians) (float)
-                vxErr                     : x velocity (float)
-                vyErr                     : y velocity (float)
-                vzErr                     : z velocity (float)
-
-                '''
-                msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)
-                msg.pack(self)
-                return msg
-            
-        def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
-                '''
-                Corrects the systems state by adding an error correction term to the
-                position and velocity, and by rotating the attitude by
-                a correction angle.
-
-                xErr                      : x position error (float)
-                yErr                      : y position error (float)
-                zErr                      : z position error (float)
-                rollErr                   : roll error (radians) (float)
-                pitchErr                  : pitch error (radians) (float)
-                yawErr                    : yaw error (radians) (float)
-                vxErr                     : x velocity (float)
-                vyErr                     : y velocity (float)
-                vzErr                     : z velocity (float)
-
-                '''
-                return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr))
-            
-        def set_altitude_encode(self, target, mode):
-                '''
-                
-
-                target                    : The system setting the altitude (uint8_t)
-                mode                      : The new altitude in meters (uint32_t)
-
-                '''
-                msg = MAVLink_set_altitude_message(target, mode)
-                msg.pack(self)
-                return msg
-            
-        def set_altitude_send(self, target, mode):
-                '''
-                
-
-                target                    : The system setting the altitude (uint8_t)
-                mode                      : The new altitude in meters (uint32_t)
-
-                '''
-                return self.send(self.set_altitude_encode(target, mode))
-            
-        def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
-                '''
-                
-
-                target_system             : The target requested to send the message stream. (uint8_t)
-                target_component          : The target requested to send the message stream. (uint8_t)
-                req_stream_id             : The ID of the requested message type (uint8_t)
-                req_message_rate          : Update rate in Hertz (uint16_t)
-                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
-
-                '''
-                msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop)
-                msg.pack(self)
-                return msg
-            
-        def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
-                '''
-                
-
-                target_system             : The target requested to send the message stream. (uint8_t)
-                target_component          : The target requested to send the message stream. (uint8_t)
-                req_stream_id             : The ID of the requested message type (uint8_t)
-                req_message_rate          : Update rate in Hertz (uint16_t)
-                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
-
-                '''
-                return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop))
-            
-        def hil_state_encode(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
-                '''
-                This packet is useful for high throughput                 applications
-                such as hardware in the loop simulations.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-
-                '''
-                msg = MAVLink_hil_state_message(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)
-                msg.pack(self)
-                return msg
-            
-        def hil_state_send(self, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
-                '''
-                This packet is useful for high throughput                 applications
-                such as hardware in the loop simulations.
-
-                usec                      : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-
-                '''
-                return self.send(self.hil_state_encode(usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc))
-            
-        def hil_controls_encode(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode):
-                '''
-                Hardware in the loop control outputs
-
-                time_us                   : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll_ailerons             : Control output -3 .. 1 (float)
-                pitch_elevator            : Control output -1 .. 1 (float)
-                yaw_rudder                : Control output -1 .. 1 (float)
-                throttle                  : Throttle 0 .. 1 (float)
-                mode                      : System mode (MAV_MODE) (uint8_t)
-                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
-
-                '''
-                msg = MAVLink_hil_controls_message(time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode)
-                msg.pack(self)
-                return msg
-            
-        def hil_controls_send(self, time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode):
-                '''
-                Hardware in the loop control outputs
-
-                time_us                   : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll_ailerons             : Control output -3 .. 1 (float)
-                pitch_elevator            : Control output -1 .. 1 (float)
-                yaw_rudder                : Control output -1 .. 1 (float)
-                throttle                  : Throttle 0 .. 1 (float)
-                mode                      : System mode (MAV_MODE) (uint8_t)
-                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
-
-                '''
-                return self.send(self.hil_controls_encode(time_us, roll_ailerons, pitch_elevator, yaw_rudder, throttle, mode, nav_mode))
-            
-        def manual_control_encode(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
-                '''
-                
-
-                target                    : The system to be controlled (uint8_t)
-                roll                      : roll (float)
-                pitch                     : pitch (float)
-                yaw                       : yaw (float)
-                thrust                    : thrust (float)
-                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 (uint8_t)
-
-                '''
-                msg = MAVLink_manual_control_message(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual)
-                msg.pack(self)
-                return msg
-            
-        def manual_control_send(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
-                '''
-                
-
-                target                    : The system to be controlled (uint8_t)
-                roll                      : roll (float)
-                pitch                     : pitch (float)
-                yaw                       : yaw (float)
-                thrust                    : thrust (float)
-                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 (uint8_t)
-
-                '''
-                return self.send(self.manual_control_encode(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual))
-            
-        def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
-                '''
-                The RAW values of the RC channels sent to the MAV to override info
-                received from the RC radio. A value of -1 means no
-                change to that channel. A value of 0 means control of
-                that channel should be released back to the RC radio.
-                The standard PPM modulation is as follows: 1000
-                microseconds: 0%, 2000 microseconds: 100%. Individual
-                receivers/transmitters might violate this
-                specification.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_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 (uint16_t)
-
-                '''
-                msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)
-                msg.pack(self)
-                return msg
-            
-        def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
-                '''
-                The RAW values of the RC channels sent to the MAV to override info
-                received from the RC radio. A value of -1 means no
-                change to that channel. A value of 0 means control of
-                that channel should be released back to the RC radio.
-                The standard PPM modulation is as follows: 1000
-                microseconds: 0%, 2000 microseconds: 100%. Individual
-                receivers/transmitters might violate this
-                specification.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_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 (uint16_t)
-
-                '''
-                return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw))
-            
-        def global_position_int_encode(self, lat, lon, alt, vx, vy, vz):
-                '''
-                The filtered global position (e.g. fused GPS and accelerometers). The
-                position is in GPS-frame (right-handed, Z-up)
-
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-
-                '''
-                msg = MAVLink_global_position_int_message(lat, lon, alt, vx, vy, vz)
-                msg.pack(self)
-                return msg
-            
-        def global_position_int_send(self, lat, lon, alt, vx, vy, vz):
-                '''
-                The filtered global position (e.g. fused GPS and accelerometers). The
-                position is in GPS-frame (right-handed, Z-up)
-
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-
-                '''
-                return self.send(self.global_position_int_encode(lat, lon, alt, vx, vy, vz))
-            
-        def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb):
-                '''
-                Metrics typically displayed on a HUD for fixed wing aircraft
-
-                airspeed                  : Current airspeed in m/s (float)
-                groundspeed               : Current ground speed in m/s (float)
-                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
-                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
-                alt                       : Current altitude (MSL), in meters (float)
-                climb                     : Current climb rate in meters/second (float)
-
-                '''
-                msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb)
-                msg.pack(self)
-                return msg
-            
-        def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb):
-                '''
-                Metrics typically displayed on a HUD for fixed wing aircraft
-
-                airspeed                  : Current airspeed in m/s (float)
-                groundspeed               : Current ground speed in m/s (float)
-                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
-                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
-                alt                       : Current altitude (MSL), in meters (float)
-                climb                     : Current climb rate in meters/second (float)
-
-                '''
-                return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb))
-            
-        def command_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4):
-                '''
-                Send a command with up to four parameters to the MAV
-
-                target_system             : System which should execute the command (uint8_t)
-                target_component          : Component which should execute the command, 0 for all components (uint8_t)
-                command                   : Command ID, as defined by MAV_CMD enum. (uint8_t)
-                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
-                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
-                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
-                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
-                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
-
-                '''
-                msg = MAVLink_command_message(target_system, target_component, command, confirmation, param1, param2, param3, param4)
-                msg.pack(self)
-                return msg
-            
-        def command_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4):
-                '''
-                Send a command with up to four parameters to the MAV
-
-                target_system             : System which should execute the command (uint8_t)
-                target_component          : Component which should execute the command, 0 for all components (uint8_t)
-                command                   : Command ID, as defined by MAV_CMD enum. (uint8_t)
-                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
-                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
-                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
-                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
-                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
-
-                '''
-                return self.send(self.command_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4))
-            
-        def command_ack_encode(self, command, result):
-                '''
-                Report status of a command. Includes feedback wether the command was
-                executed
-
-                command                   : Current airspeed in m/s (float)
-                result                    : 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION (float)
-
-                '''
-                msg = MAVLink_command_ack_message(command, result)
-                msg.pack(self)
-                return msg
-            
-        def command_ack_send(self, command, result):
-                '''
-                Report status of a command. Includes feedback wether the command was
-                executed
-
-                command                   : Current airspeed in m/s (float)
-                result                    : 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION (float)
-
-                '''
-                return self.send(self.command_ack_encode(command, result))
-            
-        def optical_flow_encode(self, time, sensor_id, flow_x, flow_y, quality, ground_distance):
-                '''
-                Optical flow from a flow sensor (e.g. optical mouse sensor)
-
-                time                      : Timestamp (UNIX) (uint64_t)
-                sensor_id                 : Sensor ID (uint8_t)
-                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
-                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
-                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
-                ground_distance           : Ground distance in meters (float)
-
-                '''
-                msg = MAVLink_optical_flow_message(time, sensor_id, flow_x, flow_y, quality, ground_distance)
-                msg.pack(self)
-                return msg
-            
-        def optical_flow_send(self, time, sensor_id, flow_x, flow_y, quality, ground_distance):
-                '''
-                Optical flow from a flow sensor (e.g. optical mouse sensor)
-
-                time                      : Timestamp (UNIX) (uint64_t)
-                sensor_id                 : Sensor ID (uint8_t)
-                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
-                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
-                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
-                ground_distance           : Ground distance in meters (float)
-
-                '''
-                return self.send(self.optical_flow_encode(time, sensor_id, flow_x, flow_y, quality, ground_distance))
-            
-        def object_detection_event_encode(self, time, object_id, type, name, quality, bearing, distance):
-                '''
-                Object has been detected
-
-                time                      : Timestamp in milliseconds since system boot (uint32_t)
-                object_id                 : Object ID (uint16_t)
-                type                      : Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal (uint8_t)
-                name                      : Name of the object as defined by the detector (char)
-                quality                   : Detection quality / confidence. 0: bad, 255: maximum confidence (uint8_t)
-                bearing                   : Angle of the object with respect to the body frame in NED coordinates in radians. 0: front (float)
-                distance                  : Ground distance in meters (float)
-
-                '''
-                msg = MAVLink_object_detection_event_message(time, object_id, type, name, quality, bearing, distance)
-                msg.pack(self)
-                return msg
-            
-        def object_detection_event_send(self, time, object_id, type, name, quality, bearing, distance):
-                '''
-                Object has been detected
-
-                time                      : Timestamp in milliseconds since system boot (uint32_t)
-                object_id                 : Object ID (uint16_t)
-                type                      : Object type: 0: image, 1: letter, 2: ground vehicle, 3: air vehicle, 4: surface vehicle, 5: sub-surface vehicle, 6: human, 7: animal (uint8_t)
-                name                      : Name of the object as defined by the detector (char)
-                quality                   : Detection quality / confidence. 0: bad, 255: maximum confidence (uint8_t)
-                bearing                   : Angle of the object with respect to the body frame in NED coordinates in radians. 0: front (float)
-                distance                  : Ground distance in meters (float)
-
-                '''
-                return self.send(self.object_detection_event_encode(time, object_id, type, name, quality, bearing, distance))
-            
-        def debug_vect_encode(self, name, usec, x, y, z):
-                '''
-                
-
-                name                      : Name (char)
-                usec                      : Timestamp (uint64_t)
-                x                         : x (float)
-                y                         : y (float)
-                z                         : z (float)
-
-                '''
-                msg = MAVLink_debug_vect_message(name, usec, x, y, z)
-                msg.pack(self)
-                return msg
-            
-        def debug_vect_send(self, name, usec, x, y, z):
-                '''
-                
-
-                name                      : Name (char)
-                usec                      : Timestamp (uint64_t)
-                x                         : x (float)
-                y                         : y (float)
-                z                         : z (float)
-
-                '''
-                return self.send(self.debug_vect_encode(name, usec, x, y, z))
-            
-        def named_value_float_encode(self, name, value):
-                '''
-                Send a key-value pair as float. The use of this message is discouraged
-                for normal packets, but a quite efficient way for
-                testing new messages and getting experimental debug
-                output.
-
-                name                      : Name of the debug variable (char)
-                value                     : Floating point value (float)
-
-                '''
-                msg = MAVLink_named_value_float_message(name, value)
-                msg.pack(self)
-                return msg
-            
-        def named_value_float_send(self, name, value):
-                '''
-                Send a key-value pair as float. The use of this message is discouraged
-                for normal packets, but a quite efficient way for
-                testing new messages and getting experimental debug
-                output.
-
-                name                      : Name of the debug variable (char)
-                value                     : Floating point value (float)
-
-                '''
-                return self.send(self.named_value_float_encode(name, value))
-            
-        def named_value_int_encode(self, name, value):
-                '''
-                Send a key-value pair as integer. The use of this message is
-                discouraged for normal packets, but a quite efficient
-                way for testing new messages and getting experimental
-                debug output.
-
-                name                      : Name of the debug variable (char)
-                value                     : Signed integer value (int32_t)
-
-                '''
-                msg = MAVLink_named_value_int_message(name, value)
-                msg.pack(self)
-                return msg
-            
-        def named_value_int_send(self, name, value):
-                '''
-                Send a key-value pair as integer. The use of this message is
-                discouraged for normal packets, but a quite efficient
-                way for testing new messages and getting experimental
-                debug output.
-
-                name                      : Name of the debug variable (char)
-                value                     : Signed integer value (int32_t)
-
-                '''
-                return self.send(self.named_value_int_encode(name, value))
-            
-        def statustext_encode(self, severity, text):
-                '''
-                Status text message. These messages are printed in yellow in the COMM
-                console of QGroundControl. WARNING: They consume quite
-                some bandwidth, so use only for important status and
-                error messages. If implemented wisely, these messages
-                are buffered on the MCU and sent only at a limited
-                rate (e.g. 10 Hz).
-
-                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
-                text                      : Status text message, without null termination character (int8_t)
-
-                '''
-                msg = MAVLink_statustext_message(severity, text)
-                msg.pack(self)
-                return msg
-            
-        def statustext_send(self, severity, text):
-                '''
-                Status text message. These messages are printed in yellow in the COMM
-                console of QGroundControl. WARNING: They consume quite
-                some bandwidth, so use only for important status and
-                error messages. If implemented wisely, these messages
-                are buffered on the MCU and sent only at a limited
-                rate (e.g. 10 Hz).
-
-                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
-                text                      : Status text message, without null termination character (int8_t)
-
-                '''
-                return self.send(self.statustext_encode(severity, text))
-            
-        def debug_encode(self, ind, value):
-                '''
-                Send a debug value. The index is used to discriminate between values.
-                These values show up in the plot of QGroundControl as
-                DEBUG N.
-
-                ind                       : index of debug variable (uint8_t)
-                value                     : DEBUG value (float)
-
-                '''
-                msg = MAVLink_debug_message(ind, value)
-                msg.pack(self)
-                return msg
-            
-        def debug_send(self, ind, value):
-                '''
-                Send a debug value. The index is used to discriminate between values.
-                These values show up in the plot of QGroundControl as
-                DEBUG N.
-
-                ind                       : index of debug variable (uint8_t)
-                value                     : DEBUG value (float)
-
-                '''
-                return self.send(self.debug_encode(ind, value))
-            
diff --git a/mavlink/share/pyshared/pymavlink/mavlinkv10.py b/mavlink/share/pyshared/pymavlink/mavlinkv10.py
deleted file mode 100644
index a87e8e904..000000000
--- a/mavlink/share/pyshared/pymavlink/mavlinkv10.py
+++ /dev/null
@@ -1,5394 +0,0 @@
-'''
-MAVLink protocol implementation (auto-generated by mavgen.py)
-
-Generated from: ardupilotmega.xml,common.xml
-
-Note: this file has been auto-generated. DO NOT EDIT
-'''
-
-import struct, array, mavutil, time
-
-WIRE_PROTOCOL_VERSION = "1.0"
-
-class MAVLink_header(object):
-    '''MAVLink message header'''
-    def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
-        self.mlen = mlen
-        self.seq = seq
-        self.srcSystem = srcSystem
-        self.srcComponent = srcComponent
-        self.msgId = msgId
-
-    def pack(self):
-        return struct.pack('BBBBBB', 254, self.mlen, self.seq,
-                          self.srcSystem, self.srcComponent, self.msgId)
-
-class MAVLink_message(object):
-    '''base MAVLink message class'''
-    def __init__(self, msgId, name):
-        self._header     = MAVLink_header(msgId)
-        self._payload    = None
-        self._msgbuf     = None
-        self._crc        = None
-        self._fieldnames = []
-        self._type       = name
-
-    def get_msgbuf(self):
-        return self._msgbuf
-
-    def get_header(self):
-        return self._header
-
-    def get_payload(self):
-        return self._payload
-
-    def get_crc(self):
-        return self._crc
-
-    def get_fieldnames(self):
-        return self._fieldnames
-
-    def get_type(self):
-        return self._type
-
-    def get_msgId(self):
-        return self._header.msgId
-
-    def get_srcSystem(self):
-        return self._header.srcSystem
-
-    def get_srcComponent(self):
-        return self._header.srcComponent
-
-    def get_seq(self):
-        return self._header.seq
-
-    def __str__(self):
-        ret = '%s {' % self._type
-        for a in self._fieldnames:
-            v = getattr(self, a)
-            ret += '%s : %s, ' % (a, v)
-        ret = ret[0:-2] + '}'
-        return ret            
-
-    def pack(self, mav, crc_extra, payload):
-        self._payload = payload
-        self._header  = MAVLink_header(self._header.msgId, len(payload), mav.seq,
-                                       mav.srcSystem, mav.srcComponent)
-        self._msgbuf = self._header.pack() + payload
-        crc = mavutil.x25crc(self._msgbuf[1:])
-        if True: # using CRC extra
-            crc.accumulate(chr(crc_extra))
-        self._crc = crc.crc
-        self._msgbuf += struct.pack('<H', self._crc)
-        return self._msgbuf
-
-
-# enums
-
-# MAV_MOUNT_MODE
-MAV_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop
-                        # stabilization
-MAV_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM.
-MAV_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with
-                        # stabilization
-MAV_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with
-                        # stabilization
-MAV_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt
-MAV_MOUNT_MODE_ENUM_END = 5 # 
-
-# MAV_CMD
-MAV_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION.
-MAV_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time
-MAV_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns
-MAV_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds
-MAV_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location
-MAV_CMD_NAV_LAND = 21 # Land at location
-MAV_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand
-MAV_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the
-                        # vehicle itself. This can then be used by the
-                        # vehicles control             system to
-                        # control the vehicle attitude and the
-                        # attitude of various             sensors such
-                        # as cameras.
-MAV_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV.
-MAV_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the
-                        # NAV/ACTION commands in the enumeration
-MAV_CMD_CONDITION_DELAY = 112 # Delay mission state machine.
-MAV_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate.  Delay mission state machine until desired
-                        # altitude reached.
-MAV_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV
-                        # point.
-MAV_CMD_CONDITION_YAW = 115 # Reach a certain target angle.
-MAV_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the
-                        # CONDITION commands in the enumeration
-MAV_CMD_DO_SET_MODE = 176 # Set system mode.
-MAV_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list.  Repeat this action
-                        # only the specified number of times
-MAV_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points.
-MAV_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a
-                        # specified location.
-MAV_CMD_DO_SET_PARAMETER = 180 # Set a system parameter.  Caution!  Use of this command requires
-                        # knowledge of the numeric enumeration value
-                        # of the parameter.
-MAV_CMD_DO_SET_RELAY = 181 # Set a relay to a condition.
-MAV_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cyles with a desired
-                        # period.
-MAV_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value.
-MAV_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired
-                        # number of cycles with a desired period.
-MAV_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system.
-MAV_CMD_DO_DIGICAM_CONFIGURE = 202 # Mission command to configure an on-board camera controller system.
-MAV_CMD_DO_DIGICAM_CONTROL = 203 # Mission command to control an on-board camera controller system.
-MAV_CMD_DO_MOUNT_CONFIGURE = 204 # Mission command to configure a camera or antenna mount
-MAV_CMD_DO_MOUNT_CONTROL = 205 # Mission command to control a camera or antenna mount
-MAV_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO
-                        # commands in the enumeration
-MAV_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-
-                        # flight mode.
-MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-
-                        # flight mode.
-MAV_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command
-                        # will be only accepted if in pre-flight mode.
-MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components.
-MAV_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action
-MAV_CMD_MISSION_START = 300 # start running a mission
-MAV_CMD_ENUM_END = 301 # 
-
-# 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_BREACH
-FENCE_BREACH_NONE = 0 # No last fence breach
-FENCE_BREACH_MINALT = 1 # Breached minimum altitude
-FENCE_BREACH_MAXALT = 2 # Breached minimum altitude
-FENCE_BREACH_BOUNDARY = 3 # Breached fence boundary
-FENCE_BREACH_ENUM_END = 4 # 
-
-# MAV_AUTOPILOT
-MAV_AUTOPILOT_GENERIC = 0 # Generic autopilot, full support for everything
-MAV_AUTOPILOT_PIXHAWK = 1 # PIXHAWK autopilot, http://pixhawk.ethz.ch
-MAV_AUTOPILOT_SLUGS = 2 # SLUGS autopilot, http://slugsuav.soe.ucsc.edu
-MAV_AUTOPILOT_ARDUPILOTMEGA = 3 # ArduPilotMega / ArduCopter, http://diydrones.com
-MAV_AUTOPILOT_OPENPILOT = 4 # OpenPilot, http://openpilot.org
-MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY = 5 # Generic autopilot only supporting simple waypoints
-MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY = 6 # Generic autopilot supporting waypoints and other simple navigation
-                        # commands
-MAV_AUTOPILOT_GENERIC_MISSION_FULL = 7 # Generic autopilot supporting the full mission command set
-MAV_AUTOPILOT_INVALID = 8 # No valid autopilot, e.g. a GCS or other MAVLink component
-MAV_AUTOPILOT_PPZ = 9 # PPZ UAV - http://nongnu.org/paparazzi
-MAV_AUTOPILOT_UDB = 10 # UAV Dev Board
-MAV_AUTOPILOT_FP = 11 # FlexiPilot
-MAV_AUTOPILOT_ENUM_END = 12 # 
-
-# MAV_MODE_FLAG
-MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use.
-MAV_MODE_FLAG_TEST_ENABLED = 2 # 0b00000010 system has a test mode enabled. This flag is intended for
-                        # temporary system tests and should not be
-                        # used for stable implementations.
-MAV_MODE_FLAG_AUTO_ENABLED = 4 # 0b00000100 autonomous mode enabled, system finds its own goal
-                        # positions. Guided flag can be set or not,
-                        # depends on the actual implementation.
-MAV_MODE_FLAG_GUIDED_ENABLED = 8 # 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
-MAV_MODE_FLAG_STABILIZE_ENABLED = 16 # 0b00010000 system stabilizes electronically its attitude (and
-                        # optionally position). It needs however
-                        # further control inputs to move around.
-MAV_MODE_FLAG_HIL_ENABLED = 32 # 0b00100000 hardware in the loop simulation. All motors / actuators are
-                        # blocked, but internal software is full
-                        # operational.
-MAV_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 # 0b01000000 remote control input is enabled.
-MAV_MODE_FLAG_SAFETY_ARMED = 128 # 0b10000000 MAV safety set to armed. Motors are enabled / running / can
-                        # start. Ready to fly.
-MAV_MODE_FLAG_ENUM_END = 129 # 
-
-# MAV_MODE_FLAG_DECODE_POSITION
-MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE = 1 # Eighth bit: 00000001
-MAV_MODE_FLAG_DECODE_POSITION_TEST = 2 # Seventh bit: 00000010
-MAV_MODE_FLAG_DECODE_POSITION_AUTO = 4 # Sixt bit:   00000100
-MAV_MODE_FLAG_DECODE_POSITION_GUIDED = 8 # Fifth bit:  00001000
-MAV_MODE_FLAG_DECODE_POSITION_STABILIZE = 16 # Fourth bit: 00010000
-MAV_MODE_FLAG_DECODE_POSITION_HIL = 32 # Third bit:  00100000
-MAV_MODE_FLAG_DECODE_POSITION_MANUAL = 64 # Second bit: 01000000
-MAV_MODE_FLAG_DECODE_POSITION_SAFETY = 128 # First bit:  10000000
-MAV_MODE_FLAG_DECODE_POSITION_ENUM_END = 129 # 
-
-# MAV_GOTO
-MAV_GOTO_DO_HOLD = 0 # Hold at the current position.
-MAV_GOTO_DO_CONTINUE = 1 # Continue with the next item in mission execution.
-MAV_GOTO_HOLD_AT_CURRENT_POSITION = 2 # Hold at the current position of the system
-MAV_GOTO_HOLD_AT_SPECIFIED_POSITION = 3 # Hold at the position specified in the parameters of the DO_HOLD action
-MAV_GOTO_ENUM_END = 4 # 
-
-# MAV_MODE
-MAV_MODE_PREFLIGHT = 0 # System is not ready to fly, booting, calibrating, etc. No flag is set.
-MAV_MODE_MANUAL_DISARMED = 64 # System is allowed to be active, under manual (RC) control, no
-                        # stabilization
-MAV_MODE_TEST_DISARMED = 66 # UNDEFINED mode. This solely depends on the autopilot - use with
-                        # caution, intended for developers only.
-MAV_MODE_STABILIZE_DISARMED = 80 # System is allowed to be active, under assisted RC control.
-MAV_MODE_GUIDED_DISARMED = 88 # System is allowed to be active, under autonomous control, manual
-                        # setpoint
-MAV_MODE_AUTO_DISARMED = 92 # System is allowed to be active, under autonomous control and
-                        # navigation (the trajectory is decided
-                        # onboard and not pre-programmed by MISSIONs)
-MAV_MODE_MANUAL_ARMED = 192 # System is allowed to be active, under manual (RC) control, no
-                        # stabilization
-MAV_MODE_TEST_ARMED = 194 # UNDEFINED mode. This solely depends on the autopilot - use with
-                        # caution, intended for developers only.
-MAV_MODE_STABILIZE_ARMED = 208 # System is allowed to be active, under assisted RC control.
-MAV_MODE_GUIDED_ARMED = 216 # System is allowed to be active, under autonomous control, manual
-                        # setpoint
-MAV_MODE_AUTO_ARMED = 220 # System is allowed to be active, under autonomous control and
-                        # navigation (the trajectory is decided
-                        # onboard and not pre-programmed by MISSIONs)
-MAV_MODE_ENUM_END = 221 # 
-
-# MAV_STATE
-MAV_STATE_UNINIT = 0 # Uninitialized system, state is unknown.
-MAV_STATE_BOOT = 1 # System is booting up.
-MAV_STATE_CALIBRATING = 2 # System is calibrating and not flight-ready.
-MAV_STATE_STANDBY = 3 # System is grounded and on standby. It can be launched any time.
-MAV_STATE_ACTIVE = 4 # System is active and might be already airborne. Motors are engaged.
-MAV_STATE_CRITICAL = 5 # System is in a non-normal flight mode. It can however still navigate.
-MAV_STATE_EMERGENCY = 6 # System is in a non-normal flight mode. It lost control over parts or
-                        # over the whole airframe. It is in mayday and
-                        # going down.
-MAV_STATE_POWEROFF = 7 # System just initialized its power-down sequence, will shut down now.
-MAV_STATE_ENUM_END = 8 # 
-
-# MAV_TYPE
-MAV_TYPE_GENERIC = 0 # Generic micro air vehicle.
-MAV_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
-MAV_TYPE_QUADROTOR = 2 # Quadrotor
-MAV_TYPE_COAXIAL = 3 # Coaxial helicopter
-MAV_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
-MAV_TYPE_ANTENNA_TRACKER = 5 # Ground installation
-MAV_TYPE_GCS = 6 # Operator control unit / ground control station
-MAV_TYPE_AIRSHIP = 7 # Airship, controlled
-MAV_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
-MAV_TYPE_ROCKET = 9 # Rocket
-MAV_TYPE_GROUND_ROVER = 10 # Ground rover
-MAV_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
-MAV_TYPE_SUBMARINE = 12 # Submarine
-MAV_TYPE_HEXAROTOR = 13 # Hexarotor
-MAV_TYPE_OCTOROTOR = 14 # Octorotor
-MAV_TYPE_TRICOPTER = 15 # Octorotor
-MAV_TYPE_FLAPPING_WING = 16 # Flapping wing
-MAV_TYPE_ENUM_END = 17 # 
-
-# MAV_COMPONENT
-MAV_COMP_ID_ALL = 0 # 
-MAV_COMP_ID_CAMERA = 100 # 
-MAV_COMP_ID_SERVO1 = 140 # 
-MAV_COMP_ID_SERVO2 = 141 # 
-MAV_COMP_ID_SERVO3 = 142 # 
-MAV_COMP_ID_SERVO4 = 143 # 
-MAV_COMP_ID_SERVO5 = 144 # 
-MAV_COMP_ID_SERVO6 = 145 # 
-MAV_COMP_ID_SERVO7 = 146 # 
-MAV_COMP_ID_SERVO8 = 147 # 
-MAV_COMP_ID_SERVO9 = 148 # 
-MAV_COMP_ID_SERVO10 = 149 # 
-MAV_COMP_ID_SERVO11 = 150 # 
-MAV_COMP_ID_SERVO12 = 151 # 
-MAV_COMP_ID_SERVO13 = 152 # 
-MAV_COMP_ID_SERVO14 = 153 # 
-MAV_COMP_ID_MAPPER = 180 # 
-MAV_COMP_ID_MISSIONPLANNER = 190 # 
-MAV_COMP_ID_PATHPLANNER = 195 # 
-MAV_COMP_ID_IMU = 200 # 
-MAV_COMP_ID_IMU_2 = 201 # 
-MAV_COMP_ID_IMU_3 = 202 # 
-MAV_COMP_ID_GPS = 220 # 
-MAV_COMP_ID_UDP_BRIDGE = 240 # 
-MAV_COMP_ID_UART_BRIDGE = 241 # 
-MAV_COMP_ID_SYSTEM_CONTROL = 250 # 
-MAV_COMPONENT_ENUM_END = 251 # 
-
-# MAV_FRAME
-MAV_FRAME_GLOBAL = 0 # Global coordinate frame, WGS84 coordinate system. First value / x:
-                        # latitude, second value / y: longitude, third
-                        # value / z: positive altitude over mean sea
-                        # level (MSL)
-MAV_FRAME_LOCAL_NED = 1 # Local coordinate frame, Z-up (x: north, y: east, z: down).
-MAV_FRAME_MISSION = 2 # NOT a coordinate frame, indicates a mission command.
-MAV_FRAME_GLOBAL_RELATIVE_ALT = 3 # Global coordinate frame, WGS84 coordinate system, relative altitude
-                        # over ground with respect to the home
-                        # position. First value / x: latitude, second
-                        # value / y: longitude, third value / z:
-                        # positive altitude with 0 being at the
-                        # altitude of the home location.
-MAV_FRAME_LOCAL_ENU = 4 # Local coordinate frame, Z-down (x: east, y: north, z: up)
-MAV_FRAME_ENUM_END = 5 # 
-
-# MAVLINK_DATA_STREAM_TYPE
-MAVLINK_DATA_STREAM_IMG_JPEG = 1 # 
-MAVLINK_DATA_STREAM_IMG_BMP = 2 # 
-MAVLINK_DATA_STREAM_IMG_RAW8U = 3 # 
-MAVLINK_DATA_STREAM_IMG_RAW32U = 4 # 
-MAVLINK_DATA_STREAM_IMG_PGM = 5 # 
-MAVLINK_DATA_STREAM_IMG_PNG = 6 # 
-MAVLINK_DATA_STREAM_TYPE_ENUM_END = 7 # 
-
-# MAV_DATA_STREAM
-MAV_DATA_STREAM_ALL = 0 # Enable all data streams
-MAV_DATA_STREAM_RAW_SENSORS = 1 # Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
-MAV_DATA_STREAM_EXTENDED_STATUS = 2 # Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
-MAV_DATA_STREAM_RC_CHANNELS = 3 # Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
-MAV_DATA_STREAM_RAW_CONTROLLER = 4 # Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT,
-                        # NAV_CONTROLLER_OUTPUT.
-MAV_DATA_STREAM_POSITION = 6 # Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
-MAV_DATA_STREAM_EXTRA1 = 10 # Dependent on the autopilot
-MAV_DATA_STREAM_EXTRA2 = 11 # Dependent on the autopilot
-MAV_DATA_STREAM_EXTRA3 = 12 # Dependent on the autopilot
-MAV_DATA_STREAM_ENUM_END = 13 # 
-
-# MAV_ROI
-MAV_ROI_NONE = 0 # No region of interest.
-MAV_ROI_WPNEXT = 1 # Point toward next MISSION.
-MAV_ROI_WPINDEX = 2 # Point toward given MISSION.
-MAV_ROI_LOCATION = 3 # Point toward fixed location.
-MAV_ROI_TARGET = 4 # Point toward of given id.
-MAV_ROI_ENUM_END = 5 # 
-
-# MAV_CMD_ACK
-MAV_CMD_ACK_OK = 1 # Command / mission item is ok.
-MAV_CMD_ACK_ERR_FAIL = 2 # Generic error message if none of the other reasons fails or if no
-                        # detailed error reporting is implemented.
-MAV_CMD_ACK_ERR_ACCESS_DENIED = 3 # The system is refusing to accept this command from this source /
-                        # communication partner.
-MAV_CMD_ACK_ERR_NOT_SUPPORTED = 4 # Command or mission item is not supported, other commands would be
-                        # accepted.
-MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED = 5 # The coordinate frame of this command / mission item is not supported.
-MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE = 6 # The coordinate frame of this command is ok, but he coordinate values
-                        # exceed the safety limits of this system.
-                        # This is a generic error, please use the more
-                        # specific error messages below if possible.
-MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE = 7 # The X or latitude value is out of range.
-MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE = 8 # The Y or longitude value is out of range.
-MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE = 9 # The Z or altitude value is out of range.
-MAV_CMD_ACK_ENUM_END = 10 # 
-
-# MAV_VAR
-MAV_VAR_FLOAT = 0 # 32 bit float
-MAV_VAR_UINT8 = 1 # 8 bit unsigned integer
-MAV_VAR_INT8 = 2 # 8 bit signed integer
-MAV_VAR_UINT16 = 3 # 16 bit unsigned integer
-MAV_VAR_INT16 = 4 # 16 bit signed integer
-MAV_VAR_UINT32 = 5 # 32 bit unsigned integer
-MAV_VAR_INT32 = 6 # 32 bit signed integer
-MAV_VAR_ENUM_END = 7 # 
-
-# MAV_RESULT
-MAV_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED
-MAV_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED
-MAV_RESULT_DENIED = 2 # Command PERMANENTLY DENIED
-MAV_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED
-MAV_RESULT_FAILED = 4 # Command executed, but failed
-MAV_RESULT_ENUM_END = 5 # 
-
-# MAV_MISSION_RESULT
-MAV_MISSION_ACCEPTED = 0 # mission accepted OK
-MAV_MISSION_ERROR = 1 # generic error / not accepting mission commands at all right now
-MAV_MISSION_UNSUPPORTED_FRAME = 2 # coordinate frame is not supported
-MAV_MISSION_UNSUPPORTED = 3 # command is not supported
-MAV_MISSION_NO_SPACE = 4 # mission item exceeds storage space
-MAV_MISSION_INVALID = 5 # one of the parameters has an invalid value
-MAV_MISSION_INVALID_PARAM1 = 6 # param1 has an invalid value
-MAV_MISSION_INVALID_PARAM2 = 7 # param2 has an invalid value
-MAV_MISSION_INVALID_PARAM3 = 8 # param3 has an invalid value
-MAV_MISSION_INVALID_PARAM4 = 9 # param4 has an invalid value
-MAV_MISSION_INVALID_PARAM5_X = 10 # x/param5 has an invalid value
-MAV_MISSION_INVALID_PARAM6_Y = 11 # y/param6 has an invalid value
-MAV_MISSION_INVALID_PARAM7 = 12 # param7 has an invalid value
-MAV_MISSION_INVALID_SEQUENCE = 13 # received waypoint out of sequence
-MAV_MISSION_DENIED = 14 # not accepting any mission commands from this communication partner
-MAV_MISSION_RESULT_ENUM_END = 15 # 
-
-# message IDs
-MAVLINK_MSG_ID_BAD_DATA = -1
-MAVLINK_MSG_ID_SENSOR_OFFSETS = 150
-MAVLINK_MSG_ID_SET_MAG_OFFSETS = 151
-MAVLINK_MSG_ID_MEMINFO = 152
-MAVLINK_MSG_ID_AP_ADC = 153
-MAVLINK_MSG_ID_DIGICAM_CONFIGURE = 154
-MAVLINK_MSG_ID_DIGICAM_CONTROL = 155
-MAVLINK_MSG_ID_MOUNT_CONFIGURE = 156
-MAVLINK_MSG_ID_MOUNT_CONTROL = 157
-MAVLINK_MSG_ID_MOUNT_STATUS = 158
-MAVLINK_MSG_ID_FENCE_POINT = 160
-MAVLINK_MSG_ID_FENCE_FETCH_POINT = 161
-MAVLINK_MSG_ID_FENCE_STATUS = 162
-MAVLINK_MSG_ID_AHRS = 163
-MAVLINK_MSG_ID_SIMSTATE = 164
-MAVLINK_MSG_ID_HWSTATUS = 165
-MAVLINK_MSG_ID_RADIO = 166
-MAVLINK_MSG_ID_HEARTBEAT = 0
-MAVLINK_MSG_ID_SYS_STATUS = 1
-MAVLINK_MSG_ID_SYSTEM_TIME = 2
-MAVLINK_MSG_ID_PING = 4
-MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL = 5
-MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK = 6
-MAVLINK_MSG_ID_AUTH_KEY = 7
-MAVLINK_MSG_ID_SET_MODE = 11
-MAVLINK_MSG_ID_PARAM_REQUEST_READ = 20
-MAVLINK_MSG_ID_PARAM_REQUEST_LIST = 21
-MAVLINK_MSG_ID_PARAM_VALUE = 22
-MAVLINK_MSG_ID_PARAM_SET = 23
-MAVLINK_MSG_ID_GPS_RAW_INT = 24
-MAVLINK_MSG_ID_GPS_STATUS = 25
-MAVLINK_MSG_ID_SCALED_IMU = 26
-MAVLINK_MSG_ID_RAW_IMU = 27
-MAVLINK_MSG_ID_RAW_PRESSURE = 28
-MAVLINK_MSG_ID_SCALED_PRESSURE = 29
-MAVLINK_MSG_ID_ATTITUDE = 30
-MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31
-MAVLINK_MSG_ID_LOCAL_POSITION_NED = 32
-MAVLINK_MSG_ID_GLOBAL_POSITION_INT = 33
-MAVLINK_MSG_ID_RC_CHANNELS_SCALED = 34
-MAVLINK_MSG_ID_RC_CHANNELS_RAW = 35
-MAVLINK_MSG_ID_SERVO_OUTPUT_RAW = 36
-MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST = 37
-MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST = 38
-MAVLINK_MSG_ID_MISSION_ITEM = 39
-MAVLINK_MSG_ID_MISSION_REQUEST = 40
-MAVLINK_MSG_ID_MISSION_SET_CURRENT = 41
-MAVLINK_MSG_ID_MISSION_CURRENT = 42
-MAVLINK_MSG_ID_MISSION_REQUEST_LIST = 43
-MAVLINK_MSG_ID_MISSION_COUNT = 44
-MAVLINK_MSG_ID_MISSION_CLEAR_ALL = 45
-MAVLINK_MSG_ID_MISSION_ITEM_REACHED = 46
-MAVLINK_MSG_ID_MISSION_ACK = 47
-MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN = 48
-MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN = 49
-MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT = 50
-MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT = 51
-MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT = 52
-MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT = 53
-MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA = 54
-MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA = 55
-MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST = 56
-MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST = 57
-MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT = 58
-MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT = 59
-MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT = 62
-MAVLINK_MSG_ID_STATE_CORRECTION = 64
-MAVLINK_MSG_ID_REQUEST_DATA_STREAM = 66
-MAVLINK_MSG_ID_DATA_STREAM = 67
-MAVLINK_MSG_ID_MANUAL_CONTROL = 69
-MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE = 70
-MAVLINK_MSG_ID_VFR_HUD = 74
-MAVLINK_MSG_ID_COMMAND_LONG = 76
-MAVLINK_MSG_ID_COMMAND_ACK = 77
-MAVLINK_MSG_ID_HIL_STATE = 90
-MAVLINK_MSG_ID_HIL_CONTROLS = 91
-MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW = 92
-MAVLINK_MSG_ID_OPTICAL_FLOW = 100
-MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE = 101
-MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE = 102
-MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE = 103
-MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104
-MAVLINK_MSG_ID_MEMORY_VECT = 249
-MAVLINK_MSG_ID_DEBUG_VECT = 250
-MAVLINK_MSG_ID_NAMED_VALUE_FLOAT = 251
-MAVLINK_MSG_ID_NAMED_VALUE_INT = 252
-MAVLINK_MSG_ID_STATUSTEXT = 253
-MAVLINK_MSG_ID_DEBUG = 254
-MAVLINK_MSG_ID_EXTENDED_MESSAGE = 255
-
-class MAVLink_sensor_offsets_message(MAVLink_message):
-        '''
-        Offsets and calibrations values for hardware         sensors.
-        This makes it easier to debug the calibration process.
-        '''
-        def __init__(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SENSOR_OFFSETS, 'SENSOR_OFFSETS')
-                self._fieldnames = ['mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z', 'mag_declination', 'raw_press', 'raw_temp', 'gyro_cal_x', 'gyro_cal_y', 'gyro_cal_z', 'accel_cal_x', 'accel_cal_y', 'accel_cal_z']
-                self.mag_ofs_x = mag_ofs_x
-                self.mag_ofs_y = mag_ofs_y
-                self.mag_ofs_z = mag_ofs_z
-                self.mag_declination = mag_declination
-                self.raw_press = raw_press
-                self.raw_temp = raw_temp
-                self.gyro_cal_x = gyro_cal_x
-                self.gyro_cal_y = gyro_cal_y
-                self.gyro_cal_z = gyro_cal_z
-                self.accel_cal_x = accel_cal_x
-                self.accel_cal_y = accel_cal_y
-                self.accel_cal_z = accel_cal_z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 134, struct.pack('<fiiffffffhhh', self.mag_declination, self.raw_press, self.raw_temp, self.gyro_cal_x, self.gyro_cal_y, self.gyro_cal_z, self.accel_cal_x, self.accel_cal_y, self.accel_cal_z, self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z))
-
-class MAVLink_set_mag_offsets_message(MAVLink_message):
-        '''
-        set the magnetometer offsets
-        '''
-        def __init__(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MAG_OFFSETS, 'SET_MAG_OFFSETS')
-                self._fieldnames = ['target_system', 'target_component', 'mag_ofs_x', 'mag_ofs_y', 'mag_ofs_z']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.mag_ofs_x = mag_ofs_x
-                self.mag_ofs_y = mag_ofs_y
-                self.mag_ofs_z = mag_ofs_z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 219, struct.pack('<hhhBB', self.mag_ofs_x, self.mag_ofs_y, self.mag_ofs_z, self.target_system, self.target_component))
-
-class MAVLink_meminfo_message(MAVLink_message):
-        '''
-        state of APM memory
-        '''
-        def __init__(self, brkval, freemem):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO')
-                self._fieldnames = ['brkval', 'freemem']
-                self.brkval = brkval
-                self.freemem = freemem
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 208, struct.pack('<HH', self.brkval, self.freemem))
-
-class MAVLink_ap_adc_message(MAVLink_message):
-        '''
-        raw ADC output
-        '''
-        def __init__(self, adc1, adc2, adc3, adc4, adc5, adc6):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AP_ADC, 'AP_ADC')
-                self._fieldnames = ['adc1', 'adc2', 'adc3', 'adc4', 'adc5', 'adc6']
-                self.adc1 = adc1
-                self.adc2 = adc2
-                self.adc3 = adc3
-                self.adc4 = adc4
-                self.adc5 = adc5
-                self.adc6 = adc6
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 188, struct.pack('<HHHHHH', self.adc1, self.adc2, self.adc3, self.adc4, self.adc5, self.adc6))
-
-class MAVLink_digicam_configure_message(MAVLink_message):
-        '''
-        Configure on-board Camera Control System.
-        '''
-        def __init__(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONFIGURE, 'DIGICAM_CONFIGURE')
-                self._fieldnames = ['target_system', 'target_component', 'mode', 'shutter_speed', 'aperture', 'iso', 'exposure_type', 'command_id', 'engine_cut_off', 'extra_param', 'extra_value']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.mode = mode
-                self.shutter_speed = shutter_speed
-                self.aperture = aperture
-                self.iso = iso
-                self.exposure_type = exposure_type
-                self.command_id = command_id
-                self.engine_cut_off = engine_cut_off
-                self.extra_param = extra_param
-                self.extra_value = extra_value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 84, struct.pack('<fHBBBBBBBBB', self.extra_value, self.shutter_speed, self.target_system, self.target_component, self.mode, self.aperture, self.iso, self.exposure_type, self.command_id, self.engine_cut_off, self.extra_param))
-
-class MAVLink_digicam_control_message(MAVLink_message):
-        '''
-        Control on-board Camera Control System to take shots.
-        '''
-        def __init__(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DIGICAM_CONTROL, 'DIGICAM_CONTROL')
-                self._fieldnames = ['target_system', 'target_component', 'session', 'zoom_pos', 'zoom_step', 'focus_lock', 'shot', 'command_id', 'extra_param', 'extra_value']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.session = session
-                self.zoom_pos = zoom_pos
-                self.zoom_step = zoom_step
-                self.focus_lock = focus_lock
-                self.shot = shot
-                self.command_id = command_id
-                self.extra_param = extra_param
-                self.extra_value = extra_value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 22, struct.pack('<fBBBBbBBBB', self.extra_value, self.target_system, self.target_component, self.session, self.zoom_pos, self.zoom_step, self.focus_lock, self.shot, self.command_id, self.extra_param))
-
-class MAVLink_mount_configure_message(MAVLink_message):
-        '''
-        Message to configure a camera mount, directional antenna, etc.
-        '''
-        def __init__(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONFIGURE, 'MOUNT_CONFIGURE')
-                self._fieldnames = ['target_system', 'target_component', 'mount_mode', 'stab_roll', 'stab_pitch', 'stab_yaw']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.mount_mode = mount_mode
-                self.stab_roll = stab_roll
-                self.stab_pitch = stab_pitch
-                self.stab_yaw = stab_yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 19, struct.pack('<BBBBBB', self.target_system, self.target_component, self.mount_mode, self.stab_roll, self.stab_pitch, self.stab_yaw))
-
-class MAVLink_mount_control_message(MAVLink_message):
-        '''
-        Message to control a camera mount, directional antenna, etc.
-        '''
-        def __init__(self, target_system, target_component, input_a, input_b, input_c, save_position):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_CONTROL, 'MOUNT_CONTROL')
-                self._fieldnames = ['target_system', 'target_component', 'input_a', 'input_b', 'input_c', 'save_position']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.input_a = input_a
-                self.input_b = input_b
-                self.input_c = input_c
-                self.save_position = save_position
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 21, struct.pack('<iiiBBB', self.input_a, self.input_b, self.input_c, self.target_system, self.target_component, self.save_position))
-
-class MAVLink_mount_status_message(MAVLink_message):
-        '''
-        Message with some status from APM to GCS about camera or
-        antenna mount
-        '''
-        def __init__(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MOUNT_STATUS, 'MOUNT_STATUS')
-                self._fieldnames = ['target_system', 'target_component', 'pointing_a', 'pointing_b', 'pointing_c']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.pointing_a = pointing_a
-                self.pointing_b = pointing_b
-                self.pointing_c = pointing_c
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 134, struct.pack('<iiiBB', self.pointing_a, self.pointing_b, self.pointing_c, self.target_system, self.target_component))
-
-class MAVLink_fence_point_message(MAVLink_message):
-        '''
-        A fence point. Used to set a point when from               GCS
-        -> MAV. Also used to return a point from MAV -> GCS
-        '''
-        def __init__(self, target_system, target_component, idx, count, lat, lng):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_POINT, 'FENCE_POINT')
-                self._fieldnames = ['target_system', 'target_component', 'idx', 'count', 'lat', 'lng']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.idx = idx
-                self.count = count
-                self.lat = lat
-                self.lng = lng
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 78, struct.pack('<ffBBBB', self.lat, self.lng, self.target_system, self.target_component, self.idx, self.count))
-
-class MAVLink_fence_fetch_point_message(MAVLink_message):
-        '''
-        Request a current fence point from MAV
-        '''
-        def __init__(self, target_system, target_component, idx):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_FETCH_POINT, 'FENCE_FETCH_POINT')
-                self._fieldnames = ['target_system', 'target_component', 'idx']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.idx = idx
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 68, struct.pack('<BBB', self.target_system, self.target_component, self.idx))
-
-class MAVLink_fence_status_message(MAVLink_message):
-        '''
-        Status of geo-fencing. Sent in extended             status
-        stream when fencing enabled
-        '''
-        def __init__(self, breach_status, breach_count, breach_type, breach_time):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_FENCE_STATUS, 'FENCE_STATUS')
-                self._fieldnames = ['breach_status', 'breach_count', 'breach_type', 'breach_time']
-                self.breach_status = breach_status
-                self.breach_count = breach_count
-                self.breach_type = breach_type
-                self.breach_time = breach_time
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 189, struct.pack('<IHBB', self.breach_time, self.breach_count, self.breach_status, self.breach_type))
-
-class MAVLink_ahrs_message(MAVLink_message):
-        '''
-        Status of DCM attitude estimator
-        '''
-        def __init__(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AHRS, 'AHRS')
-                self._fieldnames = ['omegaIx', 'omegaIy', 'omegaIz', 'accel_weight', 'renorm_val', 'error_rp', 'error_yaw']
-                self.omegaIx = omegaIx
-                self.omegaIy = omegaIy
-                self.omegaIz = omegaIz
-                self.accel_weight = accel_weight
-                self.renorm_val = renorm_val
-                self.error_rp = error_rp
-                self.error_yaw = error_yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 127, struct.pack('<fffffff', self.omegaIx, self.omegaIy, self.omegaIz, self.accel_weight, self.renorm_val, self.error_rp, self.error_yaw))
-
-class MAVLink_simstate_message(MAVLink_message):
-        '''
-        Status of simulation environment, if used
-        '''
-        def __init__(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SIMSTATE, 'SIMSTATE')
-                self._fieldnames = ['roll', 'pitch', 'yaw', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro']
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-                self.xgyro = xgyro
-                self.ygyro = ygyro
-                self.zgyro = zgyro
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 42, struct.pack('<fffffffff', self.roll, self.pitch, self.yaw, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro))
-
-class MAVLink_hwstatus_message(MAVLink_message):
-        '''
-        Status of key hardware
-        '''
-        def __init__(self, Vcc, I2Cerr):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HWSTATUS, 'HWSTATUS')
-                self._fieldnames = ['Vcc', 'I2Cerr']
-                self.Vcc = Vcc
-                self.I2Cerr = I2Cerr
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 21, struct.pack('<HB', self.Vcc, self.I2Cerr))
-
-class MAVLink_radio_message(MAVLink_message):
-        '''
-        Status generated by radio
-        '''
-        def __init__(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RADIO, 'RADIO')
-                self._fieldnames = ['rssi', 'remrssi', 'txbuf', 'noise', 'remnoise', 'rxerrors', 'fixed']
-                self.rssi = rssi
-                self.remrssi = remrssi
-                self.txbuf = txbuf
-                self.noise = noise
-                self.remnoise = remnoise
-                self.rxerrors = rxerrors
-                self.fixed = fixed
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 21, struct.pack('<HHBBBBB', self.rxerrors, self.fixed, self.rssi, self.remrssi, self.txbuf, self.noise, self.remnoise))
-
-class MAVLink_heartbeat_message(MAVLink_message):
-        '''
-        The heartbeat message shows that a system is present and
-        responding. The type of the MAV and Autopilot hardware allow
-        the receiving system to treat further messages from this
-        system appropriate (e.g. by laying out the user interface
-        based on the autopilot).
-        '''
-        def __init__(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HEARTBEAT, 'HEARTBEAT')
-                self._fieldnames = ['type', 'autopilot', 'base_mode', 'custom_mode', 'system_status', 'mavlink_version']
-                self.type = type
-                self.autopilot = autopilot
-                self.base_mode = base_mode
-                self.custom_mode = custom_mode
-                self.system_status = system_status
-                self.mavlink_version = mavlink_version
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 50, struct.pack('<IBBBBB', self.custom_mode, self.type, self.autopilot, self.base_mode, self.system_status, self.mavlink_version))
-
-class MAVLink_sys_status_message(MAVLink_message):
-        '''
-        The general system state. If the system is following the
-        MAVLink standard, the system state is mainly defined by three
-        orthogonal states/modes: The system mode, which is either
-        LOCKED (motors shut down and locked), MANUAL (system under RC
-        control), GUIDED (system with autonomous position control,
-        position setpoint controlled manually) or AUTO (system guided
-        by path/waypoint planner). The NAV_MODE defined the current
-        flight state: LIFTOFF (often an open-loop maneuver), LANDING,
-        WAYPOINTS or VECTOR. This represents the internal navigation
-        state machine. The system status shows wether the system is
-        currently active or not and if an emergency occured. During
-        the CRITICAL and EMERGENCY states the MAV is still considered
-        to be active, but should start emergency procedures
-        autonomously. After a failure occured it should first move
-        from active to critical to allow manual intervention and then
-        move to emergency after a certain timeout.
-        '''
-        def __init__(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYS_STATUS, 'SYS_STATUS')
-                self._fieldnames = ['onboard_control_sensors_present', 'onboard_control_sensors_enabled', 'onboard_control_sensors_health', 'load', 'voltage_battery', 'current_battery', 'battery_remaining', 'drop_rate_comm', 'errors_comm', 'errors_count1', 'errors_count2', 'errors_count3', 'errors_count4']
-                self.onboard_control_sensors_present = onboard_control_sensors_present
-                self.onboard_control_sensors_enabled = onboard_control_sensors_enabled
-                self.onboard_control_sensors_health = onboard_control_sensors_health
-                self.load = load
-                self.voltage_battery = voltage_battery
-                self.current_battery = current_battery
-                self.battery_remaining = battery_remaining
-                self.drop_rate_comm = drop_rate_comm
-                self.errors_comm = errors_comm
-                self.errors_count1 = errors_count1
-                self.errors_count2 = errors_count2
-                self.errors_count3 = errors_count3
-                self.errors_count4 = errors_count4
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 124, struct.pack('<IIIHHhHHHHHHb', self.onboard_control_sensors_present, self.onboard_control_sensors_enabled, self.onboard_control_sensors_health, self.load, self.voltage_battery, self.current_battery, self.drop_rate_comm, self.errors_comm, self.errors_count1, self.errors_count2, self.errors_count3, self.errors_count4, self.battery_remaining))
-
-class MAVLink_system_time_message(MAVLink_message):
-        '''
-        The system time is the time of the master clock, typically the
-        computer clock of the main onboard computer.
-        '''
-        def __init__(self, time_unix_usec, time_boot_ms):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SYSTEM_TIME, 'SYSTEM_TIME')
-                self._fieldnames = ['time_unix_usec', 'time_boot_ms']
-                self.time_unix_usec = time_unix_usec
-                self.time_boot_ms = time_boot_ms
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 137, struct.pack('<QI', self.time_unix_usec, self.time_boot_ms))
-
-class MAVLink_ping_message(MAVLink_message):
-        '''
-        A ping message either requesting or responding to a ping. This
-        allows to measure the system latencies, including serial port,
-        radio modem and UDP connections.
-        '''
-        def __init__(self, time_usec, seq, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PING, 'PING')
-                self._fieldnames = ['time_usec', 'seq', 'target_system', 'target_component']
-                self.time_usec = time_usec
-                self.seq = seq
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 237, struct.pack('<QIBB', self.time_usec, self.seq, self.target_system, self.target_component))
-
-class MAVLink_change_operator_control_message(MAVLink_message):
-        '''
-        Request to control this MAV
-        '''
-        def __init__(self, target_system, control_request, version, passkey):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL, 'CHANGE_OPERATOR_CONTROL')
-                self._fieldnames = ['target_system', 'control_request', 'version', 'passkey']
-                self.target_system = target_system
-                self.control_request = control_request
-                self.version = version
-                self.passkey = passkey
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 217, struct.pack('<BBB25s', self.target_system, self.control_request, self.version, self.passkey))
-
-class MAVLink_change_operator_control_ack_message(MAVLink_message):
-        '''
-        Accept / deny control of this MAV
-        '''
-        def __init__(self, gcs_system_id, control_request, ack):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK, 'CHANGE_OPERATOR_CONTROL_ACK')
-                self._fieldnames = ['gcs_system_id', 'control_request', 'ack']
-                self.gcs_system_id = gcs_system_id
-                self.control_request = control_request
-                self.ack = ack
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 104, struct.pack('<BBB', self.gcs_system_id, self.control_request, self.ack))
-
-class MAVLink_auth_key_message(MAVLink_message):
-        '''
-        Emit an encrypted signature / key identifying this system.
-        PLEASE NOTE: This protocol has been kept simple, so
-        transmitting the key requires an encrypted channel for true
-        safety.
-        '''
-        def __init__(self, key):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_AUTH_KEY, 'AUTH_KEY')
-                self._fieldnames = ['key']
-                self.key = key
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 119, struct.pack('<32s', self.key))
-
-class MAVLink_set_mode_message(MAVLink_message):
-        '''
-        Set the system mode, as defined by enum MAV_MODE. There is no
-        target component id as the mode is by definition for the
-        overall aircraft, not only for one component.
-        '''
-        def __init__(self, target_system, base_mode, custom_mode):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_MODE, 'SET_MODE')
-                self._fieldnames = ['target_system', 'base_mode', 'custom_mode']
-                self.target_system = target_system
-                self.base_mode = base_mode
-                self.custom_mode = custom_mode
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 89, struct.pack('<IBB', self.custom_mode, self.target_system, self.base_mode))
-
-class MAVLink_param_request_read_message(MAVLink_message):
-        '''
-        Request to read the onboard parameter with the param_id string
-        id. Onboard parameters are stored as key[const char*] ->
-        value[float]. This allows to send a parameter to any other
-        component (such as the GCS) without the need of previous
-        knowledge of possible parameter names. Thus the same GCS can
-        store different parameters for different autopilots. See also
-        http://qgroundcontrol.org/parameter_interface for a full
-        documentation of QGroundControl and IMU code.
-        '''
-        def __init__(self, target_system, target_component, param_id, param_index):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_READ, 'PARAM_REQUEST_READ')
-                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_index']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.param_id = param_id
-                self.param_index = param_index
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 214, struct.pack('<hBB16s', self.param_index, self.target_system, self.target_component, self.param_id))
-
-class MAVLink_param_request_list_message(MAVLink_message):
-        '''
-        Request all parameters of this component. After his request,
-        all parameters are emitted.
-        '''
-        def __init__(self, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_REQUEST_LIST, 'PARAM_REQUEST_LIST')
-                self._fieldnames = ['target_system', 'target_component']
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 159, struct.pack('<BB', self.target_system, self.target_component))
-
-class MAVLink_param_value_message(MAVLink_message):
-        '''
-        Emit the value of a onboard parameter. The inclusion of
-        param_count and param_index in the message allows the
-        recipient to keep track of received parameters and allows him
-        to re-request missing parameters after a loss or timeout.
-        '''
-        def __init__(self, param_id, param_value, param_type, param_count, param_index):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_VALUE, 'PARAM_VALUE')
-                self._fieldnames = ['param_id', 'param_value', 'param_type', 'param_count', 'param_index']
-                self.param_id = param_id
-                self.param_value = param_value
-                self.param_type = param_type
-                self.param_count = param_count
-                self.param_index = param_index
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 220, struct.pack('<fHH16sB', self.param_value, self.param_count, self.param_index, self.param_id, self.param_type))
-
-class MAVLink_param_set_message(MAVLink_message):
-        '''
-        Set a parameter value TEMPORARILY to RAM. It will be reset to
-        default on system reboot. Send the ACTION
-        MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents
-        to EEPROM. IMPORTANT: The receiving component should
-        acknowledge the new parameter value by sending a param_value
-        message to all communication partners. This will also ensure
-        that multiple GCS all have an up-to-date list of all
-        parameters. If the sending GCS did not receive a PARAM_VALUE
-        message within its timeout time, it should re-send the
-        PARAM_SET message.
-        '''
-        def __init__(self, target_system, target_component, param_id, param_value, param_type):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_PARAM_SET, 'PARAM_SET')
-                self._fieldnames = ['target_system', 'target_component', 'param_id', 'param_value', 'param_type']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.param_id = param_id
-                self.param_value = param_value
-                self.param_type = param_type
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 168, struct.pack('<fBB16sB', self.param_value, self.target_system, self.target_component, self.param_id, self.param_type))
-
-class MAVLink_gps_raw_int_message(MAVLink_message):
-        '''
-        The global position, as returned by the Global Positioning
-        System (GPS). This is                 NOT the global position
-        estimate of the sytem, but rather a RAW sensor value. See
-        message GLOBAL_POSITION for the global position estimate.
-        Coordinate frame is right-handed, Z-axis up (GPS frame)
-        '''
-        def __init__(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_RAW_INT, 'GPS_RAW_INT')
-                self._fieldnames = ['time_usec', 'fix_type', 'lat', 'lon', 'alt', 'eph', 'epv', 'vel', 'cog', 'satellites_visible']
-                self.time_usec = time_usec
-                self.fix_type = fix_type
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.eph = eph
-                self.epv = epv
-                self.vel = vel
-                self.cog = cog
-                self.satellites_visible = satellites_visible
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 24, struct.pack('<QiiiHHHHBB', self.time_usec, self.lat, self.lon, self.alt, self.eph, self.epv, self.vel, self.cog, self.fix_type, self.satellites_visible))
-
-class MAVLink_gps_status_message(MAVLink_message):
-        '''
-        The positioning status, as reported by GPS. This message is
-        intended to display status information about each satellite
-        visible to the receiver. See message GLOBAL_POSITION for the
-        global position estimate. This message can contain information
-        for up to 20 satellites.
-        '''
-        def __init__(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_STATUS, 'GPS_STATUS')
-                self._fieldnames = ['satellites_visible', 'satellite_prn', 'satellite_used', 'satellite_elevation', 'satellite_azimuth', 'satellite_snr']
-                self.satellites_visible = satellites_visible
-                self.satellite_prn = satellite_prn
-                self.satellite_used = satellite_used
-                self.satellite_elevation = satellite_elevation
-                self.satellite_azimuth = satellite_azimuth
-                self.satellite_snr = satellite_snr
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 23, struct.pack('<B20s20s20s20s20s', self.satellites_visible, self.satellite_prn, self.satellite_used, self.satellite_elevation, self.satellite_azimuth, self.satellite_snr))
-
-class MAVLink_scaled_imu_message(MAVLink_message):
-        '''
-        The RAW IMU readings for the usual 9DOF sensor setup. This
-        message should contain the scaled values to the described
-        units
-        '''
-        def __init__(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_IMU, 'SCALED_IMU')
-                self._fieldnames = ['time_boot_ms', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
-                self.time_boot_ms = time_boot_ms
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-                self.xgyro = xgyro
-                self.ygyro = ygyro
-                self.zgyro = zgyro
-                self.xmag = xmag
-                self.ymag = ymag
-                self.zmag = zmag
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 170, struct.pack('<Ihhhhhhhhh', self.time_boot_ms, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
-
-class MAVLink_raw_imu_message(MAVLink_message):
-        '''
-        The RAW IMU readings for the usual 9DOF sensor setup. This
-        message should always contain the true raw values without any
-        scaling to allow data capture and system debugging.
-        '''
-        def __init__(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_IMU, 'RAW_IMU')
-                self._fieldnames = ['time_usec', 'xacc', 'yacc', 'zacc', 'xgyro', 'ygyro', 'zgyro', 'xmag', 'ymag', 'zmag']
-                self.time_usec = time_usec
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-                self.xgyro = xgyro
-                self.ygyro = ygyro
-                self.zgyro = zgyro
-                self.xmag = xmag
-                self.ymag = ymag
-                self.zmag = zmag
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 144, struct.pack('<Qhhhhhhhhh', self.time_usec, self.xacc, self.yacc, self.zacc, self.xgyro, self.ygyro, self.zgyro, self.xmag, self.ymag, self.zmag))
-
-class MAVLink_raw_pressure_message(MAVLink_message):
-        '''
-        The RAW pressure readings for the typical setup of one
-        absolute pressure and one differential pressure sensor. The
-        sensor values should be the raw, UNSCALED ADC values.
-        '''
-        def __init__(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RAW_PRESSURE, 'RAW_PRESSURE')
-                self._fieldnames = ['time_usec', 'press_abs', 'press_diff1', 'press_diff2', 'temperature']
-                self.time_usec = time_usec
-                self.press_abs = press_abs
-                self.press_diff1 = press_diff1
-                self.press_diff2 = press_diff2
-                self.temperature = temperature
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 67, struct.pack('<Qhhhh', self.time_usec, self.press_abs, self.press_diff1, self.press_diff2, self.temperature))
-
-class MAVLink_scaled_pressure_message(MAVLink_message):
-        '''
-        The pressure readings for the typical setup of one absolute
-        and differential pressure sensor. The units are as specified
-        in each field.
-        '''
-        def __init__(self, time_boot_ms, press_abs, press_diff, temperature):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SCALED_PRESSURE, 'SCALED_PRESSURE')
-                self._fieldnames = ['time_boot_ms', 'press_abs', 'press_diff', 'temperature']
-                self.time_boot_ms = time_boot_ms
-                self.press_abs = press_abs
-                self.press_diff = press_diff
-                self.temperature = temperature
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 115, struct.pack('<Iffh', self.time_boot_ms, self.press_abs, self.press_diff, self.temperature))
-
-class MAVLink_attitude_message(MAVLink_message):
-        '''
-        The attitude in the aeronautical frame (right-handed, Z-down,
-        X-front, Y-right).
-        '''
-        def __init__(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE, 'ATTITUDE')
-                self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed']
-                self.time_boot_ms = time_boot_ms
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.rollspeed = rollspeed
-                self.pitchspeed = pitchspeed
-                self.yawspeed = yawspeed
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 39, struct.pack('<Iffffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed))
-
-class MAVLink_attitude_quaternion_message(MAVLink_message):
-        '''
-        The attitude in the aeronautical frame (right-handed, Z-down,
-        X-front, Y-right), expressed as quaternion.
-        '''
-        def __init__(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, 'ATTITUDE_QUATERNION')
-                self._fieldnames = ['time_boot_ms', 'q1', 'q2', 'q3', 'q4', 'rollspeed', 'pitchspeed', 'yawspeed']
-                self.time_boot_ms = time_boot_ms
-                self.q1 = q1
-                self.q2 = q2
-                self.q3 = q3
-                self.q4 = q4
-                self.rollspeed = rollspeed
-                self.pitchspeed = pitchspeed
-                self.yawspeed = yawspeed
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 246, struct.pack('<Ifffffff', self.time_boot_ms, self.q1, self.q2, self.q3, self.q4, self.rollspeed, self.pitchspeed, self.yawspeed))
-
-class MAVLink_local_position_ned_message(MAVLink_message):
-        '''
-        The filtered local position (e.g. fused computer vision and
-        accelerometers). Coordinate frame is right-handed, Z-axis down
-        (aeronautical frame, NED / north-east-down convention)
-        '''
-        def __init__(self, time_boot_ms, x, y, z, vx, vy, vz):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_NED, 'LOCAL_POSITION_NED')
-                self._fieldnames = ['time_boot_ms', 'x', 'y', 'z', 'vx', 'vy', 'vz']
-                self.time_boot_ms = time_boot_ms
-                self.x = x
-                self.y = y
-                self.z = z
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 185, struct.pack('<Iffffff', self.time_boot_ms, self.x, self.y, self.z, self.vx, self.vy, self.vz))
-
-class MAVLink_global_position_int_message(MAVLink_message):
-        '''
-        The filtered global position (e.g. fused GPS and
-        accelerometers). The position is in GPS-frame (right-handed,
-        Z-up). It                is designed as scaled integer message
-        since the resolution of float is not sufficient.
-        '''
-        def __init__(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, 'GLOBAL_POSITION_INT')
-                self._fieldnames = ['time_boot_ms', 'lat', 'lon', 'alt', 'relative_alt', 'vx', 'vy', 'vz', 'hdg']
-                self.time_boot_ms = time_boot_ms
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.relative_alt = relative_alt
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-                self.hdg = hdg
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 104, struct.pack('<IiiiihhhH', self.time_boot_ms, self.lat, self.lon, self.alt, self.relative_alt, self.vx, self.vy, self.vz, self.hdg))
-
-class MAVLink_rc_channels_scaled_message(MAVLink_message):
-        '''
-        The scaled values of the RC channels received. (-100%) -10000,
-        (0%) 0, (100%) 10000
-        '''
-        def __init__(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_SCALED, 'RC_CHANNELS_SCALED')
-                self._fieldnames = ['time_boot_ms', 'port', 'chan1_scaled', 'chan2_scaled', 'chan3_scaled', 'chan4_scaled', 'chan5_scaled', 'chan6_scaled', 'chan7_scaled', 'chan8_scaled', 'rssi']
-                self.time_boot_ms = time_boot_ms
-                self.port = port
-                self.chan1_scaled = chan1_scaled
-                self.chan2_scaled = chan2_scaled
-                self.chan3_scaled = chan3_scaled
-                self.chan4_scaled = chan4_scaled
-                self.chan5_scaled = chan5_scaled
-                self.chan6_scaled = chan6_scaled
-                self.chan7_scaled = chan7_scaled
-                self.chan8_scaled = chan8_scaled
-                self.rssi = rssi
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 237, struct.pack('<IhhhhhhhhBB', self.time_boot_ms, self.chan1_scaled, self.chan2_scaled, self.chan3_scaled, self.chan4_scaled, self.chan5_scaled, self.chan6_scaled, self.chan7_scaled, self.chan8_scaled, self.port, self.rssi))
-
-class MAVLink_rc_channels_raw_message(MAVLink_message):
-        '''
-        The RAW values of the RC channels received. The standard PPM
-        modulation is as follows: 1000 microseconds: 0%, 2000
-        microseconds: 100%. Individual receivers/transmitters might
-        violate this specification.
-        '''
-        def __init__(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_RAW, 'RC_CHANNELS_RAW')
-                self._fieldnames = ['time_boot_ms', 'port', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'rssi']
-                self.time_boot_ms = time_boot_ms
-                self.port = port
-                self.chan1_raw = chan1_raw
-                self.chan2_raw = chan2_raw
-                self.chan3_raw = chan3_raw
-                self.chan4_raw = chan4_raw
-                self.chan5_raw = chan5_raw
-                self.chan6_raw = chan6_raw
-                self.chan7_raw = chan7_raw
-                self.chan8_raw = chan8_raw
-                self.rssi = rssi
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 244, struct.pack('<IHHHHHHHHBB', self.time_boot_ms, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.port, self.rssi))
-
-class MAVLink_servo_output_raw_message(MAVLink_message):
-        '''
-        The RAW values of the servo outputs (for RC input from the
-        remote, use the RC_CHANNELS messages). The standard PPM
-        modulation is as follows: 1000 microseconds: 0%, 2000
-        microseconds: 100%.
-        '''
-        def __init__(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 'SERVO_OUTPUT_RAW')
-                self._fieldnames = ['time_usec', 'port', 'servo1_raw', 'servo2_raw', 'servo3_raw', 'servo4_raw', 'servo5_raw', 'servo6_raw', 'servo7_raw', 'servo8_raw']
-                self.time_usec = time_usec
-                self.port = port
-                self.servo1_raw = servo1_raw
-                self.servo2_raw = servo2_raw
-                self.servo3_raw = servo3_raw
-                self.servo4_raw = servo4_raw
-                self.servo5_raw = servo5_raw
-                self.servo6_raw = servo6_raw
-                self.servo7_raw = servo7_raw
-                self.servo8_raw = servo8_raw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 222, struct.pack('<IHHHHHHHHB', self.time_usec, self.servo1_raw, self.servo2_raw, self.servo3_raw, self.servo4_raw, self.servo5_raw, self.servo6_raw, self.servo7_raw, self.servo8_raw, self.port))
-
-class MAVLink_mission_request_partial_list_message(MAVLink_message):
-        '''
-        Request the overall list of MISSIONs from the
-        system/component.
-        http://qgroundcontrol.org/mavlink/waypoint_protocol
-        '''
-        def __init__(self, target_system, target_component, start_index, end_index):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST, 'MISSION_REQUEST_PARTIAL_LIST')
-                self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.start_index = start_index
-                self.end_index = end_index
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 212, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component))
-
-class MAVLink_mission_write_partial_list_message(MAVLink_message):
-        '''
-        This message is sent to the MAV to write a partial list. If
-        start index == end index, only one item will be transmitted /
-        updated. If the start index is NOT 0 and above the current
-        list size, this request should be REJECTED!
-        '''
-        def __init__(self, target_system, target_component, start_index, end_index):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST, 'MISSION_WRITE_PARTIAL_LIST')
-                self._fieldnames = ['target_system', 'target_component', 'start_index', 'end_index']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.start_index = start_index
-                self.end_index = end_index
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 9, struct.pack('<hhBB', self.start_index, self.end_index, self.target_system, self.target_component))
-
-class MAVLink_mission_item_message(MAVLink_message):
-        '''
-        Message encoding a mission item. This message is emitted to
-        announce                 the presence of a mission item and to
-        set a mission item on the system. The mission item can be
-        either in x, y, z meters (type: LOCAL) or x:lat, y:lon,
-        z:altitude. Local frame is Z-down, right handed (NED), global
-        frame is Z-up, right handed (ENU).
-        http://qgroundcontrol.org/mavlink/waypoint_protocol
-        '''
-        def __init__(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM, 'MISSION_ITEM')
-                self._fieldnames = ['target_system', 'target_component', 'seq', 'frame', 'command', 'current', 'autocontinue', 'param1', 'param2', 'param3', 'param4', 'x', 'y', 'z']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.seq = seq
-                self.frame = frame
-                self.command = command
-                self.current = current
-                self.autocontinue = autocontinue
-                self.param1 = param1
-                self.param2 = param2
-                self.param3 = param3
-                self.param4 = param4
-                self.x = x
-                self.y = y
-                self.z = z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 254, struct.pack('<fffffffHHBBBBB', self.param1, self.param2, self.param3, self.param4, self.x, self.y, self.z, self.seq, self.command, self.target_system, self.target_component, self.frame, self.current, self.autocontinue))
-
-class MAVLink_mission_request_message(MAVLink_message):
-        '''
-        Request the information of the mission item with the sequence
-        number seq. The response of the system to this message should
-        be a MISSION_ITEM message.
-        http://qgroundcontrol.org/mavlink/waypoint_protocol
-        '''
-        def __init__(self, target_system, target_component, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST, 'MISSION_REQUEST')
-                self._fieldnames = ['target_system', 'target_component', 'seq']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 230, struct.pack('<HBB', self.seq, self.target_system, self.target_component))
-
-class MAVLink_mission_set_current_message(MAVLink_message):
-        '''
-        Set the mission item with sequence number seq as current item.
-        This means that the MAV will continue to this mission item on
-        the shortest path (not following the mission items in-
-        between).
-        '''
-        def __init__(self, target_system, target_component, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_SET_CURRENT, 'MISSION_SET_CURRENT')
-                self._fieldnames = ['target_system', 'target_component', 'seq']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 28, struct.pack('<HBB', self.seq, self.target_system, self.target_component))
-
-class MAVLink_mission_current_message(MAVLink_message):
-        '''
-        Message that announces the sequence number of the current
-        active mission item. The MAV will fly towards this mission
-        item.
-        '''
-        def __init__(self, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CURRENT, 'MISSION_CURRENT')
-                self._fieldnames = ['seq']
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 28, struct.pack('<H', self.seq))
-
-class MAVLink_mission_request_list_message(MAVLink_message):
-        '''
-        Request the overall list of mission items from the
-        system/component.
-        '''
-        def __init__(self, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_REQUEST_LIST, 'MISSION_REQUEST_LIST')
-                self._fieldnames = ['target_system', 'target_component']
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 132, struct.pack('<BB', self.target_system, self.target_component))
-
-class MAVLink_mission_count_message(MAVLink_message):
-        '''
-        This message is emitted as response to MISSION_REQUEST_LIST by
-        the MAV and to initiate a write transaction. The GCS can then
-        request the individual mission item based on the knowledge of
-        the total number of MISSIONs.
-        '''
-        def __init__(self, target_system, target_component, count):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_COUNT, 'MISSION_COUNT')
-                self._fieldnames = ['target_system', 'target_component', 'count']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.count = count
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 221, struct.pack('<HBB', self.count, self.target_system, self.target_component))
-
-class MAVLink_mission_clear_all_message(MAVLink_message):
-        '''
-        Delete all mission items at once.
-        '''
-        def __init__(self, target_system, target_component):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_CLEAR_ALL, 'MISSION_CLEAR_ALL')
-                self._fieldnames = ['target_system', 'target_component']
-                self.target_system = target_system
-                self.target_component = target_component
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 232, struct.pack('<BB', self.target_system, self.target_component))
-
-class MAVLink_mission_item_reached_message(MAVLink_message):
-        '''
-        A certain mission item has been reached. The system will
-        either hold this position (or circle on the orbit) or (if the
-        autocontinue on the WP was set) continue to the next MISSION.
-        '''
-        def __init__(self, seq):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ITEM_REACHED, 'MISSION_ITEM_REACHED')
-                self._fieldnames = ['seq']
-                self.seq = seq
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 11, struct.pack('<H', self.seq))
-
-class MAVLink_mission_ack_message(MAVLink_message):
-        '''
-        Ack message during MISSION handling. The type field states if
-        this message is a positive ack (type=0) or if an error
-        happened (type=non-zero).
-        '''
-        def __init__(self, target_system, target_component, type):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MISSION_ACK, 'MISSION_ACK')
-                self._fieldnames = ['target_system', 'target_component', 'type']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.type = type
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 153, struct.pack('<BBB', self.target_system, self.target_component, self.type))
-
-class MAVLink_set_gps_global_origin_message(MAVLink_message):
-        '''
-        As local MISSIONs exist, the global MISSION reference allows
-        to transform between the local coordinate frame and the global
-        (GPS) coordinate frame. This can be necessary when e.g. in-
-        and outdoor settings are connected and the MAV should move
-        from in- to outdoor.
-        '''
-        def __init__(self, target_system, latitude, longitude, altitude):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN, 'SET_GPS_GLOBAL_ORIGIN')
-                self._fieldnames = ['target_system', 'latitude', 'longitude', 'altitude']
-                self.target_system = target_system
-                self.latitude = latitude
-                self.longitude = longitude
-                self.altitude = altitude
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 41, struct.pack('<iiiB', self.latitude, self.longitude, self.altitude, self.target_system))
-
-class MAVLink_gps_global_origin_message(MAVLink_message):
-        '''
-        Once the MAV sets a new GPS-Local correspondence, this message
-        announces the origin (0,0,0) position
-        '''
-        def __init__(self, latitude, longitude, altitude):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, 'GPS_GLOBAL_ORIGIN')
-                self._fieldnames = ['latitude', 'longitude', 'altitude']
-                self.latitude = latitude
-                self.longitude = longitude
-                self.altitude = altitude
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 39, struct.pack('<iii', self.latitude, self.longitude, self.altitude))
-
-class MAVLink_set_local_position_setpoint_message(MAVLink_message):
-        '''
-        Set the setpoint for a local position controller. This is the
-        position in local coordinates the MAV should fly to. This
-        message is sent by the path/MISSION planner to the onboard
-        position controller. As some MAVs have a degree of freedom in
-        yaw (e.g. all helicopters/quadrotors), the desired yaw angle
-        is part of the message.
-        '''
-        def __init__(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, 'SET_LOCAL_POSITION_SETPOINT')
-                self._fieldnames = ['target_system', 'target_component', 'coordinate_frame', 'x', 'y', 'z', 'yaw']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.coordinate_frame = coordinate_frame
-                self.x = x
-                self.y = y
-                self.z = z
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 214, struct.pack('<ffffBBB', self.x, self.y, self.z, self.yaw, self.target_system, self.target_component, self.coordinate_frame))
-
-class MAVLink_local_position_setpoint_message(MAVLink_message):
-        '''
-        Transmit the current local setpoint of the controller to other
-        MAVs (collision avoidance) and to the GCS.
-        '''
-        def __init__(self, coordinate_frame, x, y, z, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, 'LOCAL_POSITION_SETPOINT')
-                self._fieldnames = ['coordinate_frame', 'x', 'y', 'z', 'yaw']
-                self.coordinate_frame = coordinate_frame
-                self.x = x
-                self.y = y
-                self.z = z
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 223, struct.pack('<ffffB', self.x, self.y, self.z, self.yaw, self.coordinate_frame))
-
-class MAVLink_global_position_setpoint_int_message(MAVLink_message):
-        '''
-        Transmit the current local setpoint of the controller to other
-        MAVs (collision avoidance) and to the GCS.
-        '''
-        def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, 'GLOBAL_POSITION_SETPOINT_INT')
-                self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw']
-                self.coordinate_frame = coordinate_frame
-                self.latitude = latitude
-                self.longitude = longitude
-                self.altitude = altitude
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 141, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame))
-
-class MAVLink_set_global_position_setpoint_int_message(MAVLink_message):
-        '''
-        Set the current global position setpoint.
-        '''
-        def __init__(self, coordinate_frame, latitude, longitude, altitude, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT, 'SET_GLOBAL_POSITION_SETPOINT_INT')
-                self._fieldnames = ['coordinate_frame', 'latitude', 'longitude', 'altitude', 'yaw']
-                self.coordinate_frame = coordinate_frame
-                self.latitude = latitude
-                self.longitude = longitude
-                self.altitude = altitude
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 33, struct.pack('<iiihB', self.latitude, self.longitude, self.altitude, self.yaw, self.coordinate_frame))
-
-class MAVLink_safety_set_allowed_area_message(MAVLink_message):
-        '''
-        Set a safety zone (volume), which is defined by two corners of
-        a cube. This message can be used to tell the MAV which
-        setpoints/MISSIONs to accept and which to reject. Safety areas
-        are often enforced by national or competition regulations.
-        '''
-        def __init__(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA, 'SAFETY_SET_ALLOWED_AREA')
-                self._fieldnames = ['target_system', 'target_component', 'frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.frame = frame
-                self.p1x = p1x
-                self.p1y = p1y
-                self.p1z = p1z
-                self.p2x = p2x
-                self.p2y = p2y
-                self.p2z = p2z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 15, struct.pack('<ffffffBBB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.target_system, self.target_component, self.frame))
-
-class MAVLink_safety_allowed_area_message(MAVLink_message):
-        '''
-        Read out the safety zone the MAV currently assumes.
-        '''
-        def __init__(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA, 'SAFETY_ALLOWED_AREA')
-                self._fieldnames = ['frame', 'p1x', 'p1y', 'p1z', 'p2x', 'p2y', 'p2z']
-                self.frame = frame
-                self.p1x = p1x
-                self.p1y = p1y
-                self.p1z = p1z
-                self.p2x = p2x
-                self.p2y = p2y
-                self.p2z = p2z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 3, struct.pack('<ffffffB', self.p1x, self.p1y, self.p1z, self.p2x, self.p2y, self.p2z, self.frame))
-
-class MAVLink_set_roll_pitch_yaw_thrust_message(MAVLink_message):
-        '''
-        Set roll, pitch and yaw.
-        '''
-        def __init__(self, target_system, target_component, roll, pitch, yaw, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST, 'SET_ROLL_PITCH_YAW_THRUST')
-                self._fieldnames = ['target_system', 'target_component', 'roll', 'pitch', 'yaw', 'thrust']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 100, struct.pack('<ffffBB', self.roll, self.pitch, self.yaw, self.thrust, self.target_system, self.target_component))
-
-class MAVLink_set_roll_pitch_yaw_speed_thrust_message(MAVLink_message):
-        '''
-        Set roll, pitch and yaw.
-        '''
-        def __init__(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST, 'SET_ROLL_PITCH_YAW_SPEED_THRUST')
-                self._fieldnames = ['target_system', 'target_component', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.roll_speed = roll_speed
-                self.pitch_speed = pitch_speed
-                self.yaw_speed = yaw_speed
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 24, struct.pack('<ffffBB', self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust, self.target_system, self.target_component))
-
-class MAVLink_roll_pitch_yaw_thrust_setpoint_message(MAVLink_message):
-        '''
-        Setpoint in roll, pitch, yaw currently active on the system.
-        '''
-        def __init__(self, time_boot_ms, roll, pitch, yaw, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, 'ROLL_PITCH_YAW_THRUST_SETPOINT')
-                self._fieldnames = ['time_boot_ms', 'roll', 'pitch', 'yaw', 'thrust']
-                self.time_boot_ms = time_boot_ms
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 239, struct.pack('<Iffff', self.time_boot_ms, self.roll, self.pitch, self.yaw, self.thrust))
-
-class MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(MAVLink_message):
-        '''
-        Setpoint in rollspeed, pitchspeed, yawspeed currently active
-        on the system.
-        '''
-        def __init__(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, 'ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT')
-                self._fieldnames = ['time_boot_ms', 'roll_speed', 'pitch_speed', 'yaw_speed', 'thrust']
-                self.time_boot_ms = time_boot_ms
-                self.roll_speed = roll_speed
-                self.pitch_speed = pitch_speed
-                self.yaw_speed = yaw_speed
-                self.thrust = thrust
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 238, struct.pack('<Iffff', self.time_boot_ms, self.roll_speed, self.pitch_speed, self.yaw_speed, self.thrust))
-
-class MAVLink_nav_controller_output_message(MAVLink_message):
-        '''
-        Outputs of the APM navigation controller. The primary use of
-        this message is to check the response and signs
-        of the controller before actual flight and to assist with
-        tuning controller parameters
-        '''
-        def __init__(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, 'NAV_CONTROLLER_OUTPUT')
-                self._fieldnames = ['nav_roll', 'nav_pitch', 'nav_bearing', 'target_bearing', 'wp_dist', 'alt_error', 'aspd_error', 'xtrack_error']
-                self.nav_roll = nav_roll
-                self.nav_pitch = nav_pitch
-                self.nav_bearing = nav_bearing
-                self.target_bearing = target_bearing
-                self.wp_dist = wp_dist
-                self.alt_error = alt_error
-                self.aspd_error = aspd_error
-                self.xtrack_error = xtrack_error
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 183, struct.pack('<fffffhhH', self.nav_roll, self.nav_pitch, self.alt_error, self.aspd_error, self.xtrack_error, self.nav_bearing, self.target_bearing, self.wp_dist))
-
-class MAVLink_state_correction_message(MAVLink_message):
-        '''
-        Corrects the systems state by adding an error correction term
-        to the position and velocity, and by rotating the attitude by
-        a correction angle.
-        '''
-        def __init__(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATE_CORRECTION, 'STATE_CORRECTION')
-                self._fieldnames = ['xErr', 'yErr', 'zErr', 'rollErr', 'pitchErr', 'yawErr', 'vxErr', 'vyErr', 'vzErr']
-                self.xErr = xErr
-                self.yErr = yErr
-                self.zErr = zErr
-                self.rollErr = rollErr
-                self.pitchErr = pitchErr
-                self.yawErr = yawErr
-                self.vxErr = vxErr
-                self.vyErr = vyErr
-                self.vzErr = vzErr
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 130, struct.pack('<fffffffff', self.xErr, self.yErr, self.zErr, self.rollErr, self.pitchErr, self.yawErr, self.vxErr, self.vyErr, self.vzErr))
-
-class MAVLink_request_data_stream_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_REQUEST_DATA_STREAM, 'REQUEST_DATA_STREAM')
-                self._fieldnames = ['target_system', 'target_component', 'req_stream_id', 'req_message_rate', 'start_stop']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.req_stream_id = req_stream_id
-                self.req_message_rate = req_message_rate
-                self.start_stop = start_stop
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 148, struct.pack('<HBBBB', self.req_message_rate, self.target_system, self.target_component, self.req_stream_id, self.start_stop))
-
-class MAVLink_data_stream_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, stream_id, message_rate, on_off):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DATA_STREAM, 'DATA_STREAM')
-                self._fieldnames = ['stream_id', 'message_rate', 'on_off']
-                self.stream_id = stream_id
-                self.message_rate = message_rate
-                self.on_off = on_off
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 21, struct.pack('<HBB', self.message_rate, self.stream_id, self.on_off))
-
-class MAVLink_manual_control_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MANUAL_CONTROL, 'MANUAL_CONTROL')
-                self._fieldnames = ['target', 'roll', 'pitch', 'yaw', 'thrust', 'roll_manual', 'pitch_manual', 'yaw_manual', 'thrust_manual']
-                self.target = target
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.thrust = thrust
-                self.roll_manual = roll_manual
-                self.pitch_manual = pitch_manual
-                self.yaw_manual = yaw_manual
-                self.thrust_manual = thrust_manual
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 52, struct.pack('<ffffBBBBB', self.roll, self.pitch, self.yaw, self.thrust, self.target, self.roll_manual, self.pitch_manual, self.yaw_manual, self.thrust_manual))
-
-class MAVLink_rc_channels_override_message(MAVLink_message):
-        '''
-        The RAW values of the RC channels sent to the MAV to override
-        info received from the RC radio. A value of -1 means no change
-        to that channel. A value of 0 means control of that channel
-        should be released back to the RC radio. The standard PPM
-        modulation is as follows: 1000 microseconds: 0%, 2000
-        microseconds: 100%. Individual receivers/transmitters might
-        violate this specification.
-        '''
-        def __init__(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE, 'RC_CHANNELS_OVERRIDE')
-                self._fieldnames = ['target_system', 'target_component', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.chan1_raw = chan1_raw
-                self.chan2_raw = chan2_raw
-                self.chan3_raw = chan3_raw
-                self.chan4_raw = chan4_raw
-                self.chan5_raw = chan5_raw
-                self.chan6_raw = chan6_raw
-                self.chan7_raw = chan7_raw
-                self.chan8_raw = chan8_raw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 124, struct.pack('<HHHHHHHHBB', self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.target_system, self.target_component))
-
-class MAVLink_vfr_hud_message(MAVLink_message):
-        '''
-        Metrics typically displayed on a HUD for fixed wing aircraft
-        '''
-        def __init__(self, airspeed, groundspeed, heading, throttle, alt, climb):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VFR_HUD, 'VFR_HUD')
-                self._fieldnames = ['airspeed', 'groundspeed', 'heading', 'throttle', 'alt', 'climb']
-                self.airspeed = airspeed
-                self.groundspeed = groundspeed
-                self.heading = heading
-                self.throttle = throttle
-                self.alt = alt
-                self.climb = climb
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 20, struct.pack('<ffffhH', self.airspeed, self.groundspeed, self.alt, self.climb, self.heading, self.throttle))
-
-class MAVLink_command_long_message(MAVLink_message):
-        '''
-        Send a command with up to four parameters to the MAV
-        '''
-        def __init__(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_LONG, 'COMMAND_LONG')
-                self._fieldnames = ['target_system', 'target_component', 'command', 'confirmation', 'param1', 'param2', 'param3', 'param4', 'param5', 'param6', 'param7']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.command = command
-                self.confirmation = confirmation
-                self.param1 = param1
-                self.param2 = param2
-                self.param3 = param3
-                self.param4 = param4
-                self.param5 = param5
-                self.param6 = param6
-                self.param7 = param7
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 152, struct.pack('<fffffffHBBB', self.param1, self.param2, self.param3, self.param4, self.param5, self.param6, self.param7, self.command, self.target_system, self.target_component, self.confirmation))
-
-class MAVLink_command_ack_message(MAVLink_message):
-        '''
-        Report status of a command. Includes feedback wether the
-        command was executed
-        '''
-        def __init__(self, command, result):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_COMMAND_ACK, 'COMMAND_ACK')
-                self._fieldnames = ['command', 'result']
-                self.command = command
-                self.result = result
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 143, struct.pack('<HB', self.command, self.result))
-
-class MAVLink_hil_state_message(MAVLink_message):
-        '''
-        Sent from simulation to autopilot. This packet is useful for
-        high throughput                 applications such as hardware
-        in the loop simulations.
-        '''
-        def __init__(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_STATE, 'HIL_STATE')
-                self._fieldnames = ['time_usec', 'roll', 'pitch', 'yaw', 'rollspeed', 'pitchspeed', 'yawspeed', 'lat', 'lon', 'alt', 'vx', 'vy', 'vz', 'xacc', 'yacc', 'zacc']
-                self.time_usec = time_usec
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-                self.rollspeed = rollspeed
-                self.pitchspeed = pitchspeed
-                self.yawspeed = yawspeed
-                self.lat = lat
-                self.lon = lon
-                self.alt = alt
-                self.vx = vx
-                self.vy = vy
-                self.vz = vz
-                self.xacc = xacc
-                self.yacc = yacc
-                self.zacc = zacc
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 183, struct.pack('<Qffffffiiihhhhhh', self.time_usec, self.roll, self.pitch, self.yaw, self.rollspeed, self.pitchspeed, self.yawspeed, self.lat, self.lon, self.alt, self.vx, self.vy, self.vz, self.xacc, self.yacc, self.zacc))
-
-class MAVLink_hil_controls_message(MAVLink_message):
-        '''
-        Sent from autopilot to simulation. Hardware in the loop
-        control outputs
-        '''
-        def __init__(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_CONTROLS, 'HIL_CONTROLS')
-                self._fieldnames = ['time_usec', 'roll_ailerons', 'pitch_elevator', 'yaw_rudder', 'throttle', 'aux1', 'aux2', 'aux3', 'aux4', 'mode', 'nav_mode']
-                self.time_usec = time_usec
-                self.roll_ailerons = roll_ailerons
-                self.pitch_elevator = pitch_elevator
-                self.yaw_rudder = yaw_rudder
-                self.throttle = throttle
-                self.aux1 = aux1
-                self.aux2 = aux2
-                self.aux3 = aux3
-                self.aux4 = aux4
-                self.mode = mode
-                self.nav_mode = nav_mode
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 63, struct.pack('<QffffffffBB', self.time_usec, self.roll_ailerons, self.pitch_elevator, self.yaw_rudder, self.throttle, self.aux1, self.aux2, self.aux3, self.aux4, self.mode, self.nav_mode))
-
-class MAVLink_hil_rc_inputs_raw_message(MAVLink_message):
-        '''
-        Sent from simulation to autopilot. The RAW values of the RC
-        channels received. The standard PPM modulation is as follows:
-        1000 microseconds: 0%, 2000 microseconds: 100%. Individual
-        receivers/transmitters might violate this specification.
-        '''
-        def __init__(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW, 'HIL_RC_INPUTS_RAW')
-                self._fieldnames = ['time_usec', 'chan1_raw', 'chan2_raw', 'chan3_raw', 'chan4_raw', 'chan5_raw', 'chan6_raw', 'chan7_raw', 'chan8_raw', 'chan9_raw', 'chan10_raw', 'chan11_raw', 'chan12_raw', 'rssi']
-                self.time_usec = time_usec
-                self.chan1_raw = chan1_raw
-                self.chan2_raw = chan2_raw
-                self.chan3_raw = chan3_raw
-                self.chan4_raw = chan4_raw
-                self.chan5_raw = chan5_raw
-                self.chan6_raw = chan6_raw
-                self.chan7_raw = chan7_raw
-                self.chan8_raw = chan8_raw
-                self.chan9_raw = chan9_raw
-                self.chan10_raw = chan10_raw
-                self.chan11_raw = chan11_raw
-                self.chan12_raw = chan12_raw
-                self.rssi = rssi
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 54, struct.pack('<QHHHHHHHHHHHHB', self.time_usec, self.chan1_raw, self.chan2_raw, self.chan3_raw, self.chan4_raw, self.chan5_raw, self.chan6_raw, self.chan7_raw, self.chan8_raw, self.chan9_raw, self.chan10_raw, self.chan11_raw, self.chan12_raw, self.rssi))
-
-class MAVLink_optical_flow_message(MAVLink_message):
-        '''
-        Optical flow from a flow sensor (e.g. optical mouse sensor)
-        '''
-        def __init__(self, time_usec, sensor_id, flow_x, flow_y, quality, ground_distance):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_OPTICAL_FLOW, 'OPTICAL_FLOW')
-                self._fieldnames = ['time_usec', 'sensor_id', 'flow_x', 'flow_y', 'quality', 'ground_distance']
-                self.time_usec = time_usec
-                self.sensor_id = sensor_id
-                self.flow_x = flow_x
-                self.flow_y = flow_y
-                self.quality = quality
-                self.ground_distance = ground_distance
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 19, struct.pack('<QfhhBB', self.time_usec, self.ground_distance, self.flow_x, self.flow_y, self.sensor_id, self.quality))
-
-class MAVLink_global_vision_position_estimate_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, usec, x, y, z, roll, pitch, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, 'GLOBAL_VISION_POSITION_ESTIMATE')
-                self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
-                self.usec = usec
-                self.x = x
-                self.y = y
-                self.z = z
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 102, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
-
-class MAVLink_vision_position_estimate_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, usec, x, y, z, roll, pitch, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, 'VISION_POSITION_ESTIMATE')
-                self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
-                self.usec = usec
-                self.x = x
-                self.y = y
-                self.z = z
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 158, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
-
-class MAVLink_vision_speed_estimate_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, usec, x, y, z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, 'VISION_SPEED_ESTIMATE')
-                self._fieldnames = ['usec', 'x', 'y', 'z']
-                self.usec = usec
-                self.x = x
-                self.y = y
-                self.z = z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 208, struct.pack('<Qfff', self.usec, self.x, self.y, self.z))
-
-class MAVLink_vicon_position_estimate_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, usec, x, y, z, roll, pitch, yaw):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, 'VICON_POSITION_ESTIMATE')
-                self._fieldnames = ['usec', 'x', 'y', 'z', 'roll', 'pitch', 'yaw']
-                self.usec = usec
-                self.x = x
-                self.y = y
-                self.z = z
-                self.roll = roll
-                self.pitch = pitch
-                self.yaw = yaw
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 56, struct.pack('<Qffffff', self.usec, self.x, self.y, self.z, self.roll, self.pitch, self.yaw))
-
-class MAVLink_memory_vect_message(MAVLink_message):
-        '''
-        Send raw controller memory. The use of this message is
-        discouraged for normal packets, but a quite efficient way for
-        testing new messages and getting experimental debug output.
-        '''
-        def __init__(self, address, ver, type, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMORY_VECT, 'MEMORY_VECT')
-                self._fieldnames = ['address', 'ver', 'type', 'value']
-                self.address = address
-                self.ver = ver
-                self.type = type
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 204, struct.pack('<HBB32s', self.address, self.ver, self.type, self.value))
-
-class MAVLink_debug_vect_message(MAVLink_message):
-        '''
-
-        '''
-        def __init__(self, name, time_usec, x, y, z):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG_VECT, 'DEBUG_VECT')
-                self._fieldnames = ['name', 'time_usec', 'x', 'y', 'z']
-                self.name = name
-                self.time_usec = time_usec
-                self.x = x
-                self.y = y
-                self.z = z
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 49, struct.pack('<Qfff10s', self.time_usec, self.x, self.y, self.z, self.name))
-
-class MAVLink_named_value_float_message(MAVLink_message):
-        '''
-        Send a key-value pair as float. The use of this message is
-        discouraged for normal packets, but a quite efficient way for
-        testing new messages and getting experimental debug output.
-        '''
-        def __init__(self, time_boot_ms, name, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 'NAMED_VALUE_FLOAT')
-                self._fieldnames = ['time_boot_ms', 'name', 'value']
-                self.time_boot_ms = time_boot_ms
-                self.name = name
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 170, struct.pack('<If10s', self.time_boot_ms, self.value, self.name))
-
-class MAVLink_named_value_int_message(MAVLink_message):
-        '''
-        Send a key-value pair as integer. The use of this message is
-        discouraged for normal packets, but a quite efficient way for
-        testing new messages and getting experimental debug output.
-        '''
-        def __init__(self, time_boot_ms, name, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_NAMED_VALUE_INT, 'NAMED_VALUE_INT')
-                self._fieldnames = ['time_boot_ms', 'name', 'value']
-                self.time_boot_ms = time_boot_ms
-                self.name = name
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 44, struct.pack('<Ii10s', self.time_boot_ms, self.value, self.name))
-
-class MAVLink_statustext_message(MAVLink_message):
-        '''
-        Status text message. These messages are printed in yellow in
-        the COMM console of QGroundControl. WARNING: They consume
-        quite some bandwidth, so use only for important status and
-        error messages. If implemented wisely, these messages are
-        buffered on the MCU and sent only at a limited rate (e.g. 10
-        Hz).
-        '''
-        def __init__(self, severity, text):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_STATUSTEXT, 'STATUSTEXT')
-                self._fieldnames = ['severity', 'text']
-                self.severity = severity
-                self.text = text
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 83, struct.pack('<B50s', self.severity, self.text))
-
-class MAVLink_debug_message(MAVLink_message):
-        '''
-        Send a debug value. The index is used to discriminate between
-        values. These values show up in the plot of QGroundControl as
-        DEBUG N.
-        '''
-        def __init__(self, time_boot_ms, ind, value):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_DEBUG, 'DEBUG')
-                self._fieldnames = ['time_boot_ms', 'ind', 'value']
-                self.time_boot_ms = time_boot_ms
-                self.ind = ind
-                self.value = value
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 46, struct.pack('<IfB', self.time_boot_ms, self.value, self.ind))
-
-class MAVLink_extended_message_message(MAVLink_message):
-        '''
-        Extended message spacer.
-        '''
-        def __init__(self, target_system, target_component, protocol_flags):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_EXTENDED_MESSAGE, 'EXTENDED_MESSAGE')
-                self._fieldnames = ['target_system', 'target_component', 'protocol_flags']
-                self.target_system = target_system
-                self.target_component = target_component
-                self.protocol_flags = protocol_flags
-
-        def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 247, struct.pack('<BBB', self.target_system, self.target_component, self.protocol_flags))
-
-
-mavlink_map = {
-        MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '<fiiffffffhhh', MAVLink_sensor_offsets_message, [9, 10, 11, 0, 1, 2, 3, 4, 5, 6, 7, 8], 134 ),
-        MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '<hhhBB', MAVLink_set_mag_offsets_message, [3, 4, 0, 1, 2], 219 ),
-        MAVLINK_MSG_ID_MEMINFO : ( '<HH', MAVLink_meminfo_message, [0, 1], 208 ),
-        MAVLINK_MSG_ID_AP_ADC : ( '<HHHHHH', MAVLink_ap_adc_message, [0, 1, 2, 3, 4, 5], 188 ),
-        MAVLINK_MSG_ID_DIGICAM_CONFIGURE : ( '<fHBBBBBBBBB', MAVLink_digicam_configure_message, [2, 3, 4, 1, 5, 6, 7, 8, 9, 10, 0], 84 ),
-        MAVLINK_MSG_ID_DIGICAM_CONTROL : ( '<fBBBBbBBBB', MAVLink_digicam_control_message, [1, 2, 3, 4, 5, 6, 7, 8, 9, 0], 22 ),
-        MAVLINK_MSG_ID_MOUNT_CONFIGURE : ( '<BBBBBB', MAVLink_mount_configure_message, [0, 1, 2, 3, 4, 5], 19 ),
-        MAVLINK_MSG_ID_MOUNT_CONTROL : ( '<iiiBBB', MAVLink_mount_control_message, [3, 4, 0, 1, 2, 5], 21 ),
-        MAVLINK_MSG_ID_MOUNT_STATUS : ( '<iiiBB', MAVLink_mount_status_message, [3, 4, 0, 1, 2], 134 ),
-        MAVLINK_MSG_ID_FENCE_POINT : ( '<ffBBBB', MAVLink_fence_point_message, [2, 3, 4, 5, 0, 1], 78 ),
-        MAVLINK_MSG_ID_FENCE_FETCH_POINT : ( '<BBB', MAVLink_fence_fetch_point_message, [0, 1, 2], 68 ),
-        MAVLINK_MSG_ID_FENCE_STATUS : ( '<IHBB', MAVLink_fence_status_message, [2, 1, 3, 0], 189 ),
-        MAVLINK_MSG_ID_AHRS : ( '<fffffff', MAVLink_ahrs_message, [0, 1, 2, 3, 4, 5, 6], 127 ),
-        MAVLINK_MSG_ID_SIMSTATE : ( '<fffffffff', MAVLink_simstate_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 42 ),
-        MAVLINK_MSG_ID_HWSTATUS : ( '<HB', MAVLink_hwstatus_message, [0, 1], 21 ),
-        MAVLINK_MSG_ID_RADIO : ( '<HHBBBBB', MAVLink_radio_message, [2, 3, 4, 5, 6, 0, 1], 21 ),
-        MAVLINK_MSG_ID_HEARTBEAT : ( '<IBBBBB', MAVLink_heartbeat_message, [1, 2, 3, 0, 4, 5], 50 ),
-        MAVLINK_MSG_ID_SYS_STATUS : ( '<IIIHHhHHHHHHb', MAVLink_sys_status_message, [0, 1, 2, 3, 4, 5, 12, 6, 7, 8, 9, 10, 11], 124 ),
-        MAVLINK_MSG_ID_SYSTEM_TIME : ( '<QI', MAVLink_system_time_message, [0, 1], 137 ),
-        MAVLINK_MSG_ID_PING : ( '<QIBB', MAVLink_ping_message, [0, 1, 2, 3], 237 ),
-        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL : ( '<BBB25s', MAVLink_change_operator_control_message, [0, 1, 2, 3], 217 ),
-        MAVLINK_MSG_ID_CHANGE_OPERATOR_CONTROL_ACK : ( '<BBB', MAVLink_change_operator_control_ack_message, [0, 1, 2], 104 ),
-        MAVLINK_MSG_ID_AUTH_KEY : ( '<32s', MAVLink_auth_key_message, [0], 119 ),
-        MAVLINK_MSG_ID_SET_MODE : ( '<IBB', MAVLink_set_mode_message, [1, 2, 0], 89 ),
-        MAVLINK_MSG_ID_PARAM_REQUEST_READ : ( '<hBB16s', MAVLink_param_request_read_message, [1, 2, 3, 0], 214 ),
-        MAVLINK_MSG_ID_PARAM_REQUEST_LIST : ( '<BB', MAVLink_param_request_list_message, [0, 1], 159 ),
-        MAVLINK_MSG_ID_PARAM_VALUE : ( '<fHH16sB', MAVLink_param_value_message, [3, 0, 4, 1, 2], 220 ),
-        MAVLINK_MSG_ID_PARAM_SET : ( '<fBB16sB', MAVLink_param_set_message, [1, 2, 3, 0, 4], 168 ),
-        MAVLINK_MSG_ID_GPS_RAW_INT : ( '<QiiiHHHHBB', MAVLink_gps_raw_int_message, [0, 8, 1, 2, 3, 4, 5, 6, 7, 9], 24 ),
-        MAVLINK_MSG_ID_GPS_STATUS : ( '<B20s20s20s20s20s', MAVLink_gps_status_message, [0, 1, 2, 3, 4, 5], 23 ),
-        MAVLINK_MSG_ID_SCALED_IMU : ( '<Ihhhhhhhhh', MAVLink_scaled_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 170 ),
-        MAVLINK_MSG_ID_RAW_IMU : ( '<Qhhhhhhhhh', MAVLink_raw_imu_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9], 144 ),
-        MAVLINK_MSG_ID_RAW_PRESSURE : ( '<Qhhhh', MAVLink_raw_pressure_message, [0, 1, 2, 3, 4], 67 ),
-        MAVLINK_MSG_ID_SCALED_PRESSURE : ( '<Iffh', MAVLink_scaled_pressure_message, [0, 1, 2, 3], 115 ),
-        MAVLINK_MSG_ID_ATTITUDE : ( '<Iffffff', MAVLink_attitude_message, [0, 1, 2, 3, 4, 5, 6], 39 ),
-        MAVLINK_MSG_ID_ATTITUDE_QUATERNION : ( '<Ifffffff', MAVLink_attitude_quaternion_message, [0, 1, 2, 3, 4, 5, 6, 7], 246 ),
-        MAVLINK_MSG_ID_LOCAL_POSITION_NED : ( '<Iffffff', MAVLink_local_position_ned_message, [0, 1, 2, 3, 4, 5, 6], 185 ),
-        MAVLINK_MSG_ID_GLOBAL_POSITION_INT : ( '<IiiiihhhH', MAVLink_global_position_int_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 104 ),
-        MAVLINK_MSG_ID_RC_CHANNELS_SCALED : ( '<IhhhhhhhhBB', MAVLink_rc_channels_scaled_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 237 ),
-        MAVLINK_MSG_ID_RC_CHANNELS_RAW : ( '<IHHHHHHHHBB', MAVLink_rc_channels_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8, 10], 244 ),
-        MAVLINK_MSG_ID_SERVO_OUTPUT_RAW : ( '<IHHHHHHHHB', MAVLink_servo_output_raw_message, [0, 9, 1, 2, 3, 4, 5, 6, 7, 8], 222 ),
-        MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_request_partial_list_message, [2, 3, 0, 1], 212 ),
-        MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST : ( '<hhBB', MAVLink_mission_write_partial_list_message, [2, 3, 0, 1], 9 ),
-        MAVLINK_MSG_ID_MISSION_ITEM : ( '<fffffffHHBBBBB', MAVLink_mission_item_message, [9, 10, 7, 11, 8, 12, 13, 0, 1, 2, 3, 4, 5, 6], 254 ),
-        MAVLINK_MSG_ID_MISSION_REQUEST : ( '<HBB', MAVLink_mission_request_message, [1, 2, 0], 230 ),
-        MAVLINK_MSG_ID_MISSION_SET_CURRENT : ( '<HBB', MAVLink_mission_set_current_message, [1, 2, 0], 28 ),
-        MAVLINK_MSG_ID_MISSION_CURRENT : ( '<H', MAVLink_mission_current_message, [0], 28 ),
-        MAVLINK_MSG_ID_MISSION_REQUEST_LIST : ( '<BB', MAVLink_mission_request_list_message, [0, 1], 132 ),
-        MAVLINK_MSG_ID_MISSION_COUNT : ( '<HBB', MAVLink_mission_count_message, [1, 2, 0], 221 ),
-        MAVLINK_MSG_ID_MISSION_CLEAR_ALL : ( '<BB', MAVLink_mission_clear_all_message, [0, 1], 232 ),
-        MAVLINK_MSG_ID_MISSION_ITEM_REACHED : ( '<H', MAVLink_mission_item_reached_message, [0], 11 ),
-        MAVLINK_MSG_ID_MISSION_ACK : ( '<BBB', MAVLink_mission_ack_message, [0, 1, 2], 153 ),
-        MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN : ( '<iiiB', MAVLink_set_gps_global_origin_message, [3, 0, 1, 2], 41 ),
-        MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN : ( '<iii', MAVLink_gps_global_origin_message, [0, 1, 2], 39 ),
-        MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT : ( '<ffffBBB', MAVLink_set_local_position_setpoint_message, [4, 5, 6, 0, 1, 2, 3], 214 ),
-        MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT : ( '<ffffB', MAVLink_local_position_setpoint_message, [4, 0, 1, 2, 3], 223 ),
-        MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 141 ),
-        MAVLINK_MSG_ID_SET_GLOBAL_POSITION_SETPOINT_INT : ( '<iiihB', MAVLink_set_global_position_setpoint_int_message, [4, 0, 1, 2, 3], 33 ),
-        MAVLINK_MSG_ID_SAFETY_SET_ALLOWED_AREA : ( '<ffffffBBB', MAVLink_safety_set_allowed_area_message, [6, 7, 8, 0, 1, 2, 3, 4, 5], 15 ),
-        MAVLINK_MSG_ID_SAFETY_ALLOWED_AREA : ( '<ffffffB', MAVLink_safety_allowed_area_message, [6, 0, 1, 2, 3, 4, 5], 3 ),
-        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_thrust_message, [4, 5, 0, 1, 2, 3], 100 ),
-        MAVLINK_MSG_ID_SET_ROLL_PITCH_YAW_SPEED_THRUST : ( '<ffffBB', MAVLink_set_roll_pitch_yaw_speed_thrust_message, [4, 5, 0, 1, 2, 3], 24 ),
-        MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 239 ),
-        MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 238 ),
-        MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '<fffffhhH', MAVLink_nav_controller_output_message, [0, 1, 5, 6, 7, 2, 3, 4], 183 ),
-        MAVLINK_MSG_ID_STATE_CORRECTION : ( '<fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
-        MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '<HBBBB', MAVLink_request_data_stream_message, [1, 2, 3, 0, 4], 148 ),
-        MAVLINK_MSG_ID_DATA_STREAM : ( '<HBB', MAVLink_data_stream_message, [1, 0, 2], 21 ),
-        MAVLINK_MSG_ID_MANUAL_CONTROL : ( '<ffffBBBBB', MAVLink_manual_control_message, [4, 0, 1, 2, 3, 5, 6, 7, 8], 52 ),
-        MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE : ( '<HHHHHHHHBB', MAVLink_rc_channels_override_message, [8, 9, 0, 1, 2, 3, 4, 5, 6, 7], 124 ),
-        MAVLINK_MSG_ID_VFR_HUD : ( '<ffffhH', MAVLink_vfr_hud_message, [0, 1, 4, 5, 2, 3], 20 ),
-        MAVLINK_MSG_ID_COMMAND_LONG : ( '<fffffffHBBB', MAVLink_command_long_message, [8, 9, 7, 10, 0, 1, 2, 3, 4, 5, 6], 152 ),
-        MAVLINK_MSG_ID_COMMAND_ACK : ( '<HB', MAVLink_command_ack_message, [0, 1], 143 ),
-        MAVLINK_MSG_ID_HIL_STATE : ( '<Qffffffiiihhhhhh', MAVLink_hil_state_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], 183 ),
-        MAVLINK_MSG_ID_HIL_CONTROLS : ( '<QffffffffBB', MAVLink_hil_controls_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10], 63 ),
-        MAVLINK_MSG_ID_HIL_RC_INPUTS_RAW : ( '<QHHHHHHHHHHHHB', MAVLink_hil_rc_inputs_raw_message, [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13], 54 ),
-        MAVLINK_MSG_ID_OPTICAL_FLOW : ( '<QfhhBB', MAVLink_optical_flow_message, [0, 4, 2, 3, 5, 1], 19 ),
-        MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_global_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 102 ),
-        MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vision_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 158 ),
-        MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE : ( '<Qfff', MAVLink_vision_speed_estimate_message, [0, 1, 2, 3], 208 ),
-        MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE : ( '<Qffffff', MAVLink_vicon_position_estimate_message, [0, 1, 2, 3, 4, 5, 6], 56 ),
-        MAVLINK_MSG_ID_MEMORY_VECT : ( '<HBB32s', MAVLink_memory_vect_message, [0, 1, 2, 3], 204 ),
-        MAVLINK_MSG_ID_DEBUG_VECT : ( '<Qfff10s', MAVLink_debug_vect_message, [4, 0, 1, 2, 3], 49 ),
-        MAVLINK_MSG_ID_NAMED_VALUE_FLOAT : ( '<If10s', MAVLink_named_value_float_message, [0, 2, 1], 170 ),
-        MAVLINK_MSG_ID_NAMED_VALUE_INT : ( '<Ii10s', MAVLink_named_value_int_message, [0, 2, 1], 44 ),
-        MAVLINK_MSG_ID_STATUSTEXT : ( '<B50s', MAVLink_statustext_message, [0, 1], 83 ),
-        MAVLINK_MSG_ID_DEBUG : ( '<IfB', MAVLink_debug_message, [0, 2, 1], 46 ),
-        MAVLINK_MSG_ID_EXTENDED_MESSAGE : ( '<BBB', MAVLink_extended_message_message, [0, 1, 2], 247 ),
-}
-
-class MAVError(Exception):
-        '''MAVLink error class'''
-        def __init__(self, msg):
-            Exception.__init__(self, msg)
-            self.message = msg
-
-class MAVString(str):
-        '''NUL terminated string'''
-        def __init__(self, s):
-                str.__init__(self)
-        def __str__(self):
-            i = self.find(chr(0))
-            if i == -1:
-                return self[:]
-            return self[0:i]
-
-class MAVLink_bad_data(MAVLink_message):
-        '''
-        a piece of bad data in a mavlink stream
-        '''
-        def __init__(self, data, reason):
-                MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, 'BAD_DATA')
-                self._fieldnames = ['data', 'reason']
-                self.data = data
-                self.reason = reason
-                self._msgbuf = data
-            
-class MAVLink(object):
-        '''MAVLink protocol handling class'''
-        def __init__(self, file, srcSystem=0, srcComponent=0):
-                self.seq = 0
-                self.file = file
-                self.srcSystem = srcSystem
-                self.srcComponent = srcComponent
-                self.callback = None
-                self.callback_args = None
-                self.callback_kwargs = None
-                self.buf = array.array('B')
-                self.expected_length = 6
-                self.have_prefix_error = False
-                self.robust_parsing = False
-                self.protocol_marker = 254
-                self.little_endian = True
-                self.crc_extra = True
-                self.sort_fields = True
-                self.total_packets_sent = 0
-                self.total_bytes_sent = 0
-                self.total_packets_received = 0
-                self.total_bytes_received = 0
-                self.total_receive_errors = 0
-                self.startup_time = time.time()
-
-        def set_callback(self, callback, *args, **kwargs):
-            self.callback = callback
-            self.callback_args = args
-            self.callback_kwargs = kwargs
-            
-        def send(self, mavmsg):
-                '''send a MAVLink message'''
-                buf = mavmsg.pack(self)
-                self.file.write(buf)
-                self.seq = (self.seq + 1) % 255
-                self.total_packets_sent += 1
-                self.total_bytes_sent += len(buf)
-
-        def bytes_needed(self):
-            '''return number of bytes needed for next parsing stage'''
-            ret = self.expected_length - len(self.buf)
-            if ret <= 0:
-                return 1
-            return ret
-
-        def parse_char(self, c):
-            '''input some data bytes, possibly returning a new message'''
-            if isinstance(c, str):
-                self.buf.fromstring(c)
-            else:
-                self.buf.extend(c)
-            self.total_bytes_received += len(c)
-            if len(self.buf) >= 1 and self.buf[0] != 254:
-                magic = self.buf[0]
-                self.buf = self.buf[1:]
-                if self.robust_parsing:
-                    m = MAVLink_bad_data(chr(magic), "Bad prefix")
-                    if self.callback:
-                        self.callback(m, *self.callback_args, **self.callback_kwargs)
-                    self.expected_length = 6
-                    self.total_receive_errors += 1
-                    return m
-                if self.have_prefix_error:
-                    return None
-                self.have_prefix_error = True
-                self.total_receive_errors += 1
-                raise MAVError("invalid MAVLink prefix '%s'" % magic) 
-            self.have_prefix_error = False
-            if len(self.buf) >= 2:
-                (magic, self.expected_length) = struct.unpack('BB', self.buf[0:2])
-                self.expected_length += 8
-            if self.expected_length >= 8 and len(self.buf) >= self.expected_length:
-                mbuf = self.buf[0:self.expected_length]
-                self.buf = self.buf[self.expected_length:]
-                self.expected_length = 6
-                if self.robust_parsing:
-                    try:
-                        m = self.decode(mbuf)
-                        self.total_packets_received += 1
-                    except MAVError as reason:
-                        m = MAVLink_bad_data(mbuf, reason.message)
-                        self.total_receive_errors += 1
-                else:
-                    m = self.decode(mbuf)
-                    self.total_packets_received += 1
-                if self.callback:
-                    self.callback(m, *self.callback_args, **self.callback_kwargs)
-                return m
-            return None
-
-        def parse_buffer(self, s):
-            '''input some data bytes, possibly returning a list of new messages'''
-            m = self.parse_char(s)
-            if m is None:
-                return None
-            ret = [m]
-            while True:
-                m = self.parse_char("")
-                if m is None:
-                    return ret
-                ret.append(m)
-            return ret
-
-        def decode(self, msgbuf):
-                '''decode a buffer as a MAVLink message'''
-                # decode the header
-                try:
-                    magic, mlen, seq, srcSystem, srcComponent, msgId = struct.unpack('cBBBBB', msgbuf[:6])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink header: %s' % emsg)
-                if ord(magic) != 254:
-                    raise MAVError("invalid MAVLink prefix '%s'" % magic)
-                if mlen != len(msgbuf)-8:
-                    raise MAVError('invalid MAVLink message length. Got %u expected %u, msgId=%u' % (len(msgbuf)-8, mlen, msgId))
-
-                if not msgId in mavlink_map:
-                    raise MAVError('unknown MAVLink message ID %u' % msgId)
-
-                # decode the payload
-                (fmt, type, order_map, crc_extra) = mavlink_map[msgId]
-
-                # decode the checksum
-                try:
-                    crc, = struct.unpack('<H', msgbuf[-2:])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink CRC: %s' % emsg)
-                crc2 = mavutil.x25crc(msgbuf[1:-2])
-                if True: # using CRC extra 
-                    crc2.accumulate(chr(crc_extra))
-                if crc != crc2.crc:
-                    raise MAVError('invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x' % (msgId, crc, crc2.crc))
-
-                try:
-                    t = struct.unpack(fmt, msgbuf[6:-2])
-                except struct.error as emsg:
-                    raise MAVError('Unable to unpack MAVLink payload type=%s fmt=%s payloadLength=%u: %s' % (
-                        type, fmt, len(msgbuf[6:-2]), emsg))
-
-                tlist = list(t)
-                # handle sorted fields
-                if True:
-                    t = tlist[:]
-                    for i in range(0, len(tlist)):
-                        tlist[i] = t[order_map[i]]
-
-                # terminate any strings
-                for i in range(0, len(tlist)):
-                    if isinstance(tlist[i], str):
-                        tlist[i] = MAVString(tlist[i])
-                t = tuple(tlist)
-                # construct the message object
-                try:
-                    m = type(*t)
-                except Exception as emsg:
-                    raise MAVError('Unable to instantiate MAVLink message of type %s : %s' % (type, emsg))
-                m._msgbuf = msgbuf
-                m._payload = msgbuf[6:-2]
-                m._crc = crc
-                m._header = MAVLink_header(msgId, mlen, seq, srcSystem, srcComponent)
-                return m
-        def sensor_offsets_encode(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
-                '''
-                Offsets and calibrations values for hardware         sensors. This
-                makes it easier to debug the calibration process.
-
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-                mag_declination           : magnetic declination (radians) (float)
-                raw_press                 : raw pressure from barometer (int32_t)
-                raw_temp                  : raw temperature from barometer (int32_t)
-                gyro_cal_x                : gyro X calibration (float)
-                gyro_cal_y                : gyro Y calibration (float)
-                gyro_cal_z                : gyro Z calibration (float)
-                accel_cal_x               : accel X calibration (float)
-                accel_cal_y               : accel Y calibration (float)
-                accel_cal_z               : accel Z calibration (float)
-
-                '''
-                msg = MAVLink_sensor_offsets_message(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z)
-                msg.pack(self)
-                return msg
-            
-        def sensor_offsets_send(self, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z):
-                '''
-                Offsets and calibrations values for hardware         sensors. This
-                makes it easier to debug the calibration process.
-
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-                mag_declination           : magnetic declination (radians) (float)
-                raw_press                 : raw pressure from barometer (int32_t)
-                raw_temp                  : raw temperature from barometer (int32_t)
-                gyro_cal_x                : gyro X calibration (float)
-                gyro_cal_y                : gyro Y calibration (float)
-                gyro_cal_z                : gyro Z calibration (float)
-                accel_cal_x               : accel X calibration (float)
-                accel_cal_y               : accel Y calibration (float)
-                accel_cal_z               : accel Z calibration (float)
-
-                '''
-                return self.send(self.sensor_offsets_encode(mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z))
-            
-        def set_mag_offsets_encode(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
-                '''
-                set the magnetometer offsets
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-
-                '''
-                msg = MAVLink_set_mag_offsets_message(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z)
-                msg.pack(self)
-                return msg
-            
-        def set_mag_offsets_send(self, target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z):
-                '''
-                set the magnetometer offsets
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mag_ofs_x                 : magnetometer X offset (int16_t)
-                mag_ofs_y                 : magnetometer Y offset (int16_t)
-                mag_ofs_z                 : magnetometer Z offset (int16_t)
-
-                '''
-                return self.send(self.set_mag_offsets_encode(target_system, target_component, mag_ofs_x, mag_ofs_y, mag_ofs_z))
-            
-        def meminfo_encode(self, brkval, freemem):
-                '''
-                state of APM memory
-
-                brkval                    : heap top (uint16_t)
-                freemem                   : free memory (uint16_t)
-
-                '''
-                msg = MAVLink_meminfo_message(brkval, freemem)
-                msg.pack(self)
-                return msg
-            
-        def meminfo_send(self, brkval, freemem):
-                '''
-                state of APM memory
-
-                brkval                    : heap top (uint16_t)
-                freemem                   : free memory (uint16_t)
-
-                '''
-                return self.send(self.meminfo_encode(brkval, freemem))
-            
-        def ap_adc_encode(self, adc1, adc2, adc3, adc4, adc5, adc6):
-                '''
-                raw ADC output
-
-                adc1                      : ADC output 1 (uint16_t)
-                adc2                      : ADC output 2 (uint16_t)
-                adc3                      : ADC output 3 (uint16_t)
-                adc4                      : ADC output 4 (uint16_t)
-                adc5                      : ADC output 5 (uint16_t)
-                adc6                      : ADC output 6 (uint16_t)
-
-                '''
-                msg = MAVLink_ap_adc_message(adc1, adc2, adc3, adc4, adc5, adc6)
-                msg.pack(self)
-                return msg
-            
-        def ap_adc_send(self, adc1, adc2, adc3, adc4, adc5, adc6):
-                '''
-                raw ADC output
-
-                adc1                      : ADC output 1 (uint16_t)
-                adc2                      : ADC output 2 (uint16_t)
-                adc3                      : ADC output 3 (uint16_t)
-                adc4                      : ADC output 4 (uint16_t)
-                adc5                      : ADC output 5 (uint16_t)
-                adc6                      : ADC output 6 (uint16_t)
-
-                '''
-                return self.send(self.ap_adc_encode(adc1, adc2, adc3, adc4, adc5, adc6))
-            
-        def digicam_configure_encode(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
-                '''
-                Configure on-board Camera Control System.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
-                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
-                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
-                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
-                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                msg = MAVLink_digicam_configure_message(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value)
-                msg.pack(self)
-                return msg
-            
-        def digicam_configure_send(self, target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value):
-                '''
-                Configure on-board Camera Control System.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mode                      : Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) (uint8_t)
-                shutter_speed             : Divisor number //e.g. 1000 means 1/1000 (0 means ignore) (uint16_t)
-                aperture                  : F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) (uint8_t)
-                iso                       : ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) (uint8_t)
-                exposure_type             : Exposure type enumeration from 1 to N (0 means ignore) (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                engine_cut_off            : Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                return self.send(self.digicam_configure_encode(target_system, target_component, mode, shutter_speed, aperture, iso, exposure_type, command_id, engine_cut_off, extra_param, extra_value))
-            
-        def digicam_control_encode(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
-                '''
-                Control on-board Camera Control System to take shots.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
-                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
-                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
-                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
-                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                msg = MAVLink_digicam_control_message(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value)
-                msg.pack(self)
-                return msg
-            
-        def digicam_control_send(self, target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value):
-                '''
-                Control on-board Camera Control System to take shots.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                session                   : 0: stop, 1: start or keep it up //Session control e.g. show/hide lens (uint8_t)
-                zoom_pos                  : 1 to N //Zoom's absolute position (0 means ignore) (uint8_t)
-                zoom_step                 : -100 to 100 //Zooming step value to offset zoom from the current position (int8_t)
-                focus_lock                : 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus (uint8_t)
-                shot                      : 0: ignore, 1: shot or start filming (uint8_t)
-                command_id                : Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once (uint8_t)
-                extra_param               : Extra parameters enumeration (0 means ignore) (uint8_t)
-                extra_value               : Correspondent value to given extra_param (float)
-
-                '''
-                return self.send(self.digicam_control_encode(target_system, target_component, session, zoom_pos, zoom_step, focus_lock, shot, command_id, extra_param, extra_value))
-            
-        def mount_configure_encode(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
-                '''
-                Message to configure a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
-                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
-                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
-                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
-
-                '''
-                msg = MAVLink_mount_configure_message(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw)
-                msg.pack(self)
-                return msg
-            
-        def mount_configure_send(self, target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw):
-                '''
-                Message to configure a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                mount_mode                : mount operating mode (see MAV_MOUNT_MODE enum) (uint8_t)
-                stab_roll                 : (1 = yes, 0 = no) (uint8_t)
-                stab_pitch                : (1 = yes, 0 = no) (uint8_t)
-                stab_yaw                  : (1 = yes, 0 = no) (uint8_t)
-
-                '''
-                return self.send(self.mount_configure_encode(target_system, target_component, mount_mode, stab_roll, stab_pitch, stab_yaw))
-            
-        def mount_control_encode(self, target_system, target_component, input_a, input_b, input_c, save_position):
-                '''
-                Message to control a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
-                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
-
-                '''
-                msg = MAVLink_mount_control_message(target_system, target_component, input_a, input_b, input_c, save_position)
-                msg.pack(self)
-                return msg
-            
-        def mount_control_send(self, target_system, target_component, input_a, input_b, input_c, save_position):
-                '''
-                Message to control a camera mount, directional antenna, etc.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                input_a                   : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                input_b                   : roll(deg*100) or lon depending on mount mode (int32_t)
-                input_c                   : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-                save_position             : if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) (uint8_t)
-
-                '''
-                return self.send(self.mount_control_encode(target_system, target_component, input_a, input_b, input_c, save_position))
-            
-        def mount_status_encode(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
-                '''
-                Message with some status from APM to GCS about camera or antenna mount
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
-                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-
-                '''
-                msg = MAVLink_mount_status_message(target_system, target_component, pointing_a, pointing_b, pointing_c)
-                msg.pack(self)
-                return msg
-            
-        def mount_status_send(self, target_system, target_component, pointing_a, pointing_b, pointing_c):
-                '''
-                Message with some status from APM to GCS about camera or antenna mount
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                pointing_a                : pitch(deg*100) or lat, depending on mount mode (int32_t)
-                pointing_b                : roll(deg*100) or lon depending on mount mode (int32_t)
-                pointing_c                : yaw(deg*100) or alt (in cm) depending on mount mode (int32_t)
-
-                '''
-                return self.send(self.mount_status_encode(target_system, target_component, pointing_a, pointing_b, pointing_c))
-            
-        def fence_point_encode(self, target_system, target_component, idx, count, lat, lng):
-                '''
-                A fence point. Used to set a point when from               GCS -> MAV.
-                Also used to return a point from MAV -> GCS
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-                count                     : total number of points (for sanity checking) (uint8_t)
-                lat                       : Latitude of point (float)
-                lng                       : Longitude of point (float)
-
-                '''
-                msg = MAVLink_fence_point_message(target_system, target_component, idx, count, lat, lng)
-                msg.pack(self)
-                return msg
-            
-        def fence_point_send(self, target_system, target_component, idx, count, lat, lng):
-                '''
-                A fence point. Used to set a point when from               GCS -> MAV.
-                Also used to return a point from MAV -> GCS
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-                count                     : total number of points (for sanity checking) (uint8_t)
-                lat                       : Latitude of point (float)
-                lng                       : Longitude of point (float)
-
-                '''
-                return self.send(self.fence_point_encode(target_system, target_component, idx, count, lat, lng))
-            
-        def fence_fetch_point_encode(self, target_system, target_component, idx):
-                '''
-                Request a current fence point from MAV
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-
-                '''
-                msg = MAVLink_fence_fetch_point_message(target_system, target_component, idx)
-                msg.pack(self)
-                return msg
-            
-        def fence_fetch_point_send(self, target_system, target_component, idx):
-                '''
-                Request a current fence point from MAV
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                idx                       : point index (first point is 1, 0 is for return point) (uint8_t)
-
-                '''
-                return self.send(self.fence_fetch_point_encode(target_system, target_component, idx))
-            
-        def fence_status_encode(self, breach_status, breach_count, breach_type, breach_time):
-                '''
-                Status of geo-fencing. Sent in extended             status stream when
-                fencing enabled
-
-                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
-                breach_count              : number of fence breaches (uint16_t)
-                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
-                breach_time               : time of last breach in milliseconds since boot (uint32_t)
-
-                '''
-                msg = MAVLink_fence_status_message(breach_status, breach_count, breach_type, breach_time)
-                msg.pack(self)
-                return msg
-            
-        def fence_status_send(self, breach_status, breach_count, breach_type, breach_time):
-                '''
-                Status of geo-fencing. Sent in extended             status stream when
-                fencing enabled
-
-                breach_status             : 0 if currently inside fence, 1 if outside (uint8_t)
-                breach_count              : number of fence breaches (uint16_t)
-                breach_type               : last breach type (see FENCE_BREACH_* enum) (uint8_t)
-                breach_time               : time of last breach in milliseconds since boot (uint32_t)
-
-                '''
-                return self.send(self.fence_status_encode(breach_status, breach_count, breach_type, breach_time))
-            
-        def ahrs_encode(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
-                '''
-                Status of DCM attitude estimator
-
-                omegaIx                   : X gyro drift estimate rad/s (float)
-                omegaIy                   : Y gyro drift estimate rad/s (float)
-                omegaIz                   : Z gyro drift estimate rad/s (float)
-                accel_weight              : average accel_weight (float)
-                renorm_val                : average renormalisation value (float)
-                error_rp                  : average error_roll_pitch value (float)
-                error_yaw                 : average error_yaw value (float)
-
-                '''
-                msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)
-                msg.pack(self)
-                return msg
-            
-        def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
-                '''
-                Status of DCM attitude estimator
-
-                omegaIx                   : X gyro drift estimate rad/s (float)
-                omegaIy                   : Y gyro drift estimate rad/s (float)
-                omegaIz                   : Z gyro drift estimate rad/s (float)
-                accel_weight              : average accel_weight (float)
-                renorm_val                : average renormalisation value (float)
-                error_rp                  : average error_roll_pitch value (float)
-                error_yaw                 : average error_yaw value (float)
-
-                '''
-                return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw))
-            
-        def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
-                '''
-                Status of simulation environment, if used
-
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                xacc                      : X acceleration m/s/s (float)
-                yacc                      : Y acceleration m/s/s (float)
-                zacc                      : Z acceleration m/s/s (float)
-                xgyro                     : Angular speed around X axis rad/s (float)
-                ygyro                     : Angular speed around Y axis rad/s (float)
-                zgyro                     : Angular speed around Z axis rad/s (float)
-
-                '''
-                msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro)
-                msg.pack(self)
-                return msg
-            
-        def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
-                '''
-                Status of simulation environment, if used
-
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                xacc                      : X acceleration m/s/s (float)
-                yacc                      : Y acceleration m/s/s (float)
-                zacc                      : Z acceleration m/s/s (float)
-                xgyro                     : Angular speed around X axis rad/s (float)
-                ygyro                     : Angular speed around Y axis rad/s (float)
-                zgyro                     : Angular speed around Z axis rad/s (float)
-
-                '''
-                return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro))
-            
-        def hwstatus_encode(self, Vcc, I2Cerr):
-                '''
-                Status of key hardware
-
-                Vcc                       : board voltage (mV) (uint16_t)
-                I2Cerr                    : I2C error count (uint8_t)
-
-                '''
-                msg = MAVLink_hwstatus_message(Vcc, I2Cerr)
-                msg.pack(self)
-                return msg
-            
-        def hwstatus_send(self, Vcc, I2Cerr):
-                '''
-                Status of key hardware
-
-                Vcc                       : board voltage (mV) (uint16_t)
-                I2Cerr                    : I2C error count (uint8_t)
-
-                '''
-                return self.send(self.hwstatus_encode(Vcc, I2Cerr))
-            
-        def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
-                '''
-                Status generated by radio
-
-                rssi                      : local signal strength (uint8_t)
-                remrssi                   : remote signal strength (uint8_t)
-                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
-                noise                     : background noise level (uint8_t)
-                remnoise                  : remote background noise level (uint8_t)
-                rxerrors                  : receive errors (uint16_t)
-                fixed                     : count of error corrected packets (uint16_t)
-
-                '''
-                msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)
-                msg.pack(self)
-                return msg
-            
-        def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
-                '''
-                Status generated by radio
-
-                rssi                      : local signal strength (uint8_t)
-                remrssi                   : remote signal strength (uint8_t)
-                txbuf                     : how full the tx buffer is as a percentage (uint8_t)
-                noise                     : background noise level (uint8_t)
-                remnoise                  : remote background noise level (uint8_t)
-                rxerrors                  : receive errors (uint16_t)
-                fixed                     : count of error corrected packets (uint16_t)
-
-                '''
-                return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed))
-            
-        def heartbeat_encode(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3):
-                '''
-                The heartbeat message shows that a system is present and responding.
-                The type of the MAV and Autopilot hardware allow the
-                receiving system to treat further messages from this
-                system appropriate (e.g. by laying out the user
-                interface based on the autopilot).
-
-                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
-                autopilot                 : Autopilot type / class. defined in MAV_CLASS ENUM (uint8_t)
-                base_mode                 : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t)
-                custom_mode               : Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. (uint32_t)
-                system_status             : System status flag, see MAV_STATUS ENUM (uint8_t)
-                mavlink_version           : MAVLink version (uint8_t)
-
-                '''
-                msg = MAVLink_heartbeat_message(type, autopilot, base_mode, custom_mode, system_status, mavlink_version)
-                msg.pack(self)
-                return msg
-            
-        def heartbeat_send(self, type, autopilot, base_mode, custom_mode, system_status, mavlink_version=3):
-                '''
-                The heartbeat message shows that a system is present and responding.
-                The type of the MAV and Autopilot hardware allow the
-                receiving system to treat further messages from this
-                system appropriate (e.g. by laying out the user
-                interface based on the autopilot).
-
-                type                      : Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) (uint8_t)
-                autopilot                 : Autopilot type / class. defined in MAV_CLASS ENUM (uint8_t)
-                base_mode                 : System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h (uint8_t)
-                custom_mode               : Navigation mode bitfield, see MAV_AUTOPILOT_CUSTOM_MODE ENUM for some examples. This field is autopilot-specific. (uint32_t)
-                system_status             : System status flag, see MAV_STATUS ENUM (uint8_t)
-                mavlink_version           : MAVLink version (uint8_t)
-
-                '''
-                return self.send(self.heartbeat_encode(type, autopilot, base_mode, custom_mode, system_status, mavlink_version))
-            
-        def sys_status_encode(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
-                '''
-                The general system state. If the system is following the MAVLink
-                standard, the system state is mainly defined by three
-                orthogonal states/modes: The system mode, which is
-                either LOCKED (motors shut down and locked), MANUAL
-                (system under RC control), GUIDED (system with
-                autonomous position control, position setpoint
-                controlled manually) or AUTO (system guided by
-                path/waypoint planner). The NAV_MODE defined the
-                current flight state: LIFTOFF (often an open-loop
-                maneuver), LANDING, WAYPOINTS or VECTOR. This
-                represents the internal navigation state machine. The
-                system status shows wether the system is currently
-                active or not and if an emergency occured. During the
-                CRITICAL and EMERGENCY states the MAV is still
-                considered to be active, but should start emergency
-                procedures autonomously. After a failure occured it
-                should first move from active to critical to allow
-                manual intervention and then move to emergency after a
-                certain timeout.
-
-                onboard_control_sensors_present        : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
-                onboard_control_sensors_enabled        : Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
-                onboard_control_sensors_health        : Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
-                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
-                voltage_battery           : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
-                current_battery           : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
-                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t)
-                drop_rate_comm            : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
-                errors_comm               : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
-                errors_count1             : Autopilot-specific errors (uint16_t)
-                errors_count2             : Autopilot-specific errors (uint16_t)
-                errors_count3             : Autopilot-specific errors (uint16_t)
-                errors_count4             : Autopilot-specific errors (uint16_t)
-
-                '''
-                msg = MAVLink_sys_status_message(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4)
-                msg.pack(self)
-                return msg
-            
-        def sys_status_send(self, onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4):
-                '''
-                The general system state. If the system is following the MAVLink
-                standard, the system state is mainly defined by three
-                orthogonal states/modes: The system mode, which is
-                either LOCKED (motors shut down and locked), MANUAL
-                (system under RC control), GUIDED (system with
-                autonomous position control, position setpoint
-                controlled manually) or AUTO (system guided by
-                path/waypoint planner). The NAV_MODE defined the
-                current flight state: LIFTOFF (often an open-loop
-                maneuver), LANDING, WAYPOINTS or VECTOR. This
-                represents the internal navigation state machine. The
-                system status shows wether the system is currently
-                active or not and if an emergency occured. During the
-                CRITICAL and EMERGENCY states the MAV is still
-                considered to be active, but should start emergency
-                procedures autonomously. After a failure occured it
-                should first move from active to critical to allow
-                manual intervention and then move to emergency after a
-                certain timeout.
-
-                onboard_control_sensors_present        : Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
-                onboard_control_sensors_enabled        : Bitmask showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
-                onboard_control_sensors_health        : Bitmask showing which onboard controllers and sensors are operational or have an error:  Value of 0: not enabled. Value of 1: enabled. Indices: 0: 3D gyro, 1: 3D acc, 2: 3D mag, 3: absolute pressure, 4: differential pressure, 5: GPS, 6: optical flow, 7: computer vision position, 8: laser based position, 9: external ground-truth (Vicon or Leica). Controllers: 10: 3D angular rate control 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control, 15: motor outputs / control (uint32_t)
-                load                      : Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 (uint16_t)
-                voltage_battery           : Battery voltage, in millivolts (1 = 1 millivolt) (uint16_t)
-                current_battery           : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
-                battery_remaining         : Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery (int8_t)
-                drop_rate_comm            : Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
-                errors_comm               : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (uint16_t)
-                errors_count1             : Autopilot-specific errors (uint16_t)
-                errors_count2             : Autopilot-specific errors (uint16_t)
-                errors_count3             : Autopilot-specific errors (uint16_t)
-                errors_count4             : Autopilot-specific errors (uint16_t)
-
-                '''
-                return self.send(self.sys_status_encode(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4))
-            
-        def system_time_encode(self, time_unix_usec, time_boot_ms):
-                '''
-                The system time is the time of the master clock, typically the
-                computer clock of the main onboard computer.
-
-                time_unix_usec            : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
-                time_boot_ms              : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
-
-                '''
-                msg = MAVLink_system_time_message(time_unix_usec, time_boot_ms)
-                msg.pack(self)
-                return msg
-            
-        def system_time_send(self, time_unix_usec, time_boot_ms):
-                '''
-                The system time is the time of the master clock, typically the
-                computer clock of the main onboard computer.
-
-                time_unix_usec            : Timestamp of the master clock in microseconds since UNIX epoch. (uint64_t)
-                time_boot_ms              : Timestamp of the component clock since boot time in milliseconds. (uint32_t)
-
-                '''
-                return self.send(self.system_time_encode(time_unix_usec, time_boot_ms))
-            
-        def ping_encode(self, time_usec, seq, target_system, target_component):
-                '''
-                A ping message either requesting or responding to a ping. This allows
-                to measure the system latencies, including serial
-                port, radio modem and UDP connections.
-
-                time_usec                 : Unix timestamp in microseconds (uint64_t)
-                seq                       : PING sequence (uint32_t)
-                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-
-                '''
-                msg = MAVLink_ping_message(time_usec, seq, target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def ping_send(self, time_usec, seq, target_system, target_component):
-                '''
-                A ping message either requesting or responding to a ping. This allows
-                to measure the system latencies, including serial
-                port, radio modem and UDP connections.
-
-                time_usec                 : Unix timestamp in microseconds (uint64_t)
-                seq                       : PING sequence (uint32_t)
-                target_system             : 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-                target_component          : 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system (uint8_t)
-
-                '''
-                return self.send(self.ping_encode(time_usec, seq, target_system, target_component))
-            
-        def change_operator_control_encode(self, target_system, control_request, version, passkey):
-                '''
-                Request to control this MAV
-
-                target_system             : System the GCS requests control for (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
-                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
-
-                '''
-                msg = MAVLink_change_operator_control_message(target_system, control_request, version, passkey)
-                msg.pack(self)
-                return msg
-            
-        def change_operator_control_send(self, target_system, control_request, version, passkey):
-                '''
-                Request to control this MAV
-
-                target_system             : System the GCS requests control for (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                version                   : 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. (uint8_t)
-                passkey                   : Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" (char)
-
-                '''
-                return self.send(self.change_operator_control_encode(target_system, control_request, version, passkey))
-            
-        def change_operator_control_ack_encode(self, gcs_system_id, control_request, ack):
-                '''
-                Accept / deny control of this MAV
-
-                gcs_system_id             : ID of the GCS this message (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
-
-                '''
-                msg = MAVLink_change_operator_control_ack_message(gcs_system_id, control_request, ack)
-                msg.pack(self)
-                return msg
-            
-        def change_operator_control_ack_send(self, gcs_system_id, control_request, ack):
-                '''
-                Accept / deny control of this MAV
-
-                gcs_system_id             : ID of the GCS this message (uint8_t)
-                control_request           : 0: request control of this MAV, 1: Release control of this MAV (uint8_t)
-                ack                       : 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control (uint8_t)
-
-                '''
-                return self.send(self.change_operator_control_ack_encode(gcs_system_id, control_request, ack))
-            
-        def auth_key_encode(self, key):
-                '''
-                Emit an encrypted signature / key identifying this system. PLEASE
-                NOTE: This protocol has been kept simple, so
-                transmitting the key requires an encrypted channel for
-                true safety.
-
-                key                       : key (char)
-
-                '''
-                msg = MAVLink_auth_key_message(key)
-                msg.pack(self)
-                return msg
-            
-        def auth_key_send(self, key):
-                '''
-                Emit an encrypted signature / key identifying this system. PLEASE
-                NOTE: This protocol has been kept simple, so
-                transmitting the key requires an encrypted channel for
-                true safety.
-
-                key                       : key (char)
-
-                '''
-                return self.send(self.auth_key_encode(key))
-            
-        def set_mode_encode(self, target_system, base_mode, custom_mode):
-                '''
-                Set the system mode, as defined by enum MAV_MODE. There is no target
-                component id as the mode is by definition for the
-                overall aircraft, not only for one component.
-
-                target_system             : The system setting the mode (uint8_t)
-                base_mode                 : The new base mode (uint8_t)
-                custom_mode               : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
-
-                '''
-                msg = MAVLink_set_mode_message(target_system, base_mode, custom_mode)
-                msg.pack(self)
-                return msg
-            
-        def set_mode_send(self, target_system, base_mode, custom_mode):
-                '''
-                Set the system mode, as defined by enum MAV_MODE. There is no target
-                component id as the mode is by definition for the
-                overall aircraft, not only for one component.
-
-                target_system             : The system setting the mode (uint8_t)
-                base_mode                 : The new base mode (uint8_t)
-                custom_mode               : The new autopilot-specific mode. This field can be ignored by an autopilot. (uint32_t)
-
-                '''
-                return self.send(self.set_mode_encode(target_system, base_mode, custom_mode))
-            
-        def param_request_read_encode(self, target_system, target_component, param_id, param_index):
-                '''
-                Request to read the onboard parameter with the param_id string id.
-                Onboard parameters are stored as key[const char*] ->
-                value[float]. This allows to send a parameter to any
-                other component (such as the GCS) without the need of
-                previous knowledge of possible parameter names. Thus
-                the same GCS can store different parameters for
-                different autopilots. See also
-                http://qgroundcontrol.org/parameter_interface for a
-                full documentation of QGroundControl and IMU code.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
-                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
-
-                '''
-                msg = MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)
-                msg.pack(self)
-                return msg
-            
-        def param_request_read_send(self, target_system, target_component, param_id, param_index):
-                '''
-                Request to read the onboard parameter with the param_id string id.
-                Onboard parameters are stored as key[const char*] ->
-                value[float]. This allows to send a parameter to any
-                other component (such as the GCS) without the need of
-                previous knowledge of possible parameter names. Thus
-                the same GCS can store different parameters for
-                different autopilots. See also
-                http://qgroundcontrol.org/parameter_interface for a
-                full documentation of QGroundControl and IMU code.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
-                param_index               : Parameter index. Send -1 to use the param ID field as identifier (int16_t)
-
-                '''
-                return self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index))
-            
-        def param_request_list_encode(self, target_system, target_component):
-                '''
-                Request all parameters of this component. After his request, all
-                parameters are emitted.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                msg = MAVLink_param_request_list_message(target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def param_request_list_send(self, target_system, target_component):
-                '''
-                Request all parameters of this component. After his request, all
-                parameters are emitted.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                return self.send(self.param_request_list_encode(target_system, target_component))
-            
-        def param_value_encode(self, param_id, param_value, param_type, param_count, param_index):
-                '''
-                Emit the value of a onboard parameter. The inclusion of param_count
-                and param_index in the message allows the recipient to
-                keep track of received parameters and allows him to
-                re-request missing parameters after a loss or timeout.
-
-                param_id                  : Onboard parameter id (char)
-                param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
-                param_count               : Total number of onboard parameters (uint16_t)
-                param_index               : Index of this onboard parameter (uint16_t)
-
-                '''
-                msg = MAVLink_param_value_message(param_id, param_value, param_type, param_count, param_index)
-                msg.pack(self)
-                return msg
-            
-        def param_value_send(self, param_id, param_value, param_type, param_count, param_index):
-                '''
-                Emit the value of a onboard parameter. The inclusion of param_count
-                and param_index in the message allows the recipient to
-                keep track of received parameters and allows him to
-                re-request missing parameters after a loss or timeout.
-
-                param_id                  : Onboard parameter id (char)
-                param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
-                param_count               : Total number of onboard parameters (uint16_t)
-                param_index               : Index of this onboard parameter (uint16_t)
-
-                '''
-                return self.send(self.param_value_encode(param_id, param_value, param_type, param_count, param_index))
-            
-        def param_set_encode(self, target_system, target_component, param_id, param_value, param_type):
-                '''
-                Set a parameter value TEMPORARILY to RAM. It will be reset to default
-                on system reboot. Send the ACTION
-                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
-                contents to EEPROM. IMPORTANT: The receiving component
-                should acknowledge the new parameter value by sending
-                a param_value message to all communication partners.
-                This will also ensure that multiple GCS all have an
-                up-to-date list of all parameters. If the sending GCS
-                did not receive a PARAM_VALUE message within its
-                timeout time, it should re-send the PARAM_SET message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
-                param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
-
-                '''
-                msg = MAVLink_param_set_message(target_system, target_component, param_id, param_value, param_type)
-                msg.pack(self)
-                return msg
-            
-        def param_set_send(self, target_system, target_component, param_id, param_value, param_type):
-                '''
-                Set a parameter value TEMPORARILY to RAM. It will be reset to default
-                on system reboot. Send the ACTION
-                MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM
-                contents to EEPROM. IMPORTANT: The receiving component
-                should acknowledge the new parameter value by sending
-                a param_value message to all communication partners.
-                This will also ensure that multiple GCS all have an
-                up-to-date list of all parameters. If the sending GCS
-                did not receive a PARAM_VALUE message within its
-                timeout time, it should re-send the PARAM_SET message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                param_id                  : Onboard parameter id (char)
-                param_value               : Onboard parameter value (float)
-                param_type                : Onboard parameter type: see MAV_VAR enum (uint8_t)
-
-                '''
-                return self.send(self.param_set_encode(target_system, target_component, param_id, param_value, param_type))
-            
-        def gps_raw_int_encode(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
-                '''
-                The global position, as returned by the Global Positioning System
-                (GPS). This is                 NOT the global position
-                estimate of the sytem, but rather a RAW sensor value.
-                See message GLOBAL_POSITION for the global position
-                estimate. Coordinate frame is right-handed, Z-axis up
-                (GPS frame)
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
-                lat                       : Latitude in 1E7 degrees (int32_t)
-                lon                       : Longitude in 1E7 degrees (int32_t)
-                alt                       : Altitude in 1E3 meters (millimeters) above MSL (int32_t)
-                eph                       : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
-                epv                       : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
-                vel                       : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t)
-                cog                       : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
-                satellites_visible        : Number of satellites visible. If unknown, set to 255 (uint8_t)
-
-                '''
-                msg = MAVLink_gps_raw_int_message(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible)
-                msg.pack(self)
-                return msg
-            
-        def gps_raw_int_send(self, time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible):
-                '''
-                The global position, as returned by the Global Positioning System
-                (GPS). This is                 NOT the global position
-                estimate of the sytem, but rather a RAW sensor value.
-                See message GLOBAL_POSITION for the global position
-                estimate. Coordinate frame is right-handed, Z-axis up
-                (GPS frame)
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                fix_type                  : 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. (uint8_t)
-                lat                       : Latitude in 1E7 degrees (int32_t)
-                lon                       : Longitude in 1E7 degrees (int32_t)
-                alt                       : Altitude in 1E3 meters (millimeters) above MSL (int32_t)
-                eph                       : GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
-                epv                       : GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 (uint16_t)
-                vel                       : GPS ground speed (m/s * 100). If unknown, set to: 65535 (uint16_t)
-                cog                       : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
-                satellites_visible        : Number of satellites visible. If unknown, set to 255 (uint8_t)
-
-                '''
-                return self.send(self.gps_raw_int_encode(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible))
-            
-        def gps_status_encode(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
-                '''
-                The positioning status, as reported by GPS. This message is intended
-                to display status information about each satellite
-                visible to the receiver. See message GLOBAL_POSITION
-                for the global position estimate. This message can
-                contain information for up to 20 satellites.
-
-                satellites_visible        : Number of satellites visible (uint8_t)
-                satellite_prn             : Global satellite ID (uint8_t)
-                satellite_used            : 0: Satellite not used, 1: used for localization (uint8_t)
-                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t)
-                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t)
-                satellite_snr             : Signal to noise ratio of satellite (uint8_t)
-
-                '''
-                msg = MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)
-                msg.pack(self)
-                return msg
-            
-        def gps_status_send(self, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr):
-                '''
-                The positioning status, as reported by GPS. This message is intended
-                to display status information about each satellite
-                visible to the receiver. See message GLOBAL_POSITION
-                for the global position estimate. This message can
-                contain information for up to 20 satellites.
-
-                satellites_visible        : Number of satellites visible (uint8_t)
-                satellite_prn             : Global satellite ID (uint8_t)
-                satellite_used            : 0: Satellite not used, 1: used for localization (uint8_t)
-                satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite (uint8_t)
-                satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. (uint8_t)
-                satellite_snr             : Signal to noise ratio of satellite (uint8_t)
-
-                '''
-                return self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr))
-            
-        def scaled_imu_encode(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should contain the scaled values to the described
-                units
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
-                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
-                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
-                xmag                      : X Magnetic field (milli tesla) (int16_t)
-                ymag                      : Y Magnetic field (milli tesla) (int16_t)
-                zmag                      : Z Magnetic field (milli tesla) (int16_t)
-
-                '''
-                msg = MAVLink_scaled_imu_message(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
-                msg.pack(self)
-                return msg
-            
-        def scaled_imu_send(self, time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should contain the scaled values to the described
-                units
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-                xgyro                     : Angular speed around X axis (millirad /sec) (int16_t)
-                ygyro                     : Angular speed around Y axis (millirad /sec) (int16_t)
-                zgyro                     : Angular speed around Z axis (millirad /sec) (int16_t)
-                xmag                      : X Magnetic field (milli tesla) (int16_t)
-                ymag                      : Y Magnetic field (milli tesla) (int16_t)
-                zmag                      : Z Magnetic field (milli tesla) (int16_t)
-
-                '''
-                return self.send(self.scaled_imu_encode(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
-            
-        def raw_imu_encode(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should always contain the true raw values without any
-                scaling to allow data capture and system debugging.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                xacc                      : X acceleration (raw) (int16_t)
-                yacc                      : Y acceleration (raw) (int16_t)
-                zacc                      : Z acceleration (raw) (int16_t)
-                xgyro                     : Angular speed around X axis (raw) (int16_t)
-                ygyro                     : Angular speed around Y axis (raw) (int16_t)
-                zgyro                     : Angular speed around Z axis (raw) (int16_t)
-                xmag                      : X Magnetic field (raw) (int16_t)
-                ymag                      : Y Magnetic field (raw) (int16_t)
-                zmag                      : Z Magnetic field (raw) (int16_t)
-
-                '''
-                msg = MAVLink_raw_imu_message(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag)
-                msg.pack(self)
-                return msg
-            
-        def raw_imu_send(self, time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag):
-                '''
-                The RAW IMU readings for the usual 9DOF sensor setup. This message
-                should always contain the true raw values without any
-                scaling to allow data capture and system debugging.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                xacc                      : X acceleration (raw) (int16_t)
-                yacc                      : Y acceleration (raw) (int16_t)
-                zacc                      : Z acceleration (raw) (int16_t)
-                xgyro                     : Angular speed around X axis (raw) (int16_t)
-                ygyro                     : Angular speed around Y axis (raw) (int16_t)
-                zgyro                     : Angular speed around Z axis (raw) (int16_t)
-                xmag                      : X Magnetic field (raw) (int16_t)
-                ymag                      : Y Magnetic field (raw) (int16_t)
-                zmag                      : Z Magnetic field (raw) (int16_t)
-
-                '''
-                return self.send(self.raw_imu_encode(time_usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag))
-            
-        def raw_pressure_encode(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
-                '''
-                The RAW pressure readings for the typical setup of one absolute
-                pressure and one differential pressure sensor. The
-                sensor values should be the raw, UNSCALED ADC values.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                press_abs                 : Absolute pressure (raw) (int16_t)
-                press_diff1               : Differential pressure 1 (raw) (int16_t)
-                press_diff2               : Differential pressure 2 (raw) (int16_t)
-                temperature               : Raw Temperature measurement (raw) (int16_t)
-
-                '''
-                msg = MAVLink_raw_pressure_message(time_usec, press_abs, press_diff1, press_diff2, temperature)
-                msg.pack(self)
-                return msg
-            
-        def raw_pressure_send(self, time_usec, press_abs, press_diff1, press_diff2, temperature):
-                '''
-                The RAW pressure readings for the typical setup of one absolute
-                pressure and one differential pressure sensor. The
-                sensor values should be the raw, UNSCALED ADC values.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                press_abs                 : Absolute pressure (raw) (int16_t)
-                press_diff1               : Differential pressure 1 (raw) (int16_t)
-                press_diff2               : Differential pressure 2 (raw) (int16_t)
-                temperature               : Raw Temperature measurement (raw) (int16_t)
-
-                '''
-                return self.send(self.raw_pressure_encode(time_usec, press_abs, press_diff1, press_diff2, temperature))
-            
-        def scaled_pressure_encode(self, time_boot_ms, press_abs, press_diff, temperature):
-                '''
-                The pressure readings for the typical setup of one absolute and
-                differential pressure sensor. The units are as
-                specified in each field.
-
-                time_boot_ms              : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint32_t)
-                press_abs                 : Absolute pressure (hectopascal) (float)
-                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
-
-                '''
-                msg = MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature)
-                msg.pack(self)
-                return msg
-            
-        def scaled_pressure_send(self, time_boot_ms, press_abs, press_diff, temperature):
-                '''
-                The pressure readings for the typical setup of one absolute and
-                differential pressure sensor. The units are as
-                specified in each field.
-
-                time_boot_ms              : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint32_t)
-                press_abs                 : Absolute pressure (hectopascal) (float)
-                press_diff                : Differential pressure 1 (hectopascal) (float)
-                temperature               : Temperature measurement (0.01 degrees celsius) (int16_t)
-
-                '''
-                return self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature))
-            
-        def attitude_encode(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
-                '''
-                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
-                Y-right).
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-
-                '''
-                msg = MAVLink_attitude_message(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)
-                msg.pack(self)
-                return msg
-            
-        def attitude_send(self, time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed):
-                '''
-                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
-                Y-right).
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-
-                '''
-                return self.send(self.attitude_encode(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed))
-            
-        def attitude_quaternion_encode(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
-                '''
-                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
-                Y-right), expressed as quaternion.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                q1                        : Quaternion component 1 (float)
-                q2                        : Quaternion component 2 (float)
-                q3                        : Quaternion component 3 (float)
-                q4                        : Quaternion component 4 (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-
-                '''
-                msg = MAVLink_attitude_quaternion_message(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed)
-                msg.pack(self)
-                return msg
-            
-        def attitude_quaternion_send(self, time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed):
-                '''
-                The attitude in the aeronautical frame (right-handed, Z-down, X-front,
-                Y-right), expressed as quaternion.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                q1                        : Quaternion component 1 (float)
-                q2                        : Quaternion component 2 (float)
-                q3                        : Quaternion component 3 (float)
-                q4                        : Quaternion component 4 (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-
-                '''
-                return self.send(self.attitude_quaternion_encode(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed))
-            
-        def local_position_ned_encode(self, time_boot_ms, x, y, z, vx, vy, vz):
-                '''
-                The filtered local position (e.g. fused computer vision and
-                accelerometers). Coordinate frame is right-handed,
-                Z-axis down (aeronautical frame, NED / north-east-down
-                convention)
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                x                         : X Position (float)
-                y                         : Y Position (float)
-                z                         : Z Position (float)
-                vx                        : X Speed (float)
-                vy                        : Y Speed (float)
-                vz                        : Z Speed (float)
-
-                '''
-                msg = MAVLink_local_position_ned_message(time_boot_ms, x, y, z, vx, vy, vz)
-                msg.pack(self)
-                return msg
-            
-        def local_position_ned_send(self, time_boot_ms, x, y, z, vx, vy, vz):
-                '''
-                The filtered local position (e.g. fused computer vision and
-                accelerometers). Coordinate frame is right-handed,
-                Z-axis down (aeronautical frame, NED / north-east-down
-                convention)
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                x                         : X Position (float)
-                y                         : Y Position (float)
-                z                         : Z Position (float)
-                vx                        : X Speed (float)
-                vy                        : Y Speed (float)
-                vz                        : Z Speed (float)
-
-                '''
-                return self.send(self.local_position_ned_encode(time_boot_ms, x, y, z, vx, vy, vz))
-            
-        def global_position_int_encode(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
-                '''
-                The filtered global position (e.g. fused GPS and accelerometers). The
-                position is in GPS-frame (right-handed, Z-up). It
-                is designed as scaled integer message since the
-                resolution of float is not sufficient.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t)
-                relative_alt              : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-                hdg                       : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
-
-                '''
-                msg = MAVLink_global_position_int_message(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg)
-                msg.pack(self)
-                return msg
-            
-        def global_position_int_send(self, time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg):
-                '''
-                The filtered global position (e.g. fused GPS and accelerometers). The
-                position is in GPS-frame (right-handed, Z-up). It
-                is designed as scaled integer message since the
-                resolution of float is not sufficient.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters), above MSL (int32_t)
-                relative_alt              : Altitude above ground in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-                hdg                       : Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 (uint16_t)
-
-                '''
-                return self.send(self.global_position_int_encode(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg))
-            
-        def rc_channels_scaled_encode(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
-                '''
-                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
-                (100%) 10000
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_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)
-                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 (int16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                msg = MAVLink_rc_channels_scaled_message(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi)
-                msg.pack(self)
-                return msg
-            
-        def rc_channels_scaled_send(self, time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi):
-                '''
-                The scaled values of the RC channels received. (-100%) -10000, (0%) 0,
-                (100%) 10000
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_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)
-                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 (int16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                return self.send(self.rc_channels_scaled_encode(time_boot_ms, port, chan1_scaled, chan2_scaled, chan3_scaled, chan4_scaled, chan5_scaled, chan6_scaled, chan7_scaled, chan8_scaled, rssi))
-            
-        def rc_channels_raw_encode(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
-                '''
-                The RAW values of the RC channels received. The standard PPM
-                modulation is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%. Individual receivers/transmitters
-                might violate this specification.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_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)
-                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 (uint16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                msg = MAVLink_rc_channels_raw_message(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi)
-                msg.pack(self)
-                return msg
-            
-        def rc_channels_raw_send(self, time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi):
-                '''
-                The RAW values of the RC channels received. The standard PPM
-                modulation is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%. Individual receivers/transmitters
-                might violate this specification.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_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)
-                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 (uint16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                return self.send(self.rc_channels_raw_encode(time_boot_ms, port, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, rssi))
-            
-        def servo_output_raw_encode(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
-                '''
-                The RAW values of the servo outputs (for RC input from the remote, use
-                the RC_CHANNELS messages). The standard PPM modulation
-                is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%.
-
-                time_usec                 : Timestamp (since UNIX epoch or microseconds since system boot) (uint32_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)
-                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 (uint16_t)
-                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
-                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
-                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
-                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
-                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
-
-                '''
-                msg = MAVLink_servo_output_raw_message(time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw)
-                msg.pack(self)
-                return msg
-            
-        def servo_output_raw_send(self, time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw):
-                '''
-                The RAW values of the servo outputs (for RC input from the remote, use
-                the RC_CHANNELS messages). The standard PPM modulation
-                is as follows: 1000 microseconds: 0%, 2000
-                microseconds: 100%.
-
-                time_usec                 : Timestamp (since UNIX epoch or microseconds since system boot) (uint32_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)
-                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 (uint16_t)
-                servo4_raw                : Servo output 4 value, in microseconds (uint16_t)
-                servo5_raw                : Servo output 5 value, in microseconds (uint16_t)
-                servo6_raw                : Servo output 6 value, in microseconds (uint16_t)
-                servo7_raw                : Servo output 7 value, in microseconds (uint16_t)
-                servo8_raw                : Servo output 8 value, in microseconds (uint16_t)
-
-                '''
-                return self.send(self.servo_output_raw_encode(time_usec, port, servo1_raw, servo2_raw, servo3_raw, servo4_raw, servo5_raw, servo6_raw, servo7_raw, servo8_raw))
-            
-        def mission_request_partial_list_encode(self, target_system, target_component, start_index, end_index):
-                '''
-                Request the overall list of MISSIONs from the system/component.
-                http://qgroundcontrol.org/mavlink/waypoint_protocol
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                start_index               : Start index, 0 by default (int16_t)
-                end_index                 : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
-
-                '''
-                msg = MAVLink_mission_request_partial_list_message(target_system, target_component, start_index, end_index)
-                msg.pack(self)
-                return msg
-            
-        def mission_request_partial_list_send(self, target_system, target_component, start_index, end_index):
-                '''
-                Request the overall list of MISSIONs from the system/component.
-                http://qgroundcontrol.org/mavlink/waypoint_protocol
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                start_index               : Start index, 0 by default (int16_t)
-                end_index                 : End index, -1 by default (-1: send list to end). Else a valid index of the list (int16_t)
-
-                '''
-                return self.send(self.mission_request_partial_list_encode(target_system, target_component, start_index, end_index))
-            
-        def mission_write_partial_list_encode(self, target_system, target_component, start_index, end_index):
-                '''
-                This message is sent to the MAV to write a partial list. If start
-                index == end index, only one item will be transmitted
-                / updated. If the start index is NOT 0 and above the
-                current list size, this request should be REJECTED!
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                start_index               : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t)
-                end_index                 : End index, equal or greater than start index. (int16_t)
-
-                '''
-                msg = MAVLink_mission_write_partial_list_message(target_system, target_component, start_index, end_index)
-                msg.pack(self)
-                return msg
-            
-        def mission_write_partial_list_send(self, target_system, target_component, start_index, end_index):
-                '''
-                This message is sent to the MAV to write a partial list. If start
-                index == end index, only one item will be transmitted
-                / updated. If the start index is NOT 0 and above the
-                current list size, this request should be REJECTED!
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                start_index               : Start index, 0 by default and smaller / equal to the largest index of the current onboard list. (int16_t)
-                end_index                 : End index, equal or greater than start index. (int16_t)
-
-                '''
-                return self.send(self.mission_write_partial_list_encode(target_system, target_component, start_index, end_index))
-            
-        def mission_item_encode(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
-                '''
-                Message encoding a mission item. This message is emitted to announce
-                the presence of a mission item and to set a mission
-                item on the system. The mission item can be either in
-                x, y, z meters (type: LOCAL) or x:lat, y:lon,
-                z:altitude. Local frame is Z-down, right handed (NED),
-                global frame is Z-up, right handed (ENU).
-                http://qgroundcontrol.org/mavlink/waypoint_protocol
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-                frame                     : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t)
-                command                   : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t)
-                current                   : false:0, true:1 (uint8_t)
-                autocontinue              : autocontinue to next wp (uint8_t)
-                param1                    : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float)
-                param2                    : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
-                param3                    : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
-                param4                    : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
-                x                         : PARAM5 / local: x position, global: latitude (float)
-                y                         : PARAM6 / y position: global: longitude (float)
-                z                         : PARAM7 / z position: global: altitude (float)
-
-                '''
-                msg = MAVLink_mission_item_message(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)
-                msg.pack(self)
-                return msg
-            
-        def mission_item_send(self, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z):
-                '''
-                Message encoding a mission item. This message is emitted to announce
-                the presence of a mission item and to set a mission
-                item on the system. The mission item can be either in
-                x, y, z meters (type: LOCAL) or x:lat, y:lon,
-                z:altitude. Local frame is Z-down, right handed (NED),
-                global frame is Z-up, right handed (ENU).
-                http://qgroundcontrol.org/mavlink/waypoint_protocol
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-                frame                     : The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h (uint8_t)
-                command                   : The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs (uint16_t)
-                current                   : false:0, true:1 (uint8_t)
-                autocontinue              : autocontinue to next wp (uint8_t)
-                param1                    : PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters (float)
-                param2                    : PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds (float)
-                param3                    : PARAM3 / For LOITER command MISSIONs: Orbit to circle around the MISSION, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise. (float)
-                param4                    : PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH (float)
-                x                         : PARAM5 / local: x position, global: latitude (float)
-                y                         : PARAM6 / y position: global: longitude (float)
-                z                         : PARAM7 / z position: global: altitude (float)
-
-                '''
-                return self.send(self.mission_item_encode(target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z))
-            
-        def mission_request_encode(self, target_system, target_component, seq):
-                '''
-                Request the information of the mission item with the sequence number
-                seq. The response of the system to this message should
-                be a MISSION_ITEM message.
-                http://qgroundcontrol.org/mavlink/waypoint_protocol
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_mission_request_message(target_system, target_component, seq)
-                msg.pack(self)
-                return msg
-            
-        def mission_request_send(self, target_system, target_component, seq):
-                '''
-                Request the information of the mission item with the sequence number
-                seq. The response of the system to this message should
-                be a MISSION_ITEM message.
-                http://qgroundcontrol.org/mavlink/waypoint_protocol
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.mission_request_encode(target_system, target_component, seq))
-            
-        def mission_set_current_encode(self, target_system, target_component, seq):
-                '''
-                Set the mission item with sequence number seq as current item. This
-                means that the MAV will continue to this mission item
-                on the shortest path (not following the mission items
-                in-between).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_mission_set_current_message(target_system, target_component, seq)
-                msg.pack(self)
-                return msg
-            
-        def mission_set_current_send(self, target_system, target_component, seq):
-                '''
-                Set the mission item with sequence number seq as current item. This
-                means that the MAV will continue to this mission item
-                on the shortest path (not following the mission items
-                in-between).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.mission_set_current_encode(target_system, target_component, seq))
-            
-        def mission_current_encode(self, seq):
-                '''
-                Message that announces the sequence number of the current active
-                mission item. The MAV will fly towards this mission
-                item.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_mission_current_message(seq)
-                msg.pack(self)
-                return msg
-            
-        def mission_current_send(self, seq):
-                '''
-                Message that announces the sequence number of the current active
-                mission item. The MAV will fly towards this mission
-                item.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.mission_current_encode(seq))
-            
-        def mission_request_list_encode(self, target_system, target_component):
-                '''
-                Request the overall list of mission items from the system/component.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                msg = MAVLink_mission_request_list_message(target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def mission_request_list_send(self, target_system, target_component):
-                '''
-                Request the overall list of mission items from the system/component.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                return self.send(self.mission_request_list_encode(target_system, target_component))
-            
-        def mission_count_encode(self, target_system, target_component, count):
-                '''
-                This message is emitted as response to MISSION_REQUEST_LIST by the MAV
-                and to initiate a write transaction. The GCS can then
-                request the individual mission item based on the
-                knowledge of the total number of MISSIONs.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                count                     : Number of mission items in the sequence (uint16_t)
-
-                '''
-                msg = MAVLink_mission_count_message(target_system, target_component, count)
-                msg.pack(self)
-                return msg
-            
-        def mission_count_send(self, target_system, target_component, count):
-                '''
-                This message is emitted as response to MISSION_REQUEST_LIST by the MAV
-                and to initiate a write transaction. The GCS can then
-                request the individual mission item based on the
-                knowledge of the total number of MISSIONs.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                count                     : Number of mission items in the sequence (uint16_t)
-
-                '''
-                return self.send(self.mission_count_encode(target_system, target_component, count))
-            
-        def mission_clear_all_encode(self, target_system, target_component):
-                '''
-                Delete all mission items at once.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                msg = MAVLink_mission_clear_all_message(target_system, target_component)
-                msg.pack(self)
-                return msg
-            
-        def mission_clear_all_send(self, target_system, target_component):
-                '''
-                Delete all mission items at once.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-
-                '''
-                return self.send(self.mission_clear_all_encode(target_system, target_component))
-            
-        def mission_item_reached_encode(self, seq):
-                '''
-                A certain mission item has been reached. The system will either hold
-                this position (or circle on the orbit) or (if the
-                autocontinue on the WP was set) continue to the next
-                MISSION.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                msg = MAVLink_mission_item_reached_message(seq)
-                msg.pack(self)
-                return msg
-            
-        def mission_item_reached_send(self, seq):
-                '''
-                A certain mission item has been reached. The system will either hold
-                this position (or circle on the orbit) or (if the
-                autocontinue on the WP was set) continue to the next
-                MISSION.
-
-                seq                       : Sequence (uint16_t)
-
-                '''
-                return self.send(self.mission_item_reached_encode(seq))
-            
-        def mission_ack_encode(self, target_system, target_component, type):
-                '''
-                Ack message during MISSION handling. The type field states if this
-                message is a positive ack (type=0) or if an error
-                happened (type=non-zero).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                type                      : See MAV_MISSION_RESULT enum (uint8_t)
-
-                '''
-                msg = MAVLink_mission_ack_message(target_system, target_component, type)
-                msg.pack(self)
-                return msg
-            
-        def mission_ack_send(self, target_system, target_component, type):
-                '''
-                Ack message during MISSION handling. The type field states if this
-                message is a positive ack (type=0) or if an error
-                happened (type=non-zero).
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                type                      : See MAV_MISSION_RESULT enum (uint8_t)
-
-                '''
-                return self.send(self.mission_ack_encode(target_system, target_component, type))
-            
-        def set_gps_global_origin_encode(self, target_system, latitude, longitude, altitude):
-                '''
-                As local MISSIONs exist, the global MISSION reference allows to
-                transform between the local coordinate frame and the
-                global (GPS) coordinate frame. This can be necessary
-                when e.g. in- and outdoor settings are connected and
-                the MAV should move from in- to outdoor.
-
-                target_system             : System ID (uint8_t)
-                latitude                  : global position * 1E7 (int32_t)
-                longitude                 : global position * 1E7 (int32_t)
-                altitude                  : global position * 1000 (int32_t)
-
-                '''
-                msg = MAVLink_set_gps_global_origin_message(target_system, latitude, longitude, altitude)
-                msg.pack(self)
-                return msg
-            
-        def set_gps_global_origin_send(self, target_system, latitude, longitude, altitude):
-                '''
-                As local MISSIONs exist, the global MISSION reference allows to
-                transform between the local coordinate frame and the
-                global (GPS) coordinate frame. This can be necessary
-                when e.g. in- and outdoor settings are connected and
-                the MAV should move from in- to outdoor.
-
-                target_system             : System ID (uint8_t)
-                latitude                  : global position * 1E7 (int32_t)
-                longitude                 : global position * 1E7 (int32_t)
-                altitude                  : global position * 1000 (int32_t)
-
-                '''
-                return self.send(self.set_gps_global_origin_encode(target_system, latitude, longitude, altitude))
-            
-        def gps_global_origin_encode(self, latitude, longitude, altitude):
-                '''
-                Once the MAV sets a new GPS-Local correspondence, this message
-                announces the origin (0,0,0) position
-
-                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
-                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
-                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
-
-                '''
-                msg = MAVLink_gps_global_origin_message(latitude, longitude, altitude)
-                msg.pack(self)
-                return msg
-            
-        def gps_global_origin_send(self, latitude, longitude, altitude):
-                '''
-                Once the MAV sets a new GPS-Local correspondence, this message
-                announces the origin (0,0,0) position
-
-                latitude                  : Latitude (WGS84), expressed as * 1E7 (int32_t)
-                longitude                 : Longitude (WGS84), expressed as * 1E7 (int32_t)
-                altitude                  : Altitude(WGS84), expressed as * 1000 (int32_t)
-
-                '''
-                return self.send(self.gps_global_origin_encode(latitude, longitude, altitude))
-            
-        def set_local_position_setpoint_encode(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
-                '''
-                Set the setpoint for a local position controller. This is the position
-                in local coordinates the MAV should fly to. This
-                message is sent by the path/MISSION planner to the
-                onboard position controller. As some MAVs have a
-                degree of freedom in yaw (e.g. all
-                helicopters/quadrotors), the desired yaw angle is part
-                of the message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                msg = MAVLink_set_local_position_setpoint_message(target_system, target_component, coordinate_frame, x, y, z, yaw)
-                msg.pack(self)
-                return msg
-            
-        def set_local_position_setpoint_send(self, target_system, target_component, coordinate_frame, x, y, z, yaw):
-                '''
-                Set the setpoint for a local position controller. This is the position
-                in local coordinates the MAV should fly to. This
-                message is sent by the path/MISSION planner to the
-                onboard position controller. As some MAVs have a
-                degree of freedom in yaw (e.g. all
-                helicopters/quadrotors), the desired yaw angle is part
-                of the message.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                return self.send(self.set_local_position_setpoint_encode(target_system, target_component, coordinate_frame, x, y, z, yaw))
-            
-        def local_position_setpoint_encode(self, coordinate_frame, x, y, z, yaw):
-                '''
-                Transmit the current local setpoint of the controller to other MAVs
-                (collision avoidance) and to the GCS.
-
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                msg = MAVLink_local_position_setpoint_message(coordinate_frame, x, y, z, yaw)
-                msg.pack(self)
-                return msg
-            
-        def local_position_setpoint_send(self, coordinate_frame, x, y, z, yaw):
-                '''
-                Transmit the current local setpoint of the controller to other MAVs
-                (collision avoidance) and to the GCS.
-
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU (uint8_t)
-                x                         : x position (float)
-                y                         : y position (float)
-                z                         : z position (float)
-                yaw                       : Desired yaw angle (float)
-
-                '''
-                return self.send(self.local_position_setpoint_encode(coordinate_frame, x, y, z, yaw))
-            
-        def global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw):
-                '''
-                Transmit the current local setpoint of the controller to other MAVs
-                (collision avoidance) and to the GCS.
-
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
-                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
-                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
-                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
-                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
-
-                '''
-                msg = MAVLink_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw)
-                msg.pack(self)
-                return msg
-            
-        def global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw):
-                '''
-                Transmit the current local setpoint of the controller to other MAVs
-                (collision avoidance) and to the GCS.
-
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
-                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
-                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
-                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
-                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
-
-                '''
-                return self.send(self.global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw))
-            
-        def set_global_position_setpoint_int_encode(self, coordinate_frame, latitude, longitude, altitude, yaw):
-                '''
-                Set the current global position setpoint.
-
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
-                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
-                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
-                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
-                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
-
-                '''
-                msg = MAVLink_set_global_position_setpoint_int_message(coordinate_frame, latitude, longitude, altitude, yaw)
-                msg.pack(self)
-                return msg
-            
-        def set_global_position_setpoint_int_send(self, coordinate_frame, latitude, longitude, altitude, yaw):
-                '''
-                Set the current global position setpoint.
-
-                coordinate_frame          : Coordinate frame - valid values are only MAV_FRAME_GLOBAL or MAV_FRAME_GLOBAL_RELATIVE_ALT (uint8_t)
-                latitude                  : WGS84 Latitude position in degrees * 1E7 (int32_t)
-                longitude                 : WGS84 Longitude position in degrees * 1E7 (int32_t)
-                altitude                  : WGS84 Altitude in meters * 1000 (positive for up) (int32_t)
-                yaw                       : Desired yaw angle in degrees * 100 (int16_t)
-
-                '''
-                return self.send(self.set_global_position_setpoint_int_encode(coordinate_frame, latitude, longitude, altitude, yaw))
-            
-        def safety_set_allowed_area_encode(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Set a safety zone (volume), which is defined by two corners of a cube.
-                This message can be used to tell the MAV which
-                setpoints/MISSIONs to accept and which to reject.
-                Safety areas are often enforced by national or
-                competition regulations.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                msg = MAVLink_safety_set_allowed_area_message(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z)
-                msg.pack(self)
-                return msg
-            
-        def safety_set_allowed_area_send(self, target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Set a safety zone (volume), which is defined by two corners of a cube.
-                This message can be used to tell the MAV which
-                setpoints/MISSIONs to accept and which to reject.
-                Safety areas are often enforced by national or
-                competition regulations.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                return self.send(self.safety_set_allowed_area_encode(target_system, target_component, frame, p1x, p1y, p1z, p2x, p2y, p2z))
-            
-        def safety_allowed_area_encode(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Read out the safety zone the MAV currently assumes.
-
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                msg = MAVLink_safety_allowed_area_message(frame, p1x, p1y, p1z, p2x, p2y, p2z)
-                msg.pack(self)
-                return msg
-            
-        def safety_allowed_area_send(self, frame, p1x, p1y, p1z, p2x, p2y, p2z):
-                '''
-                Read out the safety zone the MAV currently assumes.
-
-                frame                     : Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. (uint8_t)
-                p1x                       : x position 1 / Latitude 1 (float)
-                p1y                       : y position 1 / Longitude 1 (float)
-                p1z                       : z position 1 / Altitude 1 (float)
-                p2x                       : x position 2 / Latitude 2 (float)
-                p2y                       : y position 2 / Longitude 2 (float)
-                p2z                       : z position 2 / Altitude 2 (float)
-
-                '''
-                return self.send(self.safety_allowed_area_encode(frame, p1x, p1y, p1z, p2x, p2y, p2z))
-            
-        def set_roll_pitch_yaw_thrust_encode(self, target_system, target_component, roll, pitch, yaw, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_set_roll_pitch_yaw_thrust_message(target_system, target_component, roll, pitch, yaw, thrust)
-                msg.pack(self)
-                return msg
-            
-        def set_roll_pitch_yaw_thrust_send(self, target_system, target_component, roll, pitch, yaw, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.set_roll_pitch_yaw_thrust_encode(target_system, target_component, roll, pitch, yaw, thrust))
-            
-        def set_roll_pitch_yaw_speed_thrust_encode(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_set_roll_pitch_yaw_speed_thrust_message(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust)
-                msg.pack(self)
-                return msg
-            
-        def set_roll_pitch_yaw_speed_thrust_send(self, target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Set roll, pitch and yaw.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.set_roll_pitch_yaw_speed_thrust_encode(target_system, target_component, roll_speed, pitch_speed, yaw_speed, thrust))
-            
-        def roll_pitch_yaw_thrust_setpoint_encode(self, time_boot_ms, roll, pitch, yaw, thrust):
-                '''
-                Setpoint in roll, pitch, yaw currently active on the system.
-
-                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_roll_pitch_yaw_thrust_setpoint_message(time_boot_ms, roll, pitch, yaw, thrust)
-                msg.pack(self)
-                return msg
-            
-        def roll_pitch_yaw_thrust_setpoint_send(self, time_boot_ms, roll, pitch, yaw, thrust):
-                '''
-                Setpoint in roll, pitch, yaw currently active on the system.
-
-                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
-                roll                      : Desired roll angle in radians (float)
-                pitch                     : Desired pitch angle in radians (float)
-                yaw                       : Desired yaw angle in radians (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.roll_pitch_yaw_thrust_setpoint_encode(time_boot_ms, roll, pitch, yaw, thrust))
-            
-        def roll_pitch_yaw_speed_thrust_setpoint_encode(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
-                system.
-
-                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                msg = MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust)
-                msg.pack(self)
-                return msg
-            
-        def roll_pitch_yaw_speed_thrust_setpoint_send(self, time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust):
-                '''
-                Setpoint in rollspeed, pitchspeed, yawspeed currently active on the
-                system.
-
-                time_boot_ms              : Timestamp in milliseconds since system boot (uint32_t)
-                roll_speed                : Desired roll angular speed in rad/s (float)
-                pitch_speed               : Desired pitch angular speed in rad/s (float)
-                yaw_speed                 : Desired yaw angular speed in rad/s (float)
-                thrust                    : Collective thrust, normalized to 0 .. 1 (float)
-
-                '''
-                return self.send(self.roll_pitch_yaw_speed_thrust_setpoint_encode(time_boot_ms, roll_speed, pitch_speed, yaw_speed, thrust))
-            
-        def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
-                '''
-                Outputs of the APM navigation controller. The primary use of this
-                message is to check the response and signs
-                of the controller before actual flight and to assist
-                with tuning controller parameters
-
-                nav_roll                  : Current desired roll in degrees (float)
-                nav_pitch                 : Current desired pitch in degrees (float)
-                nav_bearing               : Current desired heading in degrees (int16_t)
-                target_bearing            : Bearing to current MISSION/target in degrees (int16_t)
-                wp_dist                   : Distance to active MISSION in meters (uint16_t)
-                alt_error                 : Current altitude error in meters (float)
-                aspd_error                : Current airspeed error in meters/second (float)
-                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
-
-                '''
-                msg = MAVLink_nav_controller_output_message(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error)
-                msg.pack(self)
-                return msg
-            
-        def nav_controller_output_send(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
-                '''
-                Outputs of the APM navigation controller. The primary use of this
-                message is to check the response and signs
-                of the controller before actual flight and to assist
-                with tuning controller parameters
-
-                nav_roll                  : Current desired roll in degrees (float)
-                nav_pitch                 : Current desired pitch in degrees (float)
-                nav_bearing               : Current desired heading in degrees (int16_t)
-                target_bearing            : Bearing to current MISSION/target in degrees (int16_t)
-                wp_dist                   : Distance to active MISSION in meters (uint16_t)
-                alt_error                 : Current altitude error in meters (float)
-                aspd_error                : Current airspeed error in meters/second (float)
-                xtrack_error              : Current crosstrack error on x-y plane in meters (float)
-
-                '''
-                return self.send(self.nav_controller_output_encode(nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error))
-            
-        def state_correction_encode(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
-                '''
-                Corrects the systems state by adding an error correction term to the
-                position and velocity, and by rotating the attitude by
-                a correction angle.
-
-                xErr                      : x position error (float)
-                yErr                      : y position error (float)
-                zErr                      : z position error (float)
-                rollErr                   : roll error (radians) (float)
-                pitchErr                  : pitch error (radians) (float)
-                yawErr                    : yaw error (radians) (float)
-                vxErr                     : x velocity (float)
-                vyErr                     : y velocity (float)
-                vzErr                     : z velocity (float)
-
-                '''
-                msg = MAVLink_state_correction_message(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr)
-                msg.pack(self)
-                return msg
-            
-        def state_correction_send(self, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr):
-                '''
-                Corrects the systems state by adding an error correction term to the
-                position and velocity, and by rotating the attitude by
-                a correction angle.
-
-                xErr                      : x position error (float)
-                yErr                      : y position error (float)
-                zErr                      : z position error (float)
-                rollErr                   : roll error (radians) (float)
-                pitchErr                  : pitch error (radians) (float)
-                yawErr                    : yaw error (radians) (float)
-                vxErr                     : x velocity (float)
-                vyErr                     : y velocity (float)
-                vzErr                     : z velocity (float)
-
-                '''
-                return self.send(self.state_correction_encode(xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr))
-            
-        def request_data_stream_encode(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
-                '''
-                
-
-                target_system             : The target requested to send the message stream. (uint8_t)
-                target_component          : The target requested to send the message stream. (uint8_t)
-                req_stream_id             : The ID of the requested data stream (uint8_t)
-                req_message_rate          : The requested interval between two messages of this type (uint16_t)
-                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
-
-                '''
-                msg = MAVLink_request_data_stream_message(target_system, target_component, req_stream_id, req_message_rate, start_stop)
-                msg.pack(self)
-                return msg
-            
-        def request_data_stream_send(self, target_system, target_component, req_stream_id, req_message_rate, start_stop):
-                '''
-                
-
-                target_system             : The target requested to send the message stream. (uint8_t)
-                target_component          : The target requested to send the message stream. (uint8_t)
-                req_stream_id             : The ID of the requested data stream (uint8_t)
-                req_message_rate          : The requested interval between two messages of this type (uint16_t)
-                start_stop                : 1 to start sending, 0 to stop sending. (uint8_t)
-
-                '''
-                return self.send(self.request_data_stream_encode(target_system, target_component, req_stream_id, req_message_rate, start_stop))
-            
-        def data_stream_encode(self, stream_id, message_rate, on_off):
-                '''
-                
-
-                stream_id                 : The ID of the requested data stream (uint8_t)
-                message_rate              : The requested interval between two messages of this type (uint16_t)
-                on_off                    : 1 stream is enabled, 0 stream is stopped. (uint8_t)
-
-                '''
-                msg = MAVLink_data_stream_message(stream_id, message_rate, on_off)
-                msg.pack(self)
-                return msg
-            
-        def data_stream_send(self, stream_id, message_rate, on_off):
-                '''
-                
-
-                stream_id                 : The ID of the requested data stream (uint8_t)
-                message_rate              : The requested interval between two messages of this type (uint16_t)
-                on_off                    : 1 stream is enabled, 0 stream is stopped. (uint8_t)
-
-                '''
-                return self.send(self.data_stream_encode(stream_id, message_rate, on_off))
-            
-        def manual_control_encode(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
-                '''
-                
-
-                target                    : The system to be controlled (uint8_t)
-                roll                      : roll (float)
-                pitch                     : pitch (float)
-                yaw                       : yaw (float)
-                thrust                    : thrust (float)
-                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 (uint8_t)
-
-                '''
-                msg = MAVLink_manual_control_message(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual)
-                msg.pack(self)
-                return msg
-            
-        def manual_control_send(self, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual):
-                '''
-                
-
-                target                    : The system to be controlled (uint8_t)
-                roll                      : roll (float)
-                pitch                     : pitch (float)
-                yaw                       : yaw (float)
-                thrust                    : thrust (float)
-                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 (uint8_t)
-
-                '''
-                return self.send(self.manual_control_encode(target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual))
-            
-        def rc_channels_override_encode(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
-                '''
-                The RAW values of the RC channels sent to the MAV to override info
-                received from the RC radio. A value of -1 means no
-                change to that channel. A value of 0 means control of
-                that channel should be released back to the RC radio.
-                The standard PPM modulation is as follows: 1000
-                microseconds: 0%, 2000 microseconds: 100%. Individual
-                receivers/transmitters might violate this
-                specification.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_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 (uint16_t)
-
-                '''
-                msg = MAVLink_rc_channels_override_message(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw)
-                msg.pack(self)
-                return msg
-            
-        def rc_channels_override_send(self, target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw):
-                '''
-                The RAW values of the RC channels sent to the MAV to override info
-                received from the RC radio. A value of -1 means no
-                change to that channel. A value of 0 means control of
-                that channel should be released back to the RC radio.
-                The standard PPM modulation is as follows: 1000
-                microseconds: 0%, 2000 microseconds: 100%. Individual
-                receivers/transmitters might violate this
-                specification.
-
-                target_system             : System ID (uint8_t)
-                target_component          : Component ID (uint8_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 (uint16_t)
-
-                '''
-                return self.send(self.rc_channels_override_encode(target_system, target_component, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw))
-            
-        def vfr_hud_encode(self, airspeed, groundspeed, heading, throttle, alt, climb):
-                '''
-                Metrics typically displayed on a HUD for fixed wing aircraft
-
-                airspeed                  : Current airspeed in m/s (float)
-                groundspeed               : Current ground speed in m/s (float)
-                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
-                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
-                alt                       : Current altitude (MSL), in meters (float)
-                climb                     : Current climb rate in meters/second (float)
-
-                '''
-                msg = MAVLink_vfr_hud_message(airspeed, groundspeed, heading, throttle, alt, climb)
-                msg.pack(self)
-                return msg
-            
-        def vfr_hud_send(self, airspeed, groundspeed, heading, throttle, alt, climb):
-                '''
-                Metrics typically displayed on a HUD for fixed wing aircraft
-
-                airspeed                  : Current airspeed in m/s (float)
-                groundspeed               : Current ground speed in m/s (float)
-                heading                   : Current heading in degrees, in compass units (0..360, 0=north) (int16_t)
-                throttle                  : Current throttle setting in integer percent, 0 to 100 (uint16_t)
-                alt                       : Current altitude (MSL), in meters (float)
-                climb                     : Current climb rate in meters/second (float)
-
-                '''
-                return self.send(self.vfr_hud_encode(airspeed, groundspeed, heading, throttle, alt, climb))
-            
-        def command_long_encode(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
-                '''
-                Send a command with up to four parameters to the MAV
-
-                target_system             : System which should execute the command (uint8_t)
-                target_component          : Component which should execute the command, 0 for all components (uint8_t)
-                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
-                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
-                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
-                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
-                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
-                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
-                param5                    : Parameter 5, as defined by MAV_CMD enum. (float)
-                param6                    : Parameter 6, as defined by MAV_CMD enum. (float)
-                param7                    : Parameter 7, as defined by MAV_CMD enum. (float)
-
-                '''
-                msg = MAVLink_command_long_message(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7)
-                msg.pack(self)
-                return msg
-            
-        def command_long_send(self, target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7):
-                '''
-                Send a command with up to four parameters to the MAV
-
-                target_system             : System which should execute the command (uint8_t)
-                target_component          : Component which should execute the command, 0 for all components (uint8_t)
-                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
-                confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (uint8_t)
-                param1                    : Parameter 1, as defined by MAV_CMD enum. (float)
-                param2                    : Parameter 2, as defined by MAV_CMD enum. (float)
-                param3                    : Parameter 3, as defined by MAV_CMD enum. (float)
-                param4                    : Parameter 4, as defined by MAV_CMD enum. (float)
-                param5                    : Parameter 5, as defined by MAV_CMD enum. (float)
-                param6                    : Parameter 6, as defined by MAV_CMD enum. (float)
-                param7                    : Parameter 7, as defined by MAV_CMD enum. (float)
-
-                '''
-                return self.send(self.command_long_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7))
-            
-        def command_ack_encode(self, command, result):
-                '''
-                Report status of a command. Includes feedback wether the command was
-                executed
-
-                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
-                result                    : See MAV_RESULT enum (uint8_t)
-
-                '''
-                msg = MAVLink_command_ack_message(command, result)
-                msg.pack(self)
-                return msg
-            
-        def command_ack_send(self, command, result):
-                '''
-                Report status of a command. Includes feedback wether the command was
-                executed
-
-                command                   : Command ID, as defined by MAV_CMD enum. (uint16_t)
-                result                    : See MAV_RESULT enum (uint8_t)
-
-                '''
-                return self.send(self.command_ack_encode(command, result))
-            
-        def hil_state_encode(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
-                '''
-                Sent from simulation to autopilot. This packet is useful for high
-                throughput                 applications such as
-                hardware in the loop simulations.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-
-                '''
-                msg = MAVLink_hil_state_message(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc)
-                msg.pack(self)
-                return msg
-            
-        def hil_state_send(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
-                '''
-                Sent from simulation to autopilot. This packet is useful for high
-                throughput                 applications such as
-                hardware in the loop simulations.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll                      : Roll angle (rad) (float)
-                pitch                     : Pitch angle (rad) (float)
-                yaw                       : Yaw angle (rad) (float)
-                rollspeed                 : Roll angular speed (rad/s) (float)
-                pitchspeed                : Pitch angular speed (rad/s) (float)
-                yawspeed                  : Yaw angular speed (rad/s) (float)
-                lat                       : Latitude, expressed as * 1E7 (int32_t)
-                lon                       : Longitude, expressed as * 1E7 (int32_t)
-                alt                       : Altitude in meters, expressed as * 1000 (millimeters) (int32_t)
-                vx                        : Ground X Speed (Latitude), expressed as m/s * 100 (int16_t)
-                vy                        : Ground Y Speed (Longitude), expressed as m/s * 100 (int16_t)
-                vz                        : Ground Z Speed (Altitude), expressed as m/s * 100 (int16_t)
-                xacc                      : X acceleration (mg) (int16_t)
-                yacc                      : Y acceleration (mg) (int16_t)
-                zacc                      : Z acceleration (mg) (int16_t)
-
-                '''
-                return self.send(self.hil_state_encode(time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc))
-            
-        def hil_controls_encode(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
-                '''
-                Sent from autopilot to simulation. Hardware in the loop control
-                outputs
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll_ailerons             : Control output -1 .. 1 (float)
-                pitch_elevator            : Control output -1 .. 1 (float)
-                yaw_rudder                : Control output -1 .. 1 (float)
-                throttle                  : Throttle 0 .. 1 (float)
-                aux1                      : Aux 1, -1 .. 1 (float)
-                aux2                      : Aux 2, -1 .. 1 (float)
-                aux3                      : Aux 3, -1 .. 1 (float)
-                aux4                      : Aux 4, -1 .. 1 (float)
-                mode                      : System mode (MAV_MODE) (uint8_t)
-                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
-
-                '''
-                msg = MAVLink_hil_controls_message(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode)
-                msg.pack(self)
-                return msg
-            
-        def hil_controls_send(self, time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode):
-                '''
-                Sent from autopilot to simulation. Hardware in the loop control
-                outputs
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_t)
-                roll_ailerons             : Control output -1 .. 1 (float)
-                pitch_elevator            : Control output -1 .. 1 (float)
-                yaw_rudder                : Control output -1 .. 1 (float)
-                throttle                  : Throttle 0 .. 1 (float)
-                aux1                      : Aux 1, -1 .. 1 (float)
-                aux2                      : Aux 2, -1 .. 1 (float)
-                aux3                      : Aux 3, -1 .. 1 (float)
-                aux4                      : Aux 4, -1 .. 1 (float)
-                mode                      : System mode (MAV_MODE) (uint8_t)
-                nav_mode                  : Navigation mode (MAV_NAV_MODE) (uint8_t)
-
-                '''
-                return self.send(self.hil_controls_encode(time_usec, roll_ailerons, pitch_elevator, yaw_rudder, throttle, aux1, aux2, aux3, aux4, mode, nav_mode))
-            
-        def hil_rc_inputs_raw_encode(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
-                '''
-                Sent from simulation to autopilot. The RAW values of the RC channels
-                received. The standard PPM modulation is as follows:
-                1000 microseconds: 0%, 2000 microseconds: 100%.
-                Individual receivers/transmitters might violate this
-                specification.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_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 (uint16_t)
-                chan9_raw                 : RC channel 9 value, in microseconds (uint16_t)
-                chan10_raw                : RC channel 10 value, in microseconds (uint16_t)
-                chan11_raw                : RC channel 11 value, in microseconds (uint16_t)
-                chan12_raw                : RC channel 12 value, in microseconds (uint16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                msg = MAVLink_hil_rc_inputs_raw_message(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi)
-                msg.pack(self)
-                return msg
-            
-        def hil_rc_inputs_raw_send(self, time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi):
-                '''
-                Sent from simulation to autopilot. The RAW values of the RC channels
-                received. The standard PPM modulation is as follows:
-                1000 microseconds: 0%, 2000 microseconds: 100%.
-                Individual receivers/transmitters might violate this
-                specification.
-
-                time_usec                 : Timestamp (microseconds since UNIX epoch or microseconds since system boot) (uint64_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 (uint16_t)
-                chan9_raw                 : RC channel 9 value, in microseconds (uint16_t)
-                chan10_raw                : RC channel 10 value, in microseconds (uint16_t)
-                chan11_raw                : RC channel 11 value, in microseconds (uint16_t)
-                chan12_raw                : RC channel 12 value, in microseconds (uint16_t)
-                rssi                      : Receive signal strength indicator, 0: 0%, 255: 100% (uint8_t)
-
-                '''
-                return self.send(self.hil_rc_inputs_raw_encode(time_usec, chan1_raw, chan2_raw, chan3_raw, chan4_raw, chan5_raw, chan6_raw, chan7_raw, chan8_raw, chan9_raw, chan10_raw, chan11_raw, chan12_raw, rssi))
-            
-        def optical_flow_encode(self, time_usec, sensor_id, flow_x, flow_y, quality, ground_distance):
-                '''
-                Optical flow from a flow sensor (e.g. optical mouse sensor)
-
-                time_usec                 : Timestamp (UNIX) (uint64_t)
-                sensor_id                 : Sensor ID (uint8_t)
-                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
-                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
-                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
-                ground_distance           : Ground distance in meters (float)
-
-                '''
-                msg = MAVLink_optical_flow_message(time_usec, sensor_id, flow_x, flow_y, quality, ground_distance)
-                msg.pack(self)
-                return msg
-            
-        def optical_flow_send(self, time_usec, sensor_id, flow_x, flow_y, quality, ground_distance):
-                '''
-                Optical flow from a flow sensor (e.g. optical mouse sensor)
-
-                time_usec                 : Timestamp (UNIX) (uint64_t)
-                sensor_id                 : Sensor ID (uint8_t)
-                flow_x                    : Flow in pixels in x-sensor direction (int16_t)
-                flow_y                    : Flow in pixels in y-sensor direction (int16_t)
-                quality                   : Optical flow quality / confidence. 0: bad, 255: maximum quality (uint8_t)
-                ground_distance           : Ground distance in meters (float)
-
-                '''
-                return self.send(self.optical_flow_encode(time_usec, sensor_id, flow_x, flow_y, quality, ground_distance))
-            
-        def global_vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X position (float)
-                y                         : Global Y position (float)
-                z                         : Global Z position (float)
-                roll                      : Roll angle in rad (float)
-                pitch                     : Pitch angle in rad (float)
-                yaw                       : Yaw angle in rad (float)
-
-                '''
-                msg = MAVLink_global_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
-                msg.pack(self)
-                return msg
-            
-        def global_vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X position (float)
-                y                         : Global Y position (float)
-                z                         : Global Z position (float)
-                roll                      : Roll angle in rad (float)
-                pitch                     : Pitch angle in rad (float)
-                yaw                       : Yaw angle in rad (float)
-
-                '''
-                return self.send(self.global_vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
-            
-        def vision_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X position (float)
-                y                         : Global Y position (float)
-                z                         : Global Z position (float)
-                roll                      : Roll angle in rad (float)
-                pitch                     : Pitch angle in rad (float)
-                yaw                       : Yaw angle in rad (float)
-
-                '''
-                msg = MAVLink_vision_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
-                msg.pack(self)
-                return msg
-            
-        def vision_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X position (float)
-                y                         : Global Y position (float)
-                z                         : Global Z position (float)
-                roll                      : Roll angle in rad (float)
-                pitch                     : Pitch angle in rad (float)
-                yaw                       : Yaw angle in rad (float)
-
-                '''
-                return self.send(self.vision_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
-            
-        def vision_speed_estimate_encode(self, usec, x, y, z):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X speed (float)
-                y                         : Global Y speed (float)
-                z                         : Global Z speed (float)
-
-                '''
-                msg = MAVLink_vision_speed_estimate_message(usec, x, y, z)
-                msg.pack(self)
-                return msg
-            
-        def vision_speed_estimate_send(self, usec, x, y, z):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X speed (float)
-                y                         : Global Y speed (float)
-                z                         : Global Z speed (float)
-
-                '''
-                return self.send(self.vision_speed_estimate_encode(usec, x, y, z))
-            
-        def vicon_position_estimate_encode(self, usec, x, y, z, roll, pitch, yaw):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X position (float)
-                y                         : Global Y position (float)
-                z                         : Global Z position (float)
-                roll                      : Roll angle in rad (float)
-                pitch                     : Pitch angle in rad (float)
-                yaw                       : Yaw angle in rad (float)
-
-                '''
-                msg = MAVLink_vicon_position_estimate_message(usec, x, y, z, roll, pitch, yaw)
-                msg.pack(self)
-                return msg
-            
-        def vicon_position_estimate_send(self, usec, x, y, z, roll, pitch, yaw):
-                '''
-                
-
-                usec                      : Timestamp (milliseconds) (uint64_t)
-                x                         : Global X position (float)
-                y                         : Global Y position (float)
-                z                         : Global Z position (float)
-                roll                      : Roll angle in rad (float)
-                pitch                     : Pitch angle in rad (float)
-                yaw                       : Yaw angle in rad (float)
-
-                '''
-                return self.send(self.vicon_position_estimate_encode(usec, x, y, z, roll, pitch, yaw))
-            
-        def memory_vect_encode(self, address, ver, type, value):
-                '''
-                Send raw controller memory. The use of this message is discouraged for
-                normal packets, but a quite efficient way for testing
-                new messages and getting experimental debug output.
-
-                address                   : Starting address of the debug variables (uint16_t)
-                ver                       : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t)
-                type                      : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t)
-                value                     : Memory contents at specified address (int8_t)
-
-                '''
-                msg = MAVLink_memory_vect_message(address, ver, type, value)
-                msg.pack(self)
-                return msg
-            
-        def memory_vect_send(self, address, ver, type, value):
-                '''
-                Send raw controller memory. The use of this message is discouraged for
-                normal packets, but a quite efficient way for testing
-                new messages and getting experimental debug output.
-
-                address                   : Starting address of the debug variables (uint16_t)
-                ver                       : Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below (uint8_t)
-                type                      : Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 (uint8_t)
-                value                     : Memory contents at specified address (int8_t)
-
-                '''
-                return self.send(self.memory_vect_encode(address, ver, type, value))
-            
-        def debug_vect_encode(self, name, time_usec, x, y, z):
-                '''
-                
-
-                name                      : Name (char)
-                time_usec                 : Timestamp (uint64_t)
-                x                         : x (float)
-                y                         : y (float)
-                z                         : z (float)
-
-                '''
-                msg = MAVLink_debug_vect_message(name, time_usec, x, y, z)
-                msg.pack(self)
-                return msg
-            
-        def debug_vect_send(self, name, time_usec, x, y, z):
-                '''
-                
-
-                name                      : Name (char)
-                time_usec                 : Timestamp (uint64_t)
-                x                         : x (float)
-                y                         : y (float)
-                z                         : z (float)
-
-                '''
-                return self.send(self.debug_vect_encode(name, time_usec, x, y, z))
-            
-        def named_value_float_encode(self, time_boot_ms, name, value):
-                '''
-                Send a key-value pair as float. The use of this message is discouraged
-                for normal packets, but a quite efficient way for
-                testing new messages and getting experimental debug
-                output.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                name                      : Name of the debug variable (char)
-                value                     : Floating point value (float)
-
-                '''
-                msg = MAVLink_named_value_float_message(time_boot_ms, name, value)
-                msg.pack(self)
-                return msg
-            
-        def named_value_float_send(self, time_boot_ms, name, value):
-                '''
-                Send a key-value pair as float. The use of this message is discouraged
-                for normal packets, but a quite efficient way for
-                testing new messages and getting experimental debug
-                output.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                name                      : Name of the debug variable (char)
-                value                     : Floating point value (float)
-
-                '''
-                return self.send(self.named_value_float_encode(time_boot_ms, name, value))
-            
-        def named_value_int_encode(self, time_boot_ms, name, value):
-                '''
-                Send a key-value pair as integer. The use of this message is
-                discouraged for normal packets, but a quite efficient
-                way for testing new messages and getting experimental
-                debug output.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                name                      : Name of the debug variable (char)
-                value                     : Signed integer value (int32_t)
-
-                '''
-                msg = MAVLink_named_value_int_message(time_boot_ms, name, value)
-                msg.pack(self)
-                return msg
-            
-        def named_value_int_send(self, time_boot_ms, name, value):
-                '''
-                Send a key-value pair as integer. The use of this message is
-                discouraged for normal packets, but a quite efficient
-                way for testing new messages and getting experimental
-                debug output.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                name                      : Name of the debug variable (char)
-                value                     : Signed integer value (int32_t)
-
-                '''
-                return self.send(self.named_value_int_encode(time_boot_ms, name, value))
-            
-        def statustext_encode(self, severity, text):
-                '''
-                Status text message. These messages are printed in yellow in the COMM
-                console of QGroundControl. WARNING: They consume quite
-                some bandwidth, so use only for important status and
-                error messages. If implemented wisely, these messages
-                are buffered on the MCU and sent only at a limited
-                rate (e.g. 10 Hz).
-
-                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
-                text                      : Status text message, without null termination character (char)
-
-                '''
-                msg = MAVLink_statustext_message(severity, text)
-                msg.pack(self)
-                return msg
-            
-        def statustext_send(self, severity, text):
-                '''
-                Status text message. These messages are printed in yellow in the COMM
-                console of QGroundControl. WARNING: They consume quite
-                some bandwidth, so use only for important status and
-                error messages. If implemented wisely, these messages
-                are buffered on the MCU and sent only at a limited
-                rate (e.g. 10 Hz).
-
-                severity                  : Severity of status, 0 = info message, 255 = critical fault (uint8_t)
-                text                      : Status text message, without null termination character (char)
-
-                '''
-                return self.send(self.statustext_encode(severity, text))
-            
-        def debug_encode(self, time_boot_ms, ind, value):
-                '''
-                Send a debug value. The index is used to discriminate between values.
-                These values show up in the plot of QGroundControl as
-                DEBUG N.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                ind                       : index of debug variable (uint8_t)
-                value                     : DEBUG value (float)
-
-                '''
-                msg = MAVLink_debug_message(time_boot_ms, ind, value)
-                msg.pack(self)
-                return msg
-            
-        def debug_send(self, time_boot_ms, ind, value):
-                '''
-                Send a debug value. The index is used to discriminate between values.
-                These values show up in the plot of QGroundControl as
-                DEBUG N.
-
-                time_boot_ms              : Timestamp (milliseconds since system boot) (uint32_t)
-                ind                       : index of debug variable (uint8_t)
-                value                     : DEBUG value (float)
-
-                '''
-                return self.send(self.debug_encode(time_boot_ms, ind, value))
-            
-        def extended_message_encode(self, target_system, target_component, protocol_flags):
-                '''
-                Extended message spacer.
-
-                target_system             : System which should execute the command (uint8_t)
-                target_component          : Component which should execute the command, 0 for all components (uint8_t)
-                protocol_flags            : Retransmission / ACK flags (uint8_t)
-
-                '''
-                msg = MAVLink_extended_message_message(target_system, target_component, protocol_flags)
-                msg.pack(self)
-                return msg
-            
-        def extended_message_send(self, target_system, target_component, protocol_flags):
-                '''
-                Extended message spacer.
-
-                target_system             : System which should execute the command (uint8_t)
-                target_component          : Component which should execute the command, 0 for all components (uint8_t)
-                protocol_flags            : Retransmission / ACK flags (uint8_t)
-
-                '''
-                return self.send(self.extended_message_encode(target_system, target_component, protocol_flags))
-            
diff --git a/mavlink/share/pyshared/pymavlink/mavutil.py b/mavlink/share/pyshared/pymavlink/mavutil.py
deleted file mode 100644
index c0f625214..000000000
--- a/mavlink/share/pyshared/pymavlink/mavutil.py
+++ /dev/null
@@ -1,678 +0,0 @@
-#!/usr/bin/env python
-'''
-mavlink python utility functions
-
-Copyright Andrew Tridgell 2011
-Released under GNU GPL version 3 or later
-'''
-
-import socket, math, struct, time, os, fnmatch, array, sys, errno
-from math import *
-from mavextra import *
-
-if os.getenv('MAVLINK10'):
-    import mavlinkv10 as mavlink
-else:
-    import mavlink
-
-def evaluate_expression(expression, vars):
-    '''evaluation an expression'''
-    try:
-        v = eval(expression, globals(), vars)
-    except NameError:
-        return None
-    return v
-
-def evaluate_condition(condition, vars):
-    '''evaluation a conditional (boolean) statement'''
-    if condition is None:
-        return True
-    v = evaluate_expression(condition, vars)
-    if v is None:
-        return False
-    return v
-
-
-class mavfile(object):
-    '''a generic mavlink port'''
-    def __init__(self, fd, address, source_system=255, notimestamps=False):
-        self.fd = fd
-        self.address = address
-        self.messages = { 'MAV' : self }
-        if mavlink.WIRE_PROTOCOL_VERSION == "1.0":
-            self.messages['HOME'] = mavlink.MAVLink_gps_raw_int_message(0,0,0,0,0,0,0,0,0,0)
-            mavlink.MAVLink_waypoint_message = mavlink.MAVLink_mission_item_message
-        else:
-            self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
-        self.params = {}
-        self.mav = None
-        self.target_system = 0
-        self.target_component = 0
-        self.mav = mavlink.MAVLink(self, srcSystem=source_system)
-        self.mav.robust_parsing = True
-        self.logfile = None
-        self.logfile_raw = None
-        self.param_fetch_in_progress = False
-        self.param_fetch_complete = False
-        self.start_time = time.time()
-        self.flightmode = "UNKNOWN"
-        self.timestamp = 0
-        self.message_hooks = []
-        self.idle_hooks = []
-        self.usec = 0
-        self.notimestamps = notimestamps
-        self._timestamp = None
-
-    def recv(self, n=None):
-        '''default recv method'''
-        raise RuntimeError('no recv() method supplied')
-
-    def close(self, n=None):
-        '''default close method'''
-        raise RuntimeError('no close() method supplied')
-
-    def write(self, buf):
-        '''default write method'''
-        raise RuntimeError('no write() method supplied')
-
-    def pre_message(self):
-        '''default pre message call'''
-        return
-
-    def post_message(self, msg):
-        '''default post message call'''
-        msg._timestamp = time.time()
-        type = msg.get_type()
-        self.messages[type] = msg
-
-        if self._timestamp is not None:
-            if self.notimestamps:
-                if 'usec' in msg.__dict__:
-                    self.usec = msg.usec / 1.0e6
-                msg._timestamp = self.usec
-            else:
-                msg._timestamp = self._timestamp
-        
-        self.timestamp = msg._timestamp
-        if type == 'HEARTBEAT':
-            self.target_system = msg.get_srcSystem()
-            self.target_component = msg.get_srcComponent()
-            if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-                self.flightmode = mode_string_v10(msg)
-        elif type == 'PARAM_VALUE':
-            self.params[str(msg.param_id)] = msg.param_value
-            if msg.param_index+1 == msg.param_count:
-                self.param_fetch_in_progress = False
-                self.param_fetch_complete = True
-        elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
-            self.flightmode = mode_string_v09(msg)
-        elif type == 'GPS_RAW':
-            if self.messages['HOME'].fix_type < 2:
-                self.messages['HOME'] = msg
-        for hook in self.message_hooks:
-            hook(self, msg)
-
-
-    def recv_msg(self):
-        '''message receive routine'''
-        self.pre_message()
-        while True:
-            n = self.mav.bytes_needed()
-            s = self.recv(n)
-            if len(s) == 0 and len(self.mav.buf) == 0:
-                return None
-            if self.logfile_raw:
-                self.logfile_raw.write(str(s))
-            msg = self.mav.parse_char(s)
-            if msg:
-                self.post_message(msg)
-                return msg
-                
-    def recv_match(self, condition=None, type=None, blocking=False):
-        '''recv the next MAVLink message that matches the given condition'''
-        while True:
-            m = self.recv_msg()
-            if m is None:
-                if blocking:
-                    for hook in self.idle_hooks:
-                        hook(self)
-                    time.sleep(0.01)
-                    continue
-                return None
-            if type is not None and type != m.get_type():
-                continue
-            if not evaluate_condition(condition, self.messages):
-                continue
-            return m
-
-    def setup_logfile(self, logfile, mode='w'):
-        '''start logging to the given logfile, with timestamps'''
-        self.logfile = open(logfile, mode=mode)
-
-    def setup_logfile_raw(self, logfile, mode='w'):
-        '''start logging raw bytes to the given logfile, without timestamps'''
-        self.logfile_raw = open(logfile, mode=mode)
-
-    def wait_heartbeat(self, blocking=True):
-        '''wait for a heartbeat so we know the target system IDs'''
-        return self.recv_match(type='HEARTBEAT', blocking=blocking)
-
-    def param_fetch_all(self):
-        '''initiate fetch of all parameters'''
-        if time.time() - getattr(self, 'param_fetch_start', 0) < 2.0:
-            # don't fetch too often
-            return
-        self.param_fetch_start = time.time()
-        self.param_fetch_in_progress = True
-        self.mav.param_request_list_send(self.target_system, self.target_component)
-
-    def time_since(self, mtype):
-        '''return the time since the last message of type mtype was received'''
-        if not mtype in self.messages:
-            return time.time() - self.start_time
-        return time.time() - self.messages[mtype]._timestamp
-
-    def param_set_send(self, parm_name, parm_value, parm_type=None):
-        '''wrapper for parameter set'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-            if parm_type == None:
-                parm_type = mavlink.MAV_VAR_FLOAT
-            self.mav.param_set_send(self.target_system, self.target_component,
-                                    parm_name, parm_value, parm_type)
-        else:
-            self.mav.param_set_send(self.target_system, self.target_component,
-                                    parm_name, parm_value)
-
-    def waypoint_request_list_send(self):
-        '''wrapper for waypoint_request_list_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-            self.mav.mission_request_list_send(self.target_system, self.target_component)
-        else:
-            self.mav.waypoint_request_list_send(self.target_system, self.target_component)
-
-    def waypoint_clear_all_send(self):
-        '''wrapper for waypoint_clear_all_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-            self.mav.mission_clear_all_send(self.target_system, self.target_component)
-        else:
-            self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
-
-    def waypoint_request_send(self, seq):
-        '''wrapper for waypoint_request_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-            self.mav.mission_request_send(self.target_system, self.target_component, seq)
-        else:
-            self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
-
-    def waypoint_set_current_send(self, seq):
-        '''wrapper for waypoint_set_current_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-            self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
-        else:
-            self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
-
-    def waypoint_count_send(self, seq):
-        '''wrapper for waypoint_count_send'''
-        if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
-            self.mav.mission_count_send(self.target_system, self.target_component, seq)
-        else:
-            self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
-
-
-class mavserial(mavfile):
-    '''a serial mavlink port'''
-    def __init__(self, device, baud=115200, autoreconnect=False, source_system=255):
-        import serial
-        self.baud = baud
-        self.device = device
-        self.autoreconnect = autoreconnect
-        self.port = serial.Serial(self.device, self.baud, timeout=0,
-                                  dsrdtr=False, rtscts=False, xonxoff=False)
-
-        try:
-            fd = self.port.fileno()
-        except Exception:
-            fd = None
-        mavfile.__init__(self, fd, device, source_system=source_system)
-
-    def close(self):
-        self.port.close()
-
-    def recv(self,n=None):
-        if n is None:
-            n = self.mav.bytes_needed()
-        if self.fd is None:
-            waiting = self.port.inWaiting()
-            if waiting < n:
-                n = waiting
-        return self.port.read(n)
-
-    def write(self, buf):
-        try:
-            return self.port.write(buf)
-        except OSError:
-            if self.autoreconnect:
-                self.reset()
-            return -1
-            
-    def reset(self):
-        import serial
-        self.port.close()
-        while True:
-            try:
-                self.port = serial.Serial(self.device, self.baud, timeout=1,
-                                          dsrdtr=False, rtscts=False, xonxoff=False)
-                try:
-                    self.fd = self.port.fileno()
-                except Exception:
-                    self.fd = None
-                return
-            except Exception:
-                print("Failed to reopen %s" % self.device)
-                time.sleep(1)
-        
-
-class mavudp(mavfile):
-    '''a UDP mavlink socket'''
-    def __init__(self, device, input=True, source_system=255):
-        a = device.split(':')
-        if len(a) != 2:
-            print("UDP ports must be specified as host:port")
-            sys.exit(1)
-        self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-        self.udp_server = input
-        if input:
-            self.port.bind((a[0], int(a[1])))
-        else:
-            self.destination_addr = (a[0], int(a[1]))
-        self.port.setblocking(0)
-        self.last_address = None
-        mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
-
-    def close(self):
-        self.port.close()
-
-    def recv(self,n=None):
-        try:
-            data, self.last_address = self.port.recvfrom(300)
-        except socket.error as e:
-            if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
-                return ""
-            raise
-        return data
-
-    def write(self, buf):
-        try:
-            if self.udp_server:
-                if self.last_address:
-                    self.port.sendto(buf, self.last_address)
-            else:
-                self.port.sendto(buf, self.destination_addr)
-        except socket.error:
-            pass
-
-    def recv_msg(self):
-        '''message receive routine for UDP link'''
-        self.pre_message()
-        s = self.recv()
-        if len(s) == 0:
-            return None
-        msg = self.mav.parse_buffer(s)
-        if msg is not None:
-            for m in msg:
-                self.post_message(m)
-            return msg[0]
-        return None
-
-
-class mavtcp(mavfile):
-    '''a TCP mavlink socket'''
-    def __init__(self, device, source_system=255):
-        a = device.split(':')
-        if len(a) != 2:
-            print("TCP ports must be specified as host:port")
-            sys.exit(1)
-        self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.destination_addr = (a[0], int(a[1]))
-        self.port.connect(self.destination_addr)
-        self.port.setblocking(0)
-        self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
-        mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
-
-    def close(self):
-        self.port.close()
-
-    def recv(self,n=None):
-        if n is None:
-            n = self.mav.bytes_needed()
-        try:
-            data = self.port.recv(n)
-        except socket.error as e:
-            if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
-                return ""
-            raise
-        return data
-
-    def write(self, buf):
-        try:
-            self.port.send(buf)
-        except socket.error:
-            pass
-
-
-class mavlogfile(mavfile):
-    '''a MAVLink logfile reader/writer'''
-    def __init__(self, filename, planner_format=None,
-                 write=False, append=False,
-                 robust_parsing=True, notimestamps=False, source_system=255):
-        self.filename = filename
-        self.writeable = write
-        self.robust_parsing = robust_parsing
-        self.planner_format = planner_format
-        self._two64 = math.pow(2.0, 63)
-        mode = 'rb'
-        if self.writeable:
-            if append:
-                mode = 'ab'
-            else:
-                mode = 'wb'
-        self.f = open(filename, mode)
-        self.filesize = os.path.getsize(filename)
-        self.percent = 0
-        mavfile.__init__(self, None, filename, source_system=source_system, notimestamps=notimestamps)
-        if self.notimestamps:
-            self._timestamp = 0
-        else:
-            self._timestamp = time.time()
-
-    def close(self):
-        self.f.close()
-
-    def recv(self,n=None):
-        if n is None:
-            n = self.mav.bytes_needed()
-        return self.f.read(n)
-
-    def write(self, buf):
-        self.f.write(buf)
-
-    def pre_message(self):
-        '''read timestamp if needed'''
-        # read the timestamp
-        self.percent = (100.0 * self.f.tell()) / self.filesize        
-        if self.notimestamps:
-            return
-        if self.planner_format:
-            tbuf = self.f.read(21)
-            if len(tbuf) != 21 or tbuf[0] != '-' or tbuf[20] != ':':
-                raise RuntimeError('bad planner timestamp %s' % tbuf)
-            hnsec = self._two64 + float(tbuf[0:20])
-            t = hnsec * 1.0e-7         # convert to seconds
-            t -= 719163 * 24 * 60 * 60 # convert to 1970 base
-        else:
-            tbuf = self.f.read(8)
-            if len(tbuf) != 8:
-                return
-            (tusec,) = struct.unpack('>Q', tbuf)
-            t = tusec * 1.0e-6
-        self._timestamp = t
-
-    def post_message(self, msg):
-        '''add timestamp to message'''
-        # read the timestamp
-        super(mavlogfile, self).post_message(msg)
-        if self.planner_format:
-            self.f.read(1) # trailing newline
-        self.timestamp = msg._timestamp
-
-class mavchildexec(mavfile):
-    '''a MAVLink child processes reader/writer'''
-    def __init__(self, filename, source_system=255):
-        from subprocess import Popen, PIPE
-        import fcntl
-        
-        self.filename = filename
-        self.child = Popen(filename, shell=True, stdout=PIPE, stdin=PIPE)
-        self.fd = self.child.stdout.fileno()
-
-        fl = fcntl.fcntl(self.fd, fcntl.F_GETFL)
-        fcntl.fcntl(self.fd, fcntl.F_SETFL, fl | os.O_NONBLOCK)
-
-        fl = fcntl.fcntl(self.child.stdout.fileno(), fcntl.F_GETFL)
-        fcntl.fcntl(self.child.stdout.fileno(), fcntl.F_SETFL, fl | os.O_NONBLOCK)
-
-        mavfile.__init__(self, self.fd, filename, source_system=source_system)
-
-    def close(self):
-        self.child.close()
-
-    def recv(self,n=None):
-        try:
-            x = self.child.stdout.read(1)
-        except Exception:
-            return ''
-        return x
-
-    def write(self, buf):
-        self.child.stdin.write(buf)
-
-
-def mavlink_connection(device, baud=115200, source_system=255,
-                       planner_format=None, write=False, append=False,
-                       robust_parsing=True, notimestamps=False, input=True):
-    '''make a serial or UDP mavlink connection'''
-    if device.startswith('tcp:'):
-        return mavtcp(device[4:], source_system=source_system)
-    if device.startswith('udp:'):
-        return mavudp(device[4:], input=input, source_system=source_system)
-    if device.find(':') != -1 and not device.endswith('log'):
-        return mavudp(device, source_system=source_system, input=input)
-    if os.path.isfile(device):
-        if device.endswith(".elf"):
-            return mavchildexec(device, source_system=source_system)
-        else:
-            return mavlogfile(device, planner_format=planner_format, write=write,
-                              append=append, robust_parsing=robust_parsing, notimestamps=notimestamps,
-                              source_system=source_system)
-    return mavserial(device, baud=baud, source_system=source_system)
-
-class periodic_event(object):
-    '''a class for fixed frequency events'''
-    def __init__(self, frequency):
-        self.frequency = float(frequency)
-        self.last_time = time.time()
-
-    def force(self):
-        '''force immediate triggering'''
-        self.last_time = 0
-        
-    def trigger(self):
-        '''return True if we should trigger now'''
-        tnow = time.time()
-        if self.last_time + (1.0/self.frequency) <= tnow:
-            self.last_time = tnow
-            return True
-        return False
-
-
-try:
-    from curses import ascii
-    have_ascii = True
-except:
-    have_ascii = False
-
-def is_printable(c):
-    '''see if a character is printable'''
-    global have_ascii
-    if have_ascii:
-        return ascii.isprint(c)
-    if isinstance(c, int):
-        ic = c
-    else:
-        ic = ord(c)
-    return ic >= 32 and ic <= 126
-
-def all_printable(buf):
-    '''see if a string is all printable'''
-    for c in buf:
-        if not is_printable(c) and not c in ['\r', '\n', '\t']:
-            return False
-    return True
-
-class SerialPort(object):
-    '''auto-detected serial port'''
-    def __init__(self, device, description=None, hwid=None):
-        self.device = device
-        self.description = description
-        self.hwid = hwid
-
-    def __str__(self):
-        ret = self.device
-        if self.description is not None:
-            ret += " : " + self.description
-        if self.hwid is not None:
-            ret += " : " + self.hwid
-        return ret
-
-def auto_detect_serial_win32(preferred_list=['*']):
-    '''try to auto-detect serial ports on win32'''
-    try:
-        import scanwin32
-        list = sorted(scanwin32.comports())
-    except:
-        return []
-    ret = []
-    for order, port, desc, hwid in list:
-        for preferred in preferred_list:
-            if fnmatch.fnmatch(desc, preferred) or fnmatch.fnmatch(hwid, preferred):
-                ret.append(SerialPort(port, description=desc, hwid=hwid))
-    if len(ret) > 0:
-        return ret
-    # now the rest
-    for order, port, desc, hwid in list:
-        ret.append(SerialPort(port, description=desc, hwid=hwid))
-    return ret
-        
-
-        
-
-def auto_detect_serial_unix(preferred_list=['*']):
-    '''try to auto-detect serial ports on win32'''
-    import glob
-    glist = glob.glob('/dev/ttyS*') + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob('/dev/serial/by-id/*')
-    ret = []
-    # try preferred ones first
-    for d in glist:
-        for preferred in preferred_list:
-            if fnmatch.fnmatch(d, preferred):
-                ret.append(SerialPort(d))
-    if len(ret) > 0:
-        return ret
-    # now the rest
-    for d in glist:
-        ret.append(SerialPort(d))
-    return ret
-
-
-
-def auto_detect_serial(preferred_list=['*']):
-    '''try to auto-detect serial port'''
-    # see if 
-    if os.name == 'nt':
-        return auto_detect_serial_win32(preferred_list=preferred_list)
-    return auto_detect_serial_unix(preferred_list=preferred_list)
-
-def mode_string_v09(msg):
-    '''mode string for 0.9 protocol'''
-    mode = msg.mode
-    nav_mode = msg.nav_mode
-
-    MAV_MODE_UNINIT = 0
-    MAV_MODE_MANUAL = 2
-    MAV_MODE_GUIDED = 3
-    MAV_MODE_AUTO = 4
-    MAV_MODE_TEST1 = 5
-    MAV_MODE_TEST2 = 6
-    MAV_MODE_TEST3 = 7
-
-    MAV_NAV_GROUNDED = 0
-    MAV_NAV_LIFTOFF = 1
-    MAV_NAV_HOLD = 2
-    MAV_NAV_WAYPOINT = 3
-    MAV_NAV_VECTOR = 4
-    MAV_NAV_RETURNING = 5
-    MAV_NAV_LANDING = 6
-    MAV_NAV_LOST = 7
-    MAV_NAV_LOITER = 8
-    
-    cmode = (mode, nav_mode)
-    mapping = {
-        (MAV_MODE_UNINIT, MAV_NAV_GROUNDED)  : "INITIALISING",
-        (MAV_MODE_MANUAL, MAV_NAV_VECTOR)    : "MANUAL",
-        (MAV_MODE_TEST3,  MAV_NAV_VECTOR)    : "CIRCLE",
-        (MAV_MODE_GUIDED, MAV_NAV_VECTOR)    : "GUIDED",
-        (MAV_MODE_TEST1,  MAV_NAV_VECTOR)    : "STABILIZE",
-        (MAV_MODE_TEST2,  MAV_NAV_LIFTOFF)   : "FBWA",
-        (MAV_MODE_AUTO,   MAV_NAV_WAYPOINT)  : "AUTO",
-        (MAV_MODE_AUTO,   MAV_NAV_RETURNING) : "RTL",
-        (MAV_MODE_AUTO,   MAV_NAV_LOITER)    : "LOITER",
-        (MAV_MODE_AUTO,   MAV_NAV_LIFTOFF)   : "TAKEOFF",
-        (MAV_MODE_AUTO,   MAV_NAV_LANDING)   : "LANDING",
-        (MAV_MODE_AUTO,   MAV_NAV_HOLD)      : "LOITER",
-        (MAV_MODE_GUIDED, MAV_NAV_VECTOR)    : "GUIDED",
-        (MAV_MODE_GUIDED, MAV_NAV_WAYPOINT)  : "GUIDED",
-        (100,             MAV_NAV_VECTOR)    : "STABILIZE",
-        (101,             MAV_NAV_VECTOR)    : "ACRO",
-        (102,             MAV_NAV_VECTOR)    : "ALT_HOLD",
-        (107,             MAV_NAV_VECTOR)    : "CIRCLE",
-        (109,             MAV_NAV_VECTOR)    : "LAND",
-        }
-    if cmode in mapping:
-        return mapping[cmode]
-    return "Mode(%s,%s)" % cmode
-
-def mode_string_v10(msg):
-    '''mode string for 1.0 protocol, from heartbeat'''
-    if not msg.base_mode & mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED:
-        return "Mode(0x%08x)" % msg.base_mode
-    mapping = {
-        0 : 'MANUAL',
-        1 : 'CIRCLE',
-        2 : 'STABILIZE',
-        5 : 'FBWA',
-        6 : 'FBWB',
-        7 : 'FBWC',
-        10 : 'AUTO',
-        11 : 'RTL',
-        12 : 'LOITER',
-        13 : 'TAKEOFF',
-        14 : 'LAND',
-        15 : 'GUIDED',
-        16 : 'INITIALISING'
-        }
-    if msg.custom_mode in mapping:
-        return mapping[msg.custom_mode]
-    return "Mode(%u)" % msg.custom_mode
-
-    
-
-class x25crc(object):
-    '''x25 CRC - based on checksum.h from mavlink library'''
-    def __init__(self, buf=''):
-        self.crc = 0xffff
-        self.accumulate(buf)
-
-    def accumulate(self, buf):
-        '''add in some more bytes'''
-        bytes = array.array('B')
-        if isinstance(buf, array.array):
-            bytes.extend(buf)
-        else:
-            bytes.fromstring(buf)
-        accum = self.crc
-        for b in bytes:
-            tmp = b ^ (accum & 0xff)
-            tmp = (tmp ^ (tmp<<4)) & 0xFF
-            accum = (accum>>8) ^ (tmp<<8) ^ (tmp<<3) ^ (tmp>>4)
-            accum = accum & 0xFFFF
-        self.crc = accum
diff --git a/mavlink/share/pyshared/pymavlink/mavwp.py b/mavlink/share/pyshared/pymavlink/mavwp.py
deleted file mode 100644
index 6fd1e10e2..000000000
--- a/mavlink/share/pyshared/pymavlink/mavwp.py
+++ /dev/null
@@ -1,200 +0,0 @@
-'''
-module for loading/saving waypoints
-'''
-
-import os
-
-if os.getenv('MAVLINK10'):
-    import mavlinkv10 as mavlink
-else:
-    import mavlink
-
-class MAVWPError(Exception):
-        '''MAVLink WP error class'''
-        def __init__(self, msg):
-            Exception.__init__(self, msg)
-            self.message = msg
-
-class MAVWPLoader(object):
-    '''MAVLink waypoint loader'''
-    def __init__(self, target_system=0, target_component=0):
-        self.wpoints = []
-        self.target_system = target_system
-        self.target_component = target_component
-
-
-    def count(self):
-        '''return number of waypoints'''
-        return len(self.wpoints)
-
-    def wp(self, i):
-        '''return a waypoint'''
-        return self.wpoints[i]
-
-    def add(self, w):
-        '''add a waypoint'''
-        w.seq = self.count()
-        self.wpoints.append(w)
-
-    def remove(self, w):
-        '''remove a waypoint'''
-        self.wpoints.remove(w)
-
-    def clear(self):
-        '''clear waypoint list'''
-        self.wpoints = []
-
-    def _read_waypoint_v100(self, line):
-        '''read a version 100 waypoint'''
-        cmdmap = {
-            2 : mavlink.MAV_CMD_NAV_TAKEOFF,
-            3 : mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH,
-            4 : mavlink.MAV_CMD_NAV_LAND,
-            24: mavlink.MAV_CMD_NAV_TAKEOFF,
-            26: mavlink.MAV_CMD_NAV_LAND,
-            25: mavlink.MAV_CMD_NAV_WAYPOINT ,
-            27: mavlink.MAV_CMD_NAV_LOITER_UNLIM
-            }
-        a = line.split()
-        if len(a) != 13:
-            raise MAVWPError("invalid waypoint line with %u values" % len(a))
-        w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
-                                             int(a[0]),    # seq
-                                             int(a[1]),    # frame
-                                             int(a[2]),    # action
-                                             int(a[7]),    # current
-                                             int(a[12]),   # autocontinue
-                                             float(a[5]),  # param1,
-                                             float(a[6]),  # param2,
-                                             float(a[3]),  # param3
-                                             float(a[4]),  # param4
-                                             float(a[9]),  # x, latitude
-                                             float(a[8]),  # y, longitude
-                                             float(a[10])  # z
-                                             )
-        if not w.command in cmdmap:
-            raise MAVWPError("Unknown v100 waypoint action %u" % w.command)
-    
-        w.command = cmdmap[w.command]
-        return w
-
-    def _read_waypoint_v110(self, line):
-        '''read a version 110 waypoint'''
-        a = line.split()
-        if len(a) != 12:
-            raise MAVWPError("invalid waypoint line with %u values" % len(a))
-        w = mavlink.MAVLink_waypoint_message(self.target_system, self.target_component,
-                                             int(a[0]),    # seq
-                                             int(a[2]),    # frame
-                                             int(a[3]),    # command
-                                             int(a[1]),    # current
-                                             int(a[11]),   # autocontinue
-                                             float(a[4]),  # param1,
-                                             float(a[5]),  # param2,
-                                             float(a[6]),  # param3
-                                             float(a[7]),  # param4
-                                             float(a[8]),  # x (latitude)
-                                             float(a[9]),  # y (longitude)
-                                             float(a[10])  # z (altitude)
-                                             )
-        return w
-
-
-    def load(self, filename):
-        '''load waypoints from a file.
-        returns number of waypoints loaded'''
-        f = open(filename, mode='r')
-        version_line = f.readline().strip()
-        if version_line == "QGC WPL 100":
-            readfn = self._read_waypoint_v100
-        elif version_line == "QGC WPL 110":
-            readfn = self._read_waypoint_v110
-        else:
-            f.close()
-            raise MAVWPError("Unsupported waypoint format '%s'" % version_line)
-
-        self.clear()
-
-        for line in f:
-            if line.startswith('#'):
-                continue
-            line = line.strip()
-            if not line:
-                continue
-            w = readfn(line)
-            if w is not None:
-                self.add(w)
-        f.close()
-        return len(self.wpoints)
-
-
-    def save(self, filename):
-        '''save waypoints to a file'''
-        f = open(filename, mode='w')
-        f.write("QGC WPL 110\n")
-        for w in self.wpoints:
-            f.write("%u\t%u\t%u\t%u\t%f\t%f\t%f\t%f\t%f\t%f\t%f\t%u\n" % (
-                w.seq, w.current, w.frame, w.command,
-                w.param1, w.param2, w.param3, w.param4,
-                w.x, w.y, w.z, w.autocontinue))
-        f.close()
-
-
-class MAVFenceError(Exception):
-        '''MAVLink fence error class'''
-        def __init__(self, msg):
-            Exception.__init__(self, msg)
-            self.message = msg
-
-class MAVFenceLoader(object):
-    '''MAVLink geo-fence loader'''
-    def __init__(self, target_system=0, target_component=0):
-        self.points = []
-        self.target_system = target_system
-        self.target_component = target_component
-
-    def count(self):
-        '''return number of points'''
-        return len(self.points)
-
-    def point(self, i):
-        '''return a point'''
-        return self.points[i]
-
-    def add(self, p):
-        '''add a point'''
-        self.points.append(p)
-
-    def clear(self):
-        '''clear point list'''
-        self.points = []
-
-    def load(self, filename):
-        '''load points from a file.
-        returns number of points loaded'''
-        f = open(filename, mode='r')
-        self.clear()
-        for line in f:
-            if line.startswith('#'):
-                continue
-            line = line.strip()
-            if not line:
-                continue
-            a = line.split()
-            if len(a) != 2:
-                raise MAVFenceError("invalid fence point line: %s" % line)
-            p = mavlink.MAVLink_fence_point_message(self.target_system, self.target_component,
-                                                    self.count(), 0, float(a[0]), float(a[1]))
-            self.add(p)
-        f.close()
-        for i in range(self.count()):
-            self.points[i].count = self.count()
-        return len(self.points)
-
-
-    def save(self, filename):
-        '''save fence points to a file'''
-        f = open(filename, mode='w')
-        for p in self.points:
-            f.write("%f\t%f\n" % (p.lat, p.lng))
-        f.close()
diff --git a/mavlink/share/pyshared/pymavlink/scanwin32.py b/mavlink/share/pyshared/pymavlink/scanwin32.py
deleted file mode 100644
index f90ed5f4d..000000000
--- a/mavlink/share/pyshared/pymavlink/scanwin32.py
+++ /dev/null
@@ -1,236 +0,0 @@
-#!/usr/bin/env python
-
-# this is taken from the pySerial documentation at
-# http://pyserial.sourceforge.net/examples.html
-import ctypes
-import re
-
-def ValidHandle(value):
-    if value == 0:
-        raise ctypes.WinError()
-    return value
-
-NULL = 0
-HDEVINFO = ctypes.c_int
-BOOL = ctypes.c_int
-CHAR = ctypes.c_char
-PCTSTR = ctypes.c_char_p
-HWND = ctypes.c_uint
-DWORD = ctypes.c_ulong
-PDWORD = ctypes.POINTER(DWORD)
-ULONG = ctypes.c_ulong
-ULONG_PTR = ctypes.POINTER(ULONG)
-#~ PBYTE = ctypes.c_char_p
-PBYTE = ctypes.c_void_p
-
-class GUID(ctypes.Structure):
-    _fields_ = [
-        ('Data1', ctypes.c_ulong),
-        ('Data2', ctypes.c_ushort),
-        ('Data3', ctypes.c_ushort),
-        ('Data4', ctypes.c_ubyte*8),
-    ]
-    def __str__(self):
-        return "{%08x-%04x-%04x-%s-%s}" % (
-            self.Data1,
-            self.Data2,
-            self.Data3,
-            ''.join(["%02x" % d for d in self.Data4[:2]]),
-            ''.join(["%02x" % d for d in self.Data4[2:]]),
-        )
-
-class SP_DEVINFO_DATA(ctypes.Structure):
-    _fields_ = [
-        ('cbSize', DWORD),
-        ('ClassGuid', GUID),
-        ('DevInst', DWORD),
-        ('Reserved', ULONG_PTR),
-    ]
-    def __str__(self):
-        return "ClassGuid:%s DevInst:%s" % (self.ClassGuid, self.DevInst)
-PSP_DEVINFO_DATA = ctypes.POINTER(SP_DEVINFO_DATA)
-
-class SP_DEVICE_INTERFACE_DATA(ctypes.Structure):
-    _fields_ = [
-        ('cbSize', DWORD),
-        ('InterfaceClassGuid', GUID),
-        ('Flags', DWORD),
-        ('Reserved', ULONG_PTR),
-    ]
-    def __str__(self):
-        return "InterfaceClassGuid:%s Flags:%s" % (self.InterfaceClassGuid, self.Flags)
-
-PSP_DEVICE_INTERFACE_DATA = ctypes.POINTER(SP_DEVICE_INTERFACE_DATA)
-
-PSP_DEVICE_INTERFACE_DETAIL_DATA = ctypes.c_void_p
-
-class dummy(ctypes.Structure):
-    _fields_=[("d1", DWORD), ("d2", CHAR)]
-    _pack_ = 1
-SIZEOF_SP_DEVICE_INTERFACE_DETAIL_DATA_A = ctypes.sizeof(dummy)
-
-SetupDiDestroyDeviceInfoList = ctypes.windll.setupapi.SetupDiDestroyDeviceInfoList
-SetupDiDestroyDeviceInfoList.argtypes = [HDEVINFO]
-SetupDiDestroyDeviceInfoList.restype = BOOL
-
-SetupDiGetClassDevs = ctypes.windll.setupapi.SetupDiGetClassDevsA
-SetupDiGetClassDevs.argtypes = [ctypes.POINTER(GUID), PCTSTR, HWND, DWORD]
-SetupDiGetClassDevs.restype = ValidHandle # HDEVINFO
-
-SetupDiEnumDeviceInterfaces = ctypes.windll.setupapi.SetupDiEnumDeviceInterfaces
-SetupDiEnumDeviceInterfaces.argtypes = [HDEVINFO, PSP_DEVINFO_DATA, ctypes.POINTER(GUID), DWORD, PSP_DEVICE_INTERFACE_DATA]
-SetupDiEnumDeviceInterfaces.restype = BOOL
-
-SetupDiGetDeviceInterfaceDetail = ctypes.windll.setupapi.SetupDiGetDeviceInterfaceDetailA
-SetupDiGetDeviceInterfaceDetail.argtypes = [HDEVINFO, PSP_DEVICE_INTERFACE_DATA, PSP_DEVICE_INTERFACE_DETAIL_DATA, DWORD, PDWORD, PSP_DEVINFO_DATA]
-SetupDiGetDeviceInterfaceDetail.restype = BOOL
-
-SetupDiGetDeviceRegistryProperty = ctypes.windll.setupapi.SetupDiGetDeviceRegistryPropertyA
-SetupDiGetDeviceRegistryProperty.argtypes = [HDEVINFO, PSP_DEVINFO_DATA, DWORD, PDWORD, PBYTE, DWORD, PDWORD]
-SetupDiGetDeviceRegistryProperty.restype = BOOL
-
-
-GUID_CLASS_COMPORT = GUID(0x86e0d1e0L, 0x8089, 0x11d0,
-    (ctypes.c_ubyte*8)(0x9c, 0xe4, 0x08, 0x00, 0x3e, 0x30, 0x1f, 0x73))
-
-DIGCF_PRESENT = 2
-DIGCF_DEVICEINTERFACE = 16
-INVALID_HANDLE_VALUE = 0
-ERROR_INSUFFICIENT_BUFFER = 122
-SPDRP_HARDWAREID = 1
-SPDRP_FRIENDLYNAME = 12
-SPDRP_LOCATION_INFORMATION = 13
-ERROR_NO_MORE_ITEMS = 259
-
-def comports(available_only=True):
-    """This generator scans the device registry for com ports and yields
-    (order, port, desc, hwid).  If available_only is true only return currently
-    existing ports. Order is a helper to get sorted lists. it can be ignored
-    otherwise."""
-    flags = DIGCF_DEVICEINTERFACE
-    if available_only:
-        flags |= DIGCF_PRESENT
-    g_hdi = SetupDiGetClassDevs(ctypes.byref(GUID_CLASS_COMPORT), None, NULL, flags);
-    #~ for i in range(256):
-    for dwIndex in range(256):
-        did = SP_DEVICE_INTERFACE_DATA()
-        did.cbSize = ctypes.sizeof(did)
-
-        if not SetupDiEnumDeviceInterfaces(
-            g_hdi,
-            None,
-            ctypes.byref(GUID_CLASS_COMPORT),
-            dwIndex,
-            ctypes.byref(did)
-        ):
-            if ctypes.GetLastError() != ERROR_NO_MORE_ITEMS:
-                raise ctypes.WinError()
-            break
-
-        dwNeeded = DWORD()
-        # get the size
-        if not SetupDiGetDeviceInterfaceDetail(
-            g_hdi,
-            ctypes.byref(did),
-            None, 0, ctypes.byref(dwNeeded),
-            None
-        ):
-            # Ignore ERROR_INSUFFICIENT_BUFFER
-            if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
-                raise ctypes.WinError()
-        # allocate buffer
-        class SP_DEVICE_INTERFACE_DETAIL_DATA_A(ctypes.Structure):
-            _fields_ = [
-                ('cbSize', DWORD),
-                ('DevicePath', CHAR*(dwNeeded.value - ctypes.sizeof(DWORD))),
-            ]
-            def __str__(self):
-                return "DevicePath:%s" % (self.DevicePath,)
-        idd = SP_DEVICE_INTERFACE_DETAIL_DATA_A()
-        idd.cbSize = SIZEOF_SP_DEVICE_INTERFACE_DETAIL_DATA_A
-        devinfo = SP_DEVINFO_DATA()
-        devinfo.cbSize = ctypes.sizeof(devinfo)
-        if not SetupDiGetDeviceInterfaceDetail(
-            g_hdi,
-            ctypes.byref(did),
-            ctypes.byref(idd), dwNeeded, None,
-            ctypes.byref(devinfo)
-        ):
-            raise ctypes.WinError()
-
-        # hardware ID
-        szHardwareID = ctypes.create_string_buffer(250)
-        if not SetupDiGetDeviceRegistryProperty(
-            g_hdi,
-            ctypes.byref(devinfo),
-            SPDRP_HARDWAREID,
-            None,
-            ctypes.byref(szHardwareID), ctypes.sizeof(szHardwareID) - 1,
-            None
-        ):
-            # Ignore ERROR_INSUFFICIENT_BUFFER
-            if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
-                raise ctypes.WinError()
-
-        # friendly name
-        szFriendlyName = ctypes.create_string_buffer(1024)
-        if not SetupDiGetDeviceRegistryProperty(
-            g_hdi,
-            ctypes.byref(devinfo),
-            SPDRP_FRIENDLYNAME,
-            None,
-            ctypes.byref(szFriendlyName), ctypes.sizeof(szFriendlyName) - 1,
-            None
-        ):
-            # Ignore ERROR_INSUFFICIENT_BUFFER
-            if ctypes.GetLastError() != ERROR_INSUFFICIENT_BUFFER:
-                #~ raise ctypes.WinError()
-                # not getting friendly name for com0com devices, try something else
-                szFriendlyName = ctypes.create_string_buffer(1024)
-                if SetupDiGetDeviceRegistryProperty(
-                    g_hdi,
-                    ctypes.byref(devinfo),
-                    SPDRP_LOCATION_INFORMATION,
-                    None,
-                    ctypes.byref(szFriendlyName), ctypes.sizeof(szFriendlyName) - 1,
-                    None
-                ):
-                    port_name = "\\\\.\\" + szFriendlyName.value
-                    order = None
-                else:
-                    port_name = szFriendlyName.value
-                    order = None
-        else:
-            try:
-                m = re.search(r"\((.*?(\d+))\)", szFriendlyName.value)
-                #~ print szFriendlyName.value, m.groups()
-                port_name = m.group(1)
-                order = int(m.group(2))
-            except AttributeError, msg:
-                port_name = szFriendlyName.value
-                order = None
-        yield order, port_name, szFriendlyName.value, szHardwareID.value
-
-    SetupDiDestroyDeviceInfoList(g_hdi)
-
-
-if __name__ == '__main__':
-    import serial
-    print "-"*78
-    print "Serial ports"
-    print "-"*78
-    for order, port, desc, hwid in sorted(comports()):
-        print "%-10s: %s (%s) ->" % (port, desc, hwid),
-        try:
-            serial.Serial(port) # test open
-        except serial.serialutil.SerialException:
-            print "can't be openend"
-        else:
-            print "Ready"
-    print
-    # list of all ports the system knows
-    print "-"*78
-    print "All serial ports (registry)"
-    print "-"*78
-    for order, port, desc, hwid in sorted(comports(False)):
-        print "%-10s: %s (%s)" % (port, desc, hwid)
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/gtk-quit.gif b/mavlink/share/pyshared/pymavlink/tools/images/gtk-quit.gif
deleted file mode 100644
index 3cce0867b..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/gtk-quit.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-pause.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-pause.gif
deleted file mode 100644
index 4dc439b78..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-pause.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-start.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-start.gif
deleted file mode 100644
index ec4136399..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-start.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-stop.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-playback-stop.gif
deleted file mode 100644
index 306271a89..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/media-playback-stop.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-seek-backward.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-seek-backward.gif
deleted file mode 100644
index 23fcf6d82..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/media-seek-backward.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/media-seek-forward.gif b/mavlink/share/pyshared/pymavlink/tools/images/media-seek-forward.gif
deleted file mode 100644
index 3439c54fd..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/media-seek-forward.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/images/player_end.gif b/mavlink/share/pyshared/pymavlink/tools/images/player_end.gif
deleted file mode 100644
index 9496957d2..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/images/player_end.gif
+++ /dev/null
diff --git a/mavlink/share/pyshared/pymavlink/tools/mavplayback.py b/mavlink/share/pyshared/pymavlink/tools/mavplayback.py
deleted file mode 100644
index 033746697..000000000
--- a/mavlink/share/pyshared/pymavlink/tools/mavplayback.py
+++ /dev/null
@@ -1,246 +0,0 @@
-#!/usr/bin/env python
-
-'''
-play back a mavlink log as a FlightGear FG NET stream, and as a
-realtime mavlink stream
-
-Useful for visualising flights
-'''
-
-import sys, time, os, struct
-import Tkinter
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-import fgFDM
-
-from optparse import OptionParser
-parser = OptionParser("mavplayback.py [options]")
-
-parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
-parser.add_option("--gpsalt", action='store_true', default=False, help="Use GPS altitude")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--out",   help="MAVLink output port (IP:port)",
-                  action='append', default=['127.0.0.1:14550'])
-parser.add_option("--fgout", action='append', default=['127.0.0.1:5503'],
-                  help="flightgear FDM NET output (IP:port)")
-parser.add_option("--baudrate", type='int', default=57600, help='baud rate')
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    parser.print_help()
-    sys.exit(1)
-
-filename = args[0]
-
-
-def LoadImage(filename):
-    '''return an image from the images/ directory'''
-    app_dir = os.path.dirname(os.path.realpath(__file__))
-    path = os.path.join(app_dir, 'files/images', filename)
-    return Tkinter.PhotoImage(file=path)
-
-
-class App():
-    def __init__(self, filename):
-        self.root = Tkinter.Tk()
-
-        self.filesize = os.path.getsize(filename)
-        self.filepos = 0.0
-
-        self.mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
-                                               robust_parsing=True)
-        self.mout = []
-        for m in opts.out:
-            self.mout.append(mavutil.mavlink_connection(m, input=False, baud=opts.baudrate))
-
-        self.fgout = []
-        for f in opts.fgout:
-            self.fgout.append(mavutil.mavudp(f, input=False))
-    
-        self.fdm = fgFDM.fgFDM()
-
-        self.msg = self.mlog.recv_match(condition=opts.condition)
-        if self.msg is None:
-            sys.exit(1)
-        self.last_timestamp = getattr(self.msg, '_timestamp')
-
-        self.paused = False
-
-        self.topframe = Tkinter.Frame(self.root)
-        self.topframe.pack(side=Tkinter.TOP)
-
-        self.frame = Tkinter.Frame(self.root)
-        self.frame.pack(side=Tkinter.LEFT)
-
-        self.slider = Tkinter.Scale(self.topframe, from_=0, to=1.0, resolution=0.01,
-                                    orient=Tkinter.HORIZONTAL, command=self.slew)
-        self.slider.pack(side=Tkinter.LEFT)
-
-        self.clock = Tkinter.Label(self.topframe,text="")
-        self.clock.pack(side=Tkinter.RIGHT)
-
-        self.playback = Tkinter.Spinbox(self.topframe, from_=0, to=20, increment=0.1, width=3)
-        self.playback.pack(side=Tkinter.BOTTOM)
-        self.playback.delete(0, "end")
-        self.playback.insert(0, 1)
-
-        self.buttons = {}
-        self.button('quit', 'gtk-quit.gif', self.frame.quit)
-        self.button('pause', 'media-playback-pause.gif', self.pause)
-        self.button('rewind', 'media-seek-backward.gif', self.rewind)
-        self.button('forward', 'media-seek-forward.gif', self.forward)
-        self.button('status', 'Status', self.status)
-        self.flightmode = Tkinter.Label(self.frame,text="")
-        self.flightmode.pack(side=Tkinter.RIGHT)
-
-        self.next_message()
-        self.root.mainloop()
-
-    def button(self, name, filename, command):
-        '''add a button'''
-        try:
-            img = LoadImage(filename)
-            b = Tkinter.Button(self.frame, image=img, command=command)
-            b.image = img
-        except Exception:
-            b = Tkinter.Button(self.frame, text=filename, command=command)
-        b.pack(side=Tkinter.LEFT)
-        self.buttons[name] = b
-        
-
-    def pause(self):
-        '''pause playback'''
-        self.paused = not self.paused
-
-    def rewind(self):
-        '''rewind 10%'''
-        pos = int(self.mlog.f.tell() - 0.1*self.filesize)
-        if pos < 0:
-            pos = 0
-        self.mlog.f.seek(pos)
-        self.find_message()
-
-    def forward(self):
-        '''forward 10%'''
-        pos = int(self.mlog.f.tell() + 0.1*self.filesize)
-        if pos > self.filesize:
-            pos = self.filesize - 2048
-        self.mlog.f.seek(pos)
-        self.find_message()
-
-    def status(self):
-        '''show status'''
-        for m in sorted(self.mlog.messages.keys()):
-            print(str(self.mlog.messages[m]))
-        
-
-
-    def find_message(self):
-        '''find the next valid message'''
-        while True:
-            self.msg = self.mlog.recv_match(condition=opts.condition)
-            if self.msg is not None and self.msg.get_type() != 'BAD_DATA':
-                break
-            if self.mlog.f.tell() > self.filesize - 10:
-                self.paused = True
-                break
-        self.last_timestamp = getattr(self.msg, '_timestamp')
-
-    def slew(self, value):
-        '''move to a given position in the file'''
-        if float(value) != self.filepos:
-            pos = float(value) * self.filesize
-            self.mlog.f.seek(int(pos))
-            self.find_message()
-
-
-    def next_message(self):
-        '''called as each msg is ready'''
-        
-        msg = self.msg
-        if msg is None:
-            self.paused = True
-
-        if self.paused:
-            self.root.after(100, self.next_message)
-            return
-
-        speed = float(self.playback.get())
-        timestamp = getattr(msg, '_timestamp')
-
-        now = time.strftime("%H:%M:%S", time.localtime(timestamp))
-        self.clock.configure(text=now)
-
-        if speed == 0.0:
-            self.root.after(200, self.next_message)
-        else:
-            self.root.after(int(1000*(timestamp - self.last_timestamp) / speed), self.next_message)
-        self.last_timestamp = timestamp
-
-        while True:
-            self.msg = self.mlog.recv_match(condition=opts.condition)
-            if self.msg is None and self.mlog.f.tell() > self.filesize - 10:
-                self.paused = True
-                return
-            if self.msg is not None and self.msg.get_type() != "BAD_DATA":
-                break
-        
-        pos = float(self.mlog.f.tell()) / self.filesize
-        self.slider.set(pos)
-        self.filepos = self.slider.get()
-
-        if msg.get_type() != "BAD_DATA":
-            for m in self.mout:
-                m.write(msg.get_msgbuf().tostring())
-
-        if msg.get_type() == "GPS_RAW":
-            self.fdm.set('latitude', msg.lat, units='degrees')
-            self.fdm.set('longitude', msg.lon, units='degrees')
-            if opts.gpsalt:
-                self.fdm.set('altitude', msg.alt, units='meters')
-
-        if msg.get_type() == "VFR_HUD":
-            if not opts.gpsalt:
-                self.fdm.set('altitude', msg.alt, units='meters')
-            self.fdm.set('num_engines', 1)
-            self.fdm.set('vcas', msg.airspeed, units='mps')
-
-        if msg.get_type() == "ATTITUDE":
-            self.fdm.set('phi', msg.roll, units='radians')
-            self.fdm.set('theta', msg.pitch, units='radians')
-            self.fdm.set('psi', msg.yaw, units='radians')
-            self.fdm.set('phidot', msg.rollspeed, units='rps')
-            self.fdm.set('thetadot', msg.pitchspeed, units='rps')
-            self.fdm.set('psidot', msg.yawspeed, units='rps')
-
-        if msg.get_type() == "RC_CHANNELS_SCALED":
-            self.fdm.set("right_aileron", msg.chan1_scaled*0.0001)
-            self.fdm.set("left_aileron", -msg.chan1_scaled*0.0001)
-            self.fdm.set("rudder",        msg.chan4_scaled*0.0001)
-            self.fdm.set("elevator",      msg.chan2_scaled*0.0001)
-            self.fdm.set('rpm',           msg.chan3_scaled*0.01)
-
-        if msg.get_type() == 'STATUSTEXT':
-            print("APM: %s" % msg.text)
-
-        if msg.get_type() == 'SYS_STATUS':
-            self.flightmode.configure(text=self.mlog.flightmode)
-
-        if msg.get_type() == "BAD_DATA":
-            if mavutil.all_printable(msg.data):
-                sys.stdout.write(msg.data)
-                sys.stdout.flush()
-
-        if self.fdm.get('latitude') != 0:
-            for f in self.fgout:
-                f.write(self.fdm.pack())
-
-
-app=App(filename)
diff --git a/nuttx-configs/aerocore/include/board.h b/nuttx-configs/aerocore/include/board.h
new file mode 100644
index 000000000..8705c1bc2
--- /dev/null
+++ b/nuttx-configs/aerocore/include/board.h
@@ -0,0 +1,263 @@
+/************************************************************************************
+ * configs/aerocore/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The AeroCore uses a 24MHz crystal connected to the HSE.
+ *
+ * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 24000000     (STM32_BOARD_XTAL)
+ *   PLLM                          : 24           (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PPQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 24MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        24000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (24,000,000 / 24) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(24)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx. 
+ * Note: TIM1,8 are on APB2, others on APB1
+ */
+
+#define STM32_TIM18_FREQUENCY   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_TIM27_FREQUENCY   (2*STM32_PCLK1_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ */
+/* USART1 on PB[6,7]: GPS */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_2
+
+/* USART2 on PD[5,6]: J5 Breakout */
+#define GPIO_USART2_RX	GPIO_USART2_RX_2
+#define GPIO_USART2_TX	GPIO_USART2_TX_2
+#define GPIO_USART2_CTS	0 // unused
+#define GPIO_USART2_RTS	0 // unused
+
+/* USART3 on PD[8,9]: to DuoVero UART2 */
+#define GPIO_USART3_RX	GPIO_USART3_RX_3
+#define GPIO_USART3_TX	GPIO_USART3_TX_3
+#define GPIO_USART3_CTS	0 // unused
+#define GPIO_USART3_RTS	0 // unused
+
+/* UART7 on PE[78]: J7 Breakout */
+#define GPIO_UART7_RX	GPIO_UART7_RX_1
+#define GPIO_UART7_TX	GPIO_UART7_TX_1
+
+/*
+ * UART8 on PE[0-1]: System Console on Port C of USB (J7)
+ * No alternate pin config
+*/
+
+/* USART[1,6] require a RX DMA configuration */
+#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+
+/* PB[10-11]: I2C2 is broken out on J9 header */
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+#define GPIO_I2C2_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
+
+/*
+ * SPI
+ */
+/* PA[4-7] SPI1 broken out on J12 */ 
+#define GPIO_SPI1_NSS	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
+
+/* PB[12-15]: SPI2 connected to DuoVero SPI1 */
+#define GPIO_SPI2_NSS	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */
+#define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MISO	(GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
+
+/* PC[10-12]: SPI3 connected to onboard sensors */
+#define GPIO_SPI3_SCK	(GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI3_MISO	(GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI3_MOSI	(GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz)
+
+/* PE[11-14]: SPI4 connected to FRAM */
+#define GPIO_SPI4_NSS	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz)
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Public Function Prototypes
+ ************************************************************************************/
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+EXTERN void stm32_boardinitialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif  /* __ARCH_BOARD_BOARD_H */
diff --git a/src/modules/mavlink/util.h b/nuttx-configs/aerocore/include/nsh_romfsimg.h
index 5ca9a085d..15e4e7a8d 100644
--- a/src/modules/mavlink/util.h
+++ b/nuttx-configs/aerocore/include/nsh_romfsimg.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,22 +32,11 @@
  ****************************************************************************/
 
 /**
- * @file util.h
- * Utility and helper functions and data.
+ * nsh_romfsetc.h
+ *
+ * This file is a stub for 'make export' purposes; the actual ROMFS
+ * must be supplied by the library client.
  */
 
-#pragma once
-
-/** MAVLink communications channel */
-extern uint8_t chan;
-
-/** Shutdown marker */
-extern volatile bool thread_should_exit;
-
-/** Waypoint storage */
-extern mavlink_wpm_storage *wpm;
-
-/**
- * Translate the custom state into standard mavlink modes and state.
- */
-extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
+extern unsigned char romfs_img[];
+extern unsigned int romfs_img_len;
diff --git a/nuttx-configs/aerocore/nsh/Make.defs b/nuttx-configs/aerocore/nsh/Make.defs
new file mode 100644
index 000000000..c7a1b71bb
--- /dev/null
+++ b/nuttx-configs/aerocore/nsh/Make.defs
@@ -0,0 +1,179 @@
+############################################################################
+# configs/aerocore/nsh/Make.defs
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+
+#
+# We only support building with the ARM bare-metal toolchain from
+# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
+#
+CONFIG_ARMV7M_TOOLCHAIN	:= GNU_EABI
+
+include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+MAXOPTIMIZATION		 = -O3
+ARCHCPUFLAGS		 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+
+# enable precise stack overflow tracking
+INSTRUMENTATIONDEFINES	 = -finstrument-functions \
+			   -ffixed-r10
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			 = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
+EXTRA_LIBS		+= $(LIBM)
+
+# use our linker script
+LDSCRIPT		 = ld.script
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+  DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+  MKDEP			 = $(TOPDIR)/tools/mknulldeps.sh
+  ARCHINCLUDES		 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
+  ARCHXXINCLUDES	 = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
+  ARCHSCRIPT		 = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
+else
+  ifeq ($(PX4_WINTOOL),y)
+    # Windows-native toolchains (MSYS)
+    DIRLINK		 = $(TOPDIR)/tools/copydir.sh
+    DIRUNLINK		 = $(TOPDIR)/tools/unlink.sh
+    MKDEP		 = $(TOPDIR)/tools/mknulldeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  else
+    # Linux/Cygwin-native toolchain 
+    MKDEP		 = $(TOPDIR)/tools/mkdeps.sh
+    ARCHINCLUDES	 = -I. -isystem $(TOPDIR)/include
+    ARCHXXINCLUDES	 = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
+    ARCHSCRIPT		 = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
+  endif
+endif
+
+# tool versions
+ARCHCCVERSION		 = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
+ARCHCCMAJOR		 = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
+
+# optimisation flags
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -fno-strict-aliasing \
+			   -fno-strength-reduce \
+			   -fomit-frame-pointer \
+   			   -funsafe-math-optimizations \
+   			   -fno-builtin-printf \
+   			   -ffunction-sections \
+   			   -fdata-sections
+
+ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
+ARCHOPTIMIZATION	+= -g
+endif
+
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Wdouble-promotion \
+			   -Wshadow \
+			   -Wfloat-equal \
+			   -Wframe-larger-than=1024 \
+			   -Wpointer-arith \
+			   -Wlogical-op \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wold-style-declaration \
+			   -Wmissing-parameter-type \
+			   -Wmissing-prototypes \
+			   -Wnested-externs \
+			   -Wunsuffixed-float-constants
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-psabi
+ARCHDEFINES		 =
+ARCHPICFLAGS		 = -fpic -msingle-pic-base -mpic-register=r10
+
+# this seems to be the only way to add linker flags
+EXTRA_LIBS		+= --warn-common \
+			   --gc-sections
+
+CFLAGS			 = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
+CPICFLAGS		 = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS		 = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS		 = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS		 = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1		 = -r -d -warn-common
+NXFLATLDFLAGS2		 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
+LDNXFLATFLAGS		 = -e main -s 2048
+
+OBJEXT			 = .o
+LIBEXT			 = .a
+EXEEXT			 =
+
+
+# produce partially-linked $1 from files in $2
+define PRELINK
+	@echo "PRELINK: $1"
+	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+endef
+
+HOSTCC			 = gcc
+HOSTINCLUDES		 = -I.
+HOSTCFLAGS		 = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS		 =
+
diff --git a/src/modules/fixedwing_att_control/module.mk b/nuttx-configs/aerocore/nsh/appconfig
index fd1a8724a..2850dac06 100644
--- a/src/modules/fixedwing_att_control/module.mk
+++ b/nuttx-configs/aerocore/nsh/appconfig
@@ -1,6 +1,8 @@
 ############################################################################
+# configs/aerocore/nsh/appconfig
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -12,7 +14,7 @@
 #    notice, this list of conditions and the following disclaimer in
 #    the documentation and/or other materials provided with the
 #    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
+# 3. Neither the name NuttX nor the names of its contributors may be
 #    used to endorse or promote products derived from this software
 #    without specific prior written permission.
 #
@@ -31,12 +33,10 @@
 #
 ############################################################################
 
-#
-# Fixedwing Attitude Control application
-#
+# Path to example in apps/examples containing the user_start entry point
 
-MODULE_COMMAND	= fixedwing_att_control
+CONFIGURED_APPS	+= examples/nsh
 
-SRCS		= fixedwing_att_control_main.c \
-		  fixedwing_att_control_att.c \
-		  fixedwing_att_control_rate.c
+# The NSH application library
+CONFIGURED_APPS += nshlib
+CONFIGURED_APPS += system/readline
diff --git a/nuttx-configs/aerocore/nsh/defconfig b/nuttx-configs/aerocore/nsh/defconfig
new file mode 100644
index 000000000..8d0bae7b9
--- /dev/null
+++ b/nuttx-configs/aerocore/nsh/defconfig
@@ -0,0 +1,950 @@
+#
+# Automatically generated file; DO NOT EDIT.
+# Nuttx/ Configuration
+#
+CONFIG_NUTTX_NEWCONFIG=y
+
+#
+# Build Setup
+#
+# CONFIG_EXPERIMENTAL is not set
+CONFIG_HOST_LINUX=y
+# CONFIG_HOST_OSX is not set
+# CONFIG_HOST_WINDOWS is not set
+# CONFIG_HOST_OTHER is not set
+
+#
+# Build Configuration
+#
+CONFIG_APPS_DIR="../apps"
+# CONFIG_BUILD_2PASS is not set
+
+#
+# Binary Output Formats
+#
+# CONFIG_RRLOAD_BINARY is not set
+# CONFIG_INTELHEX_BINARY is not set
+# CONFIG_MOTOROLA_SREC is not set
+CONFIG_RAW_BINARY=y
+
+#
+# Customize Header Files
+#
+# CONFIG_ARCH_STDBOOL_H is not set
+CONFIG_ARCH_MATH_H=y
+# CONFIG_ARCH_FLOAT_H is not set
+# CONFIG_ARCH_STDARG_H is not set
+
+#
+# Debug Options
+#
+# CONFIG_DEBUG is not set
+# CONFIG_DEBUG_SYMBOLS is not set
+
+#
+# System Type
+#
+# CONFIG_ARCH_8051 is not set
+CONFIG_ARCH_ARM=y
+# CONFIG_ARCH_AVR is not set
+# CONFIG_ARCH_HC is not set
+# CONFIG_ARCH_MIPS is not set
+# CONFIG_ARCH_RGMP is not set
+# CONFIG_ARCH_SH is not set
+# CONFIG_ARCH_SIM is not set
+# CONFIG_ARCH_X86 is not set
+# CONFIG_ARCH_Z16 is not set
+# CONFIG_ARCH_Z80 is not set
+CONFIG_ARCH="arm"
+
+#
+# ARM Options
+#
+# CONFIG_ARCH_CHIP_C5471 is not set
+# CONFIG_ARCH_CHIP_CALYPSO is not set
+# CONFIG_ARCH_CHIP_DM320 is not set
+# CONFIG_ARCH_CHIP_IMX is not set
+# CONFIG_ARCH_CHIP_KINETIS is not set
+# CONFIG_ARCH_CHIP_KL is not set
+# CONFIG_ARCH_CHIP_LM is not set
+# CONFIG_ARCH_CHIP_LPC17XX is not set
+# CONFIG_ARCH_CHIP_LPC214X is not set
+# CONFIG_ARCH_CHIP_LPC2378 is not set
+# CONFIG_ARCH_CHIP_LPC31XX is not set
+# CONFIG_ARCH_CHIP_LPC43XX is not set
+# CONFIG_ARCH_CHIP_NUC1XX is not set
+# CONFIG_ARCH_CHIP_SAM34 is not set
+CONFIG_ARCH_CHIP_STM32=y
+# CONFIG_ARCH_CHIP_STR71X is not set
+CONFIG_ARCH_CORTEXM4=y
+CONFIG_ARCH_FAMILY="armv7-m"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARCH_HAVE_CMNVECTOR=y
+CONFIG_ARMV7M_CMNVECTOR=y
+CONFIG_ARCH_HAVE_FPU=y
+CONFIG_ARCH_FPU=y
+CONFIG_ARCH_HAVE_MPU=y
+# CONFIG_ARMV7M_MPU is not set
+
+#
+# ARMV7M Configuration Options
+#
+# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
+# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set
+CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
+CONFIG_ARMV7M_STACKCHECK=y
+CONFIG_SERIAL_TERMIOS=y
+
+#
+# STM32 Configuration Options
+#
+# CONFIG_ARCH_CHIP_STM32L151C6 is not set
+# CONFIG_ARCH_CHIP_STM32L151C8 is not set
+# CONFIG_ARCH_CHIP_STM32L151CB is not set
+# CONFIG_ARCH_CHIP_STM32L151R6 is not set
+# CONFIG_ARCH_CHIP_STM32L151R8 is not set
+# CONFIG_ARCH_CHIP_STM32L151RB is not set
+# CONFIG_ARCH_CHIP_STM32L151V6 is not set
+# CONFIG_ARCH_CHIP_STM32L151V8 is not set
+# CONFIG_ARCH_CHIP_STM32L151VB is not set
+# CONFIG_ARCH_CHIP_STM32L152C6 is not set
+# CONFIG_ARCH_CHIP_STM32L152C8 is not set
+# CONFIG_ARCH_CHIP_STM32L152CB is not set
+# CONFIG_ARCH_CHIP_STM32L152R6 is not set
+# CONFIG_ARCH_CHIP_STM32L152R8 is not set
+# CONFIG_ARCH_CHIP_STM32L152RB is not set
+# CONFIG_ARCH_CHIP_STM32L152V6 is not set
+# CONFIG_ARCH_CHIP_STM32L152V8 is not set
+# CONFIG_ARCH_CHIP_STM32L152VB is not set
+# CONFIG_ARCH_CHIP_STM32F100C8 is not set
+# CONFIG_ARCH_CHIP_STM32F100CB is not set
+# CONFIG_ARCH_CHIP_STM32F100R8 is not set
+# CONFIG_ARCH_CHIP_STM32F100RB is not set
+# CONFIG_ARCH_CHIP_STM32F100RC is not set
+# CONFIG_ARCH_CHIP_STM32F100RD is not set
+# CONFIG_ARCH_CHIP_STM32F100RE is not set
+# CONFIG_ARCH_CHIP_STM32F100V8 is not set
+# CONFIG_ARCH_CHIP_STM32F100VB is not set
+# CONFIG_ARCH_CHIP_STM32F100VC is not set
+# CONFIG_ARCH_CHIP_STM32F100VD is not set
+# CONFIG_ARCH_CHIP_STM32F100VE is not set
+# CONFIG_ARCH_CHIP_STM32F103C4 is not set
+# CONFIG_ARCH_CHIP_STM32F103C8 is not set
+# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
+# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
+# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
+# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
+# CONFIG_ARCH_CHIP_STM32F107VC is not set
+# CONFIG_ARCH_CHIP_STM32F207IG is not set
+# CONFIG_ARCH_CHIP_STM32F302CB is not set
+# CONFIG_ARCH_CHIP_STM32F302CC is not set
+# CONFIG_ARCH_CHIP_STM32F302RB is not set
+# CONFIG_ARCH_CHIP_STM32F302RC is not set
+# CONFIG_ARCH_CHIP_STM32F302VB is not set
+# CONFIG_ARCH_CHIP_STM32F302VC is not set
+# CONFIG_ARCH_CHIP_STM32F303CB is not set
+# CONFIG_ARCH_CHIP_STM32F303CC is not set
+# CONFIG_ARCH_CHIP_STM32F303RB is not set
+# CONFIG_ARCH_CHIP_STM32F303RC is not set
+# CONFIG_ARCH_CHIP_STM32F303VB is not set
+# CONFIG_ARCH_CHIP_STM32F303VC is not set
+# CONFIG_ARCH_CHIP_STM32F405RG is not set
+# CONFIG_ARCH_CHIP_STM32F405VG is not set
+# CONFIG_ARCH_CHIP_STM32F405ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407VE is not set
+# CONFIG_ARCH_CHIP_STM32F407VG is not set
+# CONFIG_ARCH_CHIP_STM32F407ZE is not set
+# CONFIG_ARCH_CHIP_STM32F407ZG is not set
+# CONFIG_ARCH_CHIP_STM32F407IE is not set
+# CONFIG_ARCH_CHIP_STM32F407IG is not set
+CONFIG_ARCH_CHIP_STM32F427V=y
+# CONFIG_ARCH_CHIP_STM32F427Z is not set
+# CONFIG_ARCH_CHIP_STM32F427I is not set
+# CONFIG_STM32_STM32L15XX is not set
+# CONFIG_STM32_ENERGYLITE is not set
+# CONFIG_STM32_STM32F10XX is not set
+# CONFIG_STM32_VALUELINE is not set
+# CONFIG_STM32_CONNECTIVITYLINE is not set
+# CONFIG_STM32_PERFORMANCELINE is not set
+# CONFIG_STM32_HIGHDENSITY is not set
+# CONFIG_STM32_MEDIUMDENSITY is not set
+# CONFIG_STM32_LOWDENSITY is not set
+# CONFIG_STM32_STM32F20XX is not set
+# CONFIG_STM32_STM32F30XX is not set
+CONFIG_STM32_STM32F40XX=y
+CONFIG_STM32_STM32F427=y
+# CONFIG_STM32_DFU is not set
+
+#
+# STM32 Peripheral Support
+#
+CONFIG_STM32_ADC1=y
+# CONFIG_STM32_ADC2 is not set
+# CONFIG_STM32_ADC3 is not set
+CONFIG_STM32_BKPSRAM=y
+# CONFIG_STM32_CAN1 is not set
+# CONFIG_STM32_CAN2 is not set
+CONFIG_STM32_CCMDATARAM=y
+# CONFIG_STM32_CRC is not set
+# CONFIG_STM32_CRYP is not set
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+# CONFIG_STM32_DAC1 is not set
+# CONFIG_STM32_DAC2 is not set
+# CONFIG_STM32_DCMI is not set
+# CONFIG_STM32_ETHMAC is not set
+# CONFIG_STM32_FSMC is not set
+# CONFIG_STM32_HASH is not set
+# CONFIG_STM32_I2C1 is not set
+CONFIG_STM32_I2C2=y
+# CONFIG_STM32_I2C3 is not set
+# CONFIG_STM32_OTGFS is not set
+# CONFIG_STM32_OTGHS is not set
+CONFIG_STM32_PWR=y
+# CONFIG_STM32_RNG is not set
+# CONFIG_STM32_SDIO is not set
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI3=y
+CONFIG_STM32_SPI4=y
+# CONFIG_STM32_SPI5 is not set
+# CONFIG_STM32_SPI6 is not set
+CONFIG_STM32_SYSCFG=y
+CONFIG_STM32_TIM1=y
+# CONFIG_STM32_TIM2 is not set
+CONFIG_STM32_TIM3=y
+CONFIG_STM32_TIM4=y
+CONFIG_STM32_TIM5=y
+# CONFIG_STM32_TIM6 is not set
+# CONFIG_STM32_TIM7 is not set
+# CONFIG_STM32_TIM8 is not set
+CONFIG_STM32_TIM9=y
+# CONFIG_STM32_TIM10 is not set
+# CONFIG_STM32_TIM11 is not set
+# CONFIG_STM32_TIM12 is not set
+# CONFIG_STM32_TIM13 is not set
+# CONFIG_STM32_TIM14 is not set
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+# CONFIG_STM32_UART4 is not set
+# CONFIG_STM32_UART5 is not set
+# CONFIG_STM32_USART6 is not set
+CONFIG_STM32_UART7=y
+CONFIG_STM32_UART8=y
+# CONFIG_STM32_IWDG is not set
+CONFIG_STM32_WWDG=y
+CONFIG_STM32_ADC=y
+CONFIG_STM32_SPI=y
+CONFIG_STM32_I2C=y
+
+#
+# Alternate Pin Mapping
+#
+CONFIG_STM32_FLASH_PREFETCH=y
+# CONFIG_STM32_JTAG_DISABLE is not set
+# CONFIG_STM32_JTAG_FULL_ENABLE is not set
+# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+# CONFIG_STM32_FORCEPOWER is not set
+# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_STM32_DMACAPABLE=y
+# CONFIG_STM32_TIM1_PWM is not set
+# CONFIG_STM32_TIM3_PWM is not set
+# CONFIG_STM32_TIM4_PWM is not set
+# CONFIG_STM32_TIM5_PWM is not set
+# CONFIG_STM32_TIM9_PWM is not set
+# CONFIG_STM32_TIM1_ADC is not set
+# CONFIG_STM32_TIM3_ADC is not set
+# CONFIG_STM32_TIM4_ADC is not set
+# CONFIG_STM32_TIM5_ADC is not set
+CONFIG_STM32_USART=y
+
+#
+# U[S]ART Configuration
+#
+# CONFIG_USART1_RS485 is not set
+CONFIG_USART1_RXDMA=y
+# CONFIG_USART2_RS485 is not set
+CONFIG_USART2_RXDMA=y
+# CONFIG_USART3_RS485 is not set
+CONFIG_USART3_RXDMA=y
+# CONFIG_UART7_RS485 is not set
+CONFIG_UART7_RXDMA=y
+# CONFIG_UART8_RS485 is not set
+CONFIG_UART8_RXDMA=y
+CONFIG_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+
+#
+# SPI Configuration
+#
+# CONFIG_STM32_SPI_INTERRUPTS is not set
+# CONFIG_STM32_SPI_DMA is not set
+
+#
+# I2C Configuration
+#
+# CONFIG_STM32_I2C_DYNTIMEO is not set
+CONFIG_STM32_I2CTIMEOSEC=0
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=500
+# CONFIG_STM32_I2C_DUTY16_9 is not set
+
+#
+# USB Host Configuration
+#
+
+#
+# USB Device Configuration
+#
+
+#
+# External Memory Configuration
+#
+
+#
+# Architecture Options
+#
+# CONFIG_ARCH_NOINTC is not set
+# CONFIG_ARCH_VECNOTIRQ is not set
+CONFIG_ARCH_DMA=y
+CONFIG_ARCH_IRQPRIO=y
+# CONFIG_CUSTOM_STACK is not set
+# CONFIG_ADDRENV is not set
+CONFIG_ARCH_HAVE_VFORK=y
+CONFIG_ARCH_STACKDUMP=y
+# CONFIG_ENDIAN_BIG is not set
+# CONFIG_ARCH_HAVE_RAMFUNCS is not set
+CONFIG_ARCH_HAVE_RAMVECTORS=y
+# CONFIG_ARCH_RAMVECTORS is not set
+
+#
+# Board Settings
+#
+CONFIG_BOARD_LOOPSPERMSEC=16717
+# CONFIG_ARCH_CALIBRATION is not set
+CONFIG_DRAM_START=0x20000000
+CONFIG_DRAM_SIZE=262144
+CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+
+#
+# Boot options
+#
+# CONFIG_BOOT_RUNFROMEXTSRAM is not set
+CONFIG_BOOT_RUNFROMFLASH=y
+# CONFIG_BOOT_RUNFROMISRAM is not set
+# CONFIG_BOOT_RUNFROMSDRAM is not set
+# CONFIG_BOOT_COPYTORAM is not set
+
+#
+# Board Selection
+#
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD=""
+
+#
+# Common Board Options
+#
+CONFIG_NSH_MMCSDMINOR=0
+
+#
+# Board-Specific Options
+#
+
+#
+# RTOS Features
+#
+# CONFIG_BOARD_INITIALIZE is not set
+CONFIG_MSEC_PER_TICK=1
+CONFIG_RR_INTERVAL=0
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_TASK_NAME_SIZE=24
+# CONFIG_SCHED_HAVE_PARENT is not set
+# CONFIG_JULIAN_TIME is not set
+CONFIG_START_YEAR=1970
+CONFIG_START_MONTH=1
+CONFIG_START_DAY=1
+CONFIG_DEV_CONSOLE=y
+# CONFIG_MUTEX_TYPES is not set
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_NNESTPRIO=8
+# CONFIG_FDCLONE_DISABLE is not set
+CONFIG_FDCLONE_STDIO=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SCHED_WAITPID=y
+# CONFIG_SCHED_STARTHOOK is not set
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_ATEXIT_MAX=1
+# CONFIG_SCHED_ONEXIT is not set
+CONFIG_USER_ENTRYPOINT="nsh_main"
+# CONFIG_DISABLE_OS_API is not set
+
+#
+# Signal Numbers
+#
+CONFIG_SIG_SIGUSR1=1
+CONFIG_SIG_SIGUSR2=2
+CONFIG_SIG_SIGALARM=3
+CONFIG_SIG_SIGCONDTIMEDOUT=16
+CONFIG_SIG_SIGWORK=4
+
+#
+# Sizes of configurable things (0 disables)
+#
+CONFIG_MAX_TASKS=32
+CONFIG_MAX_TASK_ARGS=10
+CONFIG_NPTHREAD_KEYS=4
+CONFIG_NFILE_DESCRIPTORS=36
+CONFIG_NFILE_STREAMS=8
+CONFIG_NAME_MAX=32
+CONFIG_PREALLOC_MQ_MSGS=4
+CONFIG_MQ_MAXMSGSIZE=32
+CONFIG_MAX_WDOGPARMS=2
+CONFIG_PREALLOC_WDOGS=50
+CONFIG_PREALLOC_TIMERS=50
+
+#
+# Stack and heap information
+#
+CONFIG_IDLETHREAD_STACKSIZE=6000
+CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_PTHREAD_STACK_DEFAULT=2048
+
+#
+# Device Drivers
+#
+# CONFIG_DISABLE_POLL is not set
+CONFIG_DEV_NULL=y
+# CONFIG_DEV_ZERO is not set
+# CONFIG_LOOP is not set
+# CONFIG_RAMDISK is not set
+# CONFIG_CAN is not set
+# CONFIG_PWM is not set
+CONFIG_I2C=y
+# CONFIG_I2C_SLAVE is not set
+CONFIG_I2C_TRANSFER=y
+# CONFIG_I2C_WRITEREAD is not set
+# CONFIG_I2C_POLLED is not set
+# CONFIG_I2C_TRACE is not set
+CONFIG_ARCH_HAVE_I2CRESET=y
+CONFIG_I2C_RESET=y
+CONFIG_SPI=y
+# CONFIG_SPI_OWNBUS is not set
+CONFIG_SPI_EXCHANGE=y
+# CONFIG_SPI_CMDDATA is not set
+# CONFIG_RTC is not set
+CONFIG_WATCHDOG=y
+# CONFIG_ANALOG is not set
+# CONFIG_AUDIO_DEVICES is not set
+# CONFIG_BCH is not set
+# CONFIG_INPUT is not set
+# CONFIG_LCD is not set
+# CONFIG_MMCSD is not set
+CONFIG_MTD=y
+
+#
+# MTD Configuration
+#
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_BYTE_WRITE=y
+
+#
+# MTD Device Drivers
+#
+# CONFIG_RAMMTD is not set
+# CONFIG_MTD_AT24XX is not set
+# CONFIG_MTD_AT45DB is not set
+# CONFIG_MTD_M25P is not set
+# CONFIG_MTD_SMART is not set
+CONFIG_MTD_RAMTRON=y
+CONFIG_RAMTRON_FUJITSU=y
+# CONFIG_MTD_SST25 is not set
+# CONFIG_MTD_SST39FV is not set
+# CONFIG_MTD_W25 is not set
+CONFIG_PIPES=y
+# CONFIG_PM is not set
+# CONFIG_POWER is not set
+# CONFIG_SENSORS is not set
+CONFIG_SERIAL=y
+# CONFIG_DEV_LOWCONSOLE is not set
+# CONFIG_16550_UART is not set
+CONFIG_ARCH_HAVE_UART7=y
+CONFIG_ARCH_HAVE_UART8=y
+CONFIG_ARCH_HAVE_USART1=y
+CONFIG_ARCH_HAVE_USART2=y
+CONFIG_ARCH_HAVE_USART3=y
+CONFIG_MCU_SERIAL=y
+CONFIG_STANDARD_SERIAL=y
+CONFIG_SERIAL_NPOLLWAITERS=2
+# CONFIG_USART1_SERIAL_CONSOLE is not set
+# CONFIG_USART2_SERIAL_CONSOLE is not set
+# CONFIG_USART3_SERIAL_CONSOLE is not set
+# CONFIG_UART7_SERIAL_CONSOLE is not set
+CONFIG_UART8_SERIAL_CONSOLE=y
+# CONFIG_NO_SERIAL_CONSOLE is not set
+
+#
+# USART1 Configuration
+#
+CONFIG_USART1_RXBUFSIZE=512
+CONFIG_USART1_TXBUFSIZE=512
+CONFIG_USART1_BAUD=115200
+CONFIG_USART1_BITS=8
+CONFIG_USART1_PARITY=0
+CONFIG_USART1_2STOP=0
+# CONFIG_USART1_IFLOWCONTROL is not set
+# CONFIG_USART1_OFLOWCONTROL is not set
+
+#
+# USART2 Configuration
+#
+CONFIG_USART2_RXBUFSIZE=512
+CONFIG_USART2_TXBUFSIZE=512
+CONFIG_USART2_BAUD=115200
+CONFIG_USART2_BITS=8
+CONFIG_USART2_PARITY=0
+CONFIG_USART2_2STOP=0
+# CONFIG_USART2_IFLOWCONTROL is not set
+# CONFIG_USART2_OFLOWCONTROL is not set
+
+#
+# USART3 Configuration
+#
+CONFIG_USART3_RXBUFSIZE=512
+CONFIG_USART3_TXBUFSIZE=512
+CONFIG_USART3_BAUD=115200
+CONFIG_USART3_BITS=8
+CONFIG_USART3_PARITY=0
+CONFIG_USART3_2STOP=0
+# CONFIG_USART3_IFLOWCONTROL is not set
+# CONFIG_USART3_OFLOWCONTROL is not set
+
+#
+# UART7 Configuration
+#
+CONFIG_UART7_RXBUFSIZE=512
+CONFIG_UART7_TXBUFSIZE=512
+CONFIG_UART7_BAUD=115200
+CONFIG_UART7_BITS=8
+CONFIG_UART7_PARITY=0
+CONFIG_UART7_2STOP=0
+# CONFIG_UART7_IFLOWCONTROL is not set
+# CONFIG_UART7_OFLOWCONTROL is not set
+
+#
+# UART8 Configuration
+#
+CONFIG_UART8_RXBUFSIZE=512
+CONFIG_UART8_TXBUFSIZE=512
+CONFIG_UART8_BAUD=115200
+CONFIG_UART8_BITS=8
+CONFIG_UART8_PARITY=0
+CONFIG_UART8_2STOP=0
+# CONFIG_UART8_IFLOWCONTROL is not set
+# CONFIG_UART8_OFLOWCONTROL is not set
+# CONFIG_SERIAL_IFLOWCONTROL is not set
+# CONFIG_SERIAL_OFLOWCONTROL is not set
+# CONFIG_USBDEV is not set
+# CONFIG_USBHOST is not set
+# CONFIG_WIRELESS is not set
+
+#
+# System Logging Device Options
+#
+
+#
+# System Logging
+#
+# CONFIG_RAMLOG is not set
+
+#
+# Networking Support
+#
+# CONFIG_NET is not set
+
+#
+# File Systems
+#
+
+#
+# File system configuration
+#
+# CONFIG_DISABLE_MOUNTPOINT is not set
+# CONFIG_FS_RAMMAP is not set
+CONFIG_FS_FAT=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_MAXFNAME=32
+CONFIG_FS_FATTIME=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FS_NXFFS=y
+CONFIG_NXFFS_PREALLOCATED=y
+CONFIG_NXFFS_ERASEDSTATE=0xff
+CONFIG_NXFFS_PACKTHRESHOLD=32
+CONFIG_NXFFS_MAXNAMLEN=32
+CONFIG_NXFFS_TAILTHRESHOLD=2048
+CONFIG_FS_ROMFS=y
+# CONFIG_FS_SMARTFS is not set
+CONFIG_FS_BINFS=y
+
+#
+# System Logging
+#
+# CONFIG_SYSLOG_ENABLE is not set
+# CONFIG_SYSLOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_NX is not set
+
+#
+# Memory Management
+#
+# CONFIG_MM_MULTIHEAP is not set
+# CONFIG_MM_SMALL is not set
+CONFIG_MM_REGIONS=2
+CONFIG_GRAN=y
+# CONFIG_GRAN_SINGLE is not set
+# CONFIG_GRAN_INTR is not set
+
+#
+# Audio Support
+#
+# CONFIG_AUDIO is not set
+
+#
+# Binary Formats
+#
+# CONFIG_BINFMT_DISABLE is not set
+# CONFIG_BINFMT_EXEPATH is not set
+# CONFIG_NXFLAT is not set
+# CONFIG_ELF is not set
+CONFIG_BUILTIN=y
+# CONFIG_PIC is not set
+# CONFIG_SYMTAB_ORDEREDBYNAME is not set
+
+#
+# Library Routines
+#
+
+#
+# Standard C Library Options
+#
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STDIO_LINEBUFFER=y
+CONFIG_NUNGET_CHARS=2
+CONFIG_LIB_HOMEDIR="/"
+# CONFIG_NOPRINTF_FIELDWIDTH is not set
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIB_RAND_ORDER=1
+# CONFIG_EOL_IS_CR is not set
+# CONFIG_EOL_IS_LF is not set
+# CONFIG_EOL_IS_BOTH_CRLF is not set
+CONFIG_EOL_IS_EITHER_CRLF=y
+# CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
+CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
+CONFIG_LIBC_STRERROR=y
+# CONFIG_LIBC_STRERROR_SHORT is not set
+# CONFIG_LIBC_PERROR_STDOUT is not set
+CONFIG_ARCH_LOWPUTC=y
+CONFIG_LIB_SENDFILE_BUFSIZE=512
+# CONFIG_ARCH_ROMGETC is not set
+CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
+CONFIG_ARCH_MEMCPY=y
+# CONFIG_ARCH_MEMCMP is not set
+# CONFIG_ARCH_MEMMOVE is not set
+# CONFIG_ARCH_MEMSET is not set
+# CONFIG_MEMSET_OPTSPEED is not set
+# CONFIG_ARCH_STRCHR is not set
+# CONFIG_ARCH_STRCMP is not set
+# CONFIG_ARCH_STRCPY is not set
+# CONFIG_ARCH_STRNCPY is not set
+# CONFIG_ARCH_STRLEN is not set
+# CONFIG_ARCH_STRNLEN is not set
+# CONFIG_ARCH_BZERO is not set
+
+#
+# Non-standard Library Support
+#
+CONFIG_SCHED_WORKQUEUE=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WORKPRIORITY=192
+CONFIG_SCHED_WORKPERIOD=5000
+CONFIG_SCHED_WORKSTACKSIZE=2000
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKPERIOD=50000
+CONFIG_SCHED_LPWORKSTACKSIZE=2000
+# CONFIG_LIB_KBDCODEC is not set
+# CONFIG_LIB_SLCDCODEC is not set
+
+#
+# Basic CXX Support
+#
+CONFIG_C99_BOOL8=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+# CONFIG_CXX_NEWLONG is not set
+
+#
+# uClibc++ Standard C++ Library
+#
+# CONFIG_UCLIBCXX is not set
+
+#
+# Application Configuration
+#
+
+#
+# Built-In Applications
+#
+CONFIG_BUILTIN_PROXY_STACKSIZE=1024
+
+#
+# Examples
+#
+# CONFIG_EXAMPLES_BUTTONS is not set
+# CONFIG_EXAMPLES_CAN is not set
+# CONFIG_EXAMPLES_COMPOSITE is not set
+# CONFIG_EXAMPLES_CXXTEST is not set
+# CONFIG_EXAMPLES_DHCPD is not set
+# CONFIG_EXAMPLES_ELF is not set
+# CONFIG_EXAMPLES_FTPC is not set
+# CONFIG_EXAMPLES_FTPD is not set
+CONFIG_EXAMPLES_HELLO=y
+# CONFIG_EXAMPLES_HELLOXX is not set
+# CONFIG_EXAMPLES_JSON is not set
+# CONFIG_EXAMPLES_HIDKBD is not set
+# CONFIG_EXAMPLES_KEYPADTEST is not set
+# CONFIG_EXAMPLES_IGMP is not set
+# CONFIG_EXAMPLES_LCDRW is not set
+# CONFIG_EXAMPLES_MM is not set
+# CONFIG_EXAMPLES_MODBUS is not set
+CONFIG_EXAMPLES_MOUNT=y
+# CONFIG_EXAMPLES_MTDPART is not set
+# CONFIG_EXAMPLES_NRF24L01TERM is not set
+CONFIG_EXAMPLES_NSH=y
+# CONFIG_EXAMPLES_NULL is not set
+# CONFIG_EXAMPLES_NX is not set
+# CONFIG_EXAMPLES_NXCONSOLE is not set
+# CONFIG_EXAMPLES_NXFFS is not set
+# CONFIG_EXAMPLES_NXFLAT is not set
+# CONFIG_EXAMPLES_NXHELLO is not set
+# CONFIG_EXAMPLES_NXIMAGE is not set
+# CONFIG_EXAMPLES_NXLINES is not set
+# CONFIG_EXAMPLES_NXTEXT is not set
+# CONFIG_EXAMPLES_OSTEST is not set
+# CONFIG_EXAMPLES_PASHELLO is not set
+# CONFIG_EXAMPLES_PIPE is not set
+# CONFIG_EXAMPLES_POSIXSPAWN is not set
+# CONFIG_EXAMPLES_QENCODER is not set
+# CONFIG_EXAMPLES_RGMP is not set
+# CONFIG_EXAMPLES_ROMFS is not set
+# CONFIG_EXAMPLES_SENDMAIL is not set
+# CONFIG_EXAMPLES_SERLOOP is not set
+# CONFIG_EXAMPLES_SLCD is not set
+# CONFIG_EXAMPLES_SMART_TEST is not set
+# CONFIG_EXAMPLES_SMART is not set
+# CONFIG_EXAMPLES_TCPECHO is not set
+# CONFIG_EXAMPLES_TELNETD is not set
+# CONFIG_EXAMPLES_THTTPD is not set
+# CONFIG_EXAMPLES_TIFF is not set
+# CONFIG_EXAMPLES_TOUCHSCREEN is not set
+# CONFIG_EXAMPLES_UDP is not set
+# CONFIG_EXAMPLES_UIP is not set
+# CONFIG_EXAMPLES_USBSERIAL is not set
+# CONFIG_EXAMPLES_USBMSC is not set
+# CONFIG_EXAMPLES_USBTERM is not set
+# CONFIG_EXAMPLES_WATCHDOG is not set
+
+#
+# Graphics Support
+#
+# CONFIG_TIFF is not set
+
+#
+# Interpreters
+#
+# CONFIG_INTERPRETERS_FICL is not set
+# CONFIG_INTERPRETERS_PCODE is not set
+
+#
+# Network Utilities
+#
+
+#
+# Networking Utilities
+#
+# CONFIG_NETUTILS_CODECS is not set
+# CONFIG_NETUTILS_DHCPC is not set
+# CONFIG_NETUTILS_DHCPD is not set
+# CONFIG_NETUTILS_FTPC is not set
+# CONFIG_NETUTILS_FTPD is not set
+# CONFIG_NETUTILS_JSON is not set
+# CONFIG_NETUTILS_RESOLV is not set
+# CONFIG_NETUTILS_SMTP is not set
+# CONFIG_NETUTILS_TELNETD is not set
+# CONFIG_NETUTILS_TFTPC is not set
+# CONFIG_NETUTILS_THTTPD is not set
+# CONFIG_NETUTILS_UIPLIB is not set
+# CONFIG_NETUTILS_WEBCLIENT is not set
+
+#
+# FreeModBus
+#
+# CONFIG_MODBUS is not set
+
+#
+# NSH Library
+#
+CONFIG_NSH_LIBRARY=y
+CONFIG_NSH_BUILTIN_APPS=y
+
+#
+# Disable Individual commands
+#
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOSETUP is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MB is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MKFIFO is not set
+# CONFIG_NSH_DISABLE_MKRD is not set
+# CONFIG_NSH_DISABLE_MH is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MW is not set
+# CONFIG_NSH_DISABLE_NSFMOUNT is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PING is not set
+# CONFIG_NSH_DISABLE_PUT is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SH is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_NSH_DISABLE_WGET is not set
+# CONFIG_NSH_DISABLE_XD is not set
+
+#
+# Configure Command Options
+#
+# CONFIG_NSH_CMDOPT_DF_H is not set
+CONFIG_NSH_CODECS_BUFSIZE=128
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=12
+CONFIG_NSH_NESTDEPTH=8
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLEBG is not set
+CONFIG_NSH_ROMFSETC=y
+# CONFIG_NSH_ROMFSRC is not set
+CONFIG_NSH_ROMFSMOUNTPT="/etc"
+CONFIG_NSH_INITSCRIPT="init.d/rcS"
+CONFIG_NSH_ROMFSDEVNO=0
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_FATDEVNO=1
+CONFIG_NSH_FATSECTSIZE=512
+CONFIG_NSH_FATNSECTORS=1024
+CONFIG_NSH_FATMOUNTPT="/tmp"
+CONFIG_NSH_CONSOLE=y
+
+#
+# USB Trace Support
+#
+# CONFIG_NSH_CONDEV is not set
+CONFIG_NSH_ARCHINIT=y
+
+#
+# NxWidgets/NxWM
+#
+
+#
+# System NSH Add-Ons
+#
+
+#
+# Custom Free Memory Command
+#
+# CONFIG_SYSTEM_FREE is not set
+
+#
+# I2C tool
+#
+CONFIG_SYSTEM_I2CTOOL=y
+CONFIG_I2CTOOL_MINBUS=0
+CONFIG_I2CTOOL_MAXBUS=3
+CONFIG_I2CTOOL_MINADDR=0x03
+CONFIG_I2CTOOL_MAXADDR=0x77
+CONFIG_I2CTOOL_MAXREGADDR=0xff
+CONFIG_I2CTOOL_DEFFREQ=4000000
+
+#
+# FLASH Program Installation
+#
+# CONFIG_SYSTEM_INSTALL is not set
+
+#
+# FLASH Erase-all Command
+#
+# CONFIG_SYSTEM_FLASH_ERASEALL is not set
+
+#
+# readline()
+#
+CONFIG_SYSTEM_READLINE=y
+CONFIG_READLINE_ECHO=y
+
+#
+# Power Off
+#
+# CONFIG_SYSTEM_POWEROFF is not set
+
+#
+# RAMTRON
+#
+# CONFIG_SYSTEM_RAMTRON is not set
+
+#
+# SD Card
+#
+# CONFIG_SYSTEM_SDCARD is not set
+
+#
+# Sysinfo
+#
+CONFIG_SYSTEM_SYSINFO=y
+
+#
+# USB Monitor
+#
diff --git a/nuttx-configs/aerocore/nsh/setenv.sh b/nuttx-configs/aerocore/nsh/setenv.sh
new file mode 100755
index 000000000..2327f38a1
--- /dev/null
+++ b/nuttx-configs/aerocore/nsh/setenv.sh
@@ -0,0 +1,67 @@
+#!/bin/bash
+# configs/aerocore/nsh/setenv.sh
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+if [ "$_" = "$0" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+  echo "This script must be executed from the top-level NuttX build directory"
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+  export PATH_ORIG="${PATH}"
+fi
+
+# This the Cygwin path to the location where I installed the RIDE
+# toolchain under windows.  You will also have to edit this if you install
+# the RIDE toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
+
+# This the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+
+# This the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"
diff --git a/nuttx-configs/aerocore/scripts/ld.script b/nuttx-configs/aerocore/scripts/ld.script
new file mode 100644
index 000000000..968d3127f
--- /dev/null
+++ b/nuttx-configs/aerocore/scripts/ld.script
@@ -0,0 +1,150 @@
+/****************************************************************************
+ * configs/aerocore/common/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 2032K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/* 
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)        
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)        
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+		/* 
+		 * This is a hack to make the newlib libm __errno() call
+		 * use the NuttX get_errno_ptr() function.
+		 */
+		__errno = get_errno_ptr;
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
diff --git a/nuttx-configs/aerocore/src/Makefile b/nuttx-configs/aerocore/src/Makefile
new file mode 100644
index 000000000..859ba4ab2
--- /dev/null
+++ b/nuttx-configs/aerocore/src/Makefile
@@ -0,0 +1,84 @@
+############################################################################
+# configs/aerocore/src/Makefile
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CFLAGS		+= -I$(TOPDIR)/sched
+
+ASRCS		= 
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+
+CSRCS		= empty.c
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ARCH_SRCDIR	= $(TOPDIR)/arch/$(CONFIG_ARCH)/src
+ifeq ($(WINTOOL),y)
+  CFLAGS	+= -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
+  		   -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+else
+  CFLAGS	+= -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
+endif
+
+all: libboard$(LIBEXT)
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+libboard$(LIBEXT): $(OBJS)
+	$(call ARCHIVE, $@, $(OBJS))
+
+.depend: Makefile $(SRCS)
+	$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, libboard$(LIBEXT))
+	$(call CLEAN)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+
+-include Make.dep
+
diff --git a/nuttx-configs/aerocore/src/empty.c b/nuttx-configs/aerocore/src/empty.c
new file mode 100644
index 000000000..ace900866
--- /dev/null
+++ b/nuttx-configs/aerocore/src/empty.c
@@ -0,0 +1,4 @@
+/*
+ * There are no source files here, but libboard.a can't be empty, so 
+ * we have this empty source file to keep it company.
+ */
diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig
index 00bf83bd5..a651faffa 100644
--- a/nuttx-configs/px4fmu-v1/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v1/nsh/defconfig
@@ -405,7 +405,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=36
+CONFIG_NFILE_DESCRIPTORS=38
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -417,8 +417,8 @@ CONFIG_PREALLOC_TIMERS=50
 #
 # Stack and heap information
 #
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_IDLETHREAD_STACKSIZE=3500
+CONFIG_USERMAIN_STACKSIZE=3000
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_PTHREAD_STACK_DEFAULT=2048
 
@@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y
 #
 # USART1 Configuration
 #
-CONFIG_USART1_RXBUFSIZE=512
-CONFIG_USART1_TXBUFSIZE=512
+CONFIG_USART1_RXBUFSIZE=300
+CONFIG_USART1_TXBUFSIZE=300
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_BITS=8
 CONFIG_USART1_PARITY=0
@@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y
 #
 # UART5 Configuration
 #
-CONFIG_UART5_RXBUFSIZE=512
-CONFIG_UART5_TXBUFSIZE=512
+CONFIG_UART5_RXBUFSIZE=300
+CONFIG_UART5_TXBUFSIZE=300
 CONFIG_UART5_BAUD=57600
 CONFIG_UART5_BITS=8
 CONFIG_UART5_PARITY=0
@@ -540,8 +540,8 @@ CONFIG_UART5_2STOP=0
 #
 # USART6 Configuration
 #
-CONFIG_USART6_RXBUFSIZE=512
-CONFIG_USART6_TXBUFSIZE=512
+CONFIG_USART6_RXBUFSIZE=128
+CONFIG_USART6_TXBUFSIZE=64
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_BITS=8
 CONFIG_USART6_PARITY=0
@@ -679,7 +679,7 @@ CONFIG_BUILTIN=y
 #
 # Standard C Library Options
 #
-CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STDIO_BUFFER_SIZE=180
 CONFIG_STDIO_LINEBUFFER=y
 CONFIG_NUNGET_CHARS=2
 CONFIG_LIB_HOMEDIR="/"
diff --git a/nuttx-configs/px4fmu-v2/include/board.h b/nuttx-configs/px4fmu-v2/include/board.h
index 3bede8a1f..3b3c6fa70 100755
--- a/nuttx-configs/px4fmu-v2/include/board.h
+++ b/nuttx-configs/px4fmu-v2/include/board.h
@@ -268,6 +268,10 @@
 #define GPIO_SPI2_MOSI	(GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_SCK	(GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
 
+#define GPIO_SPI4_MISO	(GPIO_SPI4_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
+
 /************************************************************************************
  * Public Data
  ************************************************************************************/
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index 9c75e6c59..a55c95a29 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -235,7 +235,7 @@ CONFIG_STM32_SDIO=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 # CONFIG_STM32_SPI3 is not set
-# CONFIG_STM32_SPI4 is not set
+CONFIG_STM32_SPI4=y
 # CONFIG_STM32_SPI5 is not set
 # CONFIG_STM32_SPI6 is not set
 CONFIG_STM32_SYSCFG=y
@@ -439,7 +439,7 @@ CONFIG_SIG_SIGWORK=4
 CONFIG_MAX_TASKS=32
 CONFIG_MAX_TASK_ARGS=10
 CONFIG_NPTHREAD_KEYS=4
-CONFIG_NFILE_DESCRIPTORS=36
+CONFIG_NFILE_DESCRIPTORS=38
 CONFIG_NFILE_STREAMS=8
 CONFIG_NAME_MAX=32
 CONFIG_PREALLOC_MQ_MSGS=4
@@ -451,8 +451,8 @@ CONFIG_PREALLOC_TIMERS=50
 #
 # Stack and heap information
 #
-CONFIG_IDLETHREAD_STACKSIZE=6000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_IDLETHREAD_STACKSIZE=3500
+CONFIG_USERMAIN_STACKSIZE=3000
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_PTHREAD_STACK_DEFAULT=2048
 
diff --git a/nuttx-configs/px4io-v2/include/board.h b/nuttx-configs/px4io-v2/include/board.h
index 4b9c90638..17e77918b 100755
--- a/nuttx-configs/px4io-v2/include/board.h
+++ b/nuttx-configs/px4io-v2/include/board.h
@@ -103,8 +103,6 @@
 #define GPIO_USART2_RTS	0xffffffff
 #undef GPIO_USART2_CK
 #define GPIO_USART2_CK 	0xffffffff
-#undef GPIO_USART3_TX
-#define GPIO_USART3_TX 	0xffffffff
 #undef GPIO_USART3_CK
 #define GPIO_USART3_CK 	0xffffffff
 #undef GPIO_USART3_CTS
diff --git a/nuttx-configs/px4io-v2/nsh/defconfig b/nuttx-configs/px4io-v2/nsh/defconfig
index 4111e70eb..e6563e587 100755
--- a/nuttx-configs/px4io-v2/nsh/defconfig
+++ b/nuttx-configs/px4io-v2/nsh/defconfig
@@ -104,9 +104,9 @@ CONFIG_ARMV7M_CMNVECTOR=y
 #   CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
 #
 CONFIG_STM32_DFU=n
-CONFIG_STM32_JTAG_FULL_ENABLE=y
+CONFIG_STM32_JTAG_FULL_ENABLE=n
 CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
-CONFIG_STM32_JTAG_SW_ENABLE=n
+CONFIG_STM32_JTAG_SW_ENABLE=y
 
 #
 # Individual subsystems can be enabled:
diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index 524151c90..41942aacd 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -82,10 +82,12 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
 	_max_differential_pressure_pa(0),
 	_sensor_ok(false),
+	_last_published_sensor_ok(true), /* initialize differently to force publication */
 	_measure_ticks(0),
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(-1),
+	_subsys_pub(-1),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
 	_sample_perf(perf_alloc(PC_ELAPSED, "airspeed_read")),
@@ -149,8 +151,7 @@ Airspeed::init()
 	}
 
 	ret = OK;
-	/* sensor is ok, but we don't really know if it is within range */
-	_sensor_ok = true;
+
 out:
 	return ret;
 }
@@ -344,22 +345,6 @@ Airspeed::start()
 
 	/* schedule a cycle to start things */
 	work_queue(HPWORK, &_work, (worker_t)&Airspeed::cycle_trampoline, this, 1);
-
-	/* notify about state change */
-	struct subsystem_info_s info = {
-		true,
-		true,
-		true,
-		SUBSYSTEM_TYPE_DIFFPRESSURE
-	};
-	static orb_advert_t pub = -1;
-
-	if (pub > 0) {
-		orb_publish(ORB_ID(subsystem_info), pub, &info);
-
-	} else {
-		pub = orb_advertise(ORB_ID(subsystem_info), &info);
-	}
 }
 
 void
@@ -369,11 +354,34 @@ Airspeed::stop()
 }
 
 void
+Airspeed::update_status()
+{
+	if (_sensor_ok != _last_published_sensor_ok) {
+		/* notify about state change */
+		struct subsystem_info_s info = {
+			true,
+			true,
+			_sensor_ok,
+			SUBSYSTEM_TYPE_DIFFPRESSURE
+		};
+
+		if (_subsys_pub > 0) {
+			orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
+		} else {
+			_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
+		}
+
+		_last_published_sensor_ok = _sensor_ok;
+	}
+}
+
+void
 Airspeed::cycle_trampoline(void *arg)
 {
 	Airspeed *dev = (Airspeed *)arg;
 
 	dev->cycle();
+	dev->update_status();
 }
 
 void
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h
index 186602eda..d6a88714b 100644
--- a/src/drivers/airspeed/airspeed.h
+++ b/src/drivers/airspeed/airspeed.h
@@ -107,6 +107,10 @@ private:
 	RingBuffer		*_reports;
 	perf_counter_t		_buffer_overflows;
 
+	/* this class has pointer data members and should not be copied */
+	Airspeed(const Airspeed&);
+	Airspeed& operator=(const Airspeed&);
+
 protected:
 	virtual int	probe();
 
@@ -118,14 +122,21 @@ protected:
 	virtual int	measure() = 0;
 	virtual int	collect() = 0;
 
+	/**
+	 * Update the subsystem status
+	 */
+	void update_status();
+
 	work_s			_work;
 	float			_max_differential_pressure_pa;
 	bool			_sensor_ok;
+	bool			_last_published_sensor_ok;
 	int			_measure_ticks;
 	bool			_collect_phase;
 	float			_diff_pres_offset;
 
 	orb_advert_t		_airspeed_pub;
+	orb_advert_t		_subsys_pub;
 
 	int			_class_instance;
 
diff --git a/src/drivers/airspeed/module.mk b/src/drivers/airspeed/module.mk
index 4eef06161..5fbc75309 100644
--- a/src/drivers/airspeed/module.mk
+++ b/src/drivers/airspeed/module.mk
@@ -36,3 +36,5 @@
 #
 
 SRCS			= airspeed.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index b88f61ce8..e5bb772b3 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -119,7 +119,7 @@ int ardrone_interface_main(int argc, char *argv[])
 		ardrone_interface_task = task_spawn_cmd("ardrone_interface",
 						    SCHED_DEFAULT,
 						    SCHED_PRIORITY_MAX - 15,
-						    2048,
+						    1100,
 						    ardrone_interface_thread_main,
 						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index 81f634992..fc017dd58 100644
--- a/src/drivers/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
@@ -382,8 +382,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	float output_band = 0.0f;
 	const float startpoint_full_control = 0.25f;	/**< start full control at 25% thrust */
 
-	static bool initialized = false;
-
 	/* linearly scale the control inputs from 0 to startpoint_full_control */
 	if (motor_thrust < startpoint_full_control) {
 		output_band = motor_thrust/startpoint_full_control; // linear from 0 to 1
diff --git a/src/drivers/ardrone_interface/module.mk b/src/drivers/ardrone_interface/module.mk
index 058bd1397..285db1351 100644
--- a/src/drivers/ardrone_interface/module.mk
+++ b/src/drivers/ardrone_interface/module.mk
@@ -38,3 +38,6 @@
 MODULE_COMMAND	 = ardrone_interface
 SRCS		 = ardrone_interface.c \
 			   ardrone_motor_control.c
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 2361f4dd1..6b14f5945 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -48,11 +48,14 @@
  * The recognized number off cells, will be blinked 5 times in purple color.
  * 2 Cells = 2 blinks
  * ...
- * 5 Cells = 5 blinks
+ * 6 Cells = 6 blinks
  * Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
  *
- * System disarmed:
- * The BlinkM should lit solid red.
+ * System disarmed and safe:
+ * The BlinkM should light solid cyan.
+ *
+ * System safety off but not armed:
+ * The BlinkM should light flashing orange
  *
  * System armed:
  * One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
@@ -67,10 +70,10 @@
  * (X = on, _=off)
  *
  * The first 3 blinks indicates the status of the GPS-Signal (red):
- * 0-4 satellites = X-X-X-X-_-_-_-_-_-_-
- *   5 satellites = X-X-_-X-_-_-_-_-_-_-
- *   6 satellites = X-_-_-X-_-_-_-_-_-_-
- * >=7 satellites = _-_-_-X-_-_-_-_-_-_-
+ * 0-4 satellites = X-X-X-X-X-_-_-_-_-_-
+ *   5 satellites = X-X-_-X-X-_-_-_-_-_-
+ *   6 satellites = X-_-_-X-X-_-_-_-_-_-
+ * >=7 satellites = _-_-_-X-X-_-_-_-_-_-
  * If no GPS is found the first 3 blinks are white
  *
  * The fourth Blink indicates the Flightmode:
@@ -119,6 +122,7 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/safety.h>
 
 static const float MAX_CELL_VOLTAGE	= 4.3f;
 static const int LED_ONTIME = 120;
@@ -166,10 +170,12 @@ private:
 	enum ledColors {
 		LED_OFF,
 		LED_RED,
+		LED_ORANGE,
 		LED_YELLOW,
 		LED_PURPLE,
 		LED_GREEN,
 		LED_BLUE,
+		LED_CYAN,
 		LED_WHITE,
 		LED_AMBER
 	};
@@ -188,6 +194,26 @@ private:
 
 	bool systemstate_run;
 
+	int vehicle_status_sub_fd;
+	int vehicle_control_mode_sub_fd;
+	int vehicle_gps_position_sub_fd;
+	int actuator_armed_sub_fd;
+	int safety_sub_fd;
+
+	int num_of_cells;
+	int detected_cells_runcount;
+
+	int t_led_color[8];
+	int t_led_blink;
+	int led_thread_runcount;
+	int led_interval;
+
+	bool topic_initialized;
+	bool detected_cells_blinked;
+	bool led_thread_ready;
+
+	int num_of_used_sats;
+
 	void 			setLEDColor(int ledcolor);
 	static void		led_trampoline(void *arg);
 	void			led();
@@ -259,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) :
 	led_color_7(LED_OFF),
 	led_color_8(LED_OFF),
 	led_blink(LED_NOBLINK),
-	systemstate_run(false)
+	systemstate_run(false),
+	vehicle_status_sub_fd(-1),
+	vehicle_control_mode_sub_fd(-1),
+	vehicle_gps_position_sub_fd(-1),
+	actuator_armed_sub_fd(-1),
+	safety_sub_fd(-1),
+	num_of_cells(0),
+	detected_cells_runcount(0),
+	t_led_color{0},
+	t_led_blink(0),
+	led_thread_runcount(0),
+	led_interval(1000),
+	topic_initialized(false),
+	detected_cells_blinked(false),
+	led_thread_ready(true),
+	num_of_used_sats(0)
 {
 	memset(&_work, 0, sizeof(_work));
 }
@@ -376,42 +417,22 @@ void
 BlinkM::led()
 {
 
-	static int vehicle_status_sub_fd;
-	static int vehicle_control_mode_sub_fd;
-	static int vehicle_gps_position_sub_fd;
-	static int actuator_armed_sub_fd;
-
-	static int num_of_cells = 0;
-	static int detected_cells_runcount = 0;
-
-	static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
-	static int t_led_blink = 0;
-	static int led_thread_runcount=0;
-	static int led_interval = 1000;
-
-	static int no_data_vehicle_status = 0;
-	static int no_data_vehicle_control_mode = 0;
-	static int no_data_actuator_armed = 0;
-	static int no_data_vehicle_gps_position = 0;
-
-	static bool topic_initialized = false;
-	static bool detected_cells_blinked = false;
-	static bool led_thread_ready = true;
-
-	int num_of_used_sats = 0;
-
 	if(!topic_initialized) {
 		vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
-		orb_set_interval(vehicle_status_sub_fd, 1000);
+		orb_set_interval(vehicle_status_sub_fd, 250);
 
 		vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode));
-		orb_set_interval(vehicle_control_mode_sub_fd, 1000);
+		orb_set_interval(vehicle_control_mode_sub_fd, 250);
 
 		actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
-		orb_set_interval(actuator_armed_sub_fd, 1000);
+		orb_set_interval(actuator_armed_sub_fd, 250);
 
 		vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
-		orb_set_interval(vehicle_gps_position_sub_fd, 1000);
+		orb_set_interval(vehicle_gps_position_sub_fd, 250);
+
+		/* Subscribe to safety topic */
+		safety_sub_fd = orb_subscribe(ORB_ID(safety));
+		orb_set_interval(safety_sub_fd, 250);
 
 		topic_initialized = true;
 	}
@@ -433,7 +454,9 @@ BlinkM::led()
 			if(num_of_cells > 4) {
 				t_led_color[4] = LED_PURPLE;
 			}
-			t_led_color[5] = LED_OFF;
+			if(num_of_cells > 5) {
+				t_led_color[5] = LED_PURPLE;
+			}
 			t_led_color[6] = LED_OFF;
 			t_led_color[7] = LED_OFF;
 			t_led_blink = LED_BLINK;
@@ -467,17 +490,25 @@ BlinkM::led()
 		struct vehicle_control_mode_s vehicle_control_mode;
 		struct actuator_armed_s actuator_armed;
 		struct vehicle_gps_position_s vehicle_gps_position_raw;
+		struct safety_s safety;
 
 		memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
 		memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
+		memset(&safety, 0, sizeof(safety));
 
 		bool new_data_vehicle_status;
 		bool new_data_vehicle_control_mode;
 		bool new_data_actuator_armed;
 		bool new_data_vehicle_gps_position;
+		bool new_data_safety;
 
 		orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
 
+		int no_data_vehicle_status = 0;
+		int no_data_vehicle_control_mode = 0;
+		int no_data_actuator_armed = 0;
+		int no_data_vehicle_gps_position = 0;
+
 		if (new_data_vehicle_status) {
 			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
 			no_data_vehicle_status = 0;
@@ -520,16 +551,15 @@ BlinkM::led()
 				no_data_vehicle_gps_position = 3;
 		}
 
+		/* update safety topic */
+		orb_check(safety_sub_fd, &new_data_safety);
 
+		if (new_data_safety) {
+			orb_copy(ORB_ID(safety), safety_sub_fd, &safety);
+		}
 
 		/* get number of used satellites in navigation */
-		num_of_used_sats = 0;
-
-		for(unsigned satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
-			if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
-				num_of_used_sats++;
-			}
-		}
+		num_of_used_sats = vehicle_gps_position_raw.satellites_used;
 
 		if (new_data_vehicle_status || no_data_vehicle_status < 3) {
 			if (num_of_cells == 0) {
@@ -541,19 +571,7 @@ BlinkM::led()
 				printf("<blinkm> cells found:%d\n", num_of_cells);
 
 			} else {
-				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
-					/* LED Pattern for battery low warning */
-					led_color_1 = LED_YELLOW;
-					led_color_2 = LED_YELLOW;
-					led_color_3 = LED_YELLOW;
-					led_color_4 = LED_YELLOW;
-					led_color_5 = LED_YELLOW;
-					led_color_6 = LED_YELLOW;
-					led_color_7 = LED_YELLOW;
-					led_color_8 = LED_YELLOW;
-					led_blink = LED_BLINK;
-
-				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
+				if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
 					/* LED Pattern for battery critical alerting */
 					led_color_1 = LED_RED;
 					led_color_2 = LED_RED;
@@ -565,21 +583,56 @@ BlinkM::led()
 					led_color_8 = LED_RED;
 					led_blink = LED_BLINK;
 
+				} else if(vehicle_status_raw.rc_signal_lost) {
+					/* LED Pattern for FAILSAFE */
+					led_color_1 = LED_BLUE;
+					led_color_2 = LED_BLUE;
+					led_color_3 = LED_BLUE;
+					led_color_4 = LED_BLUE;
+					led_color_5 = LED_BLUE;
+					led_color_6 = LED_BLUE;
+					led_color_7 = LED_BLUE;
+					led_color_8 = LED_BLUE;
+					led_blink = LED_BLINK;
+
+				} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
+					/* LED Pattern for battery low warning */
+					led_color_1 = LED_YELLOW;
+					led_color_2 = LED_YELLOW;
+					led_color_3 = LED_YELLOW;
+					led_color_4 = LED_YELLOW;
+					led_color_5 = LED_YELLOW;
+					led_color_6 = LED_YELLOW;
+					led_color_7 = LED_YELLOW;
+					led_color_8 = LED_YELLOW;
+					led_blink = LED_BLINK;
+
 				} else {
 					/* no battery warnings here */
 
 					if(actuator_armed.armed == false) {
 						/* system not armed */
-						led_color_1 = LED_RED;
-						led_color_2 = LED_RED;
-						led_color_3 = LED_RED;
-						led_color_4 = LED_RED;
-						led_color_5 = LED_RED;
-						led_color_6 = LED_RED;
-						led_color_7 = LED_RED;
-						led_color_8 = LED_RED;
-						led_blink = LED_NOBLINK;
-
+						if(safety.safety_off){
+							led_color_1 = LED_ORANGE;
+							led_color_2 = LED_ORANGE;
+							led_color_3 = LED_ORANGE;
+							led_color_4 = LED_ORANGE;
+							led_color_5 = LED_ORANGE;
+							led_color_6 = LED_ORANGE;
+							led_color_7 = LED_ORANGE;
+							led_color_8 = LED_ORANGE;
+							led_blink = LED_BLINK;
+						}else{
+							led_color_1 = LED_CYAN;
+							led_color_2 = LED_CYAN;
+							led_color_3 = LED_CYAN;
+							led_color_4 = LED_CYAN;
+							led_color_5 = LED_CYAN;
+							led_color_6 = LED_CYAN;
+							led_color_7 = LED_CYAN;
+							led_color_8 = LED_CYAN;
+							led_blink = LED_NOBLINK;
+						}
 					} else {
 						/* armed system - initial led pattern */
 						led_color_1 = LED_RED;
@@ -593,23 +646,23 @@ BlinkM::led()
 						led_blink = LED_BLINK;
 
 						if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
-
-							//XXX please check
-							if (vehicle_control_mode.flag_control_position_enabled)
+							/* indicate main control state */
+							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
 								led_color_4 = LED_GREEN;
-							else if (vehicle_control_mode.flag_control_velocity_enabled)
+							/* TODO: add other Auto modes */
+							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
 								led_color_4 = LED_BLUE;
-							else if (vehicle_control_mode.flag_control_attitude_enabled)
+							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
 								led_color_4 = LED_YELLOW;
-							else if (vehicle_control_mode.flag_control_manual_enabled)
-								led_color_4 = LED_AMBER;
-							else 
+							else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
+								led_color_4 = LED_WHITE;
+							else
 								led_color_4 = LED_OFF;
-								
+							led_color_5 = led_color_4;
 						}
 
 						if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
-							/* handling used sat�s */
+							/* handling used satus */
 							if(num_of_used_sats >= 7) {
 								led_color_1 = LED_OFF;
 								led_color_2 = LED_OFF;
@@ -690,8 +743,11 @@ void BlinkM::setLEDColor(int ledcolor) {
 		case LED_RED:	// red
 			set_rgb(255,0,0);
 			break;
+		case LED_ORANGE:	// orange
+			set_rgb(255,150,0);
+			break;
 		case LED_YELLOW:	// yellow
-			set_rgb(255,70,0);
+			set_rgb(200,200,0);
 			break;
 		case LED_PURPLE:	// purple
 			set_rgb(255,0,255);
@@ -702,11 +758,14 @@ void BlinkM::setLEDColor(int ledcolor) {
 		case LED_BLUE:	// blue
 			set_rgb(0,0,255);
 			break;
+		case LED_CYAN:	// cyan
+			set_rgb(0,128,128);
+			break;
 		case LED_WHITE:	// white
 			set_rgb(255,255,255);
 			break;
 		case LED_AMBER:	// amber
-			set_rgb(255,20,0);
+			set_rgb(255,65,0);
 			break;
 	}
 }
diff --git a/src/drivers/blinkm/module.mk b/src/drivers/blinkm/module.mk
index b48b90f3f..c90673317 100644
--- a/src/drivers/blinkm/module.mk
+++ b/src/drivers/blinkm/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= blinkm
 
 SRCS		= blinkm.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/bma180/module.mk b/src/drivers/bma180/module.mk
index 4c60ee082..33433307a 100644
--- a/src/drivers/bma180/module.mk
+++ b/src/drivers/bma180/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= bma180
 
 SRCS		= bma180.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c
new file mode 100644
index 000000000..4e3ba2d7e
--- /dev/null
+++ b/src/drivers/boards/aerocore/aerocore_init.c
@@ -0,0 +1,282 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file aerocore_init.c
+ *
+ * AeroCore-specific early startup code.  This file implements the
+ * nsh_archinitialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/spi.h>
+#include <nuttx/i2c.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/gran.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_led.h>
+
+#include <systemlib/cpuload.h>
+#include <systemlib/perf_counter.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lowsyslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lowsyslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+#if defined(CONFIG_FAT_DMAMEMORY)
+# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
+#  error microSD DMA support requires CONFIG_GRAN
+# endif
+
+static GRAN_HANDLE dma_allocator;
+
+/* 
+ * The DMA heap size constrains the total number of things that can be 
+ * ready to do DMA at a time.
+ *
+ * For example, FAT DMA depends on one sector-sized buffer per filesystem plus
+ * one sector-sized buffer per file. 
+ *
+ * We use a fundamental alignment / granule size of 64B; this is sufficient
+ * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
+ */
+static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
+static perf_counter_t g_dma_perf;
+
+static void
+dma_alloc_init(void)
+{
+	dma_allocator = gran_initialize(g_dma_heap,
+					sizeof(g_dma_heap),
+					7,  /* 128B granule - must be > alignment (XXX bug?) */
+					6); /* 64B alignment */
+	if (dma_allocator == NULL) {
+		message("[boot] DMA allocator setup FAILED");
+	} else {
+		g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
+	}
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/*
+ * DMA-aware allocator stubs for the FAT filesystem.
+ */
+
+__EXPORT void *fat_dma_alloc(size_t size);
+__EXPORT void fat_dma_free(FAR void *memory, size_t size);
+
+void *
+fat_dma_alloc(size_t size)
+{
+	perf_count(g_dma_perf);
+	return gran_alloc(dma_allocator, size);
+}
+
+void
+fat_dma_free(FAR void *memory, size_t size)
+{
+	gran_free(dma_allocator, memory, size);
+}
+
+#else
+
+# define dma_alloc_init()
+
+#endif
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure LEDs */
+	up_ledinit();
+}
+
+/****************************************************************************
+ * Name: nsh_archinitialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi3;
+static struct spi_dev_s *spi4;
+
+#include <math.h>
+
+#ifdef __cplusplus
+__EXPORT int matherr(struct __exception *e)
+{
+	return 1;
+}
+#else
+__EXPORT int matherr(struct exception *e)
+{
+	return 1;
+}
+#endif
+
+__EXPORT int nsh_archinitialize(void)
+{
+
+	/* configure ADC pins */
+	stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	stm32_configgpio(GPIO_ADC1_IN11);	/* J1 breakout */
+	stm32_configgpio(GPIO_ADC1_IN12);	/* J1 breakout */
+	stm32_configgpio(GPIO_ADC1_IN13);	/* J1 breakout */
+
+	/* configure the high-resolution time/callout interface */
+	hrt_init();
+
+	/* configure the DMA allocator */
+	dma_alloc_init();
+
+	/* configure CPU load estimation */
+#ifdef CONFIG_SCHED_INSTRUMENTATION
+	cpuload_initialize_once();
+#endif
+
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_AMBER);
+
+	/* Configure Sensors on SPI bus #3 */
+	spi3 = up_spiinitialize(3);
+	if (!spi3) {
+		message("[boot] FAILED to initialize SPI port 3\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+	/* Default: 1MHz, 8 bits, Mode 3 */
+	SPI_SETFREQUENCY(spi3, 10000000);
+	SPI_SETBITS(spi3, 8);
+	SPI_SETMODE(spi3, SPIDEV_MODE3);
+	SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false);
+	SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false);
+	SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
+	up_udelay(20);
+	message("[boot] Initialized SPI port 3 (SENSORS)\n");
+
+	/* Configure FRAM on SPI bus #4 */
+	spi4 = up_spiinitialize(4);
+	if (!spi4) {
+		message("[boot] FAILED to initialize SPI port 4\n");
+		up_ledon(LED_AMBER);
+		return -ENODEV;
+	}
+	/* Default: ~10MHz, 8 bits, Mode 3 */
+	SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE0);
+	SPI_SELECT(spi4, SPIDEV_FLASH, false);
+	message("[boot] Initialized SPI port 4 (FRAM)\n");
+
+	return OK;
+}
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c b/src/drivers/boards/aerocore/aerocore_led.c
index 6138ef39c..e40d1730c 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c
+++ b/src/drivers/boards/aerocore/aerocore_led.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,86 +32,90 @@
  ****************************************************************************/
 
 /**
- * @file fw_att_pos_estimator_params.c
+ * @file aerocore_led.c
  *
- * Parameters defined by the attitude and position estimator task
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * AeroCore LED backend.
  */
 
 #include <nuttx/config.h>
 
-#include <systemlib/param/param.h>
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
 
 /*
- * Estimator parameters, accessible via MAVLink
- *
+ * Ideally we'd be able to get these from up_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
  */
+__BEGIN_DECLS
+extern void led_init();
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
 
-/**
- * Velocity estimate delay
- *
- * The delay in milliseconds of the velocity estimate from GPS.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230);
+__EXPORT void led_init()
+{
+	stm32_configgpio(GPIO_LED0);
+	stm32_configgpio(GPIO_LED1);
+}
 
-/**
- * Position estimate delay
- *
- * The delay in milliseconds of the position estimate from GPS.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210);
+__EXPORT void led_on(int led)
+{
+	switch (led) {
+	case 0:
+		stm32_gpiowrite(GPIO_LED0, true);
+		break;
 
-/**
- * Height estimate delay
- *
- * The delay in milliseconds of the height estimate from the barometer.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350);
+	case 1:
+		stm32_gpiowrite(GPIO_LED1, true);
+		break;
 
-/**
- * Mag estimate delay
- *
- * The delay in milliseconds of the magnetic field estimate from
- * the magnetometer.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30);
+	default:
+		warnx("LED ID not recognized\n");
+	}
+}
 
-/**
- * True airspeeed estimate delay
- *
- * The delay in milliseconds of the airspeed estimate.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
+__EXPORT void led_off(int led)
+{
+	switch (led) {
+	case 0:
+		stm32_gpiowrite(GPIO_LED0, false);
+		break;
 
-/**
- * GPS vs. barometric altitude update weight
- *
- * RE-CHECK this.
- *
- * @min 0.0
- * @max 1.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
+	case 1:
+		stm32_gpiowrite(GPIO_LED1, false);
+		break;
+
+	default:
+		warnx("LED ID not recognized\n");
+	}
+}
+
+__EXPORT void led_toggle(int led)
+{
+	switch (led) {
+	case 0:
+		if (stm32_gpioread(GPIO_LED0))
+			stm32_gpiowrite(GPIO_LED0, false);
+		else
+			stm32_gpiowrite(GPIO_LED0, true);
+		break;
+
+	case 1:
+		if (stm32_gpioread(GPIO_LED1))
+			stm32_gpiowrite(GPIO_LED1, false);
+		else
+			stm32_gpiowrite(GPIO_LED1, true);
+		break;
 
+	default:
+		warnx("LED ID not recognized\n");
+	}
+}
diff --git a/src/drivers/boards/aerocore/aerocore_pwm_servo.c b/src/drivers/boards/aerocore/aerocore_pwm_servo.c
new file mode 100644
index 000000000..251eaff7b
--- /dev/null
+++ b/src/drivers/boards/aerocore/aerocore_pwm_servo.c
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file aerocore_pwm_servo.c
+ *
+ * Configuration data for the stm32 pwm_servo driver.
+ *
+ * Note that these arrays must always be fully-sized.
+ */
+
+#include <stdint.h>
+
+#include <stm32.h>
+#include <stm32_gpio.h>
+#include <stm32_tim.h>
+
+#include <drivers/stm32/drv_pwm_servo.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "board_config.h"
+
+__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
+	{
+		.base = STM32_TIM1_BASE,
+		.clock_register = STM32_RCC_APB2ENR,
+		.clock_bit = RCC_APB2ENR_TIM1EN,
+		.clock_freq = STM32_APB2_TIM1_CLKIN
+	},
+	{
+		.base = STM32_TIM3_BASE,
+		.clock_register = STM32_RCC_APB1ENR,
+		.clock_bit = RCC_APB1ENR_TIM3EN,
+		.clock_freq = STM32_APB1_TIM3_CLKIN
+	}
+};
+
+__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
+	{
+		.gpio = GPIO_TIM1_CH1OUT,
+		.timer_index = 0,
+		.timer_channel = 1,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM1_CH2OUT,
+		.timer_index = 0,
+		.timer_channel = 2,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM1_CH3OUT,
+		.timer_index = 0,
+		.timer_channel = 3,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM1_CH4OUT,
+		.timer_index = 0,
+		.timer_channel = 4,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM3_CH1OUT,
+		.timer_index = 1,
+		.timer_channel = 1,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM3_CH2OUT,
+		.timer_index = 1,
+		.timer_channel = 2,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM3_CH3OUT,
+		.timer_index = 1,
+		.timer_channel = 3,
+		.default_value = 1500,
+	},
+	{
+		.gpio = GPIO_TIM3_CH4OUT,
+		.timer_index = 1,
+		.timer_channel = 4,
+		.default_value = 1500,
+	}
+};
diff --git a/src/drivers/boards/aerocore/aerocore_spi.c b/src/drivers/boards/aerocore/aerocore_spi.c
new file mode 100644
index 000000000..e329bd9d1
--- /dev/null
+++ b/src/drivers/boards/aerocore/aerocore_spi.c
@@ -0,0 +1,183 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file aerocore_spi.c
+ *
+ * Board-specific SPI functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/spi.h>
+#include <arch/board/board.h>
+
+#include <up_arch.h>
+#include <chip.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void weak_function stm32_spiinitialize(void)
+{
+#ifdef CONFIG_STM32_SPI1
+	stm32_configgpio(GPIO_SPI1_NSS);
+	stm32_gpiowrite(GPIO_SPI1_NSS, 1);
+#endif
+
+#ifdef CONFIG_STM32_SPI2
+	stm32_configgpio(GPIO_SPI2_NSS);
+	stm32_gpiowrite(GPIO_SPI2_NSS, 1);
+#endif
+
+#ifdef CONFIG_STM32_SPI3
+	stm32_configgpio(GPIO_SPI_CS_GYRO);
+	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
+	stm32_configgpio(GPIO_SPI_CS_BARO);
+
+	/* De-activate all peripherals,
+	 * required for some peripheral
+	 * state machines
+	 */
+	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+
+	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+#endif
+
+#ifdef CONFIG_STM32_SPI4
+	stm32_configgpio(GPIO_SPI4_NSS);
+	stm32_gpiowrite(GPIO_SPI4_NSS, 1);
+#endif
+}
+
+#ifdef CONFIG_STM32_SPI1
+__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there is only one device broken-out so select it */
+	stm32_gpiowrite(GPIO_SPI1_NSS, !selected);
+}
+
+__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+#ifdef CONFIG_STM32_SPI2
+__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there is only one device broken-out so select it */
+	stm32_gpiowrite(GPIO_SPI2_NSS, !selected);
+}
+
+__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+#ifdef CONFIG_STM32_SPI3
+__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case PX4_SPIDEV_GYRO:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		break;
+
+	case PX4_SPIDEV_ACCEL_MAG:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		break;
+
+	case PX4_SPIDEV_BARO:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		break;
+
+	default:
+		break;
+	}
+}
+
+__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
+#endif
+
+
+#ifdef CONFIG_STM32_SPI4
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* there can only be one device on this bus, so always select it */
+	stm32_gpiowrite(GPIO_SPI4_NSS, !selected);
+}
+
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	/* FRAM is always present */
+	return SPI_STATUS_PRESENT;
+}
+#endif
diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h
new file mode 100644
index 000000000..70142a314
--- /dev/null
+++ b/src/drivers/boards/aerocore/board_config.h
@@ -0,0 +1,176 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * AeroCore internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <stm32.h>
+#include <arch/board/board.h>
+
+#define UDID_START		0x1FFF7A10
+ 
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* LEDs */
+#define GPIO_LED0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_LED1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
+
+/* Gyro */
+#define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0)
+#define SENSOR_BOARD_ROTATION_DEFAULT	3 /* SENSOR_BOARD_ROTATION_270_DEG */
+
+/* Accel & Mag */
+#define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1)
+#define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2)
+
+/* GPS */
+#define GPIO_GPS_NRESET		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
+#define GPIO_GPS_TIMEPULSE	(GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
+#define GPS_DEFAULT_UART_PORT	"/dev/ttyS0"
+
+/* SPI3--Sensors */
+#define PX4_SPI_BUS_SENSORS	3
+#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+
+/* Nominal chip selects for devices on SPI bus #3 */
+#define PX4_SPIDEV_ACCEL_MAG	0
+#define PX4_SPIDEV_GYRO		1
+#define PX4_SPIDEV_BARO		2
+
+/* User GPIOs broken out on J11 */
+#define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_GPIO6_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12)
+#define GPIO_GPIO7_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO8_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_GPIO9_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_GPIO10_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_GPIO11_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
+
+#define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_GPIO6_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12)
+#define GPIO_GPIO7_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_GPIO8_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_GPIO9_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_GPIO10_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_GPIO11_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* PWM
+ *
+ * Eight PWM outputs are configured.
+ *
+ * Pins:
+ *
+ * CH1 : PA8  : TIM1_CH1
+ * CH2 : PA9  : TIM1_CH2
+ * CH3 : PA10 : TIM1_CH3
+ * CH4 : PA11 : TIM1_CH4
+ * CH5 : PC6  : TIM3_CH1
+ * CH6 : PC7  : TIM3_CH2
+ * CH7 : PC8  : TIM3_CH3
+ * CH8 : PC9  : TIM3_CH4
+ */
+#define GPIO_TIM1_CH1OUT	GPIO_TIM1_CH1OUT_1
+#define GPIO_TIM1_CH2OUT	GPIO_TIM1_CH2OUT_1
+#define GPIO_TIM1_CH3OUT	GPIO_TIM1_CH3OUT_1
+#define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_1
+#define GPIO_TIM3_CH1OUT	GPIO_TIM3_CH1OUT_3
+#define GPIO_TIM3_CH2OUT	GPIO_TIM3_CH2OUT_3
+#define GPIO_TIM3_CH3OUT	GPIO_TIM3_CH3OUT_2
+#define GPIO_TIM3_CH4OUT	GPIO_TIM3_CH4OUT_2
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer 8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+
+/* Tone Alarm (no onboard speaker )*/
+#define TONE_ALARM_TIMER	2	/* timer 2 */
+#define TONE_ALARM_CHANNEL	1	/* channel 1 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
+
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
diff --git a/src/drivers/boards/aerocore/module.mk b/src/drivers/boards/aerocore/module.mk
new file mode 100644
index 000000000..b53fe0a29
--- /dev/null
+++ b/src/drivers/boards/aerocore/module.mk
@@ -0,0 +1,8 @@
+#
+# Board-specific startup code for the AeroCore
+#
+
+SRCS		 = aerocore_init.c \
+		   aerocore_pwm_servo.c \
+		   aerocore_spi.c \
+		   aerocore_led.c
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 02c26b5c0..a70a6240c 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -85,6 +85,8 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_SPI_CS_SDCARD	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
 
+#define PX4_SPI_BUS_SENSORS	1
+
 /*
  * Use these in place of the spi_dev_e enumeration to
  * select a specific SPI device on SPI1
@@ -96,7 +98,7 @@ __BEGIN_DECLS
 /*
  * Optional devices on IO's external port
  */
-#define PX4_SPIDEV_ACCEL_MAG 2
+#define PX4_SPIDEV_ACCEL_MAG	2
 
 /*
  * I2C busses
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
index 4b12b75f9..293021f8b 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
@@ -99,7 +99,7 @@
  * CONFIG_ARCH_LEDS configuration switch.
  */
 __BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 __END_DECLS
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
index ea91f34ad..ee53fc43d 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
@@ -54,13 +54,13 @@
  * CONFIG_ARCH_LEDS configuration switch.
  */
 __BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS
 
-__EXPORT void led_init()
+__EXPORT void led_init(void)
 {
 	/* Configure LED1-2 GPIOs for output */
 
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index 7cfca7656..0190a5b5b 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -106,6 +106,13 @@ __BEGIN_DECLS
 #define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI_CS_EXT0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
+#define GPIO_SPI_CS_EXT1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SPI_CS_EXT2	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_EXT3	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+
+#define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPI_BUS_EXT		4
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
@@ -113,9 +120,22 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_BARO		3
 #define PX4_SPIDEV_MPU		4
 
+/* External bus */
+#define PX4_SPIDEV_EXT0		1
+#define PX4_SPIDEV_EXT1		2
+#define PX4_SPIDEV_EXT2		3
+#define PX4_SPIDEV_EXT3		4
+
+/* FMUv3 SPI on external bus */
+#define PX4_SPIDEV_EXT_MPU		PX4_SPIDEV_EXT0
+#define PX4_SPIDEV_EXT_BARO		PX4_SPIDEV_EXT1
+#define PX4_SPIDEV_EXT_ACCEL_MAG	PX4_SPIDEV_EXT2
+#define PX4_SPIDEV_EXT_GYRO		PX4_SPIDEV_EXT3
+
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
-#define PX4_I2C_BUS_LED		2
+#define PX4_I2C_BUS_ONBOARD	2
+#define PX4_I2C_BUS_LED		PX4_I2C_BUS_ONBOARD
 
 /* Devices on the onboard bus.
  *
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 71414d62c..bf41bb1fe 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -192,6 +192,7 @@ stm32_boardinitialize(void)
 
 static struct spi_dev_s *spi1;
 static struct spi_dev_s *spi2;
+static struct spi_dev_s *spi4;
 static struct sdio_dev_s *sdio;
 
 #include <math.h>
@@ -305,6 +306,17 @@ __EXPORT int nsh_archinitialize(void)
 
 	message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
 
+	spi4 = up_spiinitialize(4);
+
+	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
+	SPI_SETFREQUENCY(spi4, 10000000);
+	SPI_SETBITS(spi4, 8);
+	SPI_SETMODE(spi4, SPIDEV_MODE3);
+	SPI_SELECT(spi4, PX4_SPIDEV_EXT0, false);
+	SPI_SELECT(spi4, PX4_SPIDEV_EXT1, false);
+
+	message("[boot] Initialized SPI port 4\n");
+
 	#ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
 
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
index a856ccb02..3c05bfa46 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
@@ -54,7 +54,7 @@
  * CONFIG_ARCH_LEDS configuration switch.
  */
 __BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
index c66c490a7..8c37d31a7 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
@@ -94,6 +94,17 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_FRAM);
 	stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
 #endif
+
+#ifdef CONFIG_STM32_SPI4
+	stm32_configgpio(GPIO_SPI_CS_EXT0);
+	stm32_configgpio(GPIO_SPI_CS_EXT1);
+	stm32_configgpio(GPIO_SPI_CS_EXT2);
+	stm32_configgpio(GPIO_SPI_CS_EXT3);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+#endif
 }
 
 __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
@@ -157,3 +168,51 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 	return SPI_STATUS_PRESENT;
 }
 #endif
+
+__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
+{
+	/* SPI select is active low, so write !selected to select the device */
+
+	switch (devid) {
+	case PX4_SPIDEV_EXT0:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		break;
+
+	case PX4_SPIDEV_EXT1:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		break;
+
+	case PX4_SPIDEV_EXT2:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT2, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT3, 1);
+		break;
+
+	case PX4_SPIDEV_EXT3:
+		/* Making sure the other peripherals are not selected */
+		stm32_gpiowrite(GPIO_SPI_CS_EXT0, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT1, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT2, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_EXT3, !selected);
+		break;
+
+	default:
+		break;
+
+	}
+}
+
+__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
+{
+	return SPI_STATUS_PRESENT;
+}
diff --git a/src/drivers/device/cdev.cpp b/src/drivers/device/cdev.cpp
index 6e2ebb1f7..39fb89501 100644
--- a/src/drivers/device/cdev.cpp
+++ b/src/drivers/device/cdev.cpp
@@ -268,6 +268,13 @@ CDev::ioctl(struct file *filp, int cmd, unsigned long arg)
 		break;
 	}
 
+	/* try the superclass. The different ioctl() function form
+         * means we need to copy arg */
+        unsigned arg2 = arg;
+	int ret = Device::ioctl(cmd, arg2);
+	if (ret != -ENODEV)
+		return ret;
+
 	return -ENOTTY;
 }
 
diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp
index 683455149..f1f777dce 100644
--- a/src/drivers/device/device.cpp
+++ b/src/drivers/device/device.cpp
@@ -42,6 +42,7 @@
 #include <nuttx/arch.h>
 #include <stdio.h>
 #include <unistd.h>
+#include <drivers/drv_device.h>
 
 namespace device
 {
@@ -93,6 +94,13 @@ Device::Device(const char *name,
 	_irq_attached(false)
 {
 	sem_init(&_lock, 0, 1);
+        
+	/* setup a default device ID. When bus_type is UNKNOWN the
+	   other fields are invalid */
+	_device_id.devid_s.bus_type = DeviceBusType_UNKNOWN;
+	_device_id.devid_s.bus = 0;
+	_device_id.devid_s.address = 0;
+	_device_id.devid_s.devtype = 0;
 }
 
 Device::~Device()
@@ -238,6 +246,10 @@ Device::write(unsigned offset, void *data, unsigned count)
 int
 Device::ioctl(unsigned operation, unsigned &arg)
 {
+	switch (operation) {
+	case DEVIOCGDEVICEID:
+		return (int)_device_id.devid;
+	}
 	return -ENODEV;
 }
 
diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h
index d99f22922..9d684e394 100644
--- a/src/drivers/device/device.h
+++ b/src/drivers/device/device.h
@@ -124,9 +124,37 @@ public:
 	 */
 	virtual int	ioctl(unsigned operation, unsigned &arg);
 
+	/*
+	  device bus types for DEVID
+	 */
+	enum DeviceBusType {
+		DeviceBusType_UNKNOWN = 0,
+		DeviceBusType_I2C     = 1,
+		DeviceBusType_SPI     = 2
+	};
+
+	/*
+	  broken out device elements. The bitfields are used to keep
+	  the overall value small enough to fit in a float accurately,
+	  which makes it possible to transport over the MAVLink
+	  parameter protocol without loss of information.
+	 */
+	struct DeviceStructure {
+		enum DeviceBusType bus_type:3;
+		uint8_t bus:5;     // which instance of the bus type
+		uint8_t address;   // address on the bus (eg. I2C address)
+		uint8_t devtype;   // device class specific device type
+	};
+
+	union DeviceId {
+		struct DeviceStructure devid_s;
+		uint32_t devid;
+	};
+
 protected:
 	const char	*_name;			/**< driver name */
 	bool		_debug_enabled;		/**< if true, debug messages are printed */
+	union DeviceId	_device_id;             /**< device identifier information */
 
 	/**
 	 * Constructor
@@ -212,6 +240,7 @@ private:
 	 * @param context	Pointer to the interrupted context.
 	 */
 	static void	dev_interrupt(int irq, void *context);
+
 };
 
 /**
@@ -441,6 +470,10 @@ private:
 	 * @return		OK, or -errno on error.
 	 */
 	int		remove_poll_waiter(struct pollfd *fds);
+
+	/* do not allow copying this class */
+	CDev(const CDev&);
+	CDev operator=(const CDev&);
 };
 
 /**
@@ -510,6 +543,10 @@ private:
 } // namespace device
 
 // class instance for primary driver of each class
-#define CLASS_DEVICE_PRIMARY 0
+enum CLASS_DEVICE {
+	CLASS_DEVICE_PRIMARY=0,
+	CLASS_DEVICE_SECONDARY=1,
+	CLASS_DEVICE_TERTIARY=2
+};
 
 #endif /* _DEVICE_DEVICE_H */
diff --git a/src/drivers/device/i2c.cpp b/src/drivers/device/i2c.cpp
index a416801eb..286778c01 100644
--- a/src/drivers/device/i2c.cpp
+++ b/src/drivers/device/i2c.cpp
@@ -62,6 +62,12 @@ I2C::I2C(const char *name,
 	_frequency(frequency),
 	_dev(nullptr)
 {
+	// fill in _device_id fields for a I2C device
+	_device_id.devid_s.bus_type = DeviceBusType_I2C;
+	_device_id.devid_s.bus = bus;
+	_device_id.devid_s.address = address;
+	// devtype needs to be filled in by the driver
+	_device_id.devid_s.devtype = 0;     
 }
 
 I2C::~I2C()
@@ -201,4 +207,4 @@ I2C::transfer(i2c_msg_s *msgv, unsigned msgs)
 	return ret;
 }
 
-} // namespace device
\ No newline at end of file
+} // namespace device
diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h
index 549879352..705b398b0 100644
--- a/src/drivers/device/i2c.h
+++ b/src/drivers/device/i2c.h
@@ -138,6 +138,9 @@ private:
 	uint16_t		_address;
 	uint32_t		_frequency;
 	struct i2c_dev_s	*_dev;
+
+	I2C(const device::I2C&);
+	I2C operator=(const device::I2C&);
 };
 
 } // namespace device
diff --git a/src/drivers/device/ringbuffer.h b/src/drivers/device/ringbuffer.h
index a9e22eaa6..b26e2e7c8 100644
--- a/src/drivers/device/ringbuffer.h
+++ b/src/drivers/device/ringbuffer.h
@@ -162,6 +162,10 @@ private:
 	volatile unsigned	_tail;	/**< removal point in _item_size units */
 
 	unsigned		_next(unsigned index);
+
+	/* we don't want this class to be copied */
+	RingBuffer(const RingBuffer&);
+	RingBuffer operator=(const RingBuffer&);
 };
 
 RingBuffer::RingBuffer(unsigned num_items, size_t item_size) :
diff --git a/src/drivers/device/spi.cpp b/src/drivers/device/spi.cpp
index fed6c312c..200acac05 100644
--- a/src/drivers/device/spi.cpp
+++ b/src/drivers/device/spi.cpp
@@ -69,12 +69,18 @@ SPI::SPI(const char *name,
 	// protected
 	locking_mode(LOCK_PREEMPTION),
 	// private
-	_bus(bus),
 	_device(device),
 	_mode(mode),
 	_frequency(frequency),
-	_dev(nullptr)
+	_dev(nullptr),
+	_bus(bus)
 {
+	// fill in _device_id fields for a SPI device
+	_device_id.devid_s.bus_type = DeviceBusType_SPI;
+	_device_id.devid_s.bus = bus;
+	_device_id.devid_s.address = (uint8_t)device;
+	// devtype needs to be filled in by the driver
+	_device_id.devid_s.devtype = 0; 
 }
 
 SPI::~SPI()
@@ -133,26 +139,44 @@ SPI::probe()
 int
 SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 {
-	irqstate_t	state;
+	int result;
 
 	if ((send == nullptr) && (recv == nullptr))
 		return -EINVAL;
 
+	LockMode mode = up_interrupt_context() ? LOCK_NONE : locking_mode;
+
 	/* lock the bus as required */
-	if (!up_interrupt_context()) {
-		switch (locking_mode) {
-		default:
-		case LOCK_PREEMPTION:
-			state = irqsave();
-			break;
-		case LOCK_THREADS:
-			SPI_LOCK(_dev, true);
-			break;
-		case LOCK_NONE:
-			break;
+	switch (mode) {
+	default:
+	case LOCK_PREEMPTION:
+		{
+			irqstate_t state = irqsave();
+			result = _transfer(send, recv, len);
+			irqrestore(state);
 		}
+		break;
+	case LOCK_THREADS:
+		SPI_LOCK(_dev, true);
+		result = _transfer(send, recv, len);
+		SPI_LOCK(_dev, false);
+		break;
+	case LOCK_NONE:
+		result = _transfer(send, recv, len);
+		break;
 	}
+	return result;
+}
 
+void 
+SPI::set_frequency(uint32_t frequency)
+{
+	_frequency = frequency;
+}
+
+int
+SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
+{
 	SPI_SETFREQUENCY(_dev, _frequency);
 	SPI_SETMODE(_dev, _mode);
 	SPI_SETBITS(_dev, 8);
@@ -164,27 +188,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	/* and clean up */
 	SPI_SELECT(_dev, _device, false);
 
-	if (!up_interrupt_context()) {
-		switch (locking_mode) {
-		default:
-		case LOCK_PREEMPTION:
-			irqrestore(state);
-			break;
-		case LOCK_THREADS:
-			SPI_LOCK(_dev, false);
-			break;
-		case LOCK_NONE:
-			break;
-		}
-	}
-
 	return OK;
 }
 
-void 
-SPI::set_frequency(uint32_t frequency)
-{
-	_frequency = frequency;
-}
-
 } // namespace device
diff --git a/src/drivers/device/spi.h b/src/drivers/device/spi.h
index 299575dc5..1d9837689 100644
--- a/src/drivers/device/spi.h
+++ b/src/drivers/device/spi.h
@@ -124,11 +124,20 @@ protected:
 	LockMode	locking_mode;	/**< selected locking mode */
 
 private:
-	int			_bus;
 	enum spi_dev_e		_device;
 	enum spi_mode_e		_mode;
 	uint32_t		_frequency;
 	struct spi_dev_s	*_dev;
+
+	/* this class does not allow copying */
+	SPI(const SPI&);
+	SPI operator=(const SPI&);
+
+protected:
+	int			_bus;
+
+	int	_transfer(uint8_t *send, uint8_t *recv, unsigned len);
+
 };
 
 } // namespace device
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
index 7d93ed938..1f98d966b 100644
--- a/src/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
@@ -81,7 +81,9 @@ struct accel_scale {
 /*
  * ObjDev tag for raw accelerometer data.
  */
-ORB_DECLARE(sensor_accel);
+ORB_DECLARE(sensor_accel0);
+ORB_DECLARE(sensor_accel1);
+ORB_DECLARE(sensor_accel2);
 
 /*
  * ioctl() definitions
diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h
index e2f0137ae..248b9a73d 100644
--- a/src/drivers/drv_baro.h
+++ b/src/drivers/drv_baro.h
@@ -63,7 +63,8 @@ struct baro_report {
 /*
  * ObjDev tag for raw barometer data.
  */
-ORB_DECLARE(sensor_baro);
+ORB_DECLARE(sensor_baro0);
+ORB_DECLARE(sensor_baro1);
 
 /*
  * ioctl() definitions
diff --git a/src/drivers/drv_device.h b/src/drivers/drv_device.h
index b310beb74..19d55cef3 100644
--- a/src/drivers/drv_device.h
+++ b/src/drivers/drv_device.h
@@ -59,4 +59,11 @@
 /** check publication block status */
 #define DEVIOCGPUBBLOCK	_DEVICEIOC(1)
 
+/**
+ * Return device ID, to enable matching of configuration parameters
+ * (such as compass offsets) to specific sensors
+ */
+#define DEVIOCGDEVICEID	_DEVICEIOC(2)
+
+
 #endif /* _DRV_DEVICE_H */
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index f60964c2b..5acd0d343 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -94,6 +94,14 @@
 
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+/*
+ * AeroCore GPIO numbers and configuration.
+ *
+ */
+# define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
+#endif
+
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 /* no GPIO driver on the PX4IOv1 board */
 #endif
@@ -146,4 +154,4 @@
 
 #define GPIO_SENSOR_RAIL_RESET	GPIOC(13)
 
-#endif /* _DRV_GPIO_H */
\ No newline at end of file
+#endif /* _DRV_GPIO_H */
diff --git a/src/drivers/drv_gps.h b/src/drivers/drv_gps.h
index 06e3535b3..e14f4e00d 100644
--- a/src/drivers/drv_gps.h
+++ b/src/drivers/drv_gps.h
@@ -43,10 +43,14 @@
 #include <stdint.h>
 #include <sys/ioctl.h>
 
+#include "board_config.h"
+
 #include "drv_sensor.h"
 #include "drv_orb_dev.h"
 
+#ifndef GPS_DEFAULT_UART_PORT
 #define GPS_DEFAULT_UART_PORT "/dev/ttyS3"
+#endif
 
 #define GPS_DEVICE_PATH	"/dev/gps"
 
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 2ae8c7058..41b013a44 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -81,7 +81,9 @@ struct gyro_scale {
 /*
  * ObjDev tag for raw gyro data.
  */
-ORB_DECLARE(sensor_gyro);
+ORB_DECLARE(sensor_gyro0);
+ORB_DECLARE(sensor_gyro1);
+ORB_DECLARE(sensor_gyro2);
 
 /*
  * ioctl() definitions
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index d130d68b3..8bfc90c64 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -41,6 +41,7 @@
 
 #include <sys/types.h>
 #include <stdbool.h>
+#include <inttypes.h>
 
 #include <time.h>
 #include <queue.h>
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h b/src/drivers/drv_io_expander.h
index 600e35b89..106354377 100644
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.h
+++ b/src/drivers/drv_io_expander.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,19 +31,41 @@
  *
  ****************************************************************************/
 
-/* @file Fixed Wing Attitude Control */
+/**
+ * @file drv_io_expander.h
+ *
+ * IO expander device API
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+/*
+ * ioctl() definitions
+ */
+
+#define _IOXIOCBASE		(0x2800)
+#define _IOXIOC(_n)		(_IOC(_IOXIOCBASE, _n))
+
+/** set a bitmask (non-blocking) */
+#define IOX_SET_MASK		_IOXIOC(1)
+
+/** get a bitmask (blocking) */
+#define IOX_GET_MASK		_IOXIOC(2)
 
-#ifndef FIXEDWING_ATT_CONTROL_ATT_H_
-#define FIXEDWING_ATT_CONTROL_ATT_H_
+/** set device mode (non-blocking) */
+#define IOX_SET_MODE		_IOXIOC(3)
 
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_global_position.h>
+/** set constant values (non-blocking) */
+#define IOX_SET_VALUE		_IOXIOC(4)
 
-int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				   const struct vehicle_attitude_s *att,
-				   const float speed_body[],
-				   struct vehicle_rates_setpoint_s *rates_sp);
+/* ... to IOX_SET_VALUE + 8 */
 
-#endif /* FIXEDWING_ATT_CONTROL_ATT_H_ */
+/* enum passed to RGBLED_SET_MODE ioctl()*/
+enum IOX_MODE {
+	IOX_MODE_OFF,
+	IOX_MODE_ON,
+	IOX_MODE_TEST_OUT
+};
diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h
index 06107bd3d..5ddf5d08e 100644
--- a/src/drivers/drv_mag.h
+++ b/src/drivers/drv_mag.h
@@ -79,7 +79,15 @@ struct mag_scale {
 /*
  * ObjDev tag for raw magnetometer data.
  */
-ORB_DECLARE(sensor_mag);
+ORB_DECLARE(sensor_mag0);
+ORB_DECLARE(sensor_mag1);
+ORB_DECLARE(sensor_mag2);
+
+/*
+ * mag device types, for _device_id
+ */
+#define DRV_MAG_DEVTYPE_HMC5883 1
+#define DRV_MAG_DEVTYPE_LSM303D 2
 
 /*
  * ioctl() definitions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 7a93e513e..84815fdfb 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -199,6 +199,12 @@ ORB_DECLARE(output_pwm);
 /** get the lockdown override flag to enable outputs in HIL */
 #define PWM_SERVO_GET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 22)
 
+/** force safety switch off (to disable use of safety switch) */
+#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
+
+/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
+#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
+
 /*
  *
  *
diff --git a/src/drivers/drv_px4flow.h b/src/drivers/drv_px4flow.h
index bef02d54e..76ec55c3e 100644
--- a/src/drivers/drv_px4flow.h
+++ b/src/drivers/drv_px4flow.h
@@ -47,9 +47,17 @@
 #define PX4FLOW_DEVICE_PATH	"/dev/px4flow"
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Optical flow in NED body frame in SI units.
  *
  * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ *
+ * @warning If possible the usage of the raw flow and performing rotation-compensation
+ *		using the autopilot angular rate estimate is recommended.
  */
 struct px4flow_report {
 
@@ -57,14 +65,18 @@ struct px4flow_report {
 
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
-	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
-	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
+	float flow_comp_x_m;		/**< speed over ground in meters per second, rotation-compensated */
+	float flow_comp_y_m;		/**< speed over ground in meters per second, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
 	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
 	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for px4flow data.
  */
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index cf91f7030..0f8362f58 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -46,6 +46,15 @@
 
 #define RANGE_FINDER_DEVICE_PATH	"/dev/range_finder"
 
+enum RANGE_FINDER_TYPE {
+	RANGE_FINDER_TYPE_LASER = 0,
+};
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /**
  * range finder report structure.  Reads from the device must be in multiples of this
  * structure.
@@ -53,10 +62,17 @@
 struct range_finder_report {
 	uint64_t timestamp;
 	uint64_t error_count;
-	float distance; 			/** in meters */
-	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
+	unsigned type;				/**< type, following RANGE_FINDER_TYPE enum */
+	float distance; 			/**< in meters */
+	float minimum_distance;			/**< minimum distance the sensor can measure */
+	float maximum_distance;			/**< maximum distance the sensor can measure */
+	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for raw range finder data.
  */
diff --git a/src/drivers/drv_rc_input.h b/src/drivers/drv_rc_input.h
index 20763e265..47fa8fa59 100644
--- a/src/drivers/drv_rc_input.h
+++ b/src/drivers/drv_rc_input.h
@@ -68,6 +68,11 @@
 #define RC_INPUT_RSSI_MAX	255
 
 /**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
  * Input signal type, value is a control position from zero to 100
  * percent.
  */
@@ -141,6 +146,10 @@ struct rc_input_values {
 	rc_input_t		values[RC_INPUT_MAX_CHANNELS];
 };
 
+/**
+ * @}
+ */
+
 /*
  * ObjDev tag for R/C inputs.
  */
diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h
index cb5fd53a5..307f7dbc7 100644
--- a/src/drivers/drv_tone_alarm.h
+++ b/src/drivers/drv_tone_alarm.h
@@ -147,6 +147,10 @@ enum {
 	TONE_BATTERY_WARNING_SLOW_TUNE,
 	TONE_BATTERY_WARNING_FAST_TUNE,
 	TONE_GPS_WARNING_TUNE,
+	TONE_ARMING_FAILURE_TUNE,
+	TONE_PARACHUTE_RELEASE_TUNE,
+	TONE_EKF_WARNING_TUNE,
+	TONE_BARO_WARNING_TUNE,
 	TONE_NUMBER_OF_TUNES
 };
 
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index d873a1132..f98d615a2 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -154,8 +154,9 @@ ETSAirspeed::collect()
 		return ret;
 	}
 
-	uint16_t diff_pres_pa = val[1] << 8 | val[0];
-        if (diff_pres_pa == 0) {
+	uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
+	uint16_t diff_pres_pa;
+        if (diff_pres_pa_raw == 0) {
 		// a zero value means the pressure sensor cannot give us a
 		// value. We need to return, and not report a value or the
 		// caller could end up using this value as part of an
@@ -165,12 +166,15 @@ ETSAirspeed::collect()
 		return -1;
         }
 
-	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
+	if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
 	} else {
-		diff_pres_pa -= _diff_pres_offset;
+		diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
 	}
 
+	// The raw value still should be compensated for the known offset
+	diff_pres_pa_raw -= _diff_pres_offset;
+
 	// Track maximum differential pressure measured (so we can work out top speed).
 	if (diff_pres_pa > _max_differential_pressure_pa) {
 		_max_differential_pressure_pa = diff_pres_pa;
@@ -183,8 +187,8 @@ ETSAirspeed::collect()
 
 	// XXX we may want to smooth out the readings to remove noise.
 	report.differential_pressure_filtered_pa = (float)diff_pres_pa;
+	report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
 	report.temperature = -1000.0f;
-	report.voltage = 0;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
 	if (_airspeed_pub > 0 && !(_pub_blocked)) {
@@ -207,14 +211,18 @@ ETSAirspeed::collect()
 void
 ETSAirspeed::cycle()
 {
+	int ret;
+
 	/* collection phase? */
 	if (_collect_phase) {
 
 		/* perform collection */
-		if (OK != collect()) {
+		ret = collect();
+		if (OK != ret) {
 			perf_count(_comms_errors);
 			/* restart the measurement state machine */
 			start();
+			_sensor_ok = false;
 			return;
 		}
 
@@ -238,8 +246,12 @@ ETSAirspeed::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure())
-		log("measure error");
+	ret = measure();
+	if (OK != ret) {
+		debug("measure error");
+	}
+
+	_sensor_ok = (ret == OK);
 
 	/* next phase is collection */
 	_collect_phase = true;
@@ -274,6 +286,9 @@ void	info();
 
 /**
  * Start the driver.
+ *
+ * This function only returns if the sensor is up and running
+ * or could not be detected successfully.
  */
 void
 start(int i2c_bus)
@@ -354,7 +369,7 @@ test()
 		err(1, "immediate read failed");
 
 	warnx("single read");
-	warnx("diff pressure: %d pa", report.differential_pressure_pa);
+	warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -379,7 +394,7 @@ test()
 			err(1, "periodic read failed");
 
 		warnx("periodic read %u", i);
-		warnx("diff pressure: %d pa", report.differential_pressure_pa);
+		warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
 	}
 
 	/* reset the sensor polling to its default rate */
diff --git a/src/drivers/ets_airspeed/module.mk b/src/drivers/ets_airspeed/module.mk
index 15346c5c5..8aaaf0ebb 100644
--- a/src/drivers/ets_airspeed/module.mk
+++ b/src/drivers/ets_airspeed/module.mk
@@ -36,6 +36,9 @@
 #
 
 MODULE_COMMAND		= ets_airspeed
-MODULE_STACKSIZE	= 2048
 
 SRCS			= ets_airspeed.cpp
+
+MODULE_STACKSIZE	= 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c
index cfcf91e3f..dd9b90fb3 100644
--- a/src/drivers/frsky_telemetry/frsky_data.c
+++ b/src/drivers/frsky_telemetry/frsky_data.c
@@ -53,6 +53,8 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_status.h>
 
+#include <drivers/drv_hrt.h>
+
 /* FrSky sensor hub data IDs */
 #define FRSKY_ID_GPS_ALT_BP     0x01
 #define FRSKY_ID_TEMP1          0x02
@@ -192,17 +194,12 @@ void frsky_send_frame1(int uart)
 }
 
 /**
- * Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
+ * Formats the decimal latitude/longitude to the required degrees/minutes.
  */
 static float frsky_format_gps(float dec)
 {
-	float dms_deg = (int) dec;
-	float dec_deg = dec - dms_deg;
-	float dms_min = (int) (dec_deg * 60);
-	float dec_min = (dec_deg * 60) - dms_min;
-	float dms_sec = dec_min * 60;
-
-	return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
+	float dm_deg = (int) dec;
+	return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
 }
 
 /**
@@ -225,14 +222,14 @@ void frsky_send_frame2(int uart)
 	float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
 	char lat_ns = 0, lon_ew = 0;
 	int sec = 0;
-	if (global_pos.global_valid) {
+	if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 		time_t time_gps = global_pos.time_gps_usec / 1000000;
 		struct tm *tm_gps = gmtime(&time_gps);
 
 		course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
-		lat    = frsky_format_gps(abs(global_pos.lat));
+		lat    = frsky_format_gps(fabsf(global_pos.lat));
 		lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
-		lon    = frsky_format_gps(abs(global_pos.lon));
+		lon    = frsky_format_gps(fabsf(global_pos.lon));
 		lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
 		speed  = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
 				* 25.0f / 46.0f;
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
index 7b08ca69e..6e0839043 100644
--- a/src/drivers/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 		frsky_task = task_spawn_cmd("frsky_telemetry",
 					  SCHED_DEFAULT,
 					  SCHED_PRIORITY_DEFAULT,
-					  2048,
+					  2000,
 					  frsky_telemetry_thread_main,
 					  (const char **)argv);
 
diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk
index 1632c74f7..78ad6f67e 100644
--- a/src/drivers/frsky_telemetry/module.mk
+++ b/src/drivers/frsky_telemetry/module.mk
@@ -39,3 +39,7 @@ MODULE_COMMAND	= frsky_telemetry
 
 SRCS		= frsky_data.c \
               frsky_telemetry.c
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index c72f692d7..34dd63086 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -56,12 +56,16 @@
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/i2c.h>
+#include <systemlib/systemlib.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/scheduling_priorities.h>
 #include <systemlib/err.h>
 #include <drivers/drv_gps.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
+
+#include <board_config.h>
 
 #include "ubx.h"
 #include "mtk.h"
@@ -76,16 +80,18 @@
 #endif
 static const int ERROR = -1;
 
-#ifndef CONFIG_SCHED_WORKQUEUE
-# error This requires CONFIG_SCHED_WORKQUEUE.
-#endif
-
+/* class for dynamic allocation of satellite info data */
+class GPS_Sat_Info
+{
+public:
+	struct satellite_info_s 	_data;
+};
 
 
 class GPS : public device::CDev
 {
 public:
-	GPS(const char *uart_path, bool fake_gps);
+	GPS(const char *uart_path, bool fake_gps, bool enable_sat_info);
 	virtual ~GPS();
 
 	virtual int			init();
@@ -103,14 +109,17 @@ private:
 	int				_serial_fd;					///< serial interface to GPS
 	unsigned			_baudrate;					///< current baudrate
 	char				_port[20];					///< device / serial port path
-	volatile int			_task;						//< worker task
+	volatile int			_task;						///< worker task
 	bool				_healthy;					///< flag to signal if the GPS is ok
-	bool 				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
+	bool				_baudrate_changed;				///< flag to signal that the baudrate with the GPS has changed
 	bool				_mode_changed;					///< flag that the GPS mode has changed
 	gps_driver_mode_t		_mode;						///< current mode
 	GPS_Helper			*_Helper;					///< instance of GPS parser
-	struct vehicle_gps_position_s 	_report;					///< uORB topic for gps position
-	orb_advert_t			_report_pub;					///< uORB pub for gps position
+	GPS_Sat_Info			*_Sat_Info;					///< instance of GPS sat info data object
+	struct vehicle_gps_position_s	_report_gps_pos;				///< uORB topic for gps position
+	orb_advert_t			_report_gps_pos_pub;				///< uORB pub for gps position
+	struct satellite_info_s		*_p_report_sat_info;				///< pointer to uORB topic for satellite info
+	orb_advert_t			_report_sat_info_pub;				///< uORB pub for satellite info
 	float				_rate;						///< position update rate
 	bool				_fake_gps;					///< fake gps output
 
@@ -118,7 +127,7 @@ private:
 	/**
 	 * Try to configure the GPS, handle outgoing communication to the GPS
 	 */
-	void				config();
+	void			 	config();
 
 	/**
 	 * Trampoline to the worker task
@@ -157,14 +166,17 @@ GPS	*g_dev;
 }
 
 
-GPS::GPS(const char *uart_path, bool fake_gps) :
+GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
 	CDev("gps", GPS_DEVICE_PATH),
 	_task_should_exit(false),
 	_healthy(false),
 	_mode_changed(false),
 	_mode(GPS_DRIVER_MODE_UBX),
 	_Helper(nullptr),
-	_report_pub(-1),
+	_Sat_Info(nullptr),
+	_report_gps_pos_pub(-1),
+	_p_report_sat_info(nullptr),
+	_report_sat_info_pub(-1),
 	_rate(0.0f),
 	_fake_gps(fake_gps)
 {
@@ -175,7 +187,14 @@ GPS::GPS(const char *uart_path, bool fake_gps) :
 
 	/* we need this potentially before it could be set in task_main */
 	g_dev = this;
-	memset(&_report, 0, sizeof(_report));
+	memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
+
+	/* create satellite info data object if requested */
+	if (enable_sat_info) {
+		_Sat_Info = new(GPS_Sat_Info);
+		_p_report_sat_info = &_Sat_Info->_data;
+		memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
+	}
 
 	_debug_enabled = true;
 }
@@ -209,7 +228,8 @@ GPS::init()
 		goto out;
 
 	/* start the GPS driver worker task */
-	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
+	_task = task_spawn_cmd("gps", SCHED_DEFAULT,
+				SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
 		warnx("task start failed: %d", errno);
@@ -273,33 +293,32 @@ GPS::task_main()
 
 		if (_fake_gps) {
 
-			_report.timestamp_position = hrt_absolute_time();
-			_report.lat = (int32_t)47.378301e7f;
-			_report.lon = (int32_t)8.538777e7f;
-			_report.alt = (int32_t)400e3f;
-			_report.timestamp_variance = hrt_absolute_time();
-			_report.s_variance_m_s = 10.0f;
-			_report.p_variance_m = 10.0f;
-			_report.c_variance_rad = 0.1f;
-			_report.fix_type = 3;
-			_report.eph_m = 10.0f;
-			_report.epv_m = 10.0f;
-			_report.timestamp_velocity = hrt_absolute_time();
-			_report.vel_n_m_s = 0.0f;
-			_report.vel_e_m_s = 0.0f;
-			_report.vel_d_m_s = 0.0f;
-			_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
-			_report.cog_rad = 0.0f;
-			_report.vel_ned_valid = true;
+			_report_gps_pos.timestamp_position = hrt_absolute_time();
+			_report_gps_pos.lat = (int32_t)47.378301e7f;
+			_report_gps_pos.lon = (int32_t)8.538777e7f;
+			_report_gps_pos.alt = (int32_t)1200e3f;
+			_report_gps_pos.timestamp_variance = hrt_absolute_time();
+			_report_gps_pos.s_variance_m_s = 10.0f;
+			_report_gps_pos.c_variance_rad = 0.1f;
+			_report_gps_pos.fix_type = 3;
+			_report_gps_pos.eph = 0.9f;
+			_report_gps_pos.epv = 1.8f;
+			_report_gps_pos.timestamp_velocity = hrt_absolute_time();
+			_report_gps_pos.vel_n_m_s = 0.0f;
+			_report_gps_pos.vel_e_m_s = 0.0f;
+			_report_gps_pos.vel_d_m_s = 0.0f;
+			_report_gps_pos.vel_m_s = sqrtf(_report_gps_pos.vel_n_m_s * _report_gps_pos.vel_n_m_s + _report_gps_pos.vel_e_m_s * _report_gps_pos.vel_e_m_s + _report_gps_pos.vel_d_m_s * _report_gps_pos.vel_d_m_s);
+			_report_gps_pos.cog_rad = 0.0f;
+			_report_gps_pos.vel_ned_valid = true;
 
 			//no time and satellite information simulated
 
 			if (!(_pub_blocked)) {
-				if (_report_pub > 0) {
-					orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+				if (_report_gps_pos_pub > 0) {
+					orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 
 				} else {
-					_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+					_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
 				}
 			}
 
@@ -315,11 +334,11 @@ GPS::task_main()
 
 			switch (_mode) {
 			case GPS_DRIVER_MODE_UBX:
-				_Helper = new UBX(_serial_fd, &_report);
+				_Helper = new UBX(_serial_fd, &_report_gps_pos, _p_report_sat_info);
 				break;
 
 			case GPS_DRIVER_MODE_MTK:
-				_Helper = new MTK(_serial_fd, &_report);
+				_Helper = new MTK(_serial_fd, &_report_gps_pos);
 				break;
 
 			default:
@@ -334,20 +353,33 @@ GPS::task_main()
 				// GPS is obviously detected successfully, reset statistics
 				_Helper->reset_update_rates();
 
-				while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) {
+				int helper_ret;
+				while ((helper_ret = _Helper->receive(TIMEOUT_5HZ)) > 0 && !_task_should_exit) {
 	//				lock();
 					/* opportunistic publishing - else invalid data would end up on the bus */
 
 					if (!(_pub_blocked)) {
-						if (_report_pub > 0) {
-							orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+						if (helper_ret & 1) {
+							if (_report_gps_pos_pub > 0) {
+								orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
 
-						} else {
-							_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+							} else {
+								_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
+							}
+						}
+						if (_p_report_sat_info && (helper_ret & 2)) {
+							if (_report_sat_info_pub > 0) {
+								orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info);
+
+							} else {
+								_report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), _p_report_sat_info);
+							}
 						}
 					}
 
-					last_rate_count++;
+					if (helper_ret & 1) {	// consider only pos info updates for rate calculation */
+						last_rate_count++;
+					}
 
 					/* measure update rate every 5 seconds */
 					if (hrt_absolute_time() - last_rate_measurement > RATE_MEASUREMENT_PERIOD) {
@@ -359,7 +391,7 @@ GPS::task_main()
 					}
 
 					if (!_healthy) {
-						char *mode_str = "unknown";
+						const char *mode_str = "unknown";
 
 						switch (_mode) {
 						case GPS_DRIVER_MODE_UBX:
@@ -421,7 +453,14 @@ GPS::task_main()
 void
 GPS::cmd_reset()
 {
-	//XXX add reset?
+#ifdef GPIO_GPS_NRESET
+	warnx("Toggling GPS reset pin");
+	stm32_configgpio(GPIO_GPS_NRESET);
+	stm32_gpiowrite(GPIO_GPS_NRESET, 0);
+	usleep(100);
+	stm32_gpiowrite(GPIO_GPS_NRESET, 1);
+	warnx("Toggled GPS reset pin");
+#endif
 }
 
 void
@@ -441,12 +480,15 @@ GPS::print_info()
 	}
 
 	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
-
-	if (_report.timestamp_position != 0) {
-		warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
-				_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
-		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
-		warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m);
+	warnx("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
+
+	if (_report_gps_pos.timestamp_position != 0) {
+		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
+				_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
+		warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
+		warnx("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
+			(double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
+		warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
 		warnx("rate publication:\t%6.2f Hz", (double)_rate);
@@ -464,7 +506,7 @@ namespace gps
 
 GPS	*g_dev;
 
-void	start(const char *uart_path, bool fake_gps);
+void	start(const char *uart_path, bool fake_gps, bool enable_sat_info);
 void	stop();
 void	test();
 void	reset();
@@ -474,7 +516,7 @@ void	info();
  * Start the driver.
  */
 void
-start(const char *uart_path, bool fake_gps)
+start(const char *uart_path, bool fake_gps, bool enable_sat_info)
 {
 	int fd;
 
@@ -482,7 +524,7 @@ start(const char *uart_path, bool fake_gps)
 		errx(1, "already started");
 
 	/* create the driver */
-	g_dev = new GPS(uart_path, fake_gps);
+	g_dev = new GPS(uart_path, fake_gps, enable_sat_info);
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -573,8 +615,9 @@ gps_main(int argc, char *argv[])
 {
 
 	/* set to default */
-	char *device_name = GPS_DEFAULT_UART_PORT;
+	const char *device_name = GPS_DEFAULT_UART_PORT;
 	bool fake_gps = false;
+	bool enable_sat_info = false;
 
 	/*
 	 * Start/load the driver.
@@ -596,7 +639,13 @@ gps_main(int argc, char *argv[])
 				fake_gps = true;
 		}
 
-		gps::start(device_name, fake_gps);
+		/* Detect sat info option */
+		for (int i = 2; i < argc; i++) {
+			if (!strcmp(argv[i], "-s"))
+				enable_sat_info = true;
+		}
+
+		gps::start(device_name, fake_gps, enable_sat_info);
 	}
 
 	if (!strcmp(argv[1], "stop"))
@@ -621,5 +670,5 @@ gps_main(int argc, char *argv[])
 		gps::info();
 
 out:
-	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]");
+	errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f][-s]");
 }
diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp
index 2360ff39b..3b92f1bf4 100644
--- a/src/drivers/gps/gps_helper.cpp
+++ b/src/drivers/gps/gps_helper.cpp
@@ -56,7 +56,7 @@ GPS_Helper::get_velocity_update_rate()
 	return _rate_vel;
 }
 
-float
+void
 GPS_Helper::reset_update_rates()
 {
 	_rate_count_vel = 0;
@@ -64,7 +64,7 @@ GPS_Helper::reset_update_rates()
 	_interval_rate_start = hrt_absolute_time();
 }
 
-float
+void
 GPS_Helper::store_update_rates()
 {
 	_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h
index cfb9e0d43..3623397b2 100644
--- a/src/drivers/gps/gps_helper.h
+++ b/src/drivers/gps/gps_helper.h
@@ -46,20 +46,24 @@
 class GPS_Helper
 {
 public:
+
+	GPS_Helper() {};
+	virtual ~GPS_Helper() {};
+
 	virtual int			configure(unsigned &baud) = 0;
 	virtual int 			receive(unsigned timeout) = 0;
 	int 				set_baudrate(const int &fd, unsigned baud);
 	float				get_position_update_rate();
 	float				get_velocity_update_rate();
-	float				reset_update_rates();
-	float				store_update_rates();
+	void				reset_update_rates();
+	void				store_update_rates();
 
 protected:
 	uint8_t _rate_count_lat_lon;
 	uint8_t _rate_count_vel;
 
-	float _rate_lat_lon;
-	float _rate_vel;
+	float _rate_lat_lon = 0.0f;
+	float _rate_vel = 0.0f;
 
 	uint64_t _interval_rate_start;
 };
diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk
index 82c67d40a..b00818424 100644
--- a/src/drivers/gps/module.mk
+++ b/src/drivers/gps/module.mk
@@ -41,3 +41,7 @@ SRCS		= gps.cpp \
 		  gps_helper.cpp \
 		  mtk.cpp \
 		  ubx.cpp
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index c90ecbe28..c4f4f7bec 100644
--- a/src/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
@@ -249,15 +249,21 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 		warnx("mtk: unknown revision");
 		_gps_position->lat = 0;
 		_gps_position->lon = 0;
+
+		// Indicate this data is not usable and bail out
+		_gps_position->eph = 1000.0f;
+		_gps_position->epv = 1000.0f;
+		_gps_position->fix_type = 0;
+		return;
 	}
 
 	_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
 	_gps_position->fix_type = packet.fix_type;
-	_gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
-	_gps_position->epv_m = 0.0; //unknown in mtk custom mode
+	_gps_position->eph = packet.hdop / 100.0f; // from cm to m
+	_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
 	_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
 	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
-	_gps_position->satellites_visible = packet.satellites;
+	_gps_position->satellites_used = packet.satellites;
 
 	/* convert time and date information to unix timestamp */
 	struct tm timeinfo; //TODO: test this conversion
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index 8a2afecb7..d0854f5e9 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,14 +34,18 @@
 /**
  * @file ubx.cpp
  *
- * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
+ * U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description
  * including Prototol Specification.
  *
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
  *
+ * @author Hannes Delago
+ *   (rework, add ubx7+ compatibility)
+ *
  * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
+ * @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_%28UBX-13003221%29.pdf
  */
 
 #include <assert.h>
@@ -55,21 +59,44 @@
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
 #include <drivers/drv_hrt.h>
 
 #include "ubx.h"
 
-#define UBX_CONFIG_TIMEOUT		200		// ms, timeout for waiting ACK
-#define UBX_PACKET_TIMEOUT		2		// ms, if now data during this delay assume that full update received
+#define UBX_CONFIG_TIMEOUT	200		// ms, timeout for waiting ACK
+#define UBX_PACKET_TIMEOUT	2		// ms, if now data during this delay assume that full update received
 #define UBX_WAIT_BEFORE_READ	20		// ms, wait before reading to save read() calls
-#define DISABLE_MSG_INTERVAL	1000000	// us, try to disable message with this interval
+#define DISABLE_MSG_INTERVAL	1000000		// us, try to disable message with this interval
+
+#define MIN(X,Y)	((X) < (Y) ? (X) : (Y))
+#define SWAP16(X)	((((X) >>  8) & 0x00ff) | (((X) << 8) & 0xff00))
+
+#define FNV1_32_INIT	((uint32_t)0x811c9dc5)	// init value for FNV1 hash algorithm
+#define FNV1_32_PRIME	((uint32_t)0x01000193)	// magic prime for FNV1 hash algorithm
+
 
-UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) :
+/**** Trace macros, disable for production builds */
+#define UBX_TRACE_PARSER(s, ...)	{/*printf(s, ## __VA_ARGS__);*/}	/* decoding progress in parse_char() */
+#define UBX_TRACE_RXMSG(s, ...)		{/*printf(s, ## __VA_ARGS__);*/}	/* Rx msgs in payload_rx_done() */
+#define UBX_TRACE_SVINFO(s, ...)	{/*printf(s, ## __VA_ARGS__);*/}	/* NAV-SVINFO processing (debug use only, will cause rx buffer overflows) */
+
+/**** Warning macros, disable to save memory */
+#define UBX_WARN(s, ...)		{warnx(s, ## __VA_ARGS__);}
+
+
+UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) :
 	_fd(fd),
 	_gps_position(gps_position),
+	_satellite_info(satellite_info),
 	_configured(false),
-	_waiting_for_ack(false),
-	_disable_cmd_last(0)
+	_ack_state(UBX_ACK_IDLE),
+	_got_posllh(false),
+	_got_velned(false),
+	_disable_cmd_last(0),
+	_ack_waiting_msg(0),
+	_ubx_version(0),
+	_use_nav_pvt(false)
 {
 	decode_init();
 }
@@ -83,175 +110,167 @@ UBX::configure(unsigned &baudrate)
 {
 	_configured = false;
 	/* try different baudrates */
-	const unsigned baudrates_to_try[] = {9600, 38400, 19200, 57600, 115200};
+	const unsigned baudrates[] = {9600, 38400, 19200, 57600, 115200};
 
-	int baud_i;
+	unsigned baud_i;
 
-	for (baud_i = 0; baud_i < 5; baud_i++) {
-		baudrate = baudrates_to_try[baud_i];
+	for (baud_i = 0; baud_i < sizeof(baudrates) / sizeof(baudrates[0]); baud_i++) {
+		baudrate = baudrates[baud_i];
 		set_baudrate(_fd, baudrate);
 
+		/* flush input and wait for at least 20 ms silence */
+		decode_init();
+		receive(20);
+		decode_init();
+
 		/* Send a CFG-PRT message to set the UBX protocol for in and out
-		 * and leave the baudrate as it is, we just want an ACK-ACK from this
-		 */
-		type_gps_bin_cfg_prt_packet_t cfg_prt_packet;
-		/* Set everything else of the packet to 0, otherwise the module wont accept it */
-		memset(&cfg_prt_packet, 0, sizeof(cfg_prt_packet));
-
-		_message_class_needed = UBX_CLASS_CFG;
-		_message_id_needed = UBX_MESSAGE_CFG_PRT;
-
-		/* Define the package contents, don't change the baudrate */
-		cfg_prt_packet.clsID		= UBX_CLASS_CFG;
-		cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
-		cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
-		cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
-		cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
-		cfg_prt_packet.baudRate		= baudrate;
-		cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
-		cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
-
-		send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet));
-
-		if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
+		 * and leave the baudrate as it is, we just want an ACK-ACK for this */
+		memset(&_buf.payload_tx_cfg_prt, 0, sizeof(_buf.payload_tx_cfg_prt));
+		_buf.payload_tx_cfg_prt.portID		= UBX_TX_CFG_PRT_PORTID;
+		_buf.payload_tx_cfg_prt.mode		= UBX_TX_CFG_PRT_MODE;
+		_buf.payload_tx_cfg_prt.baudRate	= baudrate;
+		_buf.payload_tx_cfg_prt.inProtoMask	= UBX_TX_CFG_PRT_INPROTOMASK;
+		_buf.payload_tx_cfg_prt.outProtoMask	= UBX_TX_CFG_PRT_OUTPROTOMASK;
+
+		send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt));
+
+		if (wait_for_ack(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false) < 0) {
 			/* try next baudrate */
 			continue;
 		}
 
 		/* Send a CFG-PRT message again, this time change the baudrate */
+		memset(&_buf.payload_tx_cfg_prt, 0, sizeof(_buf.payload_tx_cfg_prt));
+		_buf.payload_tx_cfg_prt.portID		= UBX_TX_CFG_PRT_PORTID;
+		_buf.payload_tx_cfg_prt.mode		= UBX_TX_CFG_PRT_MODE;
+		_buf.payload_tx_cfg_prt.baudRate	= UBX_TX_CFG_PRT_BAUDRATE;
+		_buf.payload_tx_cfg_prt.inProtoMask	= UBX_TX_CFG_PRT_INPROTOMASK;
+		_buf.payload_tx_cfg_prt.outProtoMask	= UBX_TX_CFG_PRT_OUTPROTOMASK;
 
-		cfg_prt_packet.clsID		= UBX_CLASS_CFG;
-		cfg_prt_packet.msgID		= UBX_MESSAGE_CFG_PRT;
-		cfg_prt_packet.length		= UBX_CFG_PRT_LENGTH;
-		cfg_prt_packet.portID		= UBX_CFG_PRT_PAYLOAD_PORTID;
-		cfg_prt_packet.mode			= UBX_CFG_PRT_PAYLOAD_MODE;
-		cfg_prt_packet.baudRate		= UBX_CFG_PRT_PAYLOAD_BAUDRATE;
-		cfg_prt_packet.inProtoMask	= UBX_CFG_PRT_PAYLOAD_INPROTOMASK;
-		cfg_prt_packet.outProtoMask	= UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK;
-
-		send_config_packet(_fd, (uint8_t *)&cfg_prt_packet, sizeof(cfg_prt_packet));
+		send_message(UBX_MSG_CFG_PRT, _buf.raw, sizeof(_buf.payload_tx_cfg_prt));
 
 		/* no ACK is expected here, but read the buffer anyway in case we actually get an ACK */
-		wait_for_ack(UBX_CONFIG_TIMEOUT);
+		wait_for_ack(UBX_MSG_CFG_PRT, UBX_CONFIG_TIMEOUT, false);
 
-		if (UBX_CFG_PRT_PAYLOAD_BAUDRATE != baudrate) {
-			set_baudrate(_fd, UBX_CFG_PRT_PAYLOAD_BAUDRATE);
-			baudrate = UBX_CFG_PRT_PAYLOAD_BAUDRATE;
+		if (UBX_TX_CFG_PRT_BAUDRATE != baudrate) {
+			set_baudrate(_fd, UBX_TX_CFG_PRT_BAUDRATE);
+			baudrate = UBX_TX_CFG_PRT_BAUDRATE;
 		}
 
 		/* at this point we have correct baudrate on both ends */
 		break;
 	}
 
-	if (baud_i >= 5) {
-		return 1;
+	if (baud_i >= sizeof(baudrates) / sizeof(baudrates[0])) {
+		return 1;	// connection and/or baudrate detection failed
 	}
 
-	/* send a CFG-RATE message to define update rate */
-	type_gps_bin_cfg_rate_packet_t cfg_rate_packet;
-	memset(&cfg_rate_packet, 0, sizeof(cfg_rate_packet));
+	/* Send a CFG-RATE message to define update rate */
+	memset(&_buf.payload_tx_cfg_rate, 0, sizeof(_buf.payload_tx_cfg_rate));
+	_buf.payload_tx_cfg_rate.measRate	= UBX_TX_CFG_RATE_MEASINTERVAL;
+	_buf.payload_tx_cfg_rate.navRate	= UBX_TX_CFG_RATE_NAVRATE;
+	_buf.payload_tx_cfg_rate.timeRef	= UBX_TX_CFG_RATE_TIMEREF;
 
-	_message_class_needed = UBX_CLASS_CFG;
-	_message_id_needed = UBX_MESSAGE_CFG_RATE;
+	send_message(UBX_MSG_CFG_RATE, _buf.raw, sizeof(_buf.payload_tx_cfg_rate));
 
-	cfg_rate_packet.clsID		= UBX_CLASS_CFG;
-	cfg_rate_packet.msgID		= UBX_MESSAGE_CFG_RATE;
-	cfg_rate_packet.length		= UBX_CFG_RATE_LENGTH;
-	cfg_rate_packet.measRate	= UBX_CFG_RATE_PAYLOAD_MEASINTERVAL;
-	cfg_rate_packet.navRate		= UBX_CFG_RATE_PAYLOAD_NAVRATE;
-	cfg_rate_packet.timeRef		= UBX_CFG_RATE_PAYLOAD_TIMEREF;
-
-	send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet));
-
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: configuration failed: RATE");
+	if (wait_for_ack(UBX_MSG_CFG_RATE, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
 
 	/* send a NAV5 message to set the options for the internal filter */
-	type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet;
-	memset(&cfg_nav5_packet, 0, sizeof(cfg_nav5_packet));
-
-	_message_class_needed = UBX_CLASS_CFG;
-	_message_id_needed = UBX_MESSAGE_CFG_NAV5;
+	memset(&_buf.payload_tx_cfg_nav5, 0, sizeof(_buf.payload_tx_cfg_nav5));
+	_buf.payload_tx_cfg_nav5.mask		= UBX_TX_CFG_NAV5_MASK;
+	_buf.payload_tx_cfg_nav5.dynModel	= UBX_TX_CFG_NAV5_DYNMODEL;
+	_buf.payload_tx_cfg_nav5.fixMode	= UBX_TX_CFG_NAV5_FIXMODE;
 
-	cfg_nav5_packet.clsID        = UBX_CLASS_CFG;
-	cfg_nav5_packet.msgID        = UBX_MESSAGE_CFG_NAV5;
-	cfg_nav5_packet.length       = UBX_CFG_NAV5_LENGTH;
-	cfg_nav5_packet.mask         = UBX_CFG_NAV5_PAYLOAD_MASK;
-	cfg_nav5_packet.dynModel     = UBX_CFG_NAV5_PAYLOAD_DYNMODEL;
-	cfg_nav5_packet.fixMode      = UBX_CFG_NAV5_PAYLOAD_FIXMODE;
+	send_message(UBX_MSG_CFG_NAV5, _buf.raw, sizeof(_buf.payload_tx_cfg_nav5));
 
-	send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
-
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: configuration failed: NAV5");
+	if (wait_for_ack(UBX_MSG_CFG_NAV5, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
 
 	/* configure message rates */
 	/* the last argument is divisor for measurement rate (set by CFG RATE), i.e. 1 means 5Hz */
-	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1);
 
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: msg rate configuration failed: NAV POSLLH");
-		return 1;
+	/* try to set rate for NAV-PVT */
+	/* (implemented for ubx7+ modules only, use NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC for ubx6) */
+	configure_message_rate(UBX_MSG_NAV_PVT, 1);
+	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+		_use_nav_pvt = false;
+	} else {
+		_use_nav_pvt = true;
 	}
+	UBX_WARN("%susing NAV-PVT", _use_nav_pvt ? "" : "not ");
 
-	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1);
+	if (!_use_nav_pvt) {
+		configure_message_rate(UBX_MSG_NAV_TIMEUTC, 5);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: msg rate configuration failed: NAV TIMEUTC");
-		return 1;
-	}
+		configure_message_rate(UBX_MSG_NAV_POSLLH, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1);
+		configure_message_rate(UBX_MSG_NAV_SOL, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: msg rate configuration failed: NAV SOL");
-		return 1;
+		configure_message_rate(UBX_MSG_NAV_VELNED, 1);
+		if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
+			return 1;
+		}
 	}
 
-	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1);
-
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: msg rate configuration failed: NAV VELNED");
+	configure_message_rate(UBX_MSG_NAV_SVINFO, (_satellite_info != nullptr) ? 5 : 0);
+	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
 
-	configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
-
-	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
-		warnx("ubx: msg rate configuration failed: NAV SVINFO");
+	configure_message_rate(UBX_MSG_MON_HW, 1);
+	if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
 		return 1;
 	}
 
+	/* request module version information by sending an empty MON-VER message */
+	send_message(UBX_MSG_MON_VER, nullptr, 0);
+
 	_configured = true;
 	return 0;
 }
 
-int
-UBX::wait_for_ack(unsigned timeout)
+int	// -1 = NAK, error or timeout, 0 = ACK
+UBX::wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report)
 {
-	_waiting_for_ack = true;
-	uint64_t time_started = hrt_absolute_time();
+	int ret = -1;
 
-	while (hrt_absolute_time() < time_started + timeout * 1000) {
-		if (receive(timeout) > 0) {
-			if (!_waiting_for_ack) {
-				return 1;
-			}
+	_ack_state = UBX_ACK_WAITING;
+	_ack_waiting_msg = msg;	// memorize sent msg class&ID for ACK check
+
+	hrt_abstime time_started = hrt_absolute_time();
+
+	while ((_ack_state == UBX_ACK_WAITING) && (hrt_absolute_time() < time_started + timeout * 1000)) {
+		receive(timeout);
+	}
 
+	if (_ack_state == UBX_ACK_GOT_ACK) {
+		ret = 0;	// ACK received ok
+	} else if (report) {
+		if (_ack_state == UBX_ACK_GOT_NAK) {
+			UBX_WARN("ubx msg 0x%04x NAK", SWAP16((unsigned)msg));
 		} else {
-			return -1;	// timeout or error receiving, or NAK
+			UBX_WARN("ubx msg 0x%04x ACK timeout", SWAP16((unsigned)msg));
 		}
 	}
 
-	return -1;	// timeout
+	_ack_state = UBX_ACK_IDLE;
+	return ret;
 }
 
-int
-UBX::receive(unsigned timeout)
+int	// -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled
+UBX::receive(const unsigned timeout)
 {
 	/* poll descriptor */
 	pollfd fds[1];
@@ -265,22 +284,25 @@ UBX::receive(unsigned timeout)
 
 	ssize_t count = 0;
 
-	bool handled = false;
+	int handled = 0;
 
 	while (true) {
+		bool ready_to_return = _configured ? (_got_posllh && _got_velned) : handled;
 
 		/* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */
-		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout);
+		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), ready_to_return ? UBX_PACKET_TIMEOUT : timeout);
 
 		if (ret < 0) {
 			/* something went wrong when polling */
-			warnx("ubx: poll error");
+			UBX_WARN("ubx poll() err");
 			return -1;
 
 		} else if (ret == 0) {
 			/* return success after short delay after receiving a packet or timeout after long delay */
-			if (handled) {
-				return 1;
+			if (ready_to_return) {
+				_got_posllh = false;
+				_got_velned = false;
+				return handled;
 
 			} else {
 				return -1;
@@ -300,419 +322,675 @@ UBX::receive(unsigned timeout)
 
 				/* pass received bytes to the packet decoder */
 				for (int i = 0; i < count; i++) {
-					if (parse_char(buf[i]) > 0) {
-						if (handle_message() > 0)
-							handled = true;
-					}
+					handled |= parse_char(buf[i]);
 				}
 			}
 		}
 
 		/* abort after timeout if no useful packets received */
 		if (time_started + timeout * 1000 < hrt_absolute_time()) {
-			warnx("ubx: timeout - no useful messages");
 			return -1;
 		}
 	}
 }
 
-int
-UBX::parse_char(uint8_t b)
+int	// 0 = decoding, 1 = message handled, 2 = sat info message handled
+UBX::parse_char(const uint8_t b)
 {
+	int ret = 0;
+
 	switch (_decode_state) {
-		/* First, look for sync1 */
-	case UBX_DECODE_UNINIT:
-		if (b == UBX_SYNC1) {
-			_decode_state = UBX_DECODE_GOT_SYNC1;
-		}
 
+	/* Expecting Sync1 */
+	case UBX_DECODE_SYNC1:
+		if (b == UBX_SYNC1) {	// Sync1 found --> expecting Sync2
+			UBX_TRACE_PARSER("\nA");
+			_decode_state = UBX_DECODE_SYNC2;
+		}
 		break;
 
-		/* Second, look for sync2 */
-	case UBX_DECODE_GOT_SYNC1:
-		if (b == UBX_SYNC2) {
-			_decode_state = UBX_DECODE_GOT_SYNC2;
+	/* Expecting Sync2 */
+	case UBX_DECODE_SYNC2:
+		if (b == UBX_SYNC2) {	// Sync2 found --> expecting Class
+			UBX_TRACE_PARSER("B");
+			_decode_state = UBX_DECODE_CLASS;
 
-		} else {
-			/* Second start symbol was wrong, reset state machine */
+		} else {		// Sync1 not followed by Sync2: reset parser
 			decode_init();
-			/* don't return error, it can be just false sync1 */
 		}
+		break;
 
+	/* Expecting Class */
+	case UBX_DECODE_CLASS:
+		UBX_TRACE_PARSER("C");
+		add_byte_to_checksum(b);  // checksum is calculated for everything except Sync and Checksum bytes
+		_rx_msg = b;
+		_decode_state = UBX_DECODE_ID;
 		break;
 
-		/* Now look for class */
-	case UBX_DECODE_GOT_SYNC2:
-		/* everything except sync1 and sync2 needs to be added to the checksum */
+	/* Expecting ID */
+	case UBX_DECODE_ID:
+		UBX_TRACE_PARSER("D");
 		add_byte_to_checksum(b);
-		_message_class = b;
-		_decode_state = UBX_DECODE_GOT_CLASS;
+		_rx_msg |= b << 8;
+		_decode_state = UBX_DECODE_LENGTH1;
 		break;
 
-	case UBX_DECODE_GOT_CLASS:
+	/* Expecting first length byte */
+	case UBX_DECODE_LENGTH1:
+		UBX_TRACE_PARSER("E");
 		add_byte_to_checksum(b);
-		_message_id = b;
-		_decode_state = UBX_DECODE_GOT_MESSAGEID;
+		_rx_payload_length = b;
+		_decode_state = UBX_DECODE_LENGTH2;
 		break;
 
-	case UBX_DECODE_GOT_MESSAGEID:
+	/* Expecting second length byte */
+	case UBX_DECODE_LENGTH2:
+		UBX_TRACE_PARSER("F");
 		add_byte_to_checksum(b);
-		_payload_size = b; //this is the first length byte
-		_decode_state = UBX_DECODE_GOT_LENGTH1;
+		_rx_payload_length |= b << 8;	// calculate payload size
+		if (payload_rx_init() != 0) {	// start payload reception
+			// payload will not be handled, discard message
+			decode_init();
+		} else {
+			_decode_state = (_rx_payload_length > 0) ? UBX_DECODE_PAYLOAD : UBX_DECODE_CHKSUM1;
+		}
 		break;
 
-	case UBX_DECODE_GOT_LENGTH1:
+	/* Expecting payload */
+	case UBX_DECODE_PAYLOAD:
+		UBX_TRACE_PARSER(".");
 		add_byte_to_checksum(b);
-		_payload_size += b << 8; // here comes the second byte of length
-		_decode_state = UBX_DECODE_GOT_LENGTH2;
+		switch (_rx_msg) {
+		case UBX_MSG_NAV_SVINFO:
+			ret = payload_rx_add_nav_svinfo(b);	// add a NAV-SVINFO payload byte
+			break;
+		case UBX_MSG_MON_VER:
+			ret = payload_rx_add_mon_ver(b);	// add a MON-VER payload byte
+			break;
+		default:
+			ret = payload_rx_add(b);		// add a payload byte
+			break;
+		}
+		if (ret < 0) {
+			// payload not handled, discard message
+			decode_init();
+		} else if (ret > 0) {
+			// payload complete, expecting checksum
+			_decode_state = UBX_DECODE_CHKSUM1;
+		} else {
+			// expecting more payload, stay in state UBX_DECODE_PAYLOAD
+		}
+		ret = 0;
 		break;
 
-	case UBX_DECODE_GOT_LENGTH2:
+	/* Expecting first checksum byte */
+	case UBX_DECODE_CHKSUM1:
+		if (_rx_ck_a != b) {
+			UBX_WARN("ubx checksum err");
+			decode_init();
+		} else {
+			_decode_state = UBX_DECODE_CHKSUM2;
+		}
+		break;
 
-		/* Add to checksum if not yet at checksum byte */
-		if (_rx_count < _payload_size)
-			add_byte_to_checksum(b);
+	/* Expecting second checksum byte */
+	case UBX_DECODE_CHKSUM2:
+		if (_rx_ck_b != b) {
+			UBX_WARN("ubx checksum err");
+		} else {
+			ret = payload_rx_done();	// finish payload processing
+		}
+		decode_init();
+		break;
 
-		_rx_buffer[_rx_count] = b;
+	default:
+		break;
+	}
 
-		/* once the payload has arrived, we can process the information */
-		if (_rx_count >= _payload_size + 1) { //+1 because of 2 checksum bytes
-			/* compare checksum */
-			if (_rx_ck_a == _rx_buffer[_rx_count - 1] && _rx_ck_b == _rx_buffer[_rx_count]) {
-				decode_init();
-				return 1;	// message received successfully
+	return ret;
+}
 
-			} else {
-				warnx("ubx: checksum wrong");
-				decode_init();
-				return -1;
-			}
+/**
+ * Start payload rx
+ */
+int	// -1 = abort, 0 = continue
+UBX::payload_rx_init()
+{
+	int ret = 0;
 
-		} else if (_rx_count < RECV_BUFFER_SIZE) {
-			_rx_count++;
+	_rx_state = UBX_RXMSG_HANDLE;	// handle by default
+
+	switch (_rx_msg) {
+	case UBX_MSG_NAV_PVT:
+		if (   (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7)		/* u-blox 7 msg format */
+		    && (_rx_payload_length != UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8))	/* u-blox 8+ msg format */
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (!_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if not using NAV-PVT
+		break;
 
-		} else {
-			warnx("ubx: buffer full");
-			decode_init();
-			return -1;
-		}
+	case UBX_MSG_NAV_POSLLH:
+		if (_rx_payload_length != sizeof(ubx_payload_rx_nav_posllh_t))
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
+		break;
+
+	case UBX_MSG_NAV_SOL:
+		if (_rx_payload_length != sizeof(ubx_payload_rx_nav_sol_t))
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
+		break;
+
+	case UBX_MSG_NAV_TIMEUTC:
+		if (_rx_payload_length != sizeof(ubx_payload_rx_nav_timeutc_t))
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
+		break;
+
+	case UBX_MSG_NAV_SVINFO:
+		if (_satellite_info == nullptr)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if sat info not requested
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else
+			memset(_satellite_info, 0, sizeof(*_satellite_info));	// initialize sat info
+		break;
+
+	case UBX_MSG_NAV_VELNED:
+		if (_rx_payload_length != sizeof(ubx_payload_rx_nav_velned_t))
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		else if (_use_nav_pvt)
+			_rx_state = UBX_RXMSG_DISABLE;	// disable if using NAV-PVT instead
+		break;
+
+	case UBX_MSG_MON_VER:
+		break;		// unconditionally handle this message
 
+	case UBX_MSG_MON_HW:
+		if (   (_rx_payload_length != sizeof(ubx_payload_rx_mon_hw_ubx6_t))	/* u-blox 6 msg format */
+		    && (_rx_payload_length != sizeof(ubx_payload_rx_mon_hw_ubx7_t)))	/* u-blox 7+ msg format */
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (!_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if not _configured
+		break;
+
+	case UBX_MSG_ACK_ACK:
+		if (_rx_payload_length != sizeof(ubx_payload_rx_ack_ack_t))
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if _configured
+		break;
+
+	case UBX_MSG_ACK_NAK:
+		if (_rx_payload_length != sizeof(ubx_payload_rx_ack_nak_t))
+			_rx_state = UBX_RXMSG_ERROR_LENGTH;
+		else if (_configured)
+			_rx_state = UBX_RXMSG_IGNORE;	// ignore if _configured
 		break;
 
 	default:
+		_rx_state = UBX_RXMSG_DISABLE;	// disable all other messages
 		break;
 	}
 
-	return 0;	// message decoding in progress
+	switch (_rx_state) {
+	case UBX_RXMSG_HANDLE:	// handle message
+	case UBX_RXMSG_IGNORE:	// ignore message but don't report error
+		ret = 0;
+		break;
+
+	case UBX_RXMSG_DISABLE:	// disable unexpected messages
+		UBX_WARN("ubx msg 0x%04x len %u unexpected", SWAP16((unsigned)_rx_msg), (unsigned)_rx_payload_length);
+
+		{
+			hrt_abstime t = hrt_absolute_time();
+
+			if (t > _disable_cmd_last + DISABLE_MSG_INTERVAL) {
+				/* don't attempt for every message to disable, some might not be disabled */
+				_disable_cmd_last = t;
+				UBX_WARN("ubx disabling msg 0x%04x", SWAP16((unsigned)_rx_msg));
+				configure_message_rate(_rx_msg, 0);
+			}
+		}
+
+		ret = -1;	// return error, abort handling this message
+		break;
+
+	case UBX_RXMSG_ERROR_LENGTH:	// error: invalid length
+		UBX_WARN("ubx msg 0x%04x invalid len %u", SWAP16((unsigned)_rx_msg), (unsigned)_rx_payload_length);
+		ret = -1;	// return error, abort handling this message
+		break;
+
+	default:	// invalid message state
+		UBX_WARN("ubx internal err1");
+		ret = -1;	// return error, abort handling this message
+		break;
+	}
+
+	return ret;
 }
 
+/**
+ * Add payload rx byte
+ */
+int	// -1 = error, 0 = ok, 1 = payload completed
+UBX::payload_rx_add(const uint8_t b)
+{
+	int ret = 0;
 
+	_buf.raw[_rx_payload_index] = b;
 
-int
-UBX::handle_message()
+	if (++_rx_payload_index >= _rx_payload_length) {
+		ret = 1;	// payload received completely
+	}
+
+	return ret;
+}
+
+/**
+ * Add NAV-SVINFO payload rx byte
+ */
+int	// -1 = error, 0 = ok, 1 = payload completed
+UBX::payload_rx_add_nav_svinfo(const uint8_t b)
 {
 	int ret = 0;
 
-	if (_configured) {
-		/* handle only info messages when configured */
-		switch (_message_class) {
-		case UBX_CLASS_NAV:
-			switch (_message_id) {
-			case UBX_MESSAGE_NAV_POSLLH: {
-					// printf("GOT NAV_POSLLH\n");
-					gps_bin_nav_posllh_packet_t *packet = (gps_bin_nav_posllh_packet_t *) _rx_buffer;
-
-					_gps_position->lat = packet->lat;
-					_gps_position->lon = packet->lon;
-					_gps_position->alt = packet->height_msl;
-					_gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
-					_gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
-					_gps_position->timestamp_position = hrt_absolute_time();
-
-					_rate_count_lat_lon++;
-
-					ret = 1;
-					break;
-				}
+	if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t)) {
+		// Fill Part 1 buffer
+		_buf.raw[_rx_payload_index] = b;
+	} else {
+		if (_rx_payload_index == sizeof(ubx_payload_rx_nav_svinfo_part1_t)) {
+			// Part 1 complete: decode Part 1 buffer
+			_satellite_info->count = MIN(_buf.payload_rx_nav_svinfo_part1.numCh, SAT_INFO_MAX_SATELLITES);
+			UBX_TRACE_SVINFO("SVINFO len %u  numCh %u\n", (unsigned)_rx_payload_length, (unsigned)_buf.payload_rx_nav_svinfo_part1.numCh);
+		}
+		if (_rx_payload_index < sizeof(ubx_payload_rx_nav_svinfo_part1_t) + _satellite_info->count * sizeof(ubx_payload_rx_nav_svinfo_part2_t)) {
+			// Still room in _satellite_info: fill Part 2 buffer
+			unsigned buf_index = (_rx_payload_index - sizeof(ubx_payload_rx_nav_svinfo_part1_t)) % sizeof(ubx_payload_rx_nav_svinfo_part2_t);
+			_buf.raw[buf_index] = b;
+			if (buf_index == sizeof(ubx_payload_rx_nav_svinfo_part2_t) - 1) {
+				// Part 2 complete: decode Part 2 buffer
+				unsigned sat_index = (_rx_payload_index - sizeof(ubx_payload_rx_nav_svinfo_part1_t)) / sizeof(ubx_payload_rx_nav_svinfo_part2_t);
+				_satellite_info->used[sat_index]	= (uint8_t)(_buf.payload_rx_nav_svinfo_part2.flags & 0x01);
+				_satellite_info->snr[sat_index]		= (uint8_t)(_buf.payload_rx_nav_svinfo_part2.cno);
+				_satellite_info->elevation[sat_index]	= (uint8_t)(_buf.payload_rx_nav_svinfo_part2.elev);
+				_satellite_info->azimuth[sat_index]	= (uint8_t)((float)_buf.payload_rx_nav_svinfo_part2.azim * 255.0f / 360.0f);
+				_satellite_info->svid[sat_index]	= (uint8_t)(_buf.payload_rx_nav_svinfo_part2.svid);
+				UBX_TRACE_SVINFO("SVINFO #%02u  used %u  snr %3u  elevation %3u  azimuth %3u  svid %3u\n",
+						(unsigned)sat_index + 1,
+						(unsigned)_satellite_info->used[sat_index],
+						(unsigned)_satellite_info->snr[sat_index],
+						(unsigned)_satellite_info->elevation[sat_index],
+						(unsigned)_satellite_info->azimuth[sat_index],
+						(unsigned)_satellite_info->svid[sat_index]
+				);
+			}
+		}
+	}
 
-			case UBX_MESSAGE_NAV_SOL: {
-					// printf("GOT NAV_SOL\n");
-					gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
+	if (++_rx_payload_index >= _rx_payload_length) {
+		ret = 1;	// payload received completely
+	}
+
+	return ret;
+}
 
-					_gps_position->fix_type = packet->gpsFix;
-					_gps_position->s_variance_m_s = packet->sAcc;
-					_gps_position->p_variance_m = packet->pAcc;
-					_gps_position->timestamp_variance = hrt_absolute_time();
+/**
+ * Add MON-VER payload rx byte
+ */
+int	// -1 = error, 0 = ok, 1 = payload completed
+UBX::payload_rx_add_mon_ver(const uint8_t b)
+{
+	int ret = 0;
 
-					ret = 1;
-					break;
-				}
+	if (_rx_payload_index < sizeof(ubx_payload_rx_mon_ver_part1_t)) {
+		// Fill Part 1 buffer
+		_buf.raw[_rx_payload_index] = b;
+	} else {
+		if (_rx_payload_index == sizeof(ubx_payload_rx_mon_ver_part1_t)) {
+			// Part 1 complete: decode Part 1 buffer and calculate hash for SW&HW version strings
+			_ubx_version = fnv1_32_str(_buf.payload_rx_mon_ver_part1.swVersion, FNV1_32_INIT);
+			_ubx_version = fnv1_32_str(_buf.payload_rx_mon_ver_part1.hwVersion, _ubx_version);
+			UBX_WARN("VER hash 0x%08x", _ubx_version);
+			UBX_WARN("VER hw  \"%10s\"", _buf.payload_rx_mon_ver_part1.hwVersion);
+			UBX_WARN("VER sw  \"%30s\"", _buf.payload_rx_mon_ver_part1.swVersion);
+		}
+		// fill Part 2 buffer
+		unsigned buf_index = (_rx_payload_index - sizeof(ubx_payload_rx_mon_ver_part1_t)) % sizeof(ubx_payload_rx_mon_ver_part2_t);
+		_buf.raw[buf_index] = b;
+		if (buf_index == sizeof(ubx_payload_rx_mon_ver_part2_t) - 1) {
+			// Part 2 complete: decode Part 2 buffer
+			UBX_WARN("VER ext \" %30s\"", _buf.payload_rx_mon_ver_part2.extension);
+		}
+	}
 
-			case UBX_MESSAGE_NAV_TIMEUTC: {
-					// printf("GOT NAV_TIMEUTC\n");
-					gps_bin_nav_timeutc_packet_t *packet = (gps_bin_nav_timeutc_packet_t *) _rx_buffer;
+	if (++_rx_payload_index >= _rx_payload_length) {
+		ret = 1;	// payload received completely
+	}
 
-					/* convert to unix timestamp */
-					struct tm timeinfo;
-					timeinfo.tm_year = packet->year - 1900;
-					timeinfo.tm_mon = packet->month - 1;
-					timeinfo.tm_mday = packet->day;
-					timeinfo.tm_hour = packet->hour;
-					timeinfo.tm_min = packet->min;
-					timeinfo.tm_sec = packet->sec;
-					time_t epoch = mktime(&timeinfo);
+	return ret;
+}
+
+/**
+ * Finish payload rx
+ */
+int	// 0 = no message handled, 1 = message handled, 2 = sat info message handled
+UBX::payload_rx_done(void)
+{
+	int ret = 0;
+
+	// return if no message handled
+	if (_rx_state != UBX_RXMSG_HANDLE) {
+		return ret;
+	}
+
+	// handle message
+	switch (_rx_msg) {
+
+	case UBX_MSG_NAV_PVT:
+		UBX_TRACE_RXMSG("Rx NAV-PVT\n");
+
+		_gps_position->fix_type		= _buf.payload_rx_nav_pvt.fixType;
+		_gps_position->satellites_used	= _buf.payload_rx_nav_pvt.numSV;
+
+		_gps_position->lat		= _buf.payload_rx_nav_pvt.lat;
+		_gps_position->lon		= _buf.payload_rx_nav_pvt.lon;
+		_gps_position->alt		= _buf.payload_rx_nav_pvt.hMSL;
+
+		_gps_position->eph		= (float)_buf.payload_rx_nav_pvt.hAcc * 1e-3f;
+		_gps_position->epv		= (float)_buf.payload_rx_nav_pvt.vAcc * 1e-3f;
+		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_pvt.sAcc * 1e-3f;
+
+		_gps_position->vel_m_s		= (float)_buf.payload_rx_nav_pvt.gSpeed * 1e-3f;
+
+		_gps_position->vel_n_m_s	= (float)_buf.payload_rx_nav_pvt.velN * 1e-3f;
+		_gps_position->vel_e_m_s	= (float)_buf.payload_rx_nav_pvt.velE * 1e-3f;
+		_gps_position->vel_d_m_s	= (float)_buf.payload_rx_nav_pvt.velD * 1e-3f;
+		_gps_position->vel_ned_valid	= true;
+
+		_gps_position->cog_rad		= (float)_buf.payload_rx_nav_pvt.headMot * M_DEG_TO_RAD_F * 1e-5f;
+		_gps_position->c_variance_rad	= (float)_buf.payload_rx_nav_pvt.headAcc * M_DEG_TO_RAD_F * 1e-5f;
+
+		{
+			/* convert to unix timestamp */
+			struct tm timeinfo;
+			timeinfo.tm_year	= _buf.payload_rx_nav_pvt.year - 1900;
+			timeinfo.tm_mon		= _buf.payload_rx_nav_pvt.month - 1;
+			timeinfo.tm_mday	= _buf.payload_rx_nav_pvt.day;
+			timeinfo.tm_hour	= _buf.payload_rx_nav_pvt.hour;
+			timeinfo.tm_min		= _buf.payload_rx_nav_pvt.min;
+			timeinfo.tm_sec		= _buf.payload_rx_nav_pvt.sec;
+			time_t epoch = mktime(&timeinfo);
 
 #ifndef CONFIG_RTC
-					//Since we lack a hardware RTC, set the system time clock based on GPS UTC
-					//TODO generalize this by moving into gps.cpp?
-					timespec ts;
-					ts.tv_sec = epoch;
-					ts.tv_nsec = packet->time_nanoseconds;
-					clock_settime(CLOCK_REALTIME, &ts);
+			//Since we lack a hardware RTC, set the system time clock based on GPS UTC
+			//TODO generalize this by moving into gps.cpp?
+			timespec ts;
+			ts.tv_sec = epoch;
+			ts.tv_nsec = _buf.payload_rx_nav_pvt.nano;
+			clock_settime(CLOCK_REALTIME, &ts);
 #endif
 
-					_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
-					_gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f);
-					_gps_position->timestamp_time = hrt_absolute_time();
+			_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+			_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_pvt.nano * 1e-3f);
+		}
 
-					ret = 1;
-					break;
-				}
+		_gps_position->timestamp_time		= hrt_absolute_time();
+		_gps_position->timestamp_velocity 	= hrt_absolute_time();
+		_gps_position->timestamp_variance 	= hrt_absolute_time();
+		_gps_position->timestamp_position	= hrt_absolute_time();
 
-			case UBX_MESSAGE_NAV_SVINFO: {
-					//printf("GOT NAV_SVINFO\n");
-					const int length_part1 = 8;
-					gps_bin_nav_svinfo_part1_packet_t *packet_part1 = (gps_bin_nav_svinfo_part1_packet_t *) _rx_buffer;
-					const int length_part2 = 12;
-					gps_bin_nav_svinfo_part2_packet_t *packet_part2;
-
-					uint8_t satellites_used = 0;
-					int i;
-
-					//printf("Number of Channels: %d\n", packet_part1->numCh);
-					for (i = 0; i < packet_part1->numCh; i++) {
-						/* set pointer to sattelite_i information */
-						packet_part2 = (gps_bin_nav_svinfo_part2_packet_t *) & (_rx_buffer[length_part1 + i * length_part2]);
-
-						/* write satellite information to global storage */
-						uint8_t sv_used = packet_part2->flags & 0x01;
-
-						if (sv_used) {
-							/* count SVs used for NAV */
-							satellites_used++;
-						}
-
-						/* record info for all channels, whether or not the SV is used for NAV */
-						_gps_position->satellite_used[i] = sv_used;
-						_gps_position->satellite_snr[i] = packet_part2->cno;
-						_gps_position->satellite_elevation[i] = (uint8_t)(packet_part2->elev);
-						_gps_position->satellite_azimuth[i] = (uint8_t)((float)packet_part2->azim * 255.0f / 360.0f);
-						_gps_position->satellite_prn[i] = packet_part2->svid;
-						//printf("SAT %d: %d %d %d %d\n", i, (int)sv_used, (int)packet_part2->cno, (int)(uint8_t)(packet_part2->elev), (int)packet_part2->svid);
-					}
-
-					for (i = packet_part1->numCh; i < 20; i++) {
-						/* unused channels have to be set to zero for e.g. MAVLink */
-						_gps_position->satellite_prn[i] = 0;
-						_gps_position->satellite_used[i] = 0;
-						_gps_position->satellite_snr[i] = 0;
-						_gps_position->satellite_elevation[i] = 0;
-						_gps_position->satellite_azimuth[i] = 0;
-					}
-
-					_gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
-
-					if (packet_part1->numCh > 0) {
-						_gps_position->satellite_info_available = true;
-
-					} else {
-						_gps_position->satellite_info_available = false;
-					}
-
-					_gps_position->timestamp_satellites = hrt_absolute_time();
-
-					ret = 1;
-					break;
-				}
+		_rate_count_vel++;
+		_rate_count_lat_lon++;
 
-			case UBX_MESSAGE_NAV_VELNED: {
-					// printf("GOT NAV_VELNED\n");
-					gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
+		_got_posllh = true;
+		_got_velned = true;
 
-					_gps_position->vel_m_s   = (float)packet->speed * 1e-2f;
-					_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
-					_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
-					_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
-					_gps_position->cog_rad   = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
-					_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
-					_gps_position->vel_ned_valid = true;
-					_gps_position->timestamp_velocity = hrt_absolute_time();
+		ret = 1;
+		break;
 
-					_rate_count_vel++;
+	case UBX_MSG_NAV_POSLLH:
+		UBX_TRACE_RXMSG("Rx NAV-POSLLH\n");
 
-					ret = 1;
-					break;
-				}
+		_gps_position->lat	= _buf.payload_rx_nav_posllh.lat;
+		_gps_position->lon	= _buf.payload_rx_nav_posllh.lon;
+		_gps_position->alt	= _buf.payload_rx_nav_posllh.hMSL;
+		_gps_position->eph	= (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m
+		_gps_position->epv	= (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m
 
-			default:
-				break;
-			}
+		_gps_position->timestamp_position = hrt_absolute_time();
+
+		_rate_count_lat_lon++;
+		_got_posllh = true;
+
+		ret = 1;
+		break;
+
+	case UBX_MSG_NAV_SOL:
+		UBX_TRACE_RXMSG("Rx NAV-SOL\n");
+
+		_gps_position->fix_type		= _buf.payload_rx_nav_sol.gpsFix;
+		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f;	// from cm to m
+		_gps_position->satellites_used	= _buf.payload_rx_nav_sol.numSV;
+
+		_gps_position->timestamp_variance = hrt_absolute_time();
+
+		ret = 1;
+		break;
+
+	case UBX_MSG_NAV_TIMEUTC:
+		UBX_TRACE_RXMSG("Rx NAV-TIMEUTC\n");
 
+		{
+			/* convert to unix timestamp */
+			struct tm timeinfo;
+			timeinfo.tm_year	= _buf.payload_rx_nav_timeutc.year - 1900;
+			timeinfo.tm_mon		= _buf.payload_rx_nav_timeutc.month - 1;
+			timeinfo.tm_mday	= _buf.payload_rx_nav_timeutc.day;
+			timeinfo.tm_hour	= _buf.payload_rx_nav_timeutc.hour;
+			timeinfo.tm_min		= _buf.payload_rx_nav_timeutc.min;
+			timeinfo.tm_sec		= _buf.payload_rx_nav_timeutc.sec;
+			time_t epoch = mktime(&timeinfo);
+
+#ifndef CONFIG_RTC
+			//Since we lack a hardware RTC, set the system time clock based on GPS UTC
+			//TODO generalize this by moving into gps.cpp?
+			timespec ts;
+			ts.tv_sec = epoch;
+			ts.tv_nsec = _buf.payload_rx_nav_timeutc.nano;
+			clock_settime(CLOCK_REALTIME, &ts);
+#endif
+
+			_gps_position->time_gps_usec = (uint64_t)epoch * 1000000; //TODO: test this
+			_gps_position->time_gps_usec += (uint64_t)(_buf.payload_rx_nav_timeutc.nano * 1e-3f);
+		}
+
+		_gps_position->timestamp_time = hrt_absolute_time();
+
+		ret = 1;
+		break;
+
+	case UBX_MSG_NAV_SVINFO:
+		UBX_TRACE_RXMSG("Rx NAV-SVINFO\n");
+
+		// _satellite_info already populated by payload_rx_add_svinfo(), just add a timestamp
+		_satellite_info->timestamp = hrt_absolute_time();
+
+		ret = 2;
+		break;
+
+	case UBX_MSG_NAV_VELNED:
+		UBX_TRACE_RXMSG("Rx NAV-VELNED\n");
+
+		_gps_position->vel_m_s		= (float)_buf.payload_rx_nav_velned.speed * 1e-2f;
+		_gps_position->vel_n_m_s	= (float)_buf.payload_rx_nav_velned.velN * 1e-2f; /* NED NORTH velocity */
+		_gps_position->vel_e_m_s	= (float)_buf.payload_rx_nav_velned.velE * 1e-2f; /* NED EAST velocity */
+		_gps_position->vel_d_m_s	= (float)_buf.payload_rx_nav_velned.velD * 1e-2f; /* NED DOWN velocity */
+		_gps_position->cog_rad		= (float)_buf.payload_rx_nav_velned.heading * M_DEG_TO_RAD_F * 1e-5f;
+		_gps_position->c_variance_rad	= (float)_buf.payload_rx_nav_velned.cAcc * M_DEG_TO_RAD_F * 1e-5f;
+		_gps_position->vel_ned_valid	= true;
+
+		_gps_position->timestamp_velocity = hrt_absolute_time();
+
+		_rate_count_vel++;
+		_got_velned = true;
+
+		ret = 1;
+		break;
+
+	case UBX_MSG_MON_VER:
+		UBX_TRACE_RXMSG("Rx MON-VER\n");
+
+		ret = 1;
+		break;
+
+	case UBX_MSG_MON_HW:
+		UBX_TRACE_RXMSG("Rx MON-HW\n");
+
+		switch (_rx_payload_length) {
+
+		case sizeof(ubx_payload_rx_mon_hw_ubx6_t):	/* u-blox 6 msg format */
+			_gps_position->noise_per_ms		= _buf.payload_rx_mon_hw_ubx6.noisePerMS;
+			_gps_position->jamming_indicator	= _buf.payload_rx_mon_hw_ubx6.jamInd;
+
+			ret = 1;
 			break;
 
-		case UBX_CLASS_ACK: {
-				/* ignore ACK when already configured */
-				ret = 1;
-				break;
-			}
+		case sizeof(ubx_payload_rx_mon_hw_ubx7_t):	/* u-blox 7+ msg format */
+			_gps_position->noise_per_ms		= _buf.payload_rx_mon_hw_ubx7.noisePerMS;
+			_gps_position->jamming_indicator	= _buf.payload_rx_mon_hw_ubx7.jamInd;
 
-		default:
+			ret = 1;
 			break;
-		}
 
-		if (ret == 0) {
-			/* message not handled */
-			warnx("ubx: unknown message received: 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id);
+		default:		// unexpected payload size:
+			ret = 0;	// don't handle message
+			break;
+		}
+		break;
 
-			hrt_abstime t = hrt_absolute_time();
+	case UBX_MSG_ACK_ACK:
+		UBX_TRACE_RXMSG("Rx ACK-ACK\n");
 
-			if (t > _disable_cmd_last + DISABLE_MSG_INTERVAL) {
-				/* don't attempt for every message to disable, some might not be disabled */
-				_disable_cmd_last = t;
-				warnx("ubx: disabling message 0x%02x-0x%02x", (unsigned)_message_class, (unsigned)_message_id);
-				configure_message_rate(_message_class, _message_id, 0);
-			}
+		if ((_ack_state == UBX_ACK_WAITING) && (_buf.payload_rx_ack_ack.msg == _ack_waiting_msg)) {
+			_ack_state = UBX_ACK_GOT_ACK;
 		}
 
-	} else {
-		/* handle only ACK while configuring */
-		if (_message_class == UBX_CLASS_ACK) {
-			switch (_message_id) {
-			case UBX_MESSAGE_ACK_ACK: {
-					// printf("GOT ACK_ACK\n");
-					gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) _rx_buffer;
-
-					if (_waiting_for_ack) {
-						if (packet->clsID == _message_class_needed && packet->msgID == _message_id_needed) {
-							_waiting_for_ack = false;
-							ret = 1;
-						}
-					}
-
-					break;
-				}
+		ret = 1;
+		break;
 
-			case UBX_MESSAGE_ACK_NAK: {
-					// printf("GOT ACK_NAK\n");
-					warnx("ubx: not acknowledged");
-					/* configuration obviously not successful */
-					_waiting_for_ack = false;
-					ret = -1;
-					break;
-				}
+	case UBX_MSG_ACK_NAK:
+		UBX_TRACE_RXMSG("Rx ACK-NAK\n");
 
-			default:
-				break;
-			}
+		if ((_ack_state == UBX_ACK_WAITING) && (_buf.payload_rx_ack_ack.msg == _ack_waiting_msg)) {
+			_ack_state = UBX_ACK_GOT_NAK;
 		}
+
+		ret = 1;
+		break;
+
+	default:
+		break;
 	}
 
-	decode_init();
 	return ret;
 }
 
 void
 UBX::decode_init(void)
 {
+	_decode_state = UBX_DECODE_SYNC1;
 	_rx_ck_a = 0;
 	_rx_ck_b = 0;
-	_rx_count = 0;
-	_decode_state = UBX_DECODE_UNINIT;
-	_payload_size = 0;
-	/* don't reset _message_class, _message_id, _rx_buffer leave it for message handler */
+	_rx_payload_length = 0;
+	_rx_payload_index = 0;
 }
 
 void
-UBX::add_byte_to_checksum(uint8_t b)
+UBX::add_byte_to_checksum(const uint8_t b)
 {
 	_rx_ck_a = _rx_ck_a + b;
 	_rx_ck_b = _rx_ck_b + _rx_ck_a;
 }
 
 void
-UBX::add_checksum_to_message(uint8_t *message, const unsigned length)
+UBX::calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum)
 {
-	uint8_t ck_a = 0;
-	uint8_t ck_b = 0;
-	unsigned i;
-
-	for (i = 0; i < length - 2; i++) {
-		ck_a = ck_a + message[i];
-		ck_b = ck_b + ck_a;
+	for (uint16_t i = 0; i < length; i++) {
+		checksum->ck_a = checksum->ck_a + buffer[i];
+		checksum->ck_b = checksum->ck_b + checksum->ck_a;
 	}
-
-	/* the checksum is written to the last to bytes of a message */
-	message[length - 2] = ck_a;
-	message[length - 1] = ck_b;
 }
 
 void
-UBX::add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b)
+UBX::configure_message_rate(const uint16_t msg, const uint8_t rate)
 {
-	for (unsigned i = 0; i < length; i++) {
-		ck_a = ck_a + message[i];
-		ck_b = ck_b + ck_a;
-	}
+	ubx_payload_tx_cfg_msg_t cfg_msg;	// don't use _buf (allow interleaved operation)
+
+	cfg_msg.msg	= msg;
+	cfg_msg.rate	= rate;
+
+	send_message(UBX_MSG_CFG_MSG, (uint8_t *)&cfg_msg, sizeof(cfg_msg));
 }
 
 void
-UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate)
+UBX::send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length)
 {
-	struct ubx_cfg_msg_rate msg;
-	msg.msg_class	= msg_class;
-	msg.msg_id		= msg_id;
-	msg.rate		= rate;
-	send_message(UBX_CLASS_CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg));
+	ubx_header_t   header = {UBX_SYNC1, UBX_SYNC2};
+	ubx_checksum_t checksum = {0, 0};
+
+	// Populate header
+	header.msg	= msg;
+	header.length	= length;
+
+	// Calculate checksum
+	calc_checksum(((uint8_t*)&header) + 2, sizeof(header) - 2, &checksum);  // skip 2 sync bytes
+	if (payload != nullptr)
+		calc_checksum(payload, length, &checksum);
+
+	// Send message
+	write(_fd, (const void *)&header, sizeof(header));
+	if (payload != nullptr)
+		write(_fd, (const void *)payload, length);
+	write(_fd, (const void *)&checksum, sizeof(checksum));
 }
 
-void
-UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length)
+uint32_t
+UBX::fnv1_32_str(uint8_t *str, uint32_t hval)
 {
-	ssize_t ret = 0;
-
-	/* calculate the checksum now */
-	add_checksum_to_message(packet, length);
-
-	const uint8_t sync_bytes[] = {UBX_SYNC1, UBX_SYNC2};
+    uint8_t *s = str;
+
+    /*
+     * FNV-1 hash each octet in the buffer
+     */
+    while (*s) {
+
+	/* multiply by the 32 bit FNV magic prime mod 2^32 */
+#if defined(NO_FNV_GCC_OPTIMIZATION)
+	hval *= FNV1_32_PRIME;
+#else
+	hval += (hval<<1) + (hval<<4) + (hval<<7) + (hval<<8) + (hval<<24);
+#endif
 
-	/* start with the two sync bytes */
-	ret += write(fd, sync_bytes, sizeof(sync_bytes));
-	ret += write(fd, packet, length);
+	/* xor the bottom with the current octet */
+	hval ^= (uint32_t)*s++;
+    }
 
-	if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning?
-		warnx("ubx: configuration write fail");
+    /* return our new hash value */
+    return hval;
 }
 
-void
-UBX::send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size)
-{
-	struct ubx_header header;
-	uint8_t ck_a = 0, ck_b = 0;
-	header.sync1 = UBX_SYNC1;
-	header.sync2 = UBX_SYNC2;
-	header.msg_class = msg_class;
-	header.msg_id    = msg_id;
-	header.length    = size;
-
-	add_checksum((uint8_t *)&header.msg_class, sizeof(header) - 2, ck_a, ck_b);
-	add_checksum((uint8_t *)msg, size, ck_a, ck_b);
-
-	/* configure ACK check */
-	_message_class_needed = msg_class;
-	_message_id_needed = msg_id;
-
-	write(_fd, (const char *)&header, sizeof(header));
-	write(_fd, (const char *)msg, size);
-	write(_fd, (const char *)&ck_a, 1);
-	write(_fd, (const char *)&ck_b, 1);
-}
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index 79a904f4a..219a5762a 100644
--- a/src/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,13 +34,16 @@
 /**
  * @file ubx.h
  *
- * U-Blox protocol definition. Following u-blox 6/7 Receiver Description
+ * U-Blox protocol definition. Following u-blox 6/7/8 Receiver Description
  * including Prototol Specification.
  *
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
  *
+ * @author Hannes Delago
+ *   (rework, add ubx7+ compatibility)
+ *
  */
 
 #ifndef UBX_H_
@@ -51,295 +54,433 @@
 #define UBX_SYNC1 0xB5
 #define UBX_SYNC2 0x62
 
-/* ClassIDs (the ones that are used) */
-#define UBX_CLASS_NAV 0x01
-//#define UBX_CLASS_RXM 0x02
-#define UBX_CLASS_ACK 0x05
-#define UBX_CLASS_CFG 0x06
-
-/* MessageIDs (the ones that are used) */
-#define UBX_MESSAGE_NAV_POSLLH 0x02
-//#define UBX_MESSAGE_NAV_DOP 0x04
-#define UBX_MESSAGE_NAV_SOL 0x06
-#define UBX_MESSAGE_NAV_VELNED 0x12
-//#define UBX_MESSAGE_RXM_SVSI 0x20
-#define UBX_MESSAGE_NAV_TIMEUTC 0x21
-#define UBX_MESSAGE_NAV_SVINFO 0x30
-#define UBX_MESSAGE_ACK_NAK 0x00
-#define UBX_MESSAGE_ACK_ACK 0x01
-#define UBX_MESSAGE_CFG_PRT 0x00
-#define UBX_MESSAGE_CFG_MSG 0x01
-#define UBX_MESSAGE_CFG_RATE 0x08
-#define UBX_MESSAGE_CFG_NAV5 0x24
-
-#define UBX_CFG_PRT_LENGTH 20
-#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01			/**< UART1 */
-#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0		/**< 0b0000100011010000: 8N1 */
-#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400		/**< choose 38400 as GPS baudrate */
-#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01		/**< UBX in */
-#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01		/**< UBX out */
-
-#define UBX_CFG_RATE_LENGTH 6
-#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200		/**< 200ms for 5Hz */
-#define UBX_CFG_RATE_PAYLOAD_NAVRATE 1			/**< cannot be changed */
-#define UBX_CFG_RATE_PAYLOAD_TIMEREF 0			/**< 0: UTC, 1: GPS time */
-
-
-#define UBX_CFG_NAV5_LENGTH 36
-#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0005		/**< XXX only update dynamic model and fix mode */
-#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7			/**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
-#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2			/**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
-
-#define UBX_CFG_MSG_LENGTH 8
-#define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 		/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
-#define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05		/**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
-#define UBX_CFG_MSG_PAYLOAD_RATE1_05HZ 10
-
-#define UBX_MAX_PAYLOAD_LENGTH 500
-
-// ************
-/** the structures of the binary packets */
+/* Message Classes */
+#define UBX_CLASS_NAV		0x01
+#define UBX_CLASS_ACK		0x05
+#define UBX_CLASS_CFG		0x06
+#define UBX_CLASS_MON		0x0A
+
+/* Message IDs */
+#define UBX_ID_NAV_POSLLH	0x02
+#define UBX_ID_NAV_SOL		0x06
+#define UBX_ID_NAV_PVT		0x07
+#define UBX_ID_NAV_VELNED	0x12
+#define UBX_ID_NAV_TIMEUTC	0x21
+#define UBX_ID_NAV_SVINFO	0x30
+#define UBX_ID_ACK_NAK		0x00
+#define UBX_ID_ACK_ACK		0x01
+#define UBX_ID_CFG_PRT		0x00
+#define UBX_ID_CFG_MSG		0x01
+#define UBX_ID_CFG_RATE		0x08
+#define UBX_ID_CFG_NAV5		0x24
+#define UBX_ID_MON_VER		0x04
+#define UBX_ID_MON_HW		0x09
+
+/* Message Classes & IDs */
+#define UBX_MSG_NAV_POSLLH	((UBX_CLASS_NAV) | UBX_ID_NAV_POSLLH << 8)
+#define UBX_MSG_NAV_SOL		((UBX_CLASS_NAV) | UBX_ID_NAV_SOL << 8)
+#define UBX_MSG_NAV_PVT		((UBX_CLASS_NAV) | UBX_ID_NAV_PVT << 8)
+#define UBX_MSG_NAV_VELNED	((UBX_CLASS_NAV) | UBX_ID_NAV_VELNED << 8)
+#define UBX_MSG_NAV_TIMEUTC	((UBX_CLASS_NAV) | UBX_ID_NAV_TIMEUTC << 8)
+#define UBX_MSG_NAV_SVINFO	((UBX_CLASS_NAV) | UBX_ID_NAV_SVINFO << 8)
+#define UBX_MSG_ACK_NAK		((UBX_CLASS_ACK) | UBX_ID_ACK_NAK << 8)
+#define UBX_MSG_ACK_ACK		((UBX_CLASS_ACK) | UBX_ID_ACK_ACK << 8)
+#define UBX_MSG_CFG_PRT		((UBX_CLASS_CFG) | UBX_ID_CFG_PRT << 8)
+#define UBX_MSG_CFG_MSG		((UBX_CLASS_CFG) | UBX_ID_CFG_MSG << 8)
+#define UBX_MSG_CFG_RATE	((UBX_CLASS_CFG) | UBX_ID_CFG_RATE << 8)
+#define UBX_MSG_CFG_NAV5	((UBX_CLASS_CFG) | UBX_ID_CFG_NAV5 << 8)
+#define UBX_MSG_MON_HW		((UBX_CLASS_MON) | UBX_ID_MON_HW << 8)
+#define UBX_MSG_MON_VER		((UBX_CLASS_MON) | UBX_ID_MON_VER << 8)
+
+/* RX NAV-PVT message content details */
+/*   Bitfield "valid" masks */
+#define UBX_RX_NAV_PVT_VALID_VALIDDATE		0x01	/**< validDate (Valid UTC Date) */
+#define UBX_RX_NAV_PVT_VALID_VALIDTIME		0x02	/**< validTime (Valid UTC Time) */
+#define UBX_RX_NAV_PVT_VALID_FULLYRESOLVED	0x04	/**< fullyResolved (1 = UTC Time of Day has been fully resolved (no seconds uncertainty)) */
+
+/*   Bitfield "flags" masks */
+#define UBX_RX_NAV_PVT_FLAGS_GNSSFIXOK		0x01	/**< gnssFixOK (A valid fix (i.e within DOP & accuracy masks)) */
+#define UBX_RX_NAV_PVT_FLAGS_DIFFSOLN		0x02	/**< diffSoln (1 if differential corrections were applied) */
+#define UBX_RX_NAV_PVT_FLAGS_PSMSTATE		0x1C	/**< psmState (Power Save Mode state (see Power Management)) */
+#define UBX_RX_NAV_PVT_FLAGS_HEADVEHVALID	0x20	/**< headVehValid (Heading of vehicle is valid) */
+
+/* RX NAV-TIMEUTC message content details */
+/*   Bitfield "valid" masks */
+#define UBX_RX_NAV_TIMEUTC_VALID_VALIDTOW	0x01	/**< validTOW (1 = Valid Time of Week) */
+#define UBX_RX_NAV_TIMEUTC_VALID_VALIDKWN	0x02	/**< validWKN (1 = Valid Week Number) */
+#define UBX_RX_NAV_TIMEUTC_VALID_VALIDUTC	0x04	/**< validUTC (1 = Valid UTC Time) */
+#define UBX_RX_NAV_TIMEUTC_VALID_UTCSTANDARD	0xF0	/**< utcStandard (0..15 = UTC standard identifier) */
+
+/* TX CFG-PRT message contents */
+#define UBX_TX_CFG_PRT_PORTID		0x01		/**< UART1 */
+#define UBX_TX_CFG_PRT_MODE		0x000008D0	/**< 0b0000100011010000: 8N1 */
+#define UBX_TX_CFG_PRT_BAUDRATE		38400		/**< choose 38400 as GPS baudrate */
+#define UBX_TX_CFG_PRT_INPROTOMASK	0x01		/**< UBX in */
+#define UBX_TX_CFG_PRT_OUTPROTOMASK	0x01		/**< UBX out */
+
+/* TX CFG-RATE message contents */
+#define UBX_TX_CFG_RATE_MEASINTERVAL	200		/**< 200ms for 5Hz */
+#define UBX_TX_CFG_RATE_NAVRATE		1		/**< cannot be changed */
+#define UBX_TX_CFG_RATE_TIMEREF		0		/**< 0: UTC, 1: GPS time */
+
+/* TX CFG-NAV5 message contents */
+#define UBX_TX_CFG_NAV5_MASK		0x0005		/**< Only update dynamic model and fix mode */
+#define UBX_TX_CFG_NAV5_DYNMODEL	7		/**< 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
+#define UBX_TX_CFG_NAV5_FIXMODE		2		/**< 1 2D only, 2 3D only, 3 Auto 2D/3D */
+
+/* TX CFG-MSG message contents */
+#define UBX_TX_CFG_MSG_RATE1_5HZ	0x01 		/**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
+#define UBX_TX_CFG_MSG_RATE1_1HZ	0x05		/**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */
+#define UBX_TX_CFG_MSG_RATE1_05HZ	10
+
+
+/*** u-blox protocol binary message and payload definitions ***/
 #pragma pack(push, 1)
 
-struct ubx_header {
-	uint8_t sync1;
-	uint8_t sync2;
-	uint8_t msg_class;
-	uint8_t msg_id;
-	uint16_t length;
-};
-
+/* General: Header */
 typedef struct {
-	uint32_t time_milliseconds;		/**<  GPS Millisecond Time of Week */
-	int32_t lon;					/**<  Longitude * 1e-7, deg */
-	int32_t lat;					/**<  Latitude * 1e-7, deg */
-	int32_t height;					/**<  Height above Ellipsoid, mm */
-	int32_t height_msl;				/**<  Height above mean sea level, mm */
-	uint32_t hAcc;  				/**< Horizontal Accuracy Estimate, mm */
-	uint32_t vAcc;  				/**< Vertical Accuracy Estimate, mm */
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_posllh_packet_t;
+	uint8_t		sync1;
+	uint8_t		sync2;
+	uint16_t	msg;
+	uint16_t	length;
+} ubx_header_t;
 
+/* General: Checksum */
 typedef struct {
-	uint32_t time_milliseconds; 	/**< GPS Millisecond Time of Week */
-	int32_t time_nanoseconds;		/**< Fractional Nanoseconds remainder of rounded ms above, range -500000 .. 500000 */
-	int16_t week;					/**< GPS week (GPS time) */
-	uint8_t gpsFix;					/**< GPS Fix: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
-	uint8_t flags;
-	int32_t ecefX;
-	int32_t ecefY;
-	int32_t ecefZ;
-	uint32_t pAcc;
-	int32_t ecefVX;
-	int32_t ecefVY;
-	int32_t ecefVZ;
-	uint32_t sAcc;
-	uint16_t pDOP;
-	uint8_t reserved1;
-	uint8_t numSV;
-	uint32_t reserved2;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_sol_packet_t;
+	uint8_t		ck_a;
+	uint8_t		ck_b;
+} ubx_checksum_t ;
 
+/* Rx NAV-POSLLH */
 typedef struct {
-	uint32_t time_milliseconds;		/**< GPS Millisecond Time of Week */
-	uint32_t time_accuracy; 		/**< Time Accuracy Estimate, ns */
-	int32_t time_nanoseconds; 		/**< Nanoseconds of second, range -1e9 .. 1e9 (UTC) */
-	uint16_t year; 					/**< Year, range 1999..2099 (UTC) */
-	uint8_t month; 					/**< Month, range 1..12 (UTC) */
-	uint8_t day; 					/**< Day of Month, range 1..31 (UTC) */
-	uint8_t hour; 					/**< Hour of Day, range 0..23 (UTC) */
-	uint8_t min; 					/**< Minute of Hour, range 0..59 (UTC) */
-	uint8_t sec; 					/**< Seconds of Minute, range 0..59 (UTC) */
-	uint8_t valid_flag; 			/**< Validity Flags (see ubx documentation) */
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_timeutc_packet_t;
-
-//typedef struct {
-//	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
-//	uint16_t gDOP; 					/**< Geometric DOP (scaling 0.01) */
-//	uint16_t pDOP; 					/**< Position DOP (scaling 0.01) */
-//	uint16_t tDOP; 					/**< Time DOP (scaling 0.01) */
-//	uint16_t vDOP; 					/**< Vertical DOP (scaling 0.01) */
-//	uint16_t hDOP; 					/**< Horizontal DOP (scaling 0.01) */
-//	uint16_t nDOP; 					/**< Northing DOP (scaling 0.01) */
-//	uint16_t eDOP; 					/**< Easting DOP (scaling 0.01) */
-//	uint8_t ck_a;
-//	uint8_t ck_b;
-//} gps_bin_nav_dop_packet_t;
-
+	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
+	int32_t		lon;		/**< Longitude [1e-7 deg] */
+	int32_t		lat;		/**< Latitude [1e-7 deg] */
+	int32_t		height;		/**< Height above ellipsoid [mm] */
+	int32_t		hMSL;		/**< Height above mean sea level [mm] */
+	uint32_t	hAcc;  		/**< Horizontal accuracy estimate [mm] */
+	uint32_t	vAcc;  		/**< Vertical accuracy estimate [mm] */
+} ubx_payload_rx_nav_posllh_t;
+
+/* Rx NAV-SOL */
 typedef struct {
-	uint32_t time_milliseconds; 	/**<  GPS Millisecond Time of Week */
-	uint8_t numCh; 					/**< Number of channels */
-	uint8_t globalFlags;
-	uint16_t reserved2;
-
-} gps_bin_nav_svinfo_part1_packet_t;
-
+	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
+	int32_t		fTOW;		/**< Fractional part of iTOW (range: +/-500000) [ns] */
+	int16_t		week;		/**< GPS week */
+	uint8_t		gpsFix;		/**< GPSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GPS + dead reckoning, 5 = time only fix */
+	uint8_t		flags;
+	int32_t		ecefX;
+	int32_t		ecefY;
+	int32_t		ecefZ;
+	uint32_t	pAcc;
+	int32_t		ecefVX;
+	int32_t		ecefVY;
+	int32_t		ecefVZ;
+	uint32_t	sAcc;
+	uint16_t	pDOP;
+	uint8_t		reserved1;
+	uint8_t		numSV;		/**< Number of SVs used in Nav Solution */
+	uint32_t	reserved2;
+} ubx_payload_rx_nav_sol_t;
+
+/* Rx NAV-PVT (ubx8) */
 typedef struct {
-	uint8_t chn; 					/**< Channel number, 255 for SVs not assigned to a channel */
-	uint8_t svid; 					/**< Satellite ID */
-	uint8_t flags;
-	uint8_t quality;
-	uint8_t cno; 					/**< Carrier to Noise Ratio (Signal Strength), dbHz */
-	int8_t elev; 					/**< Elevation in integer degrees */
-	int16_t azim; 					/**< Azimuth in integer degrees */
-	int32_t prRes; 					/**< Pseudo range residual in centimetres */
-
-} gps_bin_nav_svinfo_part2_packet_t;
-
+	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
+	uint16_t	year; 		/**< Year (UTC)*/
+	uint8_t		month; 		/**< Month, range 1..12 (UTC) */
+	uint8_t		day; 		/**< Day of month, range 1..31 (UTC) */
+	uint8_t		hour; 		/**< Hour of day, range 0..23 (UTC) */
+	uint8_t		min; 		/**< Minute of hour, range 0..59 (UTC) */
+	uint8_t		sec;		/**< Seconds of minute, range 0..60 (UTC) */
+	uint8_t		valid; 		/**< Validity flags (see UBX_RX_NAV_PVT_VALID_...) */
+	uint32_t	tAcc; 		/**< Time accuracy estimate (UTC) [ns] */
+	int32_t		nano;		/**< Fraction of second (UTC) [-1e9...1e9 ns] */
+	uint8_t		fixType;	/**< GNSSfix type: 0 = No fix, 1 = Dead Reckoning only, 2 = 2D fix, 3 = 3d-fix, 4 = GNSS + dead reckoning, 5 = time only fix */
+	uint8_t		flags;		/**< Fix Status Flags (see UBX_RX_NAV_PVT_FLAGS_...) */
+	uint8_t		reserved1;
+	uint8_t		numSV;		/**< Number of SVs used in Nav Solution */
+	int32_t		lon;		/**< Longitude [1e-7 deg] */
+	int32_t		lat;		/**< Latitude [1e-7 deg] */
+	int32_t		height;		/**< Height above ellipsoid [mm] */
+	int32_t		hMSL;		/**< Height above mean sea level [mm] */
+	uint32_t	hAcc;  		/**< Horizontal accuracy estimate [mm] */
+	uint32_t	vAcc;  		/**< Vertical accuracy estimate [mm] */
+	int32_t		velN;		/**< NED north velocity [mm/s]*/
+	int32_t		velE;		/**< NED east velocity [mm/s]*/
+	int32_t		velD;		/**< NED down velocity [mm/s]*/
+	int32_t		gSpeed;		/**< Ground Speed (2-D) [mm/s] */
+	int32_t		headMot;	/**< Heading of motion (2-D) [1e-5 deg] */
+	uint32_t	sAcc;		/**< Speed accuracy estimate [mm/s] */
+	uint32_t	headAcc;	/**< Heading accuracy estimate (motion and vehicle) [1e-5 deg] */
+	uint16_t	pDOP;		/**< Position DOP [0.01] */
+	uint16_t	reserved2;
+	uint32_t	reserved3;
+	int32_t		headVeh;	/**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
+	uint32_t	reserved4;	/**< (ubx8+ only) */
+} ubx_payload_rx_nav_pvt_t;
+#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX7	(sizeof(ubx_payload_rx_nav_pvt_t) - 8)
+#define UBX_PAYLOAD_RX_NAV_PVT_SIZE_UBX8	(sizeof(ubx_payload_rx_nav_pvt_t))
+
+/* Rx NAV-TIMEUTC */
 typedef struct {
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_svinfo_part3_packet_t;
-
+	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
+	uint32_t	tAcc; 		/**< Time accuracy estimate (UTC) [ns] */
+	int32_t		nano;		/**< Fraction of second, range -1e9 .. 1e9 (UTC) [ns] */
+	uint16_t	year; 		/**< Year, range 1999..2099 (UTC) */
+	uint8_t		month; 		/**< Month, range 1..12 (UTC) */
+	uint8_t		day; 		/**< Day of month, range 1..31 (UTC) */
+	uint8_t		hour; 		/**< Hour of day, range 0..23 (UTC) */
+	uint8_t		min; 		/**< Minute of hour, range 0..59 (UTC) */
+	uint8_t		sec;		/**< Seconds of minute, range 0..60 (UTC) */
+	uint8_t		valid; 		/**< Validity Flags (see UBX_RX_NAV_TIMEUTC_VALID_...) */
+} ubx_payload_rx_nav_timeutc_t;
+
+/* Rx NAV-SVINFO Part 1 */
 typedef struct {
-	uint32_t time_milliseconds; // GPS Millisecond Time of Week
-	int32_t velN; //NED north velocity, cm/s
-	int32_t velE; //NED east velocity, cm/s
-	int32_t velD; //NED down velocity, cm/s
-	uint32_t speed; //Speed (3-D), cm/s
-	uint32_t gSpeed; //Ground Speed (2-D), cm/s
-	int32_t heading; //Heading of motion 2-D, deg, scaling: 1e-5
-	uint32_t sAcc; //Speed Accuracy Estimate, cm/s
-	uint32_t cAcc; //Course / Heading Accuracy Estimate, scaling: 1e-5
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_nav_velned_packet_t;
-
-//typedef struct {
-//	int32_t time_milliseconds; 		/**< Measurement integer millisecond GPS time of week */
-//	int16_t week; 					/**< Measurement GPS week number */
-//	uint8_t numVis;					/**< Number of visible satellites */
-//
-//	//... rest of package is not used in this implementation
-//
-//} gps_bin_rxm_svsi_packet_t;
+	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
+	uint8_t		numCh; 		/**< Number of channels */
+	uint8_t		globalFlags;
+	uint16_t	reserved2;
+} ubx_payload_rx_nav_svinfo_part1_t;
 
+/* Rx NAV-SVINFO Part 2 (repeated) */
 typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_ack_ack_packet_t;
-
+	uint8_t		chn; 		/**< Channel number, 255 for SVs not assigned to a channel */
+	uint8_t		svid; 		/**< Satellite ID */
+	uint8_t		flags;
+	uint8_t		quality;
+	uint8_t		cno;		/**< Carrier to Noise Ratio (Signal Strength) [dbHz] */
+	int8_t		elev; 		/**< Elevation [deg] */
+	int16_t		azim; 		/**< Azimuth [deg] */
+	int32_t		prRes; 		/**< Pseudo range residual [cm] */
+} ubx_payload_rx_nav_svinfo_part2_t;
+
+/* Rx NAV-VELNED */
 typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} gps_bin_ack_nak_packet_t;
-
+	uint32_t	iTOW;		/**< GPS Time of Week [ms] */
+	int32_t		velN;		/**< North velocity component [cm/s]*/
+	int32_t		velE;		/**< East velocity component [cm/s]*/
+	int32_t		velD;		/**< Down velocity component [cm/s]*/
+	uint32_t	speed;		/**< Speed (3-D) [cm/s] */
+	uint32_t	gSpeed;		/**< Ground speed (2-D) [cm/s] */
+	int32_t		heading;	/**< Heading of motion 2-D [1e-5 deg] */
+	uint32_t	sAcc;		/**< Speed accuracy estimate [cm/s] */
+	uint32_t	cAcc;		/**< Course / Heading accuracy estimate [1e-5 deg] */
+} ubx_payload_rx_nav_velned_t;
+
+/* Rx MON-HW (ubx6) */
 typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint8_t portID;
-	uint8_t res0;
-	uint16_t res1;
-	uint32_t mode;
-	uint32_t baudRate;
-	uint16_t inProtoMask;
-	uint16_t outProtoMask;
-	uint16_t flags;
-	uint16_t pad;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_prt_packet_t;
-
+	uint32_t	pinSel;
+	uint32_t	pinBank;
+	uint32_t	pinDir;
+	uint32_t	pinVal;
+	uint16_t	noisePerMS;
+	uint16_t	agcCnt;
+	uint8_t		aStatus;
+	uint8_t		aPower;
+	uint8_t		flags;
+	uint8_t		reserved1;
+	uint32_t	usedMask;
+	uint8_t		VP[25];
+	uint8_t		jamInd;
+	uint16_t	reserved3;
+	uint32_t	pinIrq;
+	uint32_t	pullH;
+	uint32_t	pullL;
+} ubx_payload_rx_mon_hw_ubx6_t;
+
+/* Rx MON-HW (ubx7+) */
 typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint16_t measRate;
-	uint16_t navRate;
-	uint16_t timeRef;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_rate_packet_t;
-
+	uint32_t	pinSel;
+	uint32_t	pinBank;
+	uint32_t	pinDir;
+	uint32_t	pinVal;
+	uint16_t	noisePerMS;
+	uint16_t	agcCnt;
+	uint8_t		aStatus;
+	uint8_t		aPower;
+	uint8_t		flags;
+	uint8_t		reserved1;
+	uint32_t	usedMask;
+	uint8_t		VP[17];
+	uint8_t		jamInd;
+	uint16_t	reserved3;
+	uint32_t	pinIrq;
+	uint32_t	pullH;
+	uint32_t	pullL;
+} ubx_payload_rx_mon_hw_ubx7_t;
+
+/* Rx MON-VER Part 1 */
 typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint16_t mask;
-	uint8_t dynModel;
-	uint8_t fixMode;
-	int32_t fixedAlt;
-	uint32_t fixedAltVar;
-	int8_t minElev;
-	uint8_t drLimit;
-	uint16_t pDop;
-	uint16_t tDop;
-	uint16_t pAcc;
-	uint16_t tAcc;
-	uint8_t staticHoldThresh;
-	uint8_t dgpsTimeOut;
-	uint32_t reserved2;
-	uint32_t reserved3;
-	uint32_t reserved4;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_nav5_packet_t;
+	uint8_t		swVersion[30];
+	uint8_t		hwVersion[10];
+} ubx_payload_rx_mon_ver_part1_t;
 
+/* Rx MON-VER Part 2 (repeated) */
 typedef struct {
-	uint8_t clsID;
-	uint8_t msgID;
-	uint16_t length;
-	uint8_t msgClass_payload;
-	uint8_t msgID_payload;
-	uint8_t rate;
-	uint8_t ck_a;
-	uint8_t ck_b;
-} type_gps_bin_cfg_msg_packet_t;
+	uint8_t		extension[30];
+} ubx_payload_rx_mon_ver_part2_t;
+
+/* Rx ACK-ACK */
+typedef	union {
+	uint16_t	msg;
+	struct {
+		uint8_t	clsID;
+		uint8_t	msgID;
+	};
+} ubx_payload_rx_ack_ack_t;
+
+/* Rx ACK-NAK */
+typedef	union {
+	uint16_t	msg;
+	struct {
+		uint8_t	clsID;
+		uint8_t	msgID;
+	};
+} ubx_payload_rx_ack_nak_t;
+
+/* Tx CFG-PRT */
+typedef struct {
+	uint8_t		portID;
+	uint8_t		reserved0;
+	uint16_t	txReady;
+	uint32_t	mode;
+	uint32_t	baudRate;
+	uint16_t	inProtoMask;
+	uint16_t	outProtoMask;
+	uint16_t	flags;
+	uint16_t	reserved5;
+} ubx_payload_tx_cfg_prt_t;
+
+/* Tx CFG-RATE */
+typedef struct {
+	uint16_t	measRate;	/**< Measurement Rate, GPS measurements are taken every measRate milliseconds */
+	uint16_t	navRate;	/**< Navigation Rate, in number of measurement cycles. This parameter cannot be changed, and must be set to 1 */
+	uint16_t	timeRef;	/**< Alignment to reference time: 0 = UTC time, 1 = GPS time */
+} ubx_payload_tx_cfg_rate_t;
 
-struct ubx_cfg_msg_rate {
-	uint8_t msg_class;
-	uint8_t msg_id;
+/* Tx CFG-NAV5 */
+typedef struct {
+	uint16_t	mask;
+	uint8_t		dynModel;	/**< Dynamic Platform model: 0 Portable, 2 Stationary, 3 Pedestrian, 4 Automotive, 5 Sea, 6 Airborne <1g, 7 Airborne <2g, 8 Airborne <4g */
+	uint8_t		fixMode;	/**< Position Fixing Mode: 1 2D only, 2 3D only, 3 Auto 2D/3D */
+	int32_t		fixedAlt;
+	uint32_t	fixedAltVar;
+	int8_t		minElev;
+	uint8_t		drLimit;
+	uint16_t	pDop;
+	uint16_t	tDop;
+	uint16_t	pAcc;
+	uint16_t	tAcc;
+	uint8_t		staticHoldThresh;
+	uint8_t		dgpsTimeOut;
+	uint8_t		cnoThreshNumSVs;	/**< (ubx7+ only, else 0) */
+	uint8_t		cnoThresh;		/**< (ubx7+ only, else 0) */
+	uint16_t	reserved;
+	uint16_t	staticHoldMaxDist;	/**< (ubx8+ only, else 0) */
+	uint8_t		utcStandard;		/**< (ubx8+ only, else 0) */
+	uint8_t		reserved3;
+	uint32_t	reserved4;
+} ubx_payload_tx_cfg_nav5_t;
+
+/* Tx CFG-MSG */
+typedef struct {
+	union {
+		uint16_t	msg;
+		struct {
+			uint8_t	msgClass;
+			uint8_t	msgID;
+		};
+	};
 	uint8_t rate;
-};
+} ubx_payload_tx_cfg_msg_t;
+
+/* General message and payload buffer union */
+typedef union {
+	ubx_payload_rx_nav_pvt_t		payload_rx_nav_pvt;
+	ubx_payload_rx_nav_posllh_t		payload_rx_nav_posllh;
+	ubx_payload_rx_nav_sol_t		payload_rx_nav_sol;
+	ubx_payload_rx_nav_timeutc_t		payload_rx_nav_timeutc;
+	ubx_payload_rx_nav_svinfo_part1_t	payload_rx_nav_svinfo_part1;
+	ubx_payload_rx_nav_svinfo_part2_t	payload_rx_nav_svinfo_part2;
+	ubx_payload_rx_nav_velned_t		payload_rx_nav_velned;
+	ubx_payload_rx_mon_hw_ubx6_t		payload_rx_mon_hw_ubx6;
+	ubx_payload_rx_mon_hw_ubx7_t		payload_rx_mon_hw_ubx7;
+	ubx_payload_rx_mon_ver_part1_t		payload_rx_mon_ver_part1;
+	ubx_payload_rx_mon_ver_part2_t		payload_rx_mon_ver_part2;
+	ubx_payload_rx_ack_ack_t		payload_rx_ack_ack;
+	ubx_payload_rx_ack_nak_t		payload_rx_ack_nak;
+	ubx_payload_tx_cfg_prt_t		payload_tx_cfg_prt;
+	ubx_payload_tx_cfg_rate_t		payload_tx_cfg_rate;
+	ubx_payload_tx_cfg_nav5_t		payload_tx_cfg_nav5;
+	ubx_payload_tx_cfg_msg_t		payload_tx_cfg_msg;
+	uint8_t					raw[];
+} ubx_buf_t;
 
+#pragma pack(pop)
+/*** END OF u-blox protocol binary message and payload definitions ***/
 
-// END the structures of the binary packets
-// ************
-
+/* Decoder state */
 typedef enum {
-	UBX_DECODE_UNINIT = 0,
-	UBX_DECODE_GOT_SYNC1,
-	UBX_DECODE_GOT_SYNC2,
-	UBX_DECODE_GOT_CLASS,
-	UBX_DECODE_GOT_MESSAGEID,
-	UBX_DECODE_GOT_LENGTH1,
-	UBX_DECODE_GOT_LENGTH2
+	UBX_DECODE_SYNC1 = 0,
+	UBX_DECODE_SYNC2,
+	UBX_DECODE_CLASS,
+	UBX_DECODE_ID,
+	UBX_DECODE_LENGTH1,
+	UBX_DECODE_LENGTH2,
+	UBX_DECODE_PAYLOAD,
+	UBX_DECODE_CHKSUM1,
+	UBX_DECODE_CHKSUM2
 } ubx_decode_state_t;
 
-//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
-#pragma pack(pop)
+/* Rx message state */
+typedef enum {
+	UBX_RXMSG_IGNORE = 0,
+	UBX_RXMSG_HANDLE,
+	UBX_RXMSG_DISABLE,
+	UBX_RXMSG_ERROR_LENGTH
+} ubx_rxmsg_state_t;
+
+/* ACK state */
+typedef enum {
+	UBX_ACK_IDLE = 0,
+	UBX_ACK_WAITING,
+	UBX_ACK_GOT_ACK,
+	UBX_ACK_GOT_NAK
+} ubx_ack_state_t;
 
-#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
 
 class UBX : public GPS_Helper
 {
 public:
-	UBX(const int &fd, struct vehicle_gps_position_s *gps_position);
+	UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
 	~UBX();
-	int			receive(unsigned timeout);
+	int			receive(const unsigned timeout);
 	int			configure(unsigned &baudrate);
 
 private:
 
 	/**
-	 * Parse the binary MTK packet
+	 * Parse the binary UBX packet
 	 */
-	int			parse_char(uint8_t b);
+	int			parse_char(const uint8_t b);
 
 	/**
-	 * Handle the package once it has arrived
+	 * Start payload rx
 	 */
-	int			handle_message(void);
+	int			payload_rx_init(void);
+
+	/**
+	 * Add payload rx byte
+	 */
+	int			payload_rx_add(const uint8_t b);
+	int			payload_rx_add_nav_svinfo(const uint8_t b);
+	int			payload_rx_add_mon_ver(const uint8_t b);
+
+	/**
+	 * Finish payload rx
+	 */
+	int			payload_rx_done(void);
 
 	/**
 	 * Reset the parse state machine for a fresh start
@@ -349,41 +490,53 @@ private:
 	/**
 	 * While parsing add every byte (except the sync bytes) to the checksum
 	 */
-	void			add_byte_to_checksum(uint8_t);
+	void			add_byte_to_checksum(const uint8_t);
 
 	/**
-	 * Add the two checksum bytes to an outgoing message
+	 * Send a message
 	 */
-	void			add_checksum_to_message(uint8_t *message, const unsigned length);
+	void			send_message(const uint16_t msg, const uint8_t *payload, const uint16_t length);
 
 	/**
-	 * Helper to send a config packet
+	 * Configure message rate
 	 */
-	void			send_config_packet(const int &fd, uint8_t *packet, const unsigned length);
-
-	void			configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
+	void			configure_message_rate(const uint16_t msg, const uint8_t rate);
 
-	void			send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size);
+	/**
+	 * Calculate & add checksum for given buffer
+	 */
+	void			calc_checksum(const uint8_t *buffer, const uint16_t length, ubx_checksum_t *checksum);
 
-	void			add_checksum(uint8_t *message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b);
+	/**
+	 * Wait for message acknowledge
+	 */
+	int			wait_for_ack(const uint16_t msg, const unsigned timeout, const bool report);
 
-	int			wait_for_ack(unsigned timeout);
+	/**
+	 * Calculate FNV1 hash
+	 */
+	uint32_t		fnv1_32_str(uint8_t *str, uint32_t hval);
 
 	int			_fd;
 	struct vehicle_gps_position_s *_gps_position;
+	struct satellite_info_s *_satellite_info;
+	bool			_enable_sat_info;
 	bool			_configured;
-	bool			_waiting_for_ack;
-	uint8_t			_message_class_needed;
-	uint8_t			_message_id_needed;
+	ubx_ack_state_t		_ack_state;
+	bool			_got_posllh;
+	bool			_got_velned;
 	ubx_decode_state_t	_decode_state;
-	uint8_t			_rx_buffer[RECV_BUFFER_SIZE];
-	unsigned		_rx_count;
+	uint16_t		_rx_msg;
+	ubx_rxmsg_state_t	_rx_state;
+	uint16_t		_rx_payload_length;
+	uint16_t		_rx_payload_index;
 	uint8_t			_rx_ck_a;
 	uint8_t			_rx_ck_b;
-	uint8_t			_message_class;
-	uint8_t			_message_id;
-	unsigned		_payload_size;
-	uint8_t			_disable_cmd_last;
+	hrt_abstime		_disable_cmd_last;
+	uint16_t		_ack_waiting_msg;
+	ubx_buf_t		_buf;
+	uint32_t		_ubx_version;
+	bool			_use_nav_pvt;
 };
 
 #endif /* UBX_H_ */
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index 81c8e7b35..f0dc0c651 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -122,7 +122,7 @@ private:
 	actuator_controls_s _controls;
 
 	static void	task_main_trampoline(int argc, char *argv[]);
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	static int	control_callback(uintptr_t handle,
 			uint8_t control_group,
@@ -229,7 +229,7 @@ HIL::init()
 	_task = task_spawn_cmd("fmuhil",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
-			   2048,
+			   1200,
 			   (main_t)&HIL::task_main_trampoline,
 			   nullptr);
 
diff --git a/src/drivers/hil/module.mk b/src/drivers/hil/module.mk
index f8895f5d5..f1fc49fb3 100644
--- a/src/drivers/hil/module.mk
+++ b/src/drivers/hil/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= hil
 
 SRCS		= hil.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 4c85c0cda..0e9a961ac 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -71,13 +71,16 @@
 #include <uORB/topics/subsystem_info.h>
 
 #include <float.h>
+#include <getopt.h>
+#include <lib/conversion/rotation.h>
 
 /*
  * HMC5883 internal constants and data structures.
  */
 
 #define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
-#define HMC5883L_DEVICE_PATH		"/dev/hmc5883"
+#define HMC5883L_DEVICE_PATH_INT	"/dev/hmc5883_int"
+#define HMC5883L_DEVICE_PATH_EXT	"/dev/hmc5883_ext"
 
 /* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
 #define HMC5883_CONVERSION_INTERVAL	(1000000 / 150)	/* microseconds */
@@ -130,7 +133,7 @@ static const int ERROR = -1;
 class HMC5883 : public device::I2C
 {
 public:
-	HMC5883(int bus);
+	HMC5883(int bus, const char *path, enum Rotation rotation);
 	virtual ~HMC5883();
 
 	virtual int		init();
@@ -158,16 +161,26 @@ private:
 	int			_class_instance;
 
 	orb_advert_t		_mag_topic;
+	orb_advert_t		_subsystem_pub;
+	orb_id_t		_mag_orb_id;
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 	perf_counter_t		_buffer_overflows;
+	perf_counter_t		_range_errors;
+	perf_counter_t		_conf_errors;
 
 	/* status reporting */
 	bool			_sensor_ok;		/**< sensor was found and reports ok */
 	bool			_calibrated;		/**< the calibration is valid */
 
 	int			_bus;			/**< the bus the device is connected to */
+	enum Rotation		_rotation;
+
+	struct mag_report	_last_report;           /**< used for info() */
+
+	uint8_t			_range_bits;
+	uint8_t			_conf_reg;
 
 	/**
 	 * Test whether the device supported by the driver is present at a
@@ -227,6 +240,23 @@ private:
 	int 			set_range(unsigned range);
 
 	/**
+	 * check the sensor range.
+	 *
+	 * checks that the range of the sensor is correctly set, to
+	 * cope with communication errors causing the range to change
+	 */
+	void 			check_range(void);
+
+	/**
+	 * check the sensor configuration.
+	 *
+	 * checks that the config of the sensor is correctly set, to
+	 * cope with communication errors causing the configuration to
+	 * change
+	 */
+	void 			check_conf(void);
+
+	/**
 	 * Perform a poll cycle; collect from the previous measurement
 	 * and start a new one.
 	 *
@@ -308,6 +338,9 @@ private:
 	 */
 	 int 			check_offset();
 
+	/* this class has pointer data members, do not allow copying it */
+	HMC5883(const HMC5883&);
+	HMC5883 operator=(const HMC5883&);
 };
 
 /*
@@ -316,21 +349,34 @@ private:
 extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
 
 
-HMC5883::HMC5883(int bus) :
-	I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
+HMC5883::HMC5883(int bus, const char *path, enum Rotation rotation) :
+	I2C("HMC5883", path, bus, HMC5883L_ADDRESS, 400000),
+	_work{},
 	_measure_ticks(0),
 	_reports(nullptr),
+	_scale{},
 	_range_scale(0), /* default range scale from counts to gauss */
 	_range_ga(1.3f),
-	_mag_topic(-1),
+	_collect_phase(false),
 	_class_instance(-1),
+	_mag_topic(-1),
+	_subsystem_pub(-1),
+	_mag_orb_id(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
+	_range_errors(perf_alloc(PC_COUNT, "hmc5883_range_errors")),
+	_conf_errors(perf_alloc(PC_COUNT, "hmc5883_conf_errors")),
 	_sensor_ok(false),
 	_calibrated(false),
-	_bus(bus)
+	_bus(bus),
+	_rotation(rotation),
+	_last_report{0},
+	_range_bits(0),
+	_conf_reg(0)
 {
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
+
 	// enable debug() calls
 	_debug_enabled = false;
 
@@ -361,6 +407,8 @@ HMC5883::~HMC5883()
 	perf_free(_sample_perf);
 	perf_free(_comms_errors);
 	perf_free(_buffer_overflows);
+	perf_free(_range_errors);
+	perf_free(_conf_errors);
 }
 
 int
@@ -382,6 +430,20 @@ HMC5883::init()
 
 	_class_instance = register_class_devname(MAG_DEVICE_PATH);
 
+	switch (_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_mag_orb_id = ORB_ID(sensor_mag0);
+			break;
+
+		case CLASS_DEVICE_SECONDARY:
+			_mag_orb_id = ORB_ID(sensor_mag1);
+			break;
+
+		case CLASS_DEVICE_TERTIARY:
+			_mag_orb_id = ORB_ID(sensor_mag2);
+			break;
+	}
+
 	ret = OK;
 	/* sensor is ok, but not calibrated */
 	_sensor_ok = true;
@@ -391,45 +453,43 @@ out:
 
 int HMC5883::set_range(unsigned range)
 {
-	uint8_t range_bits;
-
 	if (range < 1) {
-		range_bits = 0x00;
+		_range_bits = 0x00;
 		_range_scale = 1.0f / 1370.0f;
 		_range_ga = 0.88f;
 
 	} else if (range <= 1) {
-		range_bits = 0x01;
+		_range_bits = 0x01;
 		_range_scale = 1.0f / 1090.0f;
 		_range_ga = 1.3f;
 
 	} else if (range <= 2) {
-		range_bits = 0x02;
+		_range_bits = 0x02;
 		_range_scale = 1.0f / 820.0f;
 		_range_ga = 1.9f;
 
 	} else if (range <= 3) {
-		range_bits = 0x03;
+		_range_bits = 0x03;
 		_range_scale = 1.0f / 660.0f;
 		_range_ga = 2.5f;
 
 	} else if (range <= 4) {
-		range_bits = 0x04;
+		_range_bits = 0x04;
 		_range_scale = 1.0f / 440.0f;
 		_range_ga = 4.0f;
 
 	} else if (range <= 4.7f) {
-		range_bits = 0x05;
+		_range_bits = 0x05;
 		_range_scale = 1.0f / 390.0f;
 		_range_ga = 4.7f;
 
 	} else if (range <= 5.6f) {
-		range_bits = 0x06;
+		_range_bits = 0x06;
 		_range_scale = 1.0f / 330.0f;
 		_range_ga = 5.6f;
 
 	} else {
-		range_bits = 0x07;
+		_range_bits = 0x07;
 		_range_scale = 1.0f / 230.0f;
 		_range_ga = 8.1f;
 	}
@@ -439,7 +499,7 @@ int HMC5883::set_range(unsigned range)
 	/*
 	 * Send the command to set the range
 	 */
-	ret = write_reg(ADDR_CONF_B, (range_bits << 5));
+	ret = write_reg(ADDR_CONF_B, (_range_bits << 5));
 
 	if (OK != ret)
 		perf_count(_comms_errors);
@@ -450,7 +510,53 @@ int HMC5883::set_range(unsigned range)
 	if (OK != ret)
 		perf_count(_comms_errors);
 
-	return !(range_bits_in == (range_bits << 5));
+	return !(range_bits_in == (_range_bits << 5));
+}
+
+/**
+   check that the range register has the right value. This is done
+   periodically to cope with I2C bus noise causing the range of the
+   compass changing.
+ */
+void HMC5883::check_range(void)
+{
+	int ret;
+
+	uint8_t range_bits_in;
+	ret = read_reg(ADDR_CONF_B, range_bits_in);
+	if (OK != ret) {
+		perf_count(_comms_errors);
+		return;
+	}
+	if (range_bits_in != (_range_bits<<5)) {
+		perf_count(_range_errors);
+		ret = write_reg(ADDR_CONF_B, (_range_bits << 5));
+		if (OK != ret)
+			perf_count(_comms_errors);
+	}
+}
+
+/**
+   check that the configuration register has the right value. This is
+   done periodically to cope with I2C bus noise causing the
+   configuration of the compass to change.
+ */
+void HMC5883::check_conf(void)
+{
+	int ret;
+
+	uint8_t conf_reg_in;
+	ret = read_reg(ADDR_CONF_A, conf_reg_in);
+	if (OK != ret) {
+		perf_count(_comms_errors);
+		return;
+	}
+	if (conf_reg_in != _conf_reg) {
+		perf_count(_conf_errors);
+		ret = write_reg(ADDR_CONF_A, _conf_reg);
+		if (OK != ret)
+			perf_count(_comms_errors);
+	}
 }
 
 int
@@ -713,7 +819,7 @@ HMC5883::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
+			debug("collection error");
 			/* restart the measurement state machine */
 			start();
 			return;
@@ -740,7 +846,7 @@ HMC5883::cycle()
 
 	/* measurement phase */
 	if (OK != measure())
-		log("measure error");
+		debug("measure error");
 
 	/* next phase is collection */
 	_collect_phase = true;
@@ -782,9 +888,10 @@ HMC5883::collect()
 	struct {
 		int16_t		x, y, z;
 	} report;
-	int	ret = -EIO;
-	uint8_t	cmd;
 
+	int	ret;
+	uint8_t	cmd;
+	uint8_t check_counter;
 
 	perf_begin(_sample_perf);
 	struct mag_report new_report;
@@ -857,19 +964,24 @@ HMC5883::collect()
 	/* z remains z */
 	new_report.z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY && !(_pub_blocked)) {
+	// apply user specified rotation
+	rotate_3f(_rotation, new_report.x, new_report.y, new_report.z);
+
+	if (!(_pub_blocked)) {
 
 		if (_mag_topic != -1) {
 			/* publish it */
-			orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
+			orb_publish(_mag_orb_id, _mag_topic, &new_report);
 		} else {
-			_mag_topic = orb_advertise(ORB_ID(sensor_mag), &new_report);
+			_mag_topic = orb_advertise(_mag_orb_id, &new_report);
 
 			if (_mag_topic < 0)
-				debug("failed to create sensor_mag publication");
+				debug("ADVERT FAIL");
 		}
 	}
 
+	_last_report = new_report;
+
 	/* post a report to the ring */
 	if (_reports->force(&new_report)) {
 		perf_count(_buffer_overflows);
@@ -878,6 +990,21 @@ HMC5883::collect()
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
+	/*
+	  periodically check the range register and configuration
+	  registers. With a bad I2C cable it is possible for the
+	  registers to become corrupt, leading to bad readings. It
+	  doesn't happen often, but given the poor cables some
+	  vehicles have it is worth checking for.
+	 */
+	check_counter = perf_event_count(_sample_perf) % 256;
+	if (check_counter == 0) {
+		check_range();
+	}
+	if (check_counter == 128) {
+		check_conf();
+	}
+
 	ret = OK;
 
 out:
@@ -1042,31 +1169,28 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 
 	warnx("axes scaling: %.6f  %.6f  %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
 
-	/* set back to normal mode */
-	/* Set to 1.1 Gauss */
-	if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
-		warnx("failed to set 1.1 Ga range");
-		goto out;
-	}
-
-	if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
-		warnx("failed to disable sensor calibration mode");
-		goto out;
-	}
-
 	/* set scaling in device */
 	mscale_previous.x_scale = scaling[0];
 	mscale_previous.y_scale = scaling[1];
 	mscale_previous.z_scale = scaling[2];
 
+	ret = OK;
+
+out:
+
 	if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
-		warn("WARNING: failed to set new scale / offsets for mag");
-		goto out;
+		warn("failed to set new scale / offsets for mag");
 	}
 
-	ret = OK;
+	/* set back to normal mode */
+	/* Set to 1.1 Gauss */
+	if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
+		warnx("failed to set 1.1 Ga range");
+	}
 
-out:
+	if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
+		warnx("failed to disable sensor calibration mode");
+	}
 
 	if (ret == OK) {
 		if (!check_scale()) {
@@ -1136,13 +1260,12 @@ int HMC5883::check_calibration()
 			true,
 			_calibrated,
 			SUBSYSTEM_TYPE_MAG};
-		static orb_advert_t pub = -1;
 
 		if (!(_pub_blocked)) {
-			if (pub > 0) {
-				orb_publish(ORB_ID(subsystem_info), pub, &info);
+			if (_subsystem_pub > 0) {
+				orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
 			} else {
-				pub = orb_advertise(ORB_ID(subsystem_info), &info);
+				_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
 			}
 		}
 	}
@@ -1155,25 +1278,24 @@ int HMC5883::set_excitement(unsigned enable)
 {
 	int ret;
 	/* arm the excitement strap */
-	uint8_t conf_reg;
-	ret = read_reg(ADDR_CONF_A, conf_reg);
+	ret = read_reg(ADDR_CONF_A, _conf_reg);
 
 	if (OK != ret)
 		perf_count(_comms_errors);
 
 	if (((int)enable) < 0) {
-		conf_reg |= 0x01;
+		_conf_reg |= 0x01;
 
 	} else if (enable > 0) {
-		conf_reg |= 0x02;
+		_conf_reg |= 0x02;
 
 	} else {
-		conf_reg &= ~0x03;
+		_conf_reg &= ~0x03;
 	}
 
-        // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)conf_reg);
+        // ::printf("set_excitement enable=%d regA=0x%x\n", (int)enable, (unsigned)_conf_reg);
 
-	ret = write_reg(ADDR_CONF_A, conf_reg);
+	ret = write_reg(ADDR_CONF_A, _conf_reg);
 
 	if (OK != ret)
 		perf_count(_comms_errors);
@@ -1183,7 +1305,7 @@ int HMC5883::set_excitement(unsigned enable)
 
 	//print_info();
 
-	return !(conf_reg == conf_reg_ret);
+	return !(_conf_reg == conf_reg_ret);
 }
 
 int
@@ -1221,10 +1343,11 @@ HMC5883::print_info()
 	perf_print_counter(_comms_errors);
 	perf_print_counter(_buffer_overflows);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
+	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
 	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
 	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", 
 	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)1.0/_range_scale, (double)_range_ga);
+	       (double)(1.0f/_range_scale), (double)_range_ga);
 	_reports->print_info("report queue");
 }
 
@@ -1240,63 +1363,95 @@ namespace hmc5883
 #endif
 const int ERROR = -1;
 
-HMC5883	*g_dev;
+HMC5883	*g_dev_int = nullptr;
+HMC5883	*g_dev_ext = nullptr;
 
-void	start();
-void	test();
-void	reset();
-void	info();
-int	calibrate();
+void	start(int bus, enum Rotation rotation);
+void	test(int bus);
+void	reset(int bus);
+void	info(int bus);
+int	calibrate(int bus);
+void	usage();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver
+ * is either successfully up and running or failed to start.
  */
 void
-start()
+start(int bus, enum Rotation rotation)
 {
 	int fd;
 
-	if (g_dev != nullptr)
-		/* if already started, the still command succeeded */
-		errx(0, "already started");
-
 	/* create the driver, attempt expansion bus first */
-	g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
-	if (g_dev != nullptr && OK != g_dev->init()) {
-		delete g_dev;
-		g_dev = nullptr;
+	if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
+		if (g_dev_ext != nullptr)
+			errx(0, "already started external");
+		g_dev_ext = new HMC5883(PX4_I2C_BUS_EXPANSION, HMC5883L_DEVICE_PATH_EXT, rotation);
+		if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
+			delete g_dev_ext;
+			g_dev_ext = nullptr;
+		}
 	}
 			
 
 #ifdef PX4_I2C_BUS_ONBOARD
 	/* if this failed, attempt onboard sensor */
-	if (g_dev == nullptr) {
-		g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD);
-		if (g_dev != nullptr && OK != g_dev->init()) {
+	if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
+		if (g_dev_int != nullptr)
+			errx(0, "already started internal");
+		g_dev_int = new HMC5883(PX4_I2C_BUS_ONBOARD, HMC5883L_DEVICE_PATH_INT, rotation);
+		if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+
+			/* tear down the failing onboard instance */
+			delete g_dev_int;
+			g_dev_int = nullptr;
+
+			if (bus == PX4_I2C_BUS_ONBOARD) {
+				goto fail;
+			}
+		}
+		if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
 			goto fail;
 		}
 	}
 #endif
 
-	if (g_dev == nullptr)
+	if (g_dev_int == nullptr && g_dev_ext == nullptr)
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
+	if (g_dev_int != nullptr) {
+		fd = open(HMC5883L_DEVICE_PATH_INT, O_RDONLY);
+		if (fd < 0)
+			goto fail;
 
-	if (fd < 0)
-		goto fail;
+		if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+			goto fail;
+		close(fd);
+	}
 
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
-		goto fail;
+	if (g_dev_ext != nullptr) {
+		fd = open(HMC5883L_DEVICE_PATH_EXT, O_RDONLY);
+		if (fd < 0)
+			goto fail;
+
+		if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+			goto fail;
+		close(fd);
+	}
 
 	exit(0);
 
 fail:
-
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
+	if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
+		delete g_dev_int;
+		g_dev_int = nullptr;
+	}
+	if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
+		delete g_dev_ext;
+		g_dev_ext = nullptr;
 	}
 
 	errx(1, "driver start failed");
@@ -1308,16 +1463,17 @@ fail:
  * and automatic modes.
  */
 void
-test()
+test(int bus)
 {
 	struct mag_report report;
 	ssize_t sz;
 	int ret;
+	const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
 
-	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
+	int fd = open(path, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
+		err(1, "%s open failed (try 'hmc5883 start')", path);
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
@@ -1410,14 +1566,15 @@ test()
  * configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
  * Using the self test method described above, the user can scale sensor
  */
-int calibrate()
+int calibrate(int bus)
 {
 	int ret;
+	const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
 
-	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
+	int fd = open(path, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
+		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", path);
 
 	if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
 		warnx("failed to enable sensor calibration mode");
@@ -1437,9 +1594,11 @@ int calibrate()
  * Reset the driver.
  */
 void
-reset()
+reset(int bus)
 {
-	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
+	const char *path = (bus==PX4_I2C_BUS_ONBOARD?HMC5883L_DEVICE_PATH_INT:HMC5883L_DEVICE_PATH_EXT);
+
+	int fd = open(path, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "failed ");
@@ -1457,8 +1616,9 @@ reset()
  * Print a little info about the driver.
  */
 void
-info()
+info(int bus)
 {
+	HMC5883 *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
 	if (g_dev == nullptr)
 		errx(1, "driver not running");
 
@@ -1468,40 +1628,91 @@ info()
 	exit(0);
 }
 
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'info', 'calibrate'");
+	warnx("options:");
+	warnx("    -R rotation");
+	warnx("    -C calibrate on start");
+	warnx("    -X only external bus");
+#ifdef PX4_I2C_BUS_ONBOARD
+	warnx("    -I only internal bus");
+#endif
+}
+
 } // namespace
 
 int
 hmc5883_main(int argc, char *argv[])
 {
+	int ch;
+	int bus = -1;
+	enum Rotation rotation = ROTATION_NONE;
+        bool calibrate = false;
+
+	while ((ch = getopt(argc, argv, "XIR:C")) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+#ifdef PX4_I2C_BUS_ONBOARD
+		case 'I':
+			bus = PX4_I2C_BUS_ONBOARD;
+			break;
+#endif
+		case 'X':
+			bus = PX4_I2C_BUS_EXPANSION;
+			break;
+		case 'C':
+			calibrate = true;
+			break;
+		default:
+			hmc5883::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];	
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start"))
-		hmc5883::start();
+	if (!strcmp(verb, "start")) {
+		hmc5883::start(bus, rotation);
+		if (calibrate) {
+			if (hmc5883::calibrate(bus) == 0) {
+				errx(0, "calibration successful");
+				
+			} else {
+				errx(1, "calibration failed");
+			}
+		}
+	}
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
-		hmc5883::test();
+	if (!strcmp(verb, "test"))
+		hmc5883::test(bus);
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
-		hmc5883::reset();
+	if (!strcmp(verb, "reset"))
+		hmc5883::reset(bus);
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
-		hmc5883::info();
+	if (!strcmp(verb, "info") || !strcmp(verb, "status"))
+		hmc5883::info(bus);
 
 	/*
 	 * Autocalibrate the scaling
 	 */
-	if (!strcmp(argv[1], "calibrate")) {
-		if (hmc5883::calibrate() == 0) {
+	if (!strcmp(verb, "calibrate")) {
+		if (hmc5883::calibrate(bus) == 0) {
 			errx(0, "calibration successful");
 
 		} else {
diff --git a/src/drivers/hmc5883/module.mk b/src/drivers/hmc5883/module.mk
index 07377556d..5daa01dc5 100644
--- a/src/drivers/hmc5883/module.mk
+++ b/src/drivers/hmc5883/module.mk
@@ -37,7 +37,8 @@
 
 MODULE_COMMAND	= hmc5883
 
-# XXX seems excessive, check if 2048 is sufficient
-MODULE_STACKSIZE	= 4096
-
 SRCS		= hmc5883.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/drivers/hott/hott_sensors/module.mk b/src/drivers/hott/hott_sensors/module.mk
index b5f5762ba..47aea6caf 100644
--- a/src/drivers/hott/hott_sensors/module.mk
+++ b/src/drivers/hott/hott_sensors/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= hott_sensors
 SRCS		= hott_sensors.cpp \
 		  ../messages.cpp \
 		  ../comms.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/hott/hott_telemetry/module.mk b/src/drivers/hott/hott_telemetry/module.mk
index b19cbd14c..cd7bdbc85 100644
--- a/src/drivers/hott/hott_telemetry/module.mk
+++ b/src/drivers/hott/hott_telemetry/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= hott_telemetry
 SRCS		= hott_telemetry.cpp \
 		  ../messages.cpp \
 		  ../comms.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/hott/messages.cpp
index 90a744015..086132573 100644
--- a/src/drivers/hott/messages.cpp
+++ b/src/drivers/hott/messages.cpp
@@ -51,6 +51,8 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_gps_position.h>
 
+#include <drivers/drv_hrt.h>
+
 /* The board is very roughly 5 deg warmer than the surrounding air */
 #define BOARD_TEMP_OFFSET_DEG 5
 
@@ -62,7 +64,6 @@ static int _airspeed_sub = -1;
 static int _esc_sub = -1;
 
 static orb_advert_t _esc_pub;
-struct esc_status_s _esc;
 
 static bool _home_position_set = false;
 static double _home_lat = 0.0d;
@@ -82,8 +83,6 @@ init_sub_messages(void)
 void 
 init_pub_messages(void)
 {
-	memset(&_esc, 0, sizeof(_esc));
-	_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
 }
 
 void
@@ -106,23 +105,26 @@ publish_gam_message(const uint8_t *buffer)
 	size_t size = sizeof(msg);
 	memset(&msg, 0, size);
 	memcpy(&msg, buffer, size);
+	struct esc_status_s esc;
+	memset(&esc, 0, sizeof(esc));
+
+	// Publish it.
+	esc.timestamp = hrt_absolute_time();
+	esc.esc_count = 1;
+	esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
+
+	esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
+	esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
+	esc.esc[0].esc_temperature = msg.temperature1 - 20; 
+	esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
+	esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 
 	/* announce the esc if needed, just publish else */
 	if (_esc_pub > 0) {
-		orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
+		orb_publish(ORB_ID(esc_status), _esc_pub, &esc);
 	} else {
-		_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
+		_esc_pub = orb_advertise(ORB_ID(esc_status), &esc);
 	}
-
-	// Publish it.
-	_esc.esc_count = 1;
-	_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
-
-	_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
-	_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
-	_esc.esc[0].esc_temperature = msg.temperature1 - 20; 
-	_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
-	_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
 }
 
 void 
@@ -224,7 +226,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
 	msg.sensor_id = GPS_SENSOR_ID;
 	msg.sensor_text_id = GPS_SENSOR_TEXT_ID;
 
-	msg.gps_num_sat = gps.satellites_visible;
+	msg.gps_num_sat = gps.satellites_used;
 
 	/* The GPS fix type: 0 = none, 2 = 2D, 3 = 3D */
 	msg.gps_fix_char = (uint8_t)(gps.fix_type + 48);
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 90c3db9ae..cfae8761c 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -34,6 +34,9 @@
 /**
  * @file l3gd20.cpp
  * Driver for the ST L3GD20 MEMS gyro connected via SPI.
+ *
+ * Note: With the exception of the self-test feature, the ST L3G4200D is
+ *       also supported by this driver.
  */
 
 #include <nuttx/config.h>
@@ -51,6 +54,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
+#include <getopt.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -65,6 +69,7 @@
 
 #include <board_config.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
 
 #define L3GD20_DEVICE_PATH "/dev/l3gd20"
 
@@ -89,9 +94,11 @@ static const int ERROR = -1;
 #define ADDR_WHO_AM_I			0x0F
 #define WHO_I_AM_H 				0xD7
 #define WHO_I_AM				0xD4
+#define WHO_I_AM_L3G4200D		0xD3	/* for L3G4200D */
 
 #define ADDR_CTRL_REG1			0x20
 #define REG1_RATE_LP_MASK			0xF0 /* Mask to guard partial register update */
+
 /* keep lowpass low to avoid noise issues */
 #define RATE_95HZ_LP_25HZ		((0<<7) | (0<<6) | (0<<5) | (1<<4))
 #define RATE_190HZ_LP_25HZ		((0<<7) | (1<<6) | (0<<5) | (1<<4))
@@ -166,15 +173,20 @@ static const int ERROR = -1;
 #define FIFO_CTRL_BYPASS_TO_STREAM_MODE		(1<<7)
 
 #define L3GD20_DEFAULT_RATE			760
+#define L3G4200D_DEFAULT_RATE			800
 #define L3GD20_DEFAULT_RANGE_DPS		2000
 #define L3GD20_DEFAULT_FILTER_FREQ		30
 
+#ifndef SENSOR_BOARD_ROTATION_DEFAULT
+#define SENSOR_BOARD_ROTATION_DEFAULT		SENSOR_BOARD_ROTATION_270_DEG
+#endif
+
 extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
 
 class L3GD20 : public device::SPI
 {
 public:
-	L3GD20(int bus, const char* path, spi_dev_e device);
+	L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation);
 	virtual ~L3GD20();
 
 	virtual int		init();
@@ -201,6 +213,7 @@ private:
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 	orb_advert_t		_gyro_topic;
+	orb_id_t		_orb_id;
 	int			_class_instance;
 
 	unsigned		_current_rate;
@@ -216,6 +229,11 @@ private:
 	math::LowPassFilter2p	_gyro_filter_y;
 	math::LowPassFilter2p	_gyro_filter_z;
 
+	/* true if an L3G4200D is detected */
+	bool	_is_l3g4200d;
+
+	enum Rotation		_rotation;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -313,25 +331,34 @@ private:
 	 * @return 0 on success, 1 on failure
 	 */
 	 int 			self_test();
+
+	/* this class does not allow copying */
+	L3GD20(const L3GD20&);
+	L3GD20 operator=(const L3GD20&);
 };
 
-L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
+L3GD20::L3GD20(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
 	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
+	_call{},
 	_call_interval(0),
 	_reports(nullptr),
+	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_gyro_topic(-1),
+	_orb_id(nullptr),
 	_class_instance(-1),
 	_current_rate(0),
-	_orientation(SENSOR_BOARD_ROTATION_270_DEG),
+	_orientation(SENSOR_BOARD_ROTATION_DEFAULT),
 	_read(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "l3gd20_read")),
 	_reschedules(perf_alloc(PC_COUNT, "l3gd20_reschedules")),
 	_errors(perf_alloc(PC_COUNT, "l3gd20_errors")),
 	_gyro_filter_x(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
 	_gyro_filter_y(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
-	_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ)
+	_gyro_filter_z(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ),
+	_is_l3g4200d(false),
+        _rotation(rotation)                                            
 {
 	// enable debug() calls
 	_debug_enabled = true;
@@ -380,21 +407,32 @@ L3GD20::init()
 
 	_class_instance = register_class_devname(GYRO_DEVICE_PATH);
 
-	reset();
+	switch (_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_orb_id = ORB_ID(sensor_gyro0);
+			break;
 
-	measure();
+		case CLASS_DEVICE_SECONDARY:
+			_orb_id = ORB_ID(sensor_gyro1);
+			break;
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		case CLASS_DEVICE_TERTIARY:
+			_orb_id = ORB_ID(sensor_gyro2);
+			break;
+	}
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct gyro_report grp;
-		_reports->get(&grp);
+	reset();
 
-		_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
+	measure();
 
-		if (_gyro_topic < 0)
-			debug("failed to create sensor_gyro publication");
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct gyro_report grp;
+	_reports->get(&grp);
 
+	_gyro_topic = orb_advertise(_orb_id, &grp);
+
+	if (_gyro_topic < 0) {
+		debug("failed to create sensor_gyro publication");
 	}
 
 	ret = OK;
@@ -413,14 +451,7 @@ L3GD20::probe()
 	/* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */
 	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) {
 
-		#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
-			_orientation = SENSOR_BOARD_ROTATION_270_DEG;
-		#elif CONFIG_ARCH_BOARD_PX4FMU_V2
-			_orientation = SENSOR_BOARD_ROTATION_270_DEG;
-		#else
-			#error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
-		#endif
-
+		_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
 		success = true;
 	}
 
@@ -430,6 +461,13 @@ L3GD20::probe()
 		success = true;
 	}
 
+	/* Detect the L3G4200D used on AeroCore */
+	if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_L3G4200D) {
+		_is_l3g4200d = true;
+		_orientation = SENSOR_BOARD_ROTATION_DEFAULT;
+		success = true;
+	}
+
 	if (success)
 		return OK;
 
@@ -502,6 +540,9 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 				/* set default/max polling rate */
 			case SENSOR_POLLRATE_MAX:
 			case SENSOR_POLLRATE_DEFAULT:
+				if (_is_l3g4200d) {
+					return ioctl(filp, SENSORIOCSPOLLRATE, L3G4200D_DEFAULT_RATE);
+				}
 				return ioctl(filp, SENSORIOCSPOLLRATE, L3GD20_DEFAULT_RATE);
 
 				/* adjust to a legal polling interval in Hz */
@@ -683,23 +724,26 @@ L3GD20::set_samplerate(unsigned frequency)
 	uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
 
 	if (frequency == 0)
-		frequency = 760;
+		frequency = _is_l3g4200d ? 800 : 760;
 
-	/* use limits good for H or non-H models */
+	/*
+	 * Use limits good for H or non-H models. Rates are slightly different
+	 * for L3G4200D part but register settings are the same.
+	 */
 	if (frequency <= 100) {
-		_current_rate = 95;
+		_current_rate = _is_l3g4200d ? 100 : 95;
 		bits |= RATE_95HZ_LP_25HZ;
 
 	} else if (frequency <= 200) {
-		_current_rate = 190;
+		_current_rate = _is_l3g4200d ? 200 : 190;
 		bits |= RATE_190HZ_LP_50HZ;
 
 	} else if (frequency <= 400) {
-		_current_rate = 380;
+		_current_rate = _is_l3g4200d ? 400 : 380;
 		bits |= RATE_380HZ_LP_50HZ;
 
 	} else if (frequency <= 800) {
-		_current_rate = 760;
+		_current_rate = _is_l3g4200d ? 800 : 760;
 		bits |= RATE_760HZ_LP_50HZ;
 	} else {
 		return -EINVAL;
@@ -772,7 +816,7 @@ L3GD20::reset()
 	 * callback fast enough to not miss data. */
 	write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE);
 
-	set_samplerate(0); // 760Hz
+	set_samplerate(0); // 760Hz or 800Hz
 	set_range(L3GD20_DEFAULT_RANGE_DPS);
 	set_driver_lowpass_filter(L3GD20_DEFAULT_RATE, L3GD20_DEFAULT_FILTER_FREQ);
 
@@ -801,7 +845,7 @@ L3GD20::measure()
 	// if the gyro doesn't have any data ready then re-schedule
 	// for 100 microseconds later. This ensures we don't double
 	// read a value and then miss the next value
-	if (stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
+	if (_bus == PX4_SPI_BUS_SENSORS && stm32_gpioread(GPIO_EXTI_GYRO_DRDY) == 0) {
 		perf_count(_reschedules);
 		hrt_call_delay(&_call, 100);
 		return;
@@ -894,6 +938,9 @@ L3GD20::measure()
 	report.y = _gyro_filter_y.apply(report.y);
 	report.z = _gyro_filter_z.apply(report.z);
 
+	// apply user specified rotation
+	rotate_3f(_rotation, report.x, report.y, report.z);
+
 	report.scaling = _gyro_range_scale;
 	report.range_rad_s = _gyro_range_rad_s;
 
@@ -903,9 +950,9 @@ L3GD20::measure()
 	poll_notify(POLLIN);
 
 	/* publish for subscribers */
-	if (_gyro_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &report);
+		orb_publish(_orb_id, _gyro_topic, &report);
 	}
 
 	_read++;
@@ -954,16 +1001,20 @@ namespace l3gd20
 
 L3GD20	*g_dev;
 
-void	start();
+void	usage();
+void	start(bool external_bus, enum Rotation rotation);
 void	test();
 void	reset();
 void	info();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver
+ * started or failed to detect the sensor.
  */
 void
-start()
+start(bool external_bus, enum Rotation rotation)
 {
 	int fd;
 
@@ -971,7 +1022,15 @@ start()
 		errx(0, "already started");
 
 	/* create the driver */
-	g_dev = new L3GD20(1 /* SPI bus 1 */, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
+        if (external_bus) {
+#ifdef PX4_SPI_BUS_EXT
+		g_dev = new L3GD20(PX4_SPI_BUS_EXT, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_EXT_GYRO, rotation);
+#else
+		errx(0, "External SPI not available");
+#endif
+	} else {
+		g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, L3GD20_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO, rotation);
+	}
 
 	if (g_dev == nullptr)
 		goto fail;
@@ -1083,35 +1142,64 @@ info()
 	exit(0);
 }
 
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'reset'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+	warnx("    -R rotation");
+}
 
 } // namespace
 
 int
 l3gd20_main(int argc, char *argv[])
 {
+	bool external_bus = false;
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "XR:")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+		default:
+			l3gd20::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
 	/*
 	 * Start/load the driver.
 
 	 */
-	if (!strcmp(argv[1], "start"))
-		l3gd20::start();
+	if (!strcmp(verb, "start"))
+		l3gd20::start(external_bus, rotation);
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
+	if (!strcmp(verb, "test"))
 		l3gd20::test();
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
+	if (!strcmp(verb, "reset"))
 		l3gd20::reset();
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info"))
+	if (!strcmp(verb, "info"))
 		l3gd20::info();
 
 	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
diff --git a/src/drivers/l3gd20/module.mk b/src/drivers/l3gd20/module.mk
index 23e77e871..5630e7aec 100644
--- a/src/drivers/l3gd20/module.mk
+++ b/src/drivers/l3gd20/module.mk
@@ -4,3 +4,7 @@
 
 MODULE_COMMAND	 = l3gd20
 SRCS		 = l3gd20.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/drivers/led/module.mk b/src/drivers/led/module.mk
index 777f3e442..5b7b4491b 100644
--- a/src/drivers/led/module.mk
+++ b/src/drivers/led/module.mk
@@ -36,3 +36,5 @@
 #
 
 SRCS		= led.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
new file mode 100644
index 000000000..a69e6ee55
--- /dev/null
+++ b/src/drivers/ll40ls/ll40ls.cpp
@@ -0,0 +1,882 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ll40ls.cpp
+ * @author Allyson Kreft
+ *
+ * Driver for the PulsedLight Lidar-Lite range finders connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+#define LL40LS_BUS 			PX4_I2C_BUS_EXPANSION
+#define LL40LS_BASEADDR 	0x42 /* 7-bit address */
+#define LL40LS_DEVICE_PATH 	"/dev/ll40ls"
+
+/* LL40LS Registers addresses */
+
+#define LL40LS_MEASURE_REG		0x00		/* Measure range register */
+#define LL40LS_MSRREG_ACQUIRE	0x04		/* Value to initiate a measurement, varies based on sensor revision */
+#define LL40LS_DISTHIGH_REG		0x8F		/* High byte of distance register, auto increment */
+
+/* Device limits */
+#define LL40LS_MIN_DISTANCE (0.00f)
+#define LL40LS_MAX_DISTANCE (14.00f)
+
+#define LL40LS_CONVERSION_INTERVAL 100000 /* 100ms */
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+class LL40LS : public device::I2C
+{
+public:
+	LL40LS(int bus = LL40LS_BUS, int address = LL40LS_BASEADDR);
+	virtual ~LL40LS();
+
+	virtual int 		init();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	* Diagnostics - print some basic information about the driver.
+	*/
+	void				print_info();
+
+protected:
+	virtual int			probe();
+
+private:
+	float				_min_distance;
+	float				_max_distance;
+	work_s				_work;
+	RingBuffer			*_reports;
+	bool				_sensor_ok;
+	int					_measure_ticks;
+	bool				_collect_phase;
+	int					_class_instance;
+
+	orb_advert_t		_range_finder_topic;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t		_buffer_overflows;
+
+	/**
+	* Test whether the device supported by the driver is present at a
+	* specific address.
+	*
+	* @param address	The I2C bus address to probe.
+	* @return		True if the device is present.
+	*/
+	int					probe_address(uint8_t address);
+
+	/**
+	* Initialise the automatic measurement state machine and start it.
+	*
+	* @note This function is called at open and error time.  It might make sense
+	*       to make it more aggressive about resetting the bus in case of errors.
+	*/
+	void				start();
+
+	/**
+	* Stop the automatic measurement state machine.
+	*/
+	void				stop();
+
+	/**
+	* Set the min and max distance thresholds if you want the end points of the sensors
+	* range to be brought in at all, otherwise it will use the defaults LL40LS_MIN_DISTANCE
+	* and LL40LS_MAX_DISTANCE
+	*/
+	void				set_minimum_distance(float min);
+	void				set_maximum_distance(float max);
+	float				get_minimum_distance();
+	float				get_maximum_distance();
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	void				cycle();
+	int					measure();
+	int					collect();
+	/**
+	* Static trampoline from the workq context; because we don't have a
+	* generic workq wrapper yet.
+	*
+	* @param arg		Instance pointer for the driver that is polling.
+	*/
+	static void		cycle_trampoline(void *arg);
+
+
+};
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]);
+
+LL40LS::LL40LS(int bus, int address) :
+	I2C("LL40LS", LL40LS_DEVICE_PATH, bus, address, 100000),
+	_min_distance(LL40LS_MIN_DISTANCE),
+	_max_distance(LL40LS_MAX_DISTANCE),
+	_reports(nullptr),
+	_sensor_ok(false),
+	_measure_ticks(0),
+	_collect_phase(false),
+	_class_instance(-1),
+	_range_finder_topic(-1),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
+	_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows"))
+{
+	// up the retries since the device misses the first measure attempts
+	I2C::_retries = 3;
+
+	// enable debug() calls
+	_debug_enabled = false;
+
+	// work_cancel in the dtor will explode if we don't do this...
+	memset(&_work, 0, sizeof(_work));
+}
+
+LL40LS::~LL40LS()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+	
+	if (_class_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
+	}
+	
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
+}
+
+int
+LL40LS::init()
+{
+	int ret = ERROR;
+
+	/* do I2C init (and probe) first */
+	if (I2C::init() != OK) {
+		goto out;
+	}
+
+	/* allocate basic report buffers */
+	_reports = new RingBuffer(2, sizeof(range_finder_report));
+
+	if (_reports == nullptr) {
+		goto out;
+	}
+
+	_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
+
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {	
+		/* get a publish handle on the range finder topic */
+		struct range_finder_report rf_report;
+		measure();
+		_reports->get(&rf_report);
+		_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
+
+		if (_range_finder_topic < 0) {
+			debug("failed to create sensor_range_finder object. Did you start uOrb?");
+		}
+	}
+
+	ret = OK;
+	/* sensor is ok, but we don't really know if it is within range */
+	_sensor_ok = true;
+out:
+	return ret;
+}
+
+int
+LL40LS::probe()
+{
+	return measure();
+}
+
+void
+LL40LS::set_minimum_distance(float min)
+{
+	_min_distance = min;
+}
+
+void
+LL40LS::set_maximum_distance(float max)
+{
+	_max_distance = max;
+}
+
+float
+LL40LS::get_minimum_distance()
+{
+	return _min_distance;
+}
+
+float
+LL40LS::get_maximum_distance()
+{
+	return _max_distance;
+}
+
+int
+LL40LS::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* switching to manual polling */
+			case SENSOR_POLLRATE_MANUAL:
+				stop();
+				_measure_ticks = 0;
+				return OK;
+
+			/* external signalling (DRDY) not supported */
+			case SENSOR_POLLRATE_EXTERNAL:
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			/* set default/max polling rate */
+			case SENSOR_POLLRATE_MAX:
+			case SENSOR_POLLRATE_DEFAULT: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* set interval for next measurement to minimum legal value */
+					_measure_ticks = USEC2TICK(LL40LS_CONVERSION_INTERVAL);
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+
+			/* adjust to a legal polling interval in Hz */
+			default: {
+					/* do we need to start internal polling? */
+					bool want_start = (_measure_ticks == 0);
+
+					/* convert hz to tick interval via microseconds */
+					unsigned ticks = USEC2TICK(1000000 / arg);
+
+					/* check against maximum rate */
+					if (ticks < USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
+						return -EINVAL;
+					}
+
+					/* update interval for next measurement */
+					_measure_ticks = ticks;
+
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}
+
+					return OK;
+				}
+			}
+		}
+
+	case SENSORIOCGPOLLRATE:
+		if (_measure_ticks == 0) {
+			return SENSOR_POLLRATE_MANUAL;
+		}
+
+		return (1000 / _measure_ticks);
+
+	case SENSORIOCSQUEUEDEPTH: {
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}
+
+			irqstate_t flags = irqsave();
+
+			if (!_reports->resize(arg)) {
+				irqrestore(flags);
+				return -ENOMEM;
+			}
+
+			irqrestore(flags);
+
+			return OK;
+		}
+
+	case SENSORIOCGQUEUEDEPTH:
+		return _reports->size();
+
+	case SENSORIOCRESET:
+		/* XXX implement this */
+		return -EINVAL;
+
+	case RANGEFINDERIOCSETMINIUMDISTANCE: {
+			set_minimum_distance(*(float *)arg);
+			return 0;
+		}
+		break;
+
+	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
+			set_maximum_distance(*(float *)arg);
+			return 0;
+		}
+		break;
+
+	default:
+		/* give it to the superclass */
+		return I2C::ioctl(filp, cmd, arg);
+	}
+}
+
+ssize_t
+LL40LS::read(struct file *filp, char *buffer, size_t buflen)
+{
+	unsigned count = buflen / sizeof(struct range_finder_report);
+	struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
+	int ret = 0;
+
+	/* buffer must be large enough */
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	/* if automatic measurement is enabled */
+	if (_measure_ticks > 0) {
+
+		/*
+		 * While there is space in the caller's buffer, and reports, copy them.
+		 * Note that we may be pre-empted by the workq thread while we are doing this;
+		 * we are careful to avoid racing with them.
+		 */
+		while (count--) {
+			if (_reports->get(rbuf)) {
+				ret += sizeof(*rbuf);
+				rbuf++;
+			}
+		}
+
+		/* if there was no data, warn the caller */
+		return ret ? ret : -EAGAIN;
+	}
+
+	/* manual measurement - run one conversion */
+	do {
+		_reports->flush();
+
+		/* trigger a measurement */
+		if (OK != measure()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* wait for it to complete */
+		usleep(LL40LS_CONVERSION_INTERVAL);
+
+		/* run the collection phase */
+		if (OK != collect()) {
+			ret = -EIO;
+			break;
+		}
+
+		/* state machine will have generated a report, copy it out */
+		if (_reports->get(rbuf)) {
+			ret = sizeof(*rbuf);
+		}
+
+	} while (0);
+
+	return ret;
+}
+
+int
+LL40LS::measure()
+{
+	int ret;
+
+	/*
+	 * Send the command to begin a measurement.
+	 */
+	const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
+	ret = transfer(cmd, sizeof(cmd), nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+		log("i2c::transfer returned %d", ret);
+		return ret;
+	}
+
+	ret = OK;
+
+	return ret;
+}
+
+int
+LL40LS::collect()
+{
+	int	ret = -EIO;
+
+	/* read from the sensor */
+	uint8_t val[2] = {0, 0};
+
+	perf_begin(_sample_perf);
+
+	// read the high and low byte distance registers
+	uint8_t distance_reg = LL40LS_DISTHIGH_REG;
+	ret = transfer(&distance_reg, 1, &val[0], sizeof(val));
+
+	if (ret < 0) {
+		log("error reading from sensor: %d", ret);
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return ret;
+	}
+
+	uint16_t distance = (val[0] << 8) | val[1];
+	float si_units = distance * 0.01f; /* cm to m */
+	struct range_finder_report report;
+
+	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
+	report.timestamp = hrt_absolute_time();
+	report.error_count = perf_event_count(_comms_errors);
+	report.distance = si_units;
+	if (si_units > get_minimum_distance() && si_units < get_maximum_distance()) {
+		report.valid = 1;
+	}
+	else {
+		report.valid = 0;
+	}
+
+	/* publish it, if we are the primary */
+	if (_range_finder_topic >= 0) {
+		orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
+	}
+
+	if (_reports->force(&report)) {
+		perf_count(_buffer_overflows);
+	}
+
+	/* notify anyone waiting for data */
+	poll_notify(POLLIN);
+
+	ret = OK;
+
+	perf_end(_sample_perf);
+	return ret;
+}
+
+void
+LL40LS::start()
+{
+	/* reset the report ring and state machine */
+	_collect_phase = false;
+	_reports->flush();
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&LL40LS::cycle_trampoline, this, 1);
+
+	/* notify about state change */
+	struct subsystem_info_s info = {
+		true,
+		true,
+		true,
+		SUBSYSTEM_TYPE_RANGEFINDER
+	};
+	static orb_advert_t pub = -1;
+
+	if (pub > 0) {
+		orb_publish(ORB_ID(subsystem_info), pub, &info);
+
+	} else {
+		pub = orb_advertise(ORB_ID(subsystem_info), &info);
+	}
+}
+
+void
+LL40LS::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+LL40LS::cycle_trampoline(void *arg)
+{
+	LL40LS *dev = (LL40LS *)arg;
+
+	dev->cycle();
+}
+
+void
+LL40LS::cycle()
+{
+	/* collection phase? */
+	if (_collect_phase) {
+
+		/* perform collection */
+		if (OK != collect()) {
+			log("collection error");
+			/* restart the measurement state machine */
+			start();
+			return;
+		}
+
+		/* next phase is measurement */
+		_collect_phase = false;
+
+		/*
+		 * Is there a collect->measure gap?
+		 */
+		if (_measure_ticks > USEC2TICK(LL40LS_CONVERSION_INTERVAL)) {
+
+			/* schedule a fresh cycle call when we are ready to measure again */
+			work_queue(HPWORK,
+				   &_work,
+				   (worker_t)&LL40LS::cycle_trampoline,
+				   this,
+				   _measure_ticks - USEC2TICK(LL40LS_CONVERSION_INTERVAL));
+
+			return;
+		}
+	}
+
+	/* measurement phase */
+	if (OK != measure()) {
+		log("measure error");
+	}
+
+	/* next phase is collection */
+	_collect_phase = true;
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(HPWORK,
+		   &_work,
+		   (worker_t)&LL40LS::cycle_trampoline,
+		   this,
+		   USEC2TICK(LL40LS_CONVERSION_INTERVAL));
+}
+
+void
+LL40LS::print_info()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_buffer_overflows);
+	printf("poll interval:  %u ticks\n", _measure_ticks);
+	_reports->print_info("report queue");
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace ll40ls
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+LL40LS	*g_dev;
+
+void	start();
+void	stop();
+void	test();
+void	reset();
+void	info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+	int fd;
+
+	if (g_dev != nullptr) {
+		errx(1, "already started");
+	}
+
+	/* create the driver */
+	g_dev = new LL40LS(LL40LS_BUS);
+
+	if (g_dev == nullptr) {
+		goto fail;
+	}
+
+	if (OK != g_dev->init()) {
+		goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		goto fail;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		goto fail;
+	}
+
+	exit(0);
+
+fail:
+
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Stop the driver
+ */
+void stop()
+{
+	if (g_dev != nullptr) {
+		delete g_dev;
+		g_dev = nullptr;
+
+	} else {
+		errx(1, "driver not running");
+	}
+
+	exit(0);
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ */
+void
+test()
+{
+	struct range_finder_report report;
+	ssize_t sz;
+	int ret;
+
+	int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "%s open failed (try 'll40ls start' if the driver is not running", LL40LS_DEVICE_PATH);
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &report, sizeof(report));
+
+	if (sz != sizeof(report)) {
+		err(1, "immediate read failed");
+	}
+
+	warnx("single read");
+	warnx("measurement: %0.2f m", (double)report.distance);
+	warnx("time:        %lld", report.timestamp);
+
+	/* start the sensor polling at 2Hz */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+		errx(1, "failed to set 2Hz poll rate");
+	}
+
+	/* read the sensor 5x and report each value */
+	for (unsigned i = 0; i < 5; i++) {
+		struct pollfd fds;
+
+		/* wait for data to be ready */
+		fds.fd = fd;
+		fds.events = POLLIN;
+		ret = poll(&fds, 1, 2000);
+
+		if (ret != 1) {
+			errx(1, "timed out waiting for sensor data");
+		}
+
+		/* now go get it */
+		sz = read(fd, &report, sizeof(report));
+
+		if (sz != sizeof(report)) {
+			err(1, "periodic read failed");
+		}
+
+		warnx("periodic read %u", i);
+		warnx("measurement: %0.3f", (double)report.distance);
+		warnx("time:        %lld", report.timestamp);
+	}
+
+	/* reset the sensor polling to default rate */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+		errx(1, "failed to set default poll rate");
+	}
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(LL40LS_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "failed ");
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		err(1, "driver reset failed");
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "driver poll restart failed");
+	}
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info()
+{
+	if (g_dev == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", g_dev);
+	g_dev->print_info();
+
+	exit(0);
+}
+
+} // namespace
+
+int
+ll40ls_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		ll40ls::start();
+	}
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		ll40ls::stop();
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test")) {
+		ll40ls::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset")) {
+		ll40ls::reset();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+		ll40ls::info();
+	}
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}
diff --git a/src/modules/fixedwing_pos_control/module.mk b/src/drivers/ll40ls/module.mk
index b976377e9..fb627afee 100644
--- a/src/modules/fixedwing_pos_control/module.mk
+++ b/src/drivers/ll40ls/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,9 +32,11 @@
 ############################################################################
 
 #
-# Fixedwing PositionControl application
+# Makefile to build the PulsedLight Lidar-Lite driver.
 #
 
-MODULE_COMMAND	= fixedwing_pos_control
+MODULE_COMMAND	= ll40ls
 
-SRCS		= fixedwing_pos_control_main.c
+SRCS		= ll40ls.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 4dee7649b..6880cf0f8 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -52,6 +52,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
+#include <getopt.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -68,6 +69,7 @@
 
 #include <board_config.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -75,12 +77,17 @@
 #endif
 static const int ERROR = -1;
 
+// enable this to debug the buggy lsm303d sensor in very early
+// prototype pixhawk boards
+#define CHECK_EXTREMES 0
+
 /* SPI protocol address bits */
 #define DIR_READ				(1<<7)
 #define DIR_WRITE				(0<<7)
 #define ADDR_INCREMENT			(1<<6)
 
 #define LSM303D_DEVICE_PATH_ACCEL	"/dev/lsm303d_accel"
+#define LSM303D_DEVICE_PATH_ACCEL_EXT	"/dev/lsm303d_accel_ext"
 #define LSM303D_DEVICE_PATH_MAG		"/dev/lsm303d_mag"
 
 /* register addresses: A: accel, M: mag, T: temp */
@@ -216,7 +223,7 @@ class LSM303D_mag;
 class LSM303D : public device::SPI
 {
 public:
-	LSM303D(int bus, const char* path, spi_dev_e device);
+	LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation);
 	virtual ~LSM303D();
 
 	virtual int		init();
@@ -277,6 +284,7 @@ private:
 	unsigned		_mag_samplerate;
 
 	orb_advert_t		_accel_topic;
+	orb_id_t		_accel_orb_id;
 	int			_accel_class_instance;
 
 	unsigned		_accel_read;
@@ -305,7 +313,8 @@ private:
 	uint64_t		_last_log_us;	
 	uint64_t		_last_log_sync_us;	
 	uint64_t		_last_log_reg_us;	
-	uint64_t		_last_log_alarm_us;	
+	uint64_t		_last_log_alarm_us;
+	enum Rotation		_rotation;
 
 	/**
 	 * Start automatic measurement.
@@ -453,6 +462,10 @@ private:
 	 * @return		OK if the value can be supported.
 	 */
 	int			mag_set_samplerate(unsigned frequency);
+
+	/* this class cannot be copied */
+	LSM303D(const LSM303D&);
+	LSM303D operator=(const LSM303D&);
 };
 
 /**
@@ -477,29 +490,39 @@ private:
 	LSM303D				*_parent;
 
 	orb_advert_t			_mag_topic;
+	orb_id_t			_mag_orb_id;
 	int				_mag_class_instance;
 
 	void				measure();
 
 	void				measure_trampoline(void *arg);
+
+	/* this class does not allow copying due to ptr data members */
+	LSM303D_mag(const LSM303D_mag&);
+	LSM303D_mag operator=(const LSM303D_mag&);
 };
 
 
-LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
+LSM303D::LSM303D(int bus, const char* path, spi_dev_e device, enum Rotation rotation) :
 	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
 	_mag(new LSM303D_mag(this)),
+	_accel_call{},
+	_mag_call{},
 	_call_accel_interval(0),
 	_call_mag_interval(0),
 	_accel_reports(nullptr),
 	_mag_reports(nullptr),
+	_accel_scale{},
 	_accel_range_m_s2(0.0f),
 	_accel_range_scale(0.0f),
 	_accel_samplerate(0),
 	_accel_onchip_filter_bandwith(0),
+	_mag_scale{},
 	_mag_range_ga(0.0f),
 	_mag_range_scale(0.0f),
 	_mag_samplerate(0),
 	_accel_topic(-1),
+	_accel_orb_id(nullptr),
 	_accel_class_instance(-1),
 	_accel_read(0),
 	_mag_read(0),
@@ -516,11 +539,15 @@ LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
 	_reg7_expected(0),
 	_accel_log_fd(-1),
 	_accel_logging_enabled(false),
+	_last_extreme_us(0),
 	_last_log_us(0),
 	_last_log_sync_us(0),
 	_last_log_reg_us(0),
-	_last_log_alarm_us(0)
+	_last_log_alarm_us(0),
+	_rotation(rotation)
 {
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LSM303D;
+
 	// enable debug() calls
 	_debug_enabled = true;
 
@@ -600,34 +627,56 @@ LSM303D::init()
 	/* fill report structures */
 	measure();
 
-	if (_mag->_mag_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct mag_report mrp;
+	_mag_reports->get(&mrp);
+
+	/* measurement will have generated a report, publish */
+	switch (_mag->_mag_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_mag->_mag_orb_id = ORB_ID(sensor_mag0);
+			break;
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct mag_report mrp;
-		_mag_reports->get(&mrp);
+		case CLASS_DEVICE_SECONDARY:
+			_mag->_mag_orb_id = ORB_ID(sensor_mag1);
+			break;
 
-		/* measurement will have generated a report, publish */
-		_mag->_mag_topic = orb_advertise(ORB_ID(sensor_mag), &mrp);
+		case CLASS_DEVICE_TERTIARY:
+			_mag->_mag_orb_id = ORB_ID(sensor_mag2);
+			break;
+	}
 
-		if (_mag->_mag_topic < 0)
-			debug("failed to create sensor_mag publication");
+	_mag->_mag_topic = orb_advertise(_mag->_mag_orb_id, &mrp);
 
+	if (_mag->_mag_topic < 0) {
+		warnx("ADVERT ERR");
 	}
 
 	_accel_class_instance = register_class_devname(ACCEL_DEVICE_PATH);
 
-	if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct accel_report arp;
+	_accel_reports->get(&arp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct accel_report arp;
-		_accel_reports->get(&arp);
+	/* measurement will have generated a report, publish */
+	switch (_accel_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_accel_orb_id = ORB_ID(sensor_accel0);
+			break;
 
-		/* measurement will have generated a report, publish */
-		_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
+		case CLASS_DEVICE_SECONDARY:
+			_accel_orb_id = ORB_ID(sensor_accel1);
+			break;
 
-		if (_accel_topic < 0)
-			debug("failed to create sensor_accel publication");
+		case CLASS_DEVICE_TERTIARY:
+			_accel_orb_id = ORB_ID(sensor_accel2);
+			break;
+	}
+
+	_accel_topic = orb_advertise(_accel_orb_id, &arp);
 
+	if (_accel_topic < 0) {
+		warnx("ADVERT ERR");
 	}
 
 out:
@@ -830,7 +879,9 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 		 */
 		while (count--) {
 			if (_accel_reports->get(arb)) {
+#if CHECK_EXTREMES
 				check_extremes(arb);
+#endif
 				ret += sizeof(*arb);
 				arb++;
 			}
@@ -880,7 +931,7 @@ LSM303D::mag_read(struct file *filp, char *buffer, size_t buflen)
 
 	/* manual measurement */
 	_mag_reports->flush();
-	measure();
+	_mag->measure();
 
 	/* measurement will have generated a report, copy it out */
 	if (_mag_reports->get(mrb))
@@ -1533,6 +1584,9 @@ LSM303D::measure()
 	accel_report.y = _accel_filter_y.apply(y_in_new);
 	accel_report.z = _accel_filter_z.apply(z_in_new);
 
+	// apply user specified rotation
+	rotate_3f(_rotation, accel_report.x, accel_report.y, accel_report.z);
+
 	accel_report.scaling = _accel_range_scale;
 	accel_report.range_m_s2 = _accel_range_m_s2;
 
@@ -1541,9 +1595,9 @@ LSM303D::measure()
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
-	if (_accel_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_accel), _accel_topic, &accel_report);
+		orb_publish(_accel_orb_id, _accel_topic, &accel_report);
 	}
 
 	_accel_read++;
@@ -1609,15 +1663,18 @@ LSM303D::mag_measure()
 	mag_report.scaling = _mag_range_scale;
 	mag_report.range_ga = (float)_mag_range_ga;
 
+	// apply user specified rotation
+	rotate_3f(_rotation, mag_report.x, mag_report.y, mag_report.z);
+
 	_mag_reports->force(&mag_report);
 
 	/* XXX please check this poll_notify, is it the right one? */
 	/* notify anyone waiting for data */
 	poll_notify(POLLIN);
 
-	if (_mag->_mag_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_mag), _mag->_mag_topic, &mag_report);
+		orb_publish(_mag->_mag_orb_id, _mag->_mag_topic, &mag_report);
 	}
 
 	_mag_read++;
@@ -1711,6 +1768,7 @@ LSM303D_mag::LSM303D_mag(LSM303D *parent) :
 	CDev("LSM303D_mag", LSM303D_DEVICE_PATH_MAG),
 	_parent(parent),
 	_mag_topic(-1),
+	_mag_orb_id(nullptr),
 	_mag_class_instance(-1)
 {
 }
@@ -1774,26 +1832,37 @@ namespace lsm303d
 
 LSM303D	*g_dev;
 
-void	start();
+void	start(bool external_bus, enum Rotation rotation);
 void	test();
 void	reset();
 void	info();
 void	regdump();
 void	logging();
+void	usage();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver is
+ * up and running or failed to detect the sensor.
  */
 void
-start()
+start(bool external_bus, enum Rotation rotation)
 {
 	int fd, fd_mag;
-
 	if (g_dev != nullptr)
 		errx(0, "already started");
 
 	/* create the driver */
-	g_dev = new LSM303D(1 /* SPI dev 1 */, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
+        if (external_bus) {
+        	#ifdef PX4_SPI_BUS_EXT
+		g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
+		#else
+		errx(0, "External SPI not available");
+		#endif
+	} else {
+		g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, rotation);
+	}
 
 	if (g_dev == nullptr) {
 		warnx("failed instantiating LSM303D obj");
@@ -1989,47 +2058,76 @@ logging()
 	exit(0);
 }
 
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+	warnx("    -R rotation");
+}
 
 } // namespace
 
 int
 lsm303d_main(int argc, char *argv[])
 {
+	bool external_bus = false;
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "XR:")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+		default:
+			lsm303d::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
 	/*
 	 * Start/load the driver.
 
 	 */
-	if (!strcmp(argv[1], "start"))
-		lsm303d::start();
+	if (!strcmp(verb, "start"))
+		lsm303d::start(external_bus, rotation);
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
+	if (!strcmp(verb, "test"))
 		lsm303d::test();
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
+	if (!strcmp(verb, "reset"))
 		lsm303d::reset();
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info"))
+	if (!strcmp(verb, "info"))
 		lsm303d::info();
 
 	/*
 	 * dump device registers
 	 */
-	if (!strcmp(argv[1], "regdump"))
+	if (!strcmp(verb, "regdump"))
 		lsm303d::regdump();
 
 	/*
 	 * dump device registers
 	 */
-	if (!strcmp(argv[1], "logging"))
+	if (!strcmp(verb, "logging"))
 		lsm303d::logging();
 
 	errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'");
diff --git a/src/drivers/lsm303d/module.mk b/src/drivers/lsm303d/module.mk
index e40f718c5..b4f3974f4 100644
--- a/src/drivers/lsm303d/module.mk
+++ b/src/drivers/lsm303d/module.mk
@@ -5,4 +5,6 @@
 MODULE_COMMAND	 = lsm303d
 SRCS		 = lsm303d.cpp
 
+MODULE_STACKSIZE	= 1200
 
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index 5adb8cf69..beb6c8e35 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -74,6 +74,7 @@
 /* Configuration Constants */
 #define MB12XX_BUS 			PX4_I2C_BUS_EXPANSION
 #define MB12XX_BASEADDR 	0x70 /* 7-bit address. 8-bit address is 0xE0 */
+#define MB12XX_DEVICE_PATH	"/dev/mb12xx"
 
 /* MB12xx Registers addresses */
 
@@ -124,6 +125,7 @@ private:
 	bool				_sensor_ok;
 	int					_measure_ticks;
 	bool				_collect_phase;
+	int					_class_instance;
 
 	orb_advert_t		_range_finder_topic;
 
@@ -187,13 +189,14 @@ private:
 extern "C" __EXPORT int mb12xx_main(int argc, char *argv[]);
 
 MB12XX::MB12XX(int bus, int address) :
-	I2C("MB12xx", RANGE_FINDER_DEVICE_PATH, bus, address, 100000),
+	I2C("MB12xx", MB12XX_DEVICE_PATH, bus, address, 100000),
 	_min_distance(MB12XX_MIN_DISTANCE),
 	_max_distance(MB12XX_MAX_DISTANCE),
 	_reports(nullptr),
 	_sensor_ok(false),
 	_measure_ticks(0),
 	_collect_phase(false),
+	_class_instance(-1),
 	_range_finder_topic(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mb12xx_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "mb12xx_comms_errors")),
@@ -215,6 +218,15 @@ MB12XX::~MB12XX()
 	if (_reports != nullptr) {
 		delete _reports;
 	}
+
+	if (_class_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_DEVICE_PATH, _class_instance);
+	}
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
 }
 
 int
@@ -234,13 +246,18 @@ MB12XX::init()
 		goto out;
 	}
 
-	/* get a publish handle on the range finder topic */
-	struct range_finder_report zero_report;
-	memset(&zero_report, 0, sizeof(zero_report));
-	_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
+	_class_instance = register_class_devname(RANGE_FINDER_DEVICE_PATH);
 
-	if (_range_finder_topic < 0) {
-		debug("failed to create sensor_range_finder object. Did you start uOrb?");
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		/* get a publish handle on the range finder topic */
+		struct range_finder_report rf_report;
+		measure();
+		_reports->get(&rf_report);
+		_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &rf_report);
+
+		if (_range_finder_topic < 0) {
+			debug("failed to create sensor_range_finder object. Did you start uOrb?");
+		}
 	}
 
 	ret = OK;
@@ -505,8 +522,10 @@ MB12XX::collect()
 	report.distance = si_units;
 	report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
 
-	/* publish it */
-	orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
+	/* publish it, if we are the primary */
+	if (_range_finder_topic >= 0) {
+		orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
+	}
 
 	if (_reports->force(&report)) {
 		perf_count(_buffer_overflows);
@@ -665,7 +684,7 @@ start()
 	}
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
+	fd = open(MB12XX_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
 		goto fail;
@@ -715,10 +734,10 @@ test()
 	ssize_t sz;
 	int ret;
 
-	int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
+	int fd = open(MB12XX_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
+		err(1, "%s open failed (try 'mb12xx start' if the driver is not running", MB12XX_DEVICE_PATH);
 	}
 
 	/* do a simple demand read */
@@ -776,7 +795,7 @@ test()
 void
 reset()
 {
-	int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
+	int fd = open(MB12XX_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
 		err(1, "failed ");
diff --git a/src/drivers/mb12xx/module.mk b/src/drivers/mb12xx/module.mk
index 4e00ada02..d751e93e4 100644
--- a/src/drivers/mb12xx/module.mk
+++ b/src/drivers/mb12xx/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= mb12xx
 
 SRCS		= mb12xx.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/md25/module.mk b/src/drivers/md25/module.mk
index 13821a6b5..3f9cf2d89 100644
--- a/src/drivers/md25/module.mk
+++ b/src/drivers/md25/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND		= md25
 
 SRCS			= md25.cpp \
 			  md25_main.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 2c3efdc35..159706278 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -87,11 +87,12 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/system_power.h>
 
 #include <drivers/airspeed/airspeed.h>
 
 /* I2C bus address is 1010001x */
-#define I2C_ADDRESS_MS4525DO	0x28	//0x51 /* 7-bit address. */
+#define I2C_ADDRESS_MS4525DO	0x28	/**< 7-bit address. Depends on the order code (this is for code "I") */
 #define PATH_MS4525		"/dev/ms4525"
 /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
 #define I2C_ADDRESS_MS5525DSO	0x77	//0x77/* 7-bit address, addr. pin pulled low */
@@ -101,9 +102,9 @@
 #define ADDR_READ_MR			0x00	/* write to this address to start conversion */
 
 /* Measurement rate is 100Hz */
-#define MEAS_RATE 100.0f
-#define MEAS_DRIVER_FILTER_FREQ 3.0f
-#define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
+#define MEAS_RATE 100
+#define MEAS_DRIVER_FILTER_FREQ 1.2f
+#define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
 
 class MEASAirspeed : public Airspeed
 {
@@ -121,6 +122,14 @@ protected:
 	virtual int	collect();
 
 	math::LowPassFilter2p	_filter;
+
+	/**
+	 * Correct for 5V rail voltage variations
+	 */
+	void voltage_correction(float &diff_pres_pa, float &temperature);
+
+	int _t_system_power;
+	struct system_power_s system_power;
 };
 
 /*
@@ -129,10 +138,11 @@ protected:
 extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
 
 MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
-			CONVERSION_INTERVAL, path),
-			_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ)
+	CONVERSION_INTERVAL, path),
+	_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ),
+	_t_system_power(-1),
+	system_power{}
 {
-
 }
 
 int
@@ -194,19 +204,51 @@ MEASAirspeed::collect()
 	dp_raw = 0x3FFF & dp_raw;
 	dT_raw = (val[2] << 8) + val[3];
 	dT_raw = (0xFFE0 & dT_raw) >> 5;
-	float temperature = ((200 * dT_raw) / 2047) - 50;
+	float temperature = ((200.0f * dT_raw) / 2047) - 50;
 
-	/* calculate differential pressure. As its centered around 8000
-	 * and can go positive or negative, enforce absolute value
-	*/
+	// Calculate differential pressure. As its centered around 8000
+	// and can go positive or negative
 	const float P_min = -1.0f;
 	const float P_max = 1.0f;
-	float diff_press_pa = fabsf((((float)dp_raw - 0.1f * 16383.0f) * (P_max - P_min) / (0.8f * 16383.0f) + P_min) * 6894.8f) - _diff_pres_offset;
+	const float PSI_to_Pa = 6894.757f;
+	/*
+	  this equation is an inversion of the equation in the
+	  pressure transfer function figure on page 4 of the datasheet
 
-	if (diff_press_pa < 0.0f) {
-		diff_press_pa = 0.0f;
-	}
+	  We negate the result so that positive differential pressures
+	  are generated when the bottom port is used as the static
+	  port on the pitot and top port is used as the dynamic port
+	 */
+	float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min);
+	float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
+
+        // correct for 5V rail voltage if possible
+        voltage_correction(diff_press_pa_raw, temperature);
+
+	// the raw value still should be compensated for the known offset
+	diff_press_pa_raw -= _diff_pres_offset;
 
+	float diff_press_pa = fabsf(diff_press_pa_raw);
+	
+	/*
+	  note that we return both the absolute value with offset
+	  applied and a raw value without the offset applied. This
+	  makes it possible for higher level code to detect if the
+	  user has the tubes connected backwards, and also makes it
+	  possible to correctly use offsets calculated by a higher
+	  level airspeed driver.
+
+	  With the above calculation the MS4525 sensor will produce a
+	  positive number when the top port is used as a dynamic port
+	  and bottom port is used as the static port
+
+	  Also note that the _diff_pres_offset is applied before the
+	  fabsf() not afterwards. It needs to be done this way to
+	  prevent a bias at low speeds, but this also means that when
+	  setting a offset you must set it based on the raw value, not
+	  the offset value
+	 */
+	
 	struct differential_pressure_s report;
 
 	/* track maximum differential pressure measured (so we can work out top speed). */
@@ -219,7 +261,13 @@ MEASAirspeed::collect()
 	report.temperature = temperature;
 	report.differential_pressure_pa = diff_press_pa;
 	report.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa);
-	report.voltage = 0;
+
+	/* the dynamics of the filter can make it overshoot into the negative range */
+	if (report.differential_pressure_filtered_pa < 0.0f) {
+		report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa);
+	}
+
+	report.differential_pressure_raw_pa = diff_press_pa_raw;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
 
 	if (_airspeed_pub > 0 && !(_pub_blocked)) {
@@ -242,13 +290,17 @@ MEASAirspeed::collect()
 void
 MEASAirspeed::cycle()
 {
+	int ret;
+
 	/* collection phase? */
 	if (_collect_phase) {
 
 		/* perform collection */
-		if (OK != collect()) {
+		ret = collect();
+		if (OK != ret) {
 			/* restart the measurement state machine */
 			start();
+			_sensor_ok = false;
 			return;
 		}
 
@@ -272,10 +324,13 @@ MEASAirspeed::cycle()
 	}
 
 	/* measurement phase */
-	if (OK != measure()) {
-		log("measure error");
+	ret = measure();
+	if (OK != ret) {
+		debug("measure error");
 	}
 
+	_sensor_ok = (ret == OK);
+
 	/* next phase is collection */
 	_collect_phase = true;
 
@@ -288,6 +343,62 @@ MEASAirspeed::cycle()
 }
 
 /**
+   correct for 5V rail voltage if the system_power ORB topic is
+   available
+   
+   See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of
+   offset versus voltage for 3 sensors
+ */
+void
+MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
+{
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+	if (_t_system_power == -1) {
+		_t_system_power = orb_subscribe(ORB_ID(system_power));
+	}
+	if (_t_system_power == -1) {
+		// not available
+		return;
+	}
+	bool updated = false;
+	orb_check(_t_system_power, &updated);
+	if (updated) {
+		orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
+	}
+	if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
+		// not valid, skip correction
+		return;
+	}
+
+	const float slope = 65.0f;
+	/*
+	  apply a piecewise linear correction, flattening at 0.5V from 5V
+	 */
+	float voltage_diff = system_power.voltage5V_v - 5.0f;
+	if (voltage_diff > 0.5f) {
+		voltage_diff = 0.5f;
+	}
+	if (voltage_diff < -0.5f) {
+		voltage_diff = -0.5f;
+	}
+	diff_press_pa -= voltage_diff * slope;
+
+	/*
+	  the temperature masurement varies as well
+	 */
+	const float temp_slope = 0.887f;
+	voltage_diff = system_power.voltage5V_v - 5.0f;
+	if (voltage_diff > 0.5f) {
+		voltage_diff = 0.5f;
+	}
+	if (voltage_diff < -1.0f) {
+		voltage_diff = -1.0f;
+	}
+	temperature -= voltage_diff * temp_slope;	
+#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
+}
+
+/**
  * Local functions in support of the shell command.
  */
 namespace meas_airspeed
@@ -309,6 +420,9 @@ void	info();
 
 /**
  * Start the driver.
+ *
+ * This function call only returns once the driver is up and running
+ * or failed to detect the sensor.
  */
 void
 start(int i2c_bus)
@@ -409,7 +523,7 @@ test()
 	}
 
 	warnx("single read");
-	warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
+	warnx("diff pressure: %d pa", (int)report.differential_pressure_pa);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -437,7 +551,7 @@ test()
 		}
 
 		warnx("periodic read %u", i);
-		warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa);
+		warnx("diff pressure: %d pa", (int)report.differential_pressure_pa);
 		warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
 	}
 
diff --git a/src/drivers/meas_airspeed/module.mk b/src/drivers/meas_airspeed/module.mk
index fed4078b6..6f5909978 100644
--- a/src/drivers/meas_airspeed/module.mk
+++ b/src/drivers/meas_airspeed/module.mk
@@ -36,6 +36,11 @@
 #
 
 MODULE_COMMAND		= meas_airspeed
-MODULE_STACKSIZE	= 2048
 
 SRCS			= meas_airspeed.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 705e98eea..3996b76a6 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -92,8 +92,20 @@
 #define MOTOR_SPINUP_COUNTER			30
 #define ESC_UORB_PUBLISH_DELAY		500000
 
-
-
+struct MotorData_t {
+	unsigned int Version;                        // the version of the BL (0 = old)
+	unsigned int SetPoint;                       // written by attitude controller
+	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
+	float SetPoint_PX4; 			     // Values from PX4
+	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
+	unsigned int ReadMode;                       // select data to read
+	unsigned short RawPwmValue;							// length of PWM pulse
+	// the following bytes must be exactly in that order!
+	unsigned int Current;                        // in 0.1 A steps, read back from BL
+	unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
+	unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
+	unsigned int RoundCount;
+};
 
 class MK : public device::I2C
 {
@@ -119,8 +131,8 @@ public:
 	int		set_motor_count(unsigned count);
 	int		set_motor_test(bool motortest);
 	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
-	int		set_px4mode(int px4mode);
-	int		set_frametype(int frametype);
+	void		set_px4mode(int px4mode);
+	void		set_frametype(int frametype);
 	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
 
 private:
@@ -154,8 +166,10 @@ private:
 
 	actuator_controls_s _controls;
 
+	MotorData_t Motor[MAX_MOTORS];
+
 	static void	task_main_trampoline(int argc, char *argv[]);
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	static int	control_callback(uintptr_t handle,
 					 uint8_t control_group,
@@ -195,24 +209,6 @@ const int blctrlAddr_px4[]  = { 0, 0, 0, 0, 0, 0, 0, 0};
 
 int addrTranslator[] = {0, 0, 0, 0, 0, 0, 0, 0};
 
-struct MotorData_t {
-	unsigned int Version;                        // the version of the BL (0 = old)
-	unsigned int SetPoint;                       // written by attitude controller
-	unsigned int SetPointLowerBits;      // for higher Resolution of new BLs
-	float SetPoint_PX4; 			     // Values from PX4
-	unsigned int State;                          // 7 bit for I2C error counter, highest bit indicates if motor is present
-	unsigned int ReadMode;                       // select data to read
-	unsigned short RawPwmValue;							// length of PWM pulse
-	// the following bytes must be exactly in that order!
-	unsigned int Current;                        // in 0.1 A steps, read back from BL
-	unsigned int MaxPWM;                         // read back from BL is less than 255 if BL is in current limit
-	unsigned int Temperature;            // old BL-Ctrl will return a 255 here, the new version the temp. in
-	unsigned int RoundCount;
-};
-
-MotorData_t Motor[MAX_MOTORS];
-
-
 namespace
 {
 
@@ -226,15 +222,15 @@ MK::MK(int bus, const char *_device_path) :
 	_task(-1),
 	_t_actuators(-1),
 	_t_actuator_armed(-1),
+	_motor(-1),
+	_px4mode(MAPPING_MK),
+	_frametype(FRAME_PLUS),
 	_t_outputs(0),
 	_t_esc_status(0),
 	_num_outputs(0),
+	_primary_pwm_device(false),
 	_motortest(false),
 	_overrideSecurityChecks(false),
-	_motor(-1),
-	_px4mode(MAPPING_MK),
-	_frametype(FRAME_PLUS),
-	_primary_pwm_device(false),
 	_task_should_exit(false),
 	_armed(false),
 	_mixers(nullptr)
@@ -334,13 +330,13 @@ MK::set_update_rate(unsigned rate)
 	return OK;
 }
 
-int
+void
 MK::set_px4mode(int px4mode)
 {
 	_px4mode = px4mode;
 }
 
-int
+void
 MK::set_frametype(int frametype)
 {
 	_frametype = frametype;
@@ -444,9 +440,6 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
 void
 MK::task_main()
 {
-	long update_rate_in_us = 0;
-	float tmpVal = 0;
-
 	/*
 	 * Subscribe to the appropriate PWM output topic based on whether we are the
 	 * primary PWM output or not.
@@ -487,7 +480,6 @@ MK::task_main()
 		/* handle update rate changes */
 		if (_current_update_rate != _update_rate) {
 			int update_rate_in_ms = int(1000 / _update_rate);
-			update_rate_in_us = long(1000000 / _update_rate);
 
 			/* reject faster than 500 Hz updates */
 			if (update_rate_in_ms < 2) {
@@ -739,7 +731,6 @@ MK::mk_servo_set(unsigned int chan, short val)
 	_retries = 0;
 	uint8_t result[3] = { 0, 0, 0 };
 	uint8_t msg[2] = { 0, 0 };
-	uint8_t rod = 0;
 	uint8_t bytesToSendBL2 = 2;
 
 	tmpVal = val;
@@ -828,7 +819,7 @@ MK::mk_servo_set(unsigned int chan, short val)
 		if (debugCounter == 2000) {
 			debugCounter = 0;
 
-			for (int i = 0; i < _num_outputs; i++) {
+			for (unsigned int i = 0; i < _num_outputs; i++) {
 				if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
 					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
 				}
@@ -1015,7 +1006,7 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
 		/* copy the current output value from the channel */
-		*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_SET(0)].RawPwmValue;
+		*(servo_position_t *)arg = Motor[cmd - PWM_SERVO_GET(0)].RawPwmValue;
 
 		break;
 
@@ -1173,7 +1164,7 @@ mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int fr
 }
 
 int
-mk_start(unsigned motors, char *device_path)
+mk_start(unsigned motors, const char *device_path)
 {
 	int ret;
 
@@ -1232,7 +1223,7 @@ mkblctrl_main(int argc, char *argv[])
 	bool overrideSecurityChecks = false;
 	bool showHelp = false;
 	bool newMode = false;
-	char *devicepath = "";
+	const char *devicepath = "";
 
 	/*
 	 * optional parameters
diff --git a/src/drivers/mkblctrl/module.mk b/src/drivers/mkblctrl/module.mk
index 3ac263b00..6daa14aa5 100644
--- a/src/drivers/mkblctrl/module.mk
+++ b/src/drivers/mkblctrl/module.mk
@@ -37,6 +37,8 @@
 
 MODULE_COMMAND		= mkblctrl
 
-SRCS				= mkblctrl.cpp
+SRCS			= mkblctrl.cpp
 
 INCLUDE_DIRS		+= $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/mpu6000/module.mk b/src/drivers/mpu6000/module.mk
index c7d9cd3ef..5b4893b12 100644
--- a/src/drivers/mpu6000/module.mk
+++ b/src/drivers/mpu6000/module.mk
@@ -37,7 +37,8 @@
 
 MODULE_COMMAND	= mpu6000
 
-# XXX seems excessive, check if 2048 is not sufficient
-MODULE_STACKSIZE	 = 4096
-
 SRCS		= mpu6000.cpp
+
+MODULE_STACKSIZE	= 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index ac75682c4..6f5dae7ad 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -55,6 +55,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
+#include <getopt.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
@@ -71,12 +72,15 @@
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
 
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
 
 #define MPU_DEVICE_PATH_ACCEL		"/dev/mpu6000_accel"
 #define MPU_DEVICE_PATH_GYRO		"/dev/mpu6000_gyro"
+#define MPU_DEVICE_PATH_ACCEL_EXT	"/dev/mpu6000_accel_ext"
+#define MPU_DEVICE_PATH_GYRO_EXT	"/dev/mpu6000_gyro_ext"
 
 // MPU 6000 registers
 #define MPUREG_WHOAMI			0x75
@@ -177,7 +181,7 @@ class MPU6000_gyro;
 class MPU6000 : public device::SPI
 {
 public:
-	MPU6000(int bus, spi_dev_e device);
+	MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation);
 	virtual ~MPU6000();
 
 	virtual int		init();
@@ -211,6 +215,7 @@ private:
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
+	orb_id_t		_accel_orb_id;
 	int			_accel_class_instance;
 
 	RingBuffer		*_gyro_reports;
@@ -232,6 +237,8 @@ private:
 	math::LowPassFilter2p	_gyro_filter_y;
 	math::LowPassFilter2p	_gyro_filter_z;
 
+	enum Rotation		_rotation;
+
 	/**
 	 * Start automatic measurement.
 	 */
@@ -337,6 +344,9 @@ private:
 	*/
 	void _set_sample_rate(uint16_t desired_sample_rate_hz);
 
+	/* do not allow to copy this class due to pointer data members */
+	MPU6000(const MPU6000&);
+	MPU6000 operator=(const MPU6000&);
 };
 
 /**
@@ -345,7 +355,7 @@ private:
 class MPU6000_gyro : public device::CDev
 {
 public:
-	MPU6000_gyro(MPU6000 *parent);
+	MPU6000_gyro(MPU6000 *parent, const char *path);
 	~MPU6000_gyro();
 
 	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
@@ -361,24 +371,32 @@ protected:
 private:
 	MPU6000			*_parent;
 	orb_advert_t		_gyro_topic;
+	orb_id_t		_gyro_orb_id;
 	int			_gyro_class_instance;
 
+	/* do not allow to copy this class due to pointer data members */
+	MPU6000_gyro(const MPU6000_gyro&);
+	MPU6000_gyro operator=(const MPU6000_gyro&);
 };
 
 /** driver 'main' command */
 extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
 
-MPU6000::MPU6000(int bus, spi_dev_e device) :
-	SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
-	_gyro(new MPU6000_gyro(this)),
+MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation) :
+	SPI("MPU6000", path_accel, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
+	_gyro(new MPU6000_gyro(this, path_gyro)),
 	_product(0),
+	_call{},
 	_call_interval(0),
 	_accel_reports(nullptr),
+	_accel_scale{},
 	_accel_range_scale(0.0f),
 	_accel_range_m_s2(0.0f),
 	_accel_topic(-1),
+	_accel_orb_id(nullptr),
 	_accel_class_instance(-1),
 	_gyro_reports(nullptr),
+	_gyro_scale{},
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_sample_rate(1000),
@@ -391,7 +409,8 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 	_accel_filter_z(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_x(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_y(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
-	_gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ)
+	_gyro_filter_z(MPU6000_GYRO_DEFAULT_RATE, MPU6000_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
+	_rotation(rotation)
 {
 	// disable debug() calls
 	_debug_enabled = false;
@@ -491,33 +510,58 @@ MPU6000::init()
 
 	measure();
 
-	if (_accel_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct accel_report arp;
+	_accel_reports->get(&arp);
+
+	/* measurement will have generated a report, publish */
+	switch (_accel_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_accel_orb_id = ORB_ID(sensor_accel0);
+			break;
+		
+		case CLASS_DEVICE_SECONDARY:
+			_accel_orb_id = ORB_ID(sensor_accel1);
+			break;
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct accel_report arp;
-		_accel_reports->get(&arp);
+		case CLASS_DEVICE_TERTIARY:
+			_accel_orb_id = ORB_ID(sensor_accel2);
+			break;
 
-		/* measurement will have generated a report, publish */
-		_accel_topic = orb_advertise(ORB_ID(sensor_accel), &arp);
+	}
 
-		if (_accel_topic < 0)
-			debug("failed to create sensor_accel publication");
+	_accel_topic = orb_advertise(_accel_orb_id, &arp);
 
+	if (_accel_topic < 0) {
+		warnx("ADVERT FAIL");
 	}
 
-	if (_gyro->_gyro_class_instance == CLASS_DEVICE_PRIMARY) {
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct gyro_report grp;
-		_gyro_reports->get(&grp);
+	/* advertise sensor topic, measure manually to initialize valid report */
+	struct gyro_report grp;
+	_gyro_reports->get(&grp);
 
-		_gyro->_gyro_topic = orb_advertise(ORB_ID(sensor_gyro), &grp);
+	switch (_gyro->_gyro_class_instance) {
+		case CLASS_DEVICE_PRIMARY:
+			_gyro->_gyro_orb_id = ORB_ID(sensor_gyro0);
+			break;
 
-		if (_gyro->_gyro_topic < 0)
-			debug("failed to create sensor_gyro publication");
+		case CLASS_DEVICE_SECONDARY:
+			_gyro->_gyro_orb_id = ORB_ID(sensor_gyro1);
+			break;
+
+		case CLASS_DEVICE_TERTIARY:
+			_gyro->_gyro_orb_id = ORB_ID(sensor_gyro2);
+			break;
 
 	}
 
+	_gyro->_gyro_topic = orb_advertise(_gyro->_gyro_orb_id, &grp);
+
+	if (_gyro->_gyro_topic < 0) {
+		warnx("ADVERT FAIL");
+	}
+
 out:
 	return ret;
 }
@@ -544,7 +588,7 @@ void MPU6000::reset()
 	write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
         irqrestore(state);
 
-	up_udelay(1000);
+	usleep(1000);
 
 	// SAMPLE RATE
 	_set_sample_rate(_sample_rate);
@@ -666,7 +710,9 @@ MPU6000::_set_dlpf_filter(uint16_t frequency_hz)
 	/* 
 	   choose next highest filter frequency available
 	 */
-	if (frequency_hz <= 5) {
+        if (frequency_hz == 0) {
+		filter = BITS_DLPF_CFG_2100HZ_NOLPF;
+        } else if (frequency_hz <= 5) {
 		filter = BITS_DLPF_CFG_5HZ;
 	} else if (frequency_hz <= 10) {
 		filter = BITS_DLPF_CFG_10HZ;
@@ -922,10 +968,11 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 		return _accel_filter_x.get_cutoff_freq();
 
 	case ACCELIOCSLOWPASS:
-		
-		// XXX decide on relationship of both filters
-		// i.e. disable the on-chip filter
-		//_set_dlpf_filter((uint16_t)arg);
+		if (arg == 0) {
+			// allow disabling of on-chip filter using
+			// zero as desired filter frequency
+			_set_dlpf_filter(0);
+		}
 		_accel_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
 		_accel_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
 		_accel_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
@@ -1009,8 +1056,11 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 		_gyro_filter_x.set_cutoff_frequency(1.0e6f / _call_interval, arg);
 		_gyro_filter_y.set_cutoff_frequency(1.0e6f / _call_interval, arg);
 		_gyro_filter_z.set_cutoff_frequency(1.0e6f / _call_interval, arg);
-		// XXX check relation to the internal lowpass
-		//_set_dlpf_filter((uint16_t)arg);
+		if (arg == 0) {
+			// allow disabling of on-chip filter using 0
+			// as desired frequency
+			_set_dlpf_filter(0);
+		}
 		return OK;
 
 	case GYROIOCSSCALE:
@@ -1295,6 +1345,9 @@ MPU6000::measure()
 	arb.y = _accel_filter_y.apply(y_in_new);
 	arb.z = _accel_filter_z.apply(z_in_new);
 
+	// apply user specified rotation
+	rotate_3f(_rotation, arb.x, arb.y, arb.z);
+
 	arb.scaling = _accel_range_scale;
 	arb.range_m_s2 = _accel_range_m_s2;
 
@@ -1313,6 +1366,9 @@ MPU6000::measure()
 	grb.y = _gyro_filter_y.apply(y_gyro_in_new);
 	grb.z = _gyro_filter_z.apply(z_gyro_in_new);
 
+	// apply user specified rotation
+	rotate_3f(_rotation, grb.x, grb.y, grb.z);
+
 	grb.scaling = _gyro_range_scale;
 	grb.range_rad_s = _gyro_range_rad_s;
 
@@ -1326,14 +1382,14 @@ MPU6000::measure()
 	poll_notify(POLLIN);
 	_gyro->parent_poll_notify();
 
-	if (_accel_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+		orb_publish(_accel_orb_id, _accel_topic, &arb);
 	}
 
-	if (_gyro->_gyro_topic > 0 && !(_pub_blocked)) {
+	if (!(_pub_blocked)) {
 		/* publish it */
-		orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
+		orb_publish(_gyro->_gyro_orb_id, _gyro->_gyro_topic, &grb);
 	}
 
 	/* stop measuring */
@@ -1350,10 +1406,11 @@ MPU6000::print_info()
 	_gyro_reports->print_info("gyro queue");
 }
 
-MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
-	CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
+MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
+	CDev("MPU6000_gyro", path),
 	_parent(parent),
 	_gyro_topic(-1),
+	_gyro_orb_id(nullptr),
 	_gyro_class_instance(-1)
 {
 }
@@ -1380,7 +1437,6 @@ MPU6000_gyro::init()
 
 	_gyro_class_instance = register_class_devname(GYRO_DEVICE_PATH);
 
-out:
 	return ret;
 }
 
@@ -1408,36 +1464,52 @@ MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
 namespace mpu6000
 {
 
-MPU6000	*g_dev;
+MPU6000	*g_dev_int; // on internal bus
+MPU6000	*g_dev_ext; // on external bus
 
-void	start();
-void	test();
-void	reset();
-void	info();
+void	start(bool, enum Rotation);
+void	test(bool);
+void	reset(bool);
+void	info(bool);
+void	usage();
 
 /**
  * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
  */
 void
-start()
+start(bool external_bus, enum Rotation rotation)
 {
 	int fd;
+        MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO;
 
-	if (g_dev != nullptr)
+	if (*g_dev_ptr != nullptr)
 		/* if already started, the still command succeeded */
 		errx(0, "already started");
 
 	/* create the driver */
-	g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);
+        if (external_bus) {
+#ifdef PX4_SPI_BUS_EXT
+		*g_dev_ptr = new MPU6000(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_MPU, rotation);
+#else
+		errx(0, "External SPI not available");
+#endif
+	} else {
+		*g_dev_ptr = new MPU6000(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_MPU, rotation);
+	}
 
-	if (g_dev == nullptr)
+	if (*g_dev_ptr == nullptr)
 		goto fail;
 
-	if (OK != g_dev->init())
+	if (OK != (*g_dev_ptr)->init())
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
+	fd = open(path_accel, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -1450,9 +1522,9 @@ start()
 	exit(0);
 fail:
 
-	if (g_dev != nullptr) {
-		delete g_dev;
-		g_dev = nullptr;
+	if (*g_dev_ptr != nullptr) {
+            delete (*g_dev_ptr);
+            *g_dev_ptr = nullptr;
 	}
 
 	errx(1, "driver start failed");
@@ -1464,24 +1536,26 @@ fail:
  * and automatic modes.
  */
 void
-test()
+test(bool external_bus)
 {
+	const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL;
+	const char *path_gyro  = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO;
 	accel_report a_report;
 	gyro_report g_report;
 	ssize_t sz;
 
 	/* get the driver */
-	int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
+	int fd = open(path_accel, O_RDONLY);
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
-		    MPU_DEVICE_PATH_ACCEL);
+		err(1, "%s open failed (try 'mpu6000 start')",
+		    path_accel);
 
 	/* get the driver */
-	int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY);
+	int fd_gyro = open(path_gyro, O_RDONLY);
 
 	if (fd_gyro < 0)
-		err(1, "%s open failed", MPU_DEVICE_PATH_GYRO);
+		err(1, "%s open failed", path_gyro);
 
 	/* reset to manual polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
@@ -1529,7 +1603,7 @@ test()
 
 	/* XXX add poll-rate tests here too */
 
-	reset();
+	reset(external_bus);
 	errx(0, "PASS");
 }
 
@@ -1537,9 +1611,10 @@ test()
  * Reset the driver.
  */
 void
-reset()
+reset(bool external_bus)
 {
-	int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
+	const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL;
+	int fd = open(path_accel, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "failed ");
@@ -1559,47 +1634,77 @@ reset()
  * Print a little info about the driver.
  */
 void
-info()
+info(bool external_bus)
 {
-	if (g_dev == nullptr)
+        MPU6000 **g_dev_ptr = external_bus?&g_dev_ext:&g_dev_int;
+	if (*g_dev_ptr == nullptr)
 		errx(1, "driver not running");
 
-	printf("state @ %p\n", g_dev);
-	g_dev->print_info();
+	printf("state @ %p\n", *g_dev_ptr);
+	(*g_dev_ptr)->print_info();
 
 	exit(0);
 }
 
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'reset'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+	warnx("    -R rotation");
+}
 
 } // namespace
 
 int
 mpu6000_main(int argc, char *argv[])
 {
+	bool external_bus = false;
+	int ch;
+	enum Rotation rotation = ROTATION_NONE;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "XR:")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+		case 'R':
+			rotation = (enum Rotation)atoi(optarg);
+			break;
+		default:
+			mpu6000::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
 	/*
 	 * Start/load the driver.
 
 	 */
-	if (!strcmp(argv[1], "start"))
-		mpu6000::start();
+	if (!strcmp(verb, "start"))
+		mpu6000::start(external_bus, rotation);
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
-		mpu6000::test();
+	if (!strcmp(verb, "test"))
+		mpu6000::test(external_bus);
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
-		mpu6000::reset();
+	if (!strcmp(verb, "reset"))
+		mpu6000::reset(external_bus);
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info"))
-		mpu6000::info();
+	if (!strcmp(verb, "info"))
+		mpu6000::info(external_bus);
 
 	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
 }
diff --git a/src/drivers/ms5611/module.mk b/src/drivers/ms5611/module.mk
index 20f8aa173..ee74058fc 100644
--- a/src/drivers/ms5611/module.mk
+++ b/src/drivers/ms5611/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= ms5611
 
 SRCS		= ms5611.cpp ms5611_spi.cpp ms5611_i2c.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 0ef056273..873fa62c4 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -50,6 +50,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
+#include <getopt.h>
 
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
@@ -299,12 +300,17 @@ MS5611::init()
 
 		ret = OK;
 
-		if (_class_instance == CLASS_DEVICE_PRIMARY) {
-
-			_baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp);
+		switch (_class_instance) {
+			case CLASS_DEVICE_PRIMARY:
+				_baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp);
+				break;
+			case CLASS_DEVICE_SECONDARY:
+				_baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp);
+				break;
+		}
 
-			if (_baro_topic < 0)
-				debug("failed to create sensor_baro publication");
+		if (_baro_topic < 0) {
+			warnx("failed to create sensor_baro publication");
 		}
 
 	} while (0);
@@ -526,6 +532,7 @@ void
 MS5611::cycle()
 {
 	int ret;
+	unsigned dummy;
 
 	/* collection phase? */
 	if (_collect_phase) {
@@ -542,6 +549,8 @@ MS5611::cycle()
 			} else {
 				//log("collection error %d", ret);
 			}
+			/* issue a reset command to the sensor */
+			_interface->ioctl(IOCTL_RESET, dummy);
 			/* reset the collection state machine and try again */
 			start_cycle();
 			return;
@@ -573,6 +582,8 @@ MS5611::cycle()
 	ret = measure();
 	if (ret != OK) {
 		//log("measure error %d", ret);
+		/* issue a reset command to the sensor */
+		_interface->ioctl(IOCTL_RESET, dummy);
 		/* reset the collection state machine and try again */
 		start_cycle();
 		return;
@@ -716,9 +727,17 @@ MS5611::collect()
 		report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
 
 		/* publish it */
-		if (_baro_topic > 0 && !(_pub_blocked)) {
+		if (!(_pub_blocked)) {
 			/* publish it */
-			orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
+			switch (_class_instance) {
+				case CLASS_DEVICE_PRIMARY:
+					orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report);
+					break;
+
+				case CLASS_DEVICE_SECONDARY:
+					orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report);
+					break;
+			}
 		}
 
 		if (_reports->force(&report)) {
@@ -748,8 +767,8 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
-	printf("P:              %.3f\n", _P);
-	printf("T:              %.3f\n", _T);
+	printf("P:              %.3f\n", (double)_P);
+	printf("T:              %.3f\n", (double)_T);
 	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);
@@ -770,11 +789,12 @@ namespace ms5611
 
 MS5611	*g_dev;
 
-void	start();
+void	start(bool external_bus);
 void	test();
 void	reset();
 void	info();
 void	calibrate(unsigned altitude);
+void	usage();
 
 /**
  * MS5611 crc4 cribbed from the datasheet
@@ -827,7 +847,7 @@ crc4(uint16_t *n_prom)
  * Start the driver.
  */
 void
-start()
+start(bool external_bus)
 {
 	int fd;
 	prom_u prom_buf;
@@ -840,7 +860,7 @@ start()
 
 	/* create the driver, try SPI first, fall back to I2C if unsuccessful */
 	if (MS5611_spi_interface != nullptr)
-		interface = MS5611_spi_interface(prom_buf);
+            interface = MS5611_spi_interface(prom_buf, external_bus);
 	if (interface == nullptr && (MS5611_i2c_interface != nullptr))
 		interface = MS5611_i2c_interface(prom_buf);
 
@@ -1051,43 +1071,68 @@ calibrate(unsigned altitude)
 	exit(0);
 }
 
+void
+usage()
+{
+	warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
+	warnx("options:");
+	warnx("    -X    (external bus)");
+}
+
 } // namespace
 
 int
 ms5611_main(int argc, char *argv[])
 {
+	bool external_bus = false;
+	int ch;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = getopt(argc, argv, "X")) != EOF) {
+		switch (ch) {
+		case 'X':
+			external_bus = true;
+			break;
+		default:
+			ms5611::usage();
+			exit(0);
+		}
+	}
+
+	const char *verb = argv[optind];
+
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(argv[1], "start"))
-		ms5611::start();
+	if (!strcmp(verb, "start"))
+		ms5611::start(external_bus);
 
 	/*
 	 * Test the driver/device.
 	 */
-	if (!strcmp(argv[1], "test"))
+	if (!strcmp(verb, "test"))
 		ms5611::test();
 
 	/*
 	 * Reset the driver.
 	 */
-	if (!strcmp(argv[1], "reset"))
+	if (!strcmp(verb, "reset"))
 		ms5611::reset();
 
 	/*
 	 * Print driver information.
 	 */
-	if (!strcmp(argv[1], "info"))
+	if (!strcmp(verb, "info"))
 		ms5611::info();
 
 	/*
 	 * Perform MSL pressure calibration given an altitude in metres
 	 */
-	if (!strcmp(argv[1], "calibrate")) {
+	if (!strcmp(verb, "calibrate")) {
 		if (argc < 2)
 			errx(1, "missing altitude");
 
-		long altitude = strtol(argv[2], nullptr, 10);
+		long altitude = strtol(argv[optind+1], nullptr, 10);
 
 		ms5611::calibrate(altitude);
 	}
diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h
index 76fb84de8..f0b3fd61d 100644
--- a/src/drivers/ms5611/ms5611.h
+++ b/src/drivers/ms5611/ms5611.h
@@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom);
 } /* namespace */
 
 /* interface factories */
-extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf) weak_function;
+extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function;
 extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
 
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index 26216e840..5234ce8d6 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -62,7 +62,7 @@
 
 #ifdef PX4_SPIDEV_BARO
 
-device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf);
+device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
 
 class MS5611_SPI : public device::SPI
 {
@@ -115,9 +115,17 @@ private:
 };
 
 device::Device *
-MS5611_spi_interface(ms5611::prom_u &prom_buf)
+MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus)
 {
-	return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
+	if (external_bus) {
+		#ifdef PX4_SPI_BUS_EXT
+		return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
+		#else
+		return nullptr;
+		#endif
+	} else {
+		return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
+	}
 }
 
 MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
diff --git a/src/drivers/pca8574/module.mk b/src/drivers/pca8574/module.mk
new file mode 100644
index 000000000..c53ed9ab2
--- /dev/null
+++ b/src/drivers/pca8574/module.mk
@@ -0,0 +1,8 @@
+#
+# PCA8574 driver for RGB LED
+#
+
+MODULE_COMMAND	 = pca8574
+SRCS		 = pca8574.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp
new file mode 100644
index 000000000..904ce18e8
--- /dev/null
+++ b/src/drivers/pca8574/pca8574.cpp
@@ -0,0 +1,554 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pca8574.cpp
+ *
+ * Driver for an 8 I/O controller (PC8574) connected via I2C.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <ctype.h>
+
+#include <nuttx/wqueue.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+
+#include <board_config.h>
+
+#include <drivers/drv_io_expander.h>
+
+#define PCA8574_ONTIME 120
+#define PCA8574_OFFTIME 120
+#define PCA8574_DEVICE_PATH "/dev/pca8574"
+
+#define ADDR			0x20	///< I2C adress of PCA8574 (default, A0-A2 pulled to GND)
+
+class PCA8574 : public device::I2C
+{
+public:
+	PCA8574(int bus, int pca8574);
+	virtual ~PCA8574();
+
+
+	virtual int		init();
+	virtual int		probe();
+	virtual int		info();
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+	bool			is_running() { return _running; }
+
+private:
+	work_s			_work;
+
+	uint8_t			_values_out;
+	uint8_t			_values_in;
+	uint8_t			_blinking;
+	uint8_t			_blink_phase;
+
+	enum IOX_MODE		_mode;
+	bool			_running;
+	int			_led_interval;
+	bool			_should_run;
+	bool			_update_out;
+	int			_counter;
+
+	static void		led_trampoline(void *arg);
+	void			led();
+
+	int			send_led_enable(uint8_t arg);
+	int			send_led_values();
+
+	int			get(uint8_t &vals);
+};
+
+/* for now, we only support one PCA8574 */
+namespace
+{
+PCA8574 *g_pca8574;
+}
+
+void pca8574_usage();
+
+extern "C" __EXPORT int pca8574_main(int argc, char *argv[]);
+
+PCA8574::PCA8574(int bus, int pca8574) :
+	I2C("pca8574", PCA8574_DEVICE_PATH, bus, pca8574, 100000),
+	_values_out(0),
+	_values_in(0),
+	_blinking(0),
+	_blink_phase(0),
+	_mode(IOX_MODE_OFF),
+	_running(false),
+	_led_interval(80),
+	_should_run(false),
+	_update_out(false),
+	_counter(0)
+{
+	memset(&_work, 0, sizeof(_work));
+}
+
+PCA8574::~PCA8574()
+{
+}
+
+int
+PCA8574::init()
+{
+	int ret;
+	ret = I2C::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	return OK;
+}
+
+int
+PCA8574::probe()
+{
+	uint8_t val;
+	return get(val);
+}
+
+int
+PCA8574::info()
+{
+	int ret = OK;
+
+	return ret;
+}
+
+int
+PCA8574::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	int ret = ENOTTY;
+
+	switch (cmd) {
+	case IOX_SET_VALUE ...(IOX_SET_VALUE + 8): {
+			// set the specified on / off state
+			uint8_t position = (1 << (cmd - IOX_SET_VALUE));
+			uint8_t prev = _values_out;
+
+			if (arg) {
+				_values_out |= position;
+
+			} else {
+				_values_out &= ~(position);
+			}
+
+			if (_values_out != prev) {
+				if (_values_out) {
+					_mode = IOX_MODE_ON;
+				}
+				send_led_values();
+			}
+
+			return OK;
+		}
+
+	case IOX_SET_MASK:
+		send_led_enable(arg);
+		return OK;
+
+	case IOX_GET_MASK: {
+			uint8_t val;
+			ret = get(val);
+
+			if (ret == OK) {
+				return val;
+
+			} else {
+				return -1;
+			}
+		}
+
+	case IOX_SET_MODE:
+
+		if (_mode != (IOX_MODE)arg) {
+
+			switch ((IOX_MODE)arg) {
+			case IOX_MODE_OFF:
+				_values_out = 0xFF;
+				break;
+
+			case IOX_MODE_ON:
+				_values_out = 0;
+				break;
+
+			case IOX_MODE_TEST_OUT:
+				break;
+
+			default:
+				return -1;
+			}
+
+			_mode = (IOX_MODE)arg;
+			send_led_values();
+		}
+
+		return OK;
+
+	default:
+		// see if the parent class can make any use of it
+		ret = CDev::ioctl(filp, cmd, arg);
+		break;
+	}
+
+	return ret;
+}
+
+
+void
+PCA8574::led_trampoline(void *arg)
+{
+	PCA8574 *rgbl = reinterpret_cast<PCA8574 *>(arg);
+
+	rgbl->led();
+}
+
+/**
+ * Main loop function
+ */
+void
+PCA8574::led()
+{
+	if (_mode == IOX_MODE_TEST_OUT) {
+
+		// we count only seven states
+		_counter &= 0xF;
+		_counter++;
+
+		for (int i = 0; i < 8; i++) {
+			if (i < _counter) {
+				_values_out |= (1 << i);
+
+			} else {
+				_values_out &= ~(1 << i);
+			}
+		}
+
+		_update_out = true;
+		_should_run = true;
+	} else if (_mode == IOX_MODE_OFF) {
+		_update_out = true;
+		_should_run = false;
+	} else {
+
+		// Any of the normal modes
+		if (_blinking > 0) {
+			/* we need to be running to blink */
+			_should_run = true;
+		} else {
+			_should_run = false;
+		}
+	}
+
+	if (_update_out) {
+		uint8_t msg;
+
+		if (_blinking) {
+			msg = (_values_out & _blinking & _blink_phase);
+
+			// wipe out all positions that are marked as blinking
+			msg &= ~(_blinking);
+
+			// fill blink positions
+			msg |= ((_blink_phase) ? _blinking : 0);
+
+			_blink_phase = !_blink_phase;
+		} else {
+			msg = _values_out;
+		}
+
+		int ret = transfer(&msg, sizeof(msg), nullptr, 0);
+
+		if (!ret) {
+			_update_out = false;
+		}
+	}
+
+	// check if any activity remains, else stp
+	if (!_should_run) {
+		_running = false;
+		return;
+	}
+
+	// re-queue ourselves to run again later
+	_running = true;
+	work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, _led_interval);
+}
+
+/**
+ * Sent ENABLE flag to LED driver
+ */
+int
+PCA8574::send_led_enable(uint8_t arg)
+{
+
+	int ret = transfer(&arg, sizeof(arg), nullptr, 0);
+
+	return ret;
+}
+
+/**
+ * Send 8 outputs
+ */
+int
+PCA8574::send_led_values()
+{
+	_update_out = true;
+
+	// if not active, kick it
+	if (!_running) {
+		_running = true;
+		work_queue(LPWORK, &_work, (worker_t)&PCA8574::led_trampoline, this, 1);
+	}
+
+	return 0;
+}
+
+int
+PCA8574::get(uint8_t &vals)
+{
+	uint8_t result;
+	int ret;
+
+	ret = transfer(nullptr, 0, &result, 1);
+
+	if (ret == OK) {
+		_values_in = result;
+		vals = result;
+	}
+
+	return ret;
+}
+
+void
+pca8574_usage()
+{
+	warnx("missing command: try 'start', 'test', 'info', 'off', 'stop', 'val 0 1'");
+	warnx("options:");
+	warnx("    -b i2cbus (%d)", PX4_I2C_BUS_LED);
+	warnx("    -a addr (0x%x)", ADDR);
+}
+
+int
+pca8574_main(int argc, char *argv[])
+{
+	int i2cdevice = -1;
+	int pca8574adr = ADDR; // 7bit
+
+	int ch;
+
+	// jump over start/off/etc and look at options first
+	while ((ch = getopt(argc, argv, "a:b:")) != EOF) {
+		switch (ch) {
+		case 'a':
+			pca8574adr = strtol(optarg, NULL, 0);
+			break;
+
+		case 'b':
+			i2cdevice = strtol(optarg, NULL, 0);
+			break;
+
+		default:
+			pca8574_usage();
+			exit(0);
+		}
+	}
+
+	if (optind >= argc) {
+		pca8574_usage();
+		exit(1);
+	}
+
+	const char *verb = argv[optind];
+
+	int fd;
+	int ret;
+
+	if (!strcmp(verb, "start")) {
+		if (g_pca8574 != nullptr) {
+			errx(1, "already started");
+		}
+
+		if (i2cdevice == -1) {
+			// try the external bus first
+			i2cdevice = PX4_I2C_BUS_EXPANSION;
+			g_pca8574 = new PCA8574(PX4_I2C_BUS_EXPANSION, pca8574adr);
+
+			if (g_pca8574 != nullptr && OK != g_pca8574->init()) {
+				delete g_pca8574;
+				g_pca8574 = nullptr;
+			}
+
+			if (g_pca8574 == nullptr) {
+				// fall back to default bus
+				if (PX4_I2C_BUS_LED == PX4_I2C_BUS_EXPANSION) {
+					errx(1, "init failed");
+				}
+
+				i2cdevice = PX4_I2C_BUS_LED;
+			}
+		}
+
+		if (g_pca8574 == nullptr) {
+			g_pca8574 = new PCA8574(i2cdevice, pca8574adr);
+
+			if (g_pca8574 == nullptr) {
+				errx(1, "new failed");
+			}
+
+			if (OK != g_pca8574->init()) {
+				delete g_pca8574;
+				g_pca8574 = nullptr;
+				errx(1, "init failed");
+			}
+		}
+
+		exit(0);
+	}
+
+	// need the driver past this point
+	if (g_pca8574 == nullptr) {
+		warnx("not started, run pca8574 start");
+		exit(1);
+	}
+
+	if (!strcmp(verb, "test")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_TEST_OUT);
+
+		close(fd);
+		exit(ret);
+	}
+
+	if (!strcmp(verb, "info")) {
+		g_pca8574->info();
+		exit(0);
+	}
+
+	if (!strcmp(verb, "off")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd < 0) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
+		close(fd);
+		exit(ret);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		ret = ioctl(fd, IOX_SET_MODE, (unsigned long)IOX_MODE_OFF);
+		close(fd);
+
+		// wait until we're not running any more
+		for (unsigned i = 0; i < 15; i++) {
+			if (!g_pca8574->is_running()) {
+				break;
+			}
+
+			usleep(50000);
+			printf(".");
+			fflush(stdout);
+		}
+		printf("\n");
+		fflush(stdout);
+
+		if (!g_pca8574->is_running()) {
+			delete g_pca8574;
+			g_pca8574 = nullptr;
+			exit(0);
+		} else {
+			warnx("stop failed.");
+			exit(1);
+		}
+	}
+
+	if (!strcmp(verb, "val")) {
+		if (argc < 4) {
+			errx(1, "Usage: pca8574 val <channel> <0 or 1>");
+		}
+
+		fd = open(PCA8574_DEVICE_PATH, 0);
+
+		if (fd == -1) {
+			errx(1, "Unable to open " PCA8574_DEVICE_PATH);
+		}
+
+		unsigned channel = strtol(argv[2], NULL, 0);
+		unsigned val = strtol(argv[3], NULL, 0);
+
+		if (channel < 8) {
+			ret = ioctl(fd, (IOX_SET_VALUE + channel), val);
+		} else {
+			ret = -1;
+		}
+		close(fd);
+		exit(ret);
+	}
+
+	pca8574_usage();
+	exit(0);
+}
diff --git a/src/drivers/px4flow/module.mk b/src/drivers/px4flow/module.mk
index d3062e457..460bec7b9 100644
--- a/src/drivers/px4flow/module.mk
+++ b/src/drivers/px4flow/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= px4flow
 
 SRCS		= px4flow.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 37805005c..82977a032 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -92,6 +92,7 @@ public:
 		MODE_2PWM,
 		MODE_4PWM,
 		MODE_6PWM,
+		MODE_8PWM,
 	};
 	PX4FMU();
 	virtual ~PX4FMU();
@@ -113,6 +114,9 @@ private:
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 	static const unsigned _max_actuators = 6;
 #endif
+#if defined(CONFIG_ARCH_BOARD_AEROCORE)
+	static const unsigned _max_actuators = 8;
+#endif
 
 	Mode		_mode;
 	unsigned	_pwm_default_rate;
@@ -120,19 +124,25 @@ private:
 	uint32_t	_pwm_alt_rate_channels;
 	unsigned	_current_update_rate;
 	int		_task;
-	int		_t_actuators;
-	int		_t_actuator_armed;
-	orb_advert_t	_t_outputs;
+	int		_armed_sub;
+	orb_advert_t	_outputs_pub;
+	actuator_armed_s	_armed;
 	unsigned	_num_outputs;
 	bool		_primary_pwm_device;
 
 	volatile bool	_task_should_exit;
-	bool		_armed;
+	bool		_servo_armed;
 	bool		_pwm_on;
 
 	MixerGroup	*_mixers;
 
-	actuator_controls_s _controls;
+	uint32_t	_groups_required;
+	uint32_t	_groups_subscribed;
+	int		_control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
+	actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
+	orb_id_t	_control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
+	pollfd	_poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
+	unsigned	_poll_fds_num;
 
 	pwm_limit_t	_pwm_limit;
 	uint16_t	_failsafe_pwm[_max_actuators];
@@ -143,13 +153,13 @@ private:
 	unsigned	_num_disarmed_set;
 
 	static void	task_main_trampoline(int argc, char *argv[]);
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	static int	control_callback(uintptr_t handle,
 					 uint8_t control_group,
 					 uint8_t control_index,
 					 float &input);
-
+	void	subscribe();
 	int		set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
 	int		pwm_ioctl(file *filp, int cmd, unsigned long arg);
 
@@ -169,6 +179,9 @@ private:
 	uint32_t	gpio_read(void);
 	int		gpio_ioctl(file *filp, int cmd, unsigned long arg);
 
+	/* do not allow to copy due to ptr data members */
+	PX4FMU(const PX4FMU&);
+	PX4FMU operator=(const PX4FMU&);
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -197,6 +210,20 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
 	{GPIO_VDD_5V_HIPOWER_OC, 0,                       0},
 	{GPIO_VDD_5V_PERIPH_OC,  0,                       0},
 #endif
+#if defined(CONFIG_ARCH_BOARD_AEROCORE)
+	/* AeroCore breaks out User GPIOs on J11 */
+	{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,       0},
+	{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,       0},
+	{GPIO_GPIO3_INPUT,       GPIO_GPIO3_OUTPUT,       0},
+	{GPIO_GPIO4_INPUT,       GPIO_GPIO4_OUTPUT,       0},
+	{GPIO_GPIO5_INPUT,       GPIO_GPIO5_OUTPUT,       0},
+	{GPIO_GPIO6_INPUT,       GPIO_GPIO6_OUTPUT,       0},
+	{GPIO_GPIO7_INPUT,       GPIO_GPIO7_OUTPUT,       0},
+	{GPIO_GPIO8_INPUT,       GPIO_GPIO8_OUTPUT,       0},
+	{GPIO_GPIO9_INPUT,       GPIO_GPIO9_OUTPUT,       0},
+	{GPIO_GPIO10_INPUT,      GPIO_GPIO10_OUTPUT,      0},
+	{GPIO_GPIO11_INPUT,      GPIO_GPIO11_OUTPUT,      0},
+#endif
 };
 
 const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
@@ -216,25 +243,38 @@ PX4FMU::PX4FMU() :
 	_pwm_alt_rate_channels(0),
 	_current_update_rate(0),
 	_task(-1),
-	_t_actuators(-1),
-	_t_actuator_armed(-1),
-	_t_outputs(0),
+	_armed_sub(-1),
+	_outputs_pub(-1),
+	_armed{},
 	_num_outputs(0),
 	_primary_pwm_device(false),
 	_task_should_exit(false),
-	_armed(false),
+	_servo_armed(false),
 	_pwm_on(false),
 	_mixers(nullptr),
-	_failsafe_pwm({0}),
-	      _disarmed_pwm({0}),
-	      _num_failsafe_set(0),
-	      _num_disarmed_set(0)
+	_groups_required(0),
+	_groups_subscribed(0),
+	_control_subs{-1},
+	_poll_fds_num(0),
+	_pwm_limit{},
+	_failsafe_pwm{0},
+	_disarmed_pwm{0},
+	_num_failsafe_set(0),
+	_num_disarmed_set(0)
 {
 	for (unsigned i = 0; i < _max_actuators; i++) {
 		_min_pwm[i] = PWM_DEFAULT_MIN;
 		_max_pwm[i] = PWM_DEFAULT_MAX;
 	}
 
+	_control_topics[0] = ORB_ID(actuator_controls_0);
+	_control_topics[1] = ORB_ID(actuator_controls_1);
+	_control_topics[2] = ORB_ID(actuator_controls_2);
+	_control_topics[3] = ORB_ID(actuator_controls_3);
+
+	memset(_controls, 0, sizeof(_controls));
+	memset(_poll_fds, 0, sizeof(_poll_fds));
+
 	_debug_enabled = true;
 }
 
@@ -294,7 +334,7 @@ PX4FMU::init()
 	_task = task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
-			       2048,
+			       1600,
 			       (main_t)&PX4FMU::task_main_trampoline,
 			       nullptr);
 
@@ -365,6 +405,20 @@ PX4FMU::set_mode(Mode mode)
 
 		break;
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
+		debug("MODE_8PWM");
+		/* default output rates */
+		_pwm_default_rate = 50;
+		_pwm_alt_rate = 50;
+		_pwm_alt_rate_channels = 0;
+
+		/* XXX magic numbers */
+		up_pwm_servo_init(0xff);
+		set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
+		break;
+#endif
+
 	case MODE_NONE:
 		debug("MODE_NONE");
 
@@ -448,32 +502,42 @@ PX4FMU::set_pwm_alt_channels(uint32_t channels)
 }
 
 void
+PX4FMU::subscribe()
+{
+	/* subscribe/unsubscribe to required actuator control groups */
+	uint32_t sub_groups = _groups_required & ~_groups_subscribed;
+	uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
+	_poll_fds_num = 0;
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+		if (sub_groups & (1 << i)) {
+			warnx("subscribe to actuator_controls_%d", i);
+			_control_subs[i] = orb_subscribe(_control_topics[i]);
+		}
+		if (unsub_groups & (1 << i)) {
+			warnx("unsubscribe from actuator_controls_%d", i);
+			::close(_control_subs[i]);
+			_control_subs[i] = -1;
+		}
+
+		if (_control_subs[i] > 0) {
+			_poll_fds[_poll_fds_num].fd = _control_subs[i];
+			_poll_fds[_poll_fds_num].events = POLLIN;
+			_poll_fds_num++;
+		}
+	}
+}
+
+void
 PX4FMU::task_main()
 {
-	/*
-	 * Subscribe to the appropriate PWM output topic based on whether we are the
-	 * primary PWM output or not.
-	 */
-	_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
-				     ORB_ID(actuator_controls_1));
 	/* force a reset of the update rate */
 	_current_update_rate = 0;
 
-	_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
-	orb_set_interval(_t_actuator_armed, 200);		/* 5Hz update rate */
+	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 
 	/* advertise the mixed control outputs */
 	actuator_outputs_s outputs;
 	memset(&outputs, 0, sizeof(outputs));
-	/* advertise the mixed control outputs */
-	_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
-				   &outputs);
-
-	pollfd fds[2];
-	fds[0].fd = _t_actuators;
-	fds[0].events = POLLIN;
-	fds[1].fd = _t_actuator_armed;
-	fds[1].events = POLLIN;
 
 #ifdef HRT_PPM_CHANNEL
 	// rc input, published to ORB
@@ -491,6 +555,12 @@ PX4FMU::task_main()
 
 	/* loop until killed */
 	while (!_task_should_exit) {
+		if (_groups_subscribed != _groups_required) {
+			subscribe();
+			_groups_subscribed = _groups_required;
+			/* force setting update rate */
+			_current_update_rate = 0;
+		}
 
 		/*
 		 * Adjust actuator topic update rate to keep up with
@@ -515,20 +585,23 @@ PX4FMU::task_main()
 			}
 
 			debug("adjusted actuator update interval to %ums", update_rate_in_ms);
-			orb_set_interval(_t_actuators, update_rate_in_ms);
+			for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+				if (_control_subs[i] > 0) {
+					orb_set_interval(_control_subs[i], update_rate_in_ms);
+				}
+			}
 
 			// set to current max rate, even if we are actually checking slower/faster
 			_current_update_rate = max_rate;
 		}
 
 		/* sleep waiting for data, stopping to check for PPM
-		 * input at 100Hz */
-		int ret = ::poll(&fds[0], 2, CONTROL_INPUT_DROP_LIMIT_MS);
+		 * input at 50Hz */
+		int ret = ::poll(_poll_fds, _poll_fds_num, CONTROL_INPUT_DROP_LIMIT_MS);
 
 		/* this would be bad... */
 		if (ret < 0) {
 			log("poll error %d", errno);
-			usleep(1000000);
 			continue;
 
 		} else if (ret == 0) {
@@ -537,93 +610,100 @@ PX4FMU::task_main()
 
 		} else {
 
-			/* do we have a control update? */
-			if (fds[0].revents & POLLIN) {
-
-				/* get controls - must always do this to avoid spinning */
-				orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
-					     ORB_ID(actuator_controls_1), _t_actuators, &_controls);
+			/* get controls for required topics */
+			unsigned poll_id = 0;
+			for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+				if (_control_subs[i] > 0) {
+					if (_poll_fds[poll_id].revents & POLLIN) {
+						orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
+					}
+					poll_id++;
+				}
+			}
 
-				/* can we mix? */
-				if (_mixers != nullptr) {
+			/* can we mix? */
+			if (_mixers != nullptr) {
 
-					unsigned num_outputs;
+				unsigned num_outputs;
 
-					switch (_mode) {
-					case MODE_2PWM:
-						num_outputs = 2;
-						break;
+				switch (_mode) {
+				case MODE_2PWM:
+					num_outputs = 2;
+					break;
 
-					case MODE_4PWM:
-						num_outputs = 4;
-						break;
+				case MODE_4PWM:
+					num_outputs = 4;
+					break;
 
-					case MODE_6PWM:
-						num_outputs = 6;
-						break;
+				case MODE_6PWM:
+					num_outputs = 6;
+					break;
 
-					default:
-						num_outputs = 0;
-						break;
-					}
+				case MODE_8PWM:
+					num_outputs = 8;
+					break;
+				default:
+					num_outputs = 0;
+					break;
+				}
 
-					/* do mixing */
-					outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
-					outputs.timestamp = hrt_absolute_time();
-
-					/* iterate actuators */
-					for (unsigned i = 0; i < num_outputs; i++) {
-						/* last resort: catch NaN, INF and out-of-band errors */
-						if (i >= outputs.noutputs ||
-						    !isfinite(outputs.output[i]) ||
-						    outputs.output[i] < -1.0f ||
-						    outputs.output[i] > 1.0f) {
-							/*
-							 * Value is NaN, INF or out of band - set to the minimum value.
-							 * This will be clearly visible on the servo status and will limit the risk of accidentally
-							 * spinning motors. It would be deadly in flight.
-							 */
-							outputs.output[i] = -1.0f;
-						}
+				/* do mixing */
+				outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
+				outputs.timestamp = hrt_absolute_time();
+
+				/* iterate actuators */
+				for (unsigned i = 0; i < num_outputs; i++) {
+					/* last resort: catch NaN and INF */
+					if ((i >= outputs.noutputs) ||
+						!isfinite(outputs.output[i])) {
+						/*
+						 * Value is NaN, INF or out of band - set to the minimum value.
+						 * This will be clearly visible on the servo status and will limit the risk of accidentally
+						 * spinning motors. It would be deadly in flight.
+						 */
+						outputs.output[i] = -1.0f;
 					}
+				}
 
-					uint16_t pwm_limited[num_outputs];
+				uint16_t pwm_limited[num_outputs];
 
-					// XXX: hack: always armed
-					_armed = true;
+				/* the PWM limit call takes care of out of band errors and constrains */
+				pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
 
-					pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
+				/* output to the servos */
+				for (unsigned i = 0; i < num_outputs; i++) {
+					up_pwm_servo_set(i, pwm_limited[i]);
+				}
 
-					/* output to the servos */
-					for (unsigned i = 0; i < num_outputs; i++) {
-						up_pwm_servo_set(i, pwm_limited[i]);
-					}
+				/* publish mixed control outputs */
+				if (_outputs_pub < 0) {
+					_outputs_pub = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), &outputs);
+				} else {
 
-					/* and publish for anyone that cares to see */
-					orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs);
+					orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _outputs_pub, &outputs);
 				}
 			}
+		}
 
-			/* how about an arming update? */
-			if (fds[1].revents & POLLIN) {
-				actuator_armed_s aa;
+		/* check arming state */
+		bool updated = false;
+		orb_check(_armed_sub, &updated);
 
-				/* get new value */
-				orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &aa);
+		if (updated) {
+			orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
 
-				/* update the armed status and check that we're not locked down */
-				bool set_armed = aa.armed && !aa.lockdown;
+			/* update the armed status and check that we're not locked down */
+			bool set_armed = _armed.armed && !_armed.lockdown;
 
-				if (_armed != set_armed)
-					_armed = set_armed;
+			if (_servo_armed != set_armed)
+				_servo_armed = set_armed;
 
-				/* update PWM status if armed or if disarmed PWM values are set */
-				bool pwm_on = (aa.armed || _num_disarmed_set > 0);
+			/* update PWM status if armed or if disarmed PWM values are set */
+			bool pwm_on = (_armed.armed || _num_disarmed_set > 0);
 
-				if (_pwm_on != pwm_on) {
-					_pwm_on = pwm_on;
-					up_pwm_servo_arm(pwm_on);
-				}
+			if (_pwm_on != pwm_on) {
+				_pwm_on = pwm_on;
+				up_pwm_servo_arm(pwm_on);
 			}
 		}
 
@@ -665,8 +745,13 @@ PX4FMU::task_main()
 
 	}
 
-	::close(_t_actuators);
-	::close(_t_actuator_armed);
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+		if (_control_subs[i] > 0) {
+			::close(_control_subs[i]);
+			_control_subs[i] = -1;
+		}
+	}
+	::close(_armed_sub);
 
 	/* make sure servos are off */
 	up_pwm_servo_deinit();
@@ -688,7 +773,7 @@ PX4FMU::control_callback(uintptr_t handle,
 {
 	const actuator_controls_s *controls = (actuator_controls_s *)handle;
 
-	input = controls->control[control_index];
+	input = controls[control_group].control[control_index];
 	return 0;
 }
 
@@ -711,6 +796,9 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
 	case MODE_2PWM:
 	case MODE_4PWM:
 	case MODE_6PWM:
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	case MODE_8PWM:
+#endif
 		ret = pwm_ioctl(filp, cmd, arg);
 		break;
 
@@ -740,6 +828,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		// these are no-ops, as no safety switch
 		break;
 
@@ -939,6 +1028,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	case PWM_SERVO_SET(7):
+	case PWM_SERVO_SET(6):
+		if (_mode < MODE_8PWM) {
+			ret = -EINVAL;
+			break;
+		}
+#endif
+
 	case PWM_SERVO_SET(5):
 	case PWM_SERVO_SET(4):
 		if (_mode < MODE_6PWM) {
@@ -966,6 +1064,15 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 		break;
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	case PWM_SERVO_GET(7):
+	case PWM_SERVO_GET(6):
+		if (_mode < MODE_8PWM) {
+			ret = -EINVAL;
+			break;
+		}
+#endif
+
 	case PWM_SERVO_GET(5):
 	case PWM_SERVO_GET(4):
 		if (_mode < MODE_6PWM) {
@@ -993,12 +1100,22 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 	case PWM_SERVO_GET_RATEGROUP(3):
 	case PWM_SERVO_GET_RATEGROUP(4):
 	case PWM_SERVO_GET_RATEGROUP(5):
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	case PWM_SERVO_GET_RATEGROUP(6):
+	case PWM_SERVO_GET_RATEGROUP(7):
+#endif
 		*(uint32_t *)arg = up_pwm_servo_get_rate_group(cmd - PWM_SERVO_GET_RATEGROUP(0));
 		break;
 
 	case PWM_SERVO_GET_COUNT:
 	case MIXERIOCGETOUTPUTCOUNT:
 		switch (_mode) {
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+		case MODE_8PWM:
+			*(unsigned *)arg = 8;
+			break;
+#endif
+
 		case MODE_6PWM:
 			*(unsigned *)arg = 6;
 			break;
@@ -1044,6 +1161,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			set_mode(MODE_6PWM);
 			break;
 #endif
+#if defined(CONFIG_ARCH_BOARD_AEROCORE)
+		case 8:
+			set_mode(MODE_8PWM);
+			break;
+#endif
 
 		default:
 			ret = -EINVAL;
@@ -1056,6 +1178,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		if (_mixers != nullptr) {
 			delete _mixers;
 			_mixers = nullptr;
+			_groups_required = 0;
 		}
 
 		break;
@@ -1064,18 +1187,20 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
 
 			SimpleMixer *mixer = new SimpleMixer(control_callback,
-							     (uintptr_t)&_controls, mixinfo);
+							     (uintptr_t)_controls, mixinfo);
 
 			if (mixer->check()) {
 				delete mixer;
+				_groups_required = 0;
 				ret = -EINVAL;
 
 			} else {
 				if (_mixers == nullptr)
 					_mixers = new MixerGroup(control_callback,
-								 (uintptr_t)&_controls);
+								 (uintptr_t)_controls);
 
 				_mixers->add_mixer(mixer);
+				_mixers->groups_required(_groups_required);
 			}
 
 			break;
@@ -1086,9 +1211,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			unsigned buflen = strnlen(buf, 1024);
 
 			if (_mixers == nullptr)
-				_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
+				_mixers = new MixerGroup(control_callback, (uintptr_t)_controls);
 
 			if (_mixers == nullptr) {
+				_groups_required = 0;
 				ret = -ENOMEM;
 
 			} else {
@@ -1099,7 +1225,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 					debug("mixer load failed with %d", ret);
 					delete _mixers;
 					_mixers = nullptr;
+					_groups_required = 0;
 					ret = -EINVAL;
+				} else {
+
+					_mixers->groups_required(_groups_required);
 				}
 			}
 
@@ -1126,10 +1256,17 @@ PX4FMU::write(file *filp, const char *buffer, size_t len)
 	unsigned count = len / 2;
 	uint16_t values[6];
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	if (count > 8) {
+		// we have at most 8 outputs
+		count = 8;
+	}
+#else
 	if (count > 6) {
 		// we have at most 6 outputs
 		count = 6;
 	}
+#endif
 
 	// allow for misaligned values
 	memcpy(values, buffer, count * 2);
@@ -1404,6 +1541,9 @@ fmu_new_mode(PortMode new_mode)
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
 		servo_mode = PX4FMU::MODE_6PWM;
 #endif
+#if defined(CONFIG_ARCH_BOARD_AEROCORE)
+		servo_mode = PX4FMU::MODE_8PWM;
+#endif
 		break;
 
 		/* mixed modes supported on v1 board only */
@@ -1649,7 +1789,7 @@ fmu_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "id")) {
-		char id[12];
+		uint8_t id[12];
 		(void)get_board_serial(id);
 
 		errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
@@ -1721,7 +1861,7 @@ fmu_main(int argc, char *argv[])
 	fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	fprintf(stderr, "  mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test\n");
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
 	fprintf(stderr, "  mode_gpio, mode_pwm, test, sensor_reset [milliseconds]\n");
 #endif
 	exit(1);
diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk
index 05bc7a5b3..a60f1a434 100644
--- a/src/drivers/px4fmu/module.mk
+++ b/src/drivers/px4fmu/module.mk
@@ -4,3 +4,7 @@
 
 MODULE_COMMAND	 = fmu
 SRCS		 = fmu.cpp
+
+MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk
index 2054faa12..5b838fb75 100644
--- a/src/drivers/px4io/module.mk
+++ b/src/drivers/px4io/module.mk
@@ -44,3 +44,7 @@ SRCS			= px4io.cpp \
 
 # XXX prune to just get UART registers
 INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 82f3ba044..d93009c47 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/scheduling_priorities.h>
 #include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -91,6 +92,8 @@
 
 #include "uploader.h"
 
+#include "modules/dataman/dataman.h"
+
 extern device::Device *PX4IO_i2c_interface() weak_function;
 extern device::Device *PX4IO_serial_interface() weak_function;
 
@@ -195,8 +198,10 @@ public:
 	 * Print IO status.
 	 *
 	 * Print all relevant IO status information
+	 *
+	 * @param extended_status Shows more verbose information (in particular RC config)
 	 */
-	void			print_status();
+	void			print_status(bool extended_status);
 
 	/**
 	 * Fetch and print debug console output.
@@ -448,6 +453,9 @@ private:
 	 */
 	void			io_handle_vservo(uint16_t vservo, uint16_t vrssi);
 
+	/* do not allow to copy this class due to ptr data members */
+	PX4IO(const PX4IO&);
+	PX4IO operator=(const PX4IO&);
 };
 
 namespace
@@ -491,6 +499,8 @@ PX4IO::PX4IO(device::Device *interface) :
 	_to_battery(0),
 	_to_servorail(0),
 	_to_safety(0),
+	_outputs{},
+	_servorail_status{},
 	_primary_pwm_device(false),
 	_lockdown_override(false),
 	_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
@@ -527,6 +537,11 @@ PX4IO::~PX4IO()
 	if (_interface != nullptr)
 		delete _interface;
 
+	/* deallocate perfs */
+	perf_free(_perf_update);
+	perf_free(_perf_write);
+	perf_free(_perf_chan_count);
+
 	g_dev = nullptr;
 }
 
@@ -568,9 +583,17 @@ int
 PX4IO::init()
 {
 	int ret;
+	param_t sys_restart_param;
+	int sys_restart_val = DM_INIT_REASON_VOLATILE;
 
 	ASSERT(_task == -1);
 
+	sys_restart_param = param_find("SYS_RESTART_TYPE");
+	if (sys_restart_param != PARAM_INVALID) {
+		/* Indicate restart type is unknown */
+		param_set(sys_restart_param, &sys_restart_val);
+	}
+
 	/* do regular cdev init */
 	ret = CDev::init();
 
@@ -675,6 +698,25 @@ PX4IO::init()
 
 		/* send command to arm system via command API */
 		vehicle_command_s cmd;
+		/* send this to itself */
+		param_t sys_id_param = param_find("MAV_SYS_ID");
+		param_t comp_id_param = param_find("MAV_COMP_ID");
+
+		int32_t sys_id;
+		int32_t comp_id;
+
+		if (param_get(sys_id_param, &sys_id)) {
+			errx(1, "PRM SYSID");
+		}
+
+		if (param_get(comp_id_param, &comp_id)) {
+			errx(1, "PRM CMPID");
+		}
+
+		cmd.target_system = sys_id;
+		cmd.target_component = comp_id;
+		cmd.source_system = sys_id;
+		cmd.source_component = comp_id;
 		/* request arming */
 		cmd.param1 = 1.0f;
 		cmd.param2 = 0;
@@ -684,10 +726,7 @@ PX4IO::init()
 		cmd.param6 = 0;
 		cmd.param7 = 0;
 		cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
-		// cmd.target_system = status.system_id;
-		// cmd.target_component = status.component_id;
-		// cmd.source_system = status.system_id;
-		// cmd.source_component = status.component_id;
+
 		/* ask to confirm command */
 		cmd.confirmation =  1;
 
@@ -720,6 +759,11 @@ PX4IO::init()
 			/* keep waiting for state change for 2 s */
 		} while (!safety.armed);
 
+		/* Indicate restart type is in-flight */
+		sys_restart_val = DM_INIT_REASON_IN_FLIGHT;
+		param_set(sys_restart_param, &sys_restart_val);
+
+
 		/* regular boot, no in-air restart, init IO */
 
 	} else {
@@ -745,6 +789,10 @@ PX4IO::init()
 			}
 		}
 
+		/* Indicate restart type is power on */
+		sys_restart_val = DM_INIT_REASON_POWER_ON;
+		param_set(sys_restart_param, &sys_restart_val);
+
 	}
 
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
@@ -756,7 +804,12 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_spawn_cmd("px4io",
+					SCHED_DEFAULT,
+					SCHED_PRIORITY_ACTUATOR_OUTPUTS,
+					2000,
+					(main_t)&PX4IO::task_main_trampoline,
+					nullptr);
 
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
@@ -944,8 +997,40 @@ PX4IO::task_main()
 				int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
 
 				if (pret != OK) {
-					log("voltage scaling upload failed");
+					log("vscale upload failed");
+				}
+
+				/* send RC throttle failsafe value to IO */
+				int32_t failsafe_param_val;
+				param_t failsafe_param = param_find("RC_FAILS_THR");
+
+				if (failsafe_param != PARAM_INVALID) {
+
+					param_get(failsafe_param, &failsafe_param_val);
+
+					if (failsafe_param_val > 0) {
+
+						uint16_t failsafe_thr = failsafe_param_val;
+						pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
+						if (pret != OK) {
+							log("failsafe upload failed, FS: %d us", (int)failsafe_thr);
+						}
+					}
+				}
+
+				int32_t safety_param_val;
+				param_t safety_param = param_find("RC_FAILS_THR");
+
+				if (safety_param != PARAM_INVALID) {
+
+					param_get(safety_param, &safety_param_val);
+
+					if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+						/* disable IO safety if circuit breaker asked for it */
+						(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
+					}
 				}
+
 			}
 
 		}
@@ -1064,6 +1149,12 @@ PX4IO::io_set_arming_state()
 		clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
 	}
 
+	if (armed.force_failsafe) {
+		set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
+	}
+
 	if (armed.ready_to_arm) {
 		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
 
@@ -1303,7 +1394,7 @@ void
 PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
 {
 	/* only publish if battery has a valid minimum voltage */
-	if (vbatt <= 3300) {
+	if (vbatt <= 4900) {
 		return;
 	}
 
@@ -1400,7 +1491,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	/* we don't have the status bits, so input_source has to be set elsewhere */
 	input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
 
-	static const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
+	const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
 	uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
 
 	/*
@@ -1408,8 +1499,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 *
 	 * This should be the common case (9 channel R/C control being a reasonable upper bound).
 	 */
-	input_rc.timestamp_publication = hrt_absolute_time();
-
 	ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);
 
 	if (ret != OK)
@@ -1421,23 +1510,38 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 */
 	channel_count = regs[PX4IO_P_RAW_RC_COUNT];
 
-	if (channel_count != _rc_chan_count)
+	/* limit the channel count */
+	if (channel_count > RC_INPUT_MAX_CHANNELS) {
+		channel_count = RC_INPUT_MAX_CHANNELS;
+	}
+
+	/* count channel count changes to identify signal integrity issues */
+	if (channel_count != _rc_chan_count) {
 		perf_count(_perf_chan_count);
+	}
 
 	_rc_chan_count = channel_count;
 
+	input_rc.timestamp_publication = hrt_absolute_time();
+
 	input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
 	input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
 	input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+	input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
 	input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
 	input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
+	input_rc.channel_count = channel_count;
 
 	/* rc_lost has to be set before the call to this function */
-	if (!input_rc.rc_lost && !input_rc.rc_failsafe)
+	if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
 		_rc_last_valid = input_rc.timestamp_publication;
+	}
 
 	input_rc.timestamp_last_signal = _rc_last_valid;
 
+	/* FIELDS NOT SET HERE */
+	/* input_rc.input_source is set after this call XXX we might want to mirror the flags in the RC struct */
+
 	if (channel_count > 9) {
 		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);
 
@@ -1445,8 +1549,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 			return ret;
 	}
 
-	input_rc.channel_count = channel_count;
-	memcpy(input_rc.values, &regs[prolog], channel_count * 2);
+	/* last thing set are the actual channel values as 16 bit values */
+	for (unsigned i = 0; i < channel_count; i++) {
+		input_rc.values[i] = regs[prolog + i];
+	}
 
 	return ret;
 }
@@ -1479,10 +1585,11 @@ PX4IO::io_publish_raw_rc()
 	} else {
 		rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
 
-		/* we do not know the RC input, only publish if RC OK flag is set */
-		/* if no raw RC, just don't publish */
-		if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
+		/* only keep publishing RC input if we ever got a valid input */
+		if (_rc_last_valid == 0) {
+			/* we have never seen valid RC signals, abort */
 			return OK;
+		}
 	}
 
 	/* lazily advertise on first publication */
@@ -1770,7 +1877,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 }
 
 void
-PX4IO::print_status()
+PX4IO::print_status(bool extended_status)
 {
 	/* basic configuration */
 	printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
@@ -1901,7 +2008,7 @@ PX4IO::print_status()
 		((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
 		);
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s%s%s%s%s\n",
+	printf("arming 0x%04x%s%s%s%s%s%s%s%s\n",
 	       arming,
 	       ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)		? " FMU_ARMED" : " FMU_DISARMED"),
 	       ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)		? " IO_ARM_OK" : " IO_ARM_DENIED"),
@@ -1909,7 +2016,9 @@ PX4IO::print_status()
 	       ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)		? " FAILSAFE_CUSTOM" : ""),
 	       ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)	? " INAIR_RESTART_OK" : ""),
 	       ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)	? " ALWAYS_PWM_ENABLE" : ""),
-	       ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)		? " LOCKDOWN" : ""));
+	       ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)		? " LOCKDOWN" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE)		? " FORCE_FAILSAFE" : "")
+	       );
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
 	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
@@ -1933,19 +2042,21 @@ PX4IO::print_status()
 		printf("\n");
 	}
 
-	for (unsigned i = 0; i < _max_rc_input; i++) {
-		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
-		uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
-		printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
-		       i,
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
-		       options,
-		       ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
-		       ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+	if (extended_status) {
+		for (unsigned i = 0; i < _max_rc_input; i++) {
+			unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
+			uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
+			printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
+			       i,
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
+			       options,
+			       ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
+			       ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+		}
 	}
 
 	printf("failsafe");
@@ -2113,6 +2224,21 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
 		*(unsigned *)arg = _lockdown_override;
+
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+		/* force safety swith off */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
+		break;
+
+	case PWM_SERVO_SET_FORCE_FAILSAFE:
+		/* force failsafe mode instantly */
+		if (arg == 0) {
+			/* clear force failsafe flag */
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
+		} else {
+			/* set force failsafe flag */
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
+		}
 		break;
 
 	case DSM_BIND_START:
@@ -2317,7 +2443,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 		break;
 
 	case PX4IO_CHECK_CRC: {
-		/* check IO firmware CRC against passed value */		
+		/* check IO firmware CRC against passed value */
 		uint32_t io_crc = 0;
 		ret = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC, (uint16_t *)&io_crc, 2);
 		if (ret != OK)
@@ -2577,7 +2703,7 @@ checkcrc(int argc, char *argv[])
 	int fd = open(argv[1], O_RDONLY);
 	if (fd == -1) {
 		printf("open of %s failed - %d\n", argv[1], errno);
-		exit(1);			
+		exit(1);
 	}
 	const uint32_t app_size_max = 0xf000;
 	uint32_t fw_crc = 0;
@@ -2592,7 +2718,7 @@ checkcrc(int argc, char *argv[])
 	close(fd);
 	while (nbytes < app_size_max) {
 		uint8_t b = 0xff;
-		fw_crc = crc32part(&b, 1, fw_crc);			
+		fw_crc = crc32part(&b, 1, fw_crc);
 		nbytes++;
 	}
 
@@ -2605,7 +2731,7 @@ checkcrc(int argc, char *argv[])
 
 	if (ret != OK) {
 		printf("check CRC failed - %d\n", ret);
-		exit(1);			
+		exit(1);
 	}
 	printf("CRCs match\n");
 	exit(0);
@@ -2635,12 +2761,12 @@ bind(int argc, char *argv[])
 		pulses = DSMX_BIND_PULSES;
 	else if (!strcmp(argv[2], "dsmx8"))
 		pulses = DSMX8_BIND_PULSES;
-	else 
+	else
 		errx(1, "unknown parameter %s, use dsm2, dsmx or dsmx8", argv[2]);
 	// Test for custom pulse parameter
 	if (argc > 3)
 		pulses = atoi(argv[3]);
-	if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) 
+	if (g_dev->system_status() & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
 		errx(1, "system must not be armed");
 
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
@@ -2769,7 +2895,7 @@ monitor(void)
 		if (g_dev != nullptr) {
 
 			printf("\033[2J\033[H"); /* move cursor home and clear screen */
-			(void)g_dev->print_status();
+			(void)g_dev->print_status(false);
 			(void)g_dev->print_debug();
 			printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
 
@@ -2842,7 +2968,7 @@ lockdown(int argc, char *argv[])
 				(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
 				warnx("ACTUATORS ARE NOW SAFE IN HIL.");
 			}
-			
+
 		} else {
 			errx(1, "driver not loaded, exiting");
 		}
@@ -3035,7 +3161,7 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 
 		printf("[px4io] loaded\n");
-		g_dev->print_status();
+		g_dev->print_status(true);
 
 		exit(0);
 	}
diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp
index 19776c40a..c57ddf65b 100644..100755
--- a/src/drivers/px4io/px4io_i2c.cpp
+++ b/src/drivers/px4io/px4io_i2c.cpp
@@ -79,7 +79,7 @@ device::Device
 }
 
 PX4IO_I2C::PX4IO_I2C(int bus, uint8_t address) :
-	I2C("PX4IO_i2c", nullptr, bus, address, 320000)
+	I2C("PX4IO_i2c", nullptr, bus, address, 400000)
 {
 	_retries = 3;
 }
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 43318ca84..d227e15d5 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -157,6 +157,10 @@ private:
 	perf_counter_t		_pc_idle;
 	perf_counter_t		_pc_badidle;
 
+	/* do not allow top copying this class */
+	PX4IO_serial(PX4IO_serial &);
+	PX4IO_serial& operator = (const PX4IO_serial &);
+
 };
 
 IOPacket PX4IO_serial::_dma_buffer;
@@ -173,7 +177,9 @@ PX4IO_serial::PX4IO_serial() :
 	_tx_dma(nullptr),
 	_rx_dma(nullptr),
 	_rx_dma_status(_dma_status_inactive),
-	_pc_txns(perf_alloc(PC_ELAPSED,		"io_txns     ")),
+	_bus_semaphore(SEM_INITIALIZER(0)),
+	_completion_semaphore(SEM_INITIALIZER(0)),
+	_pc_txns(perf_alloc(PC_ELAPSED, "io_txns     ")),
 	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
 	_pc_retries(perf_alloc(PC_COUNT,	"io_retries  ")),
 	_pc_timeouts(perf_alloc(PC_COUNT,	"io_timeouts ")),
@@ -639,7 +645,7 @@ PX4IO_serial::_do_interrupt()
 		if (_rx_dma_status == _dma_status_waiting) {
 
 			/* verify that the received packet is complete */
-			unsigned length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
+			size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
 			if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
 				perf_count(_pc_badidle);
 
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index dd8abbac5..fb16f891f 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -39,6 +39,7 @@
 #include <nuttx/config.h>
 
 #include <sys/types.h>
+#include <stdlib.h>
 #include <stdint.h>
 #include <stdbool.h>
 #include <assert.h>
@@ -64,7 +65,8 @@
 
 PX4IO_Uploader::PX4IO_Uploader() :
 	_io_fd(-1),
-	_fw_fd(-1)
+	_fw_fd(-1),
+	bl_rev(0)
 {
 }
 
@@ -201,9 +203,10 @@ PX4IO_Uploader::upload(const char *filenames[])
 			continue;
 		}
 
-		if (bl_rev <= 2)
+		if (bl_rev <= 2) {
 			ret = verify_rev2(fw_size);
-		else if(bl_rev == 3) {
+		} else {
+			/* verify rev 3 and higher. Every version *needs* to be verified. */
 			ret = verify_rev3(fw_size);
 		}
 
@@ -235,15 +238,15 @@ PX4IO_Uploader::upload(const char *filenames[])
 	close(_io_fd);
 	_io_fd = -1;
 
-        // sleep for enough time for the IO chip to boot. This makes
-        // forceupdate more reliably startup IO again after update
-        up_udelay(100*1000);
+	// sleep for enough time for the IO chip to boot. This makes
+	// forceupdate more reliably startup IO again after update
+	up_udelay(100*1000);
 
 	return ret;
 }
 
 int
-PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
+PX4IO_Uploader::recv_byte_with_timeout(uint8_t *c, unsigned timeout)
 {
 	struct pollfd fds[1];
 
@@ -260,24 +263,24 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
 		return -ETIMEDOUT;
 	}
 
-	read(_io_fd, &c, 1);
+	read(_io_fd, c, 1);
 #ifdef UDEBUG
-	log("recv 0x%02x", c);
+	log("recv_bytes 0x%02x", c);
 #endif
 	return OK;
 }
 
 int
-PX4IO_Uploader::recv(uint8_t *p, unsigned count)
+PX4IO_Uploader::recv_bytes(uint8_t *p, unsigned count)
 {
+	int ret = OK;
 	while (count--) {
-		int ret = recv(*p++, 5000);
+		ret = recv_byte_with_timeout(p++, 5000);
 
 		if (ret != OK)
-			return ret;
+			break;
 	}
-
-	return OK;
+	return ret;
 }
 
 void
@@ -287,10 +290,10 @@ PX4IO_Uploader::drain()
 	int ret;
 
 	do {
-		// the small recv timeout here is to allow for fast
+		// the small recv_bytes timeout here is to allow for fast
 		// drain when rebooting the io board for a forced
 		// update of the fw without using the safety switch
-		ret = recv(c, 40);
+		ret = recv_byte_with_timeout(&c, 40);
 
 #ifdef UDEBUG
 		if (ret == OK) {
@@ -308,21 +311,19 @@ PX4IO_Uploader::send(uint8_t c)
 #endif
 	if (write(_io_fd, &c, 1) != 1)
 		return -errno;
-
 	return OK;
 }
 
 int
 PX4IO_Uploader::send(uint8_t *p, unsigned count)
 {
+	int ret;
 	while (count--) {
-		int ret = send(*p++);
-
+		ret = send(*p++);
 		if (ret != OK)
-			return ret;
+			break;
 	}
-
-	return OK;
+	return ret;
 }
 
 int
@@ -331,12 +332,12 @@ PX4IO_Uploader::get_sync(unsigned timeout)
 	uint8_t c[2];
 	int ret;
 
-	ret = recv(c[0], timeout);
+	ret = recv_byte_with_timeout(c, timeout);
 
 	if (ret != OK)
 		return ret;
 
-	ret = recv(c[1], timeout);
+	ret = recv_byte_with_timeout(c + 1, timeout);
 
 	if (ret != OK)
 		return ret;
@@ -372,7 +373,7 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
 	send(param);
 	send(PROTO_EOC);
 
-	ret = recv((uint8_t *)&val, sizeof(val));
+	ret = recv_bytes((uint8_t *)&val, sizeof(val));
 
 	if (ret != OK)
 		return ret;
@@ -408,11 +409,20 @@ static int read_with_retry(int fd, void *buf, size_t n)
 int
 PX4IO_Uploader::program(size_t fw_size)
 {
-	uint8_t	file_buf[PROG_MULTI_MAX];
+	uint8_t	*file_buf;
 	ssize_t count;
 	int ret;
 	size_t sent = 0;
 
+	file_buf = new uint8_t[PROG_MULTI_MAX];
+	if (!file_buf) {
+		log("Can't allocate program buffer");
+		return -ENOMEM;
+	}
+
+	ASSERT((fw_size & 3) == 0);
+	ASSERT((PROG_MULTI_MAX & 3) == 0);
+
 	log("programming %u bytes...", (unsigned)fw_size);
 
 	ret = lseek(_fw_fd, 0, SEEK_SET);
@@ -420,8 +430,8 @@ PX4IO_Uploader::program(size_t fw_size)
 	while (sent < fw_size) {
 		/* get more bytes to program */
 		size_t n = fw_size - sent;
-		if (n > sizeof(file_buf)) {
-			n = sizeof(file_buf);
+		if (n > PROG_MULTI_MAX) {
+			n = PROG_MULTI_MAX;
 		}
 		count = read_with_retry(_fw_fd, file_buf, n);
 
@@ -431,29 +441,26 @@ PX4IO_Uploader::program(size_t fw_size)
 			    (unsigned)sent,
 			    (int)count,
 			    (int)errno);
+			ret = -errno;
+			break;
 		}
 
-		if (count == 0)
-			return OK;
-
 		sent += count;
 
-		if (count < 0)
-			return -errno;
-
-		ASSERT((count % 4) == 0);
-
 		send(PROTO_PROG_MULTI);
 		send(count);
-		send(&file_buf[0], count);
+		send(file_buf, count);
 		send(PROTO_EOC);
 
 		ret = get_sync(1000);
 
-		if (ret != OK)
-			return ret;
+		if (ret != OK) {
+			break;
+		}
 	}
-	return OK;
+
+	delete [] file_buf;
+	return ret;
 }
 
 int
@@ -507,7 +514,7 @@ PX4IO_Uploader::verify_rev2(size_t fw_size)
 		for (ssize_t i = 0; i < count; i++) {
 			uint8_t c;
 
-			ret = recv(c, 5000);
+			ret = recv_byte_with_timeout(&c, 5000);
 
 			if (ret != OK) {
 				log("%d: got %d waiting for bytes", sent + i, ret);
@@ -594,7 +601,7 @@ PX4IO_Uploader::verify_rev3(size_t fw_size_local)
 	send(PROTO_GET_CRC);
 	send(PROTO_EOC);
 
-	ret = recv((uint8_t*)(&crc), sizeof(crc));
+	ret = recv_bytes((uint8_t*)(&crc), sizeof(crc));
 
 	if (ret != OK) {
 		log("did not receive CRC checksum");
diff --git a/src/drivers/px4io/uploader.h b/src/drivers/px4io/uploader.h
index 55f63eef9..e17523413 100644
--- a/src/drivers/px4io/uploader.h
+++ b/src/drivers/px4io/uploader.h
@@ -74,20 +74,19 @@ private:
 		INFO_BOARD_REV		= 3,		/**< board revision */
 		INFO_FLASH_SIZE		= 4,		/**< max firmware size in bytes */
 
-		PROG_MULTI_MAX		= 60,		/**< protocol max is 255, must be multiple of 4 */
-		READ_MULTI_MAX		= 60,		/**< protocol max is 255, something overflows with >= 64 */
+		PROG_MULTI_MAX		= 248,		/**< protocol max is 255, must be multiple of 4 */
 
 	};
 
 	int			_io_fd;
 	int			_fw_fd;
 
-	uint32_t	bl_rev; /**< bootloader revision */
+	uint32_t		bl_rev; /**< bootloader revision */
 
 	void			log(const char *fmt, ...);
 
-	int			recv(uint8_t &c, unsigned timeout);
-	int			recv(uint8_t *p, unsigned count);
+	int			recv_byte_with_timeout(uint8_t *c, unsigned timeout);
+	int			recv_bytes(uint8_t *p, unsigned count);
 	void			drain();
 	int			send(uint8_t c);
 	int			send(uint8_t *p, unsigned count);
diff --git a/src/drivers/rgbled/module.mk b/src/drivers/rgbled/module.mk
index 39b53ec9e..c287e35f3 100644
--- a/src/drivers/rgbled/module.mk
+++ b/src/drivers/rgbled/module.mk
@@ -4,3 +4,5 @@
 
 MODULE_COMMAND	 = rgbled
 SRCS		 = rgbled.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index dd5e4d3e0..fdaa7f27b 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -182,7 +182,10 @@ float RoboClaw::getMotorPosition(e_motor motor)
 		return _motor1Position;
 	} else if (motor == MOTOR_2) {
 		return _motor2Position;
-	}
+	} else {
+		warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+		return NAN;
+    }
 }
 
 float RoboClaw::getMotorSpeed(e_motor motor)
@@ -191,7 +194,10 @@ float RoboClaw::getMotorSpeed(e_motor motor)
 		return _motor1Speed;
 	} else if (motor == MOTOR_2) {
 		return _motor2Speed;
-	}
+	} else {
+		warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+		return NAN;
+    }
 }
 
 int RoboClaw::setMotorSpeed(e_motor motor, float value)
diff --git a/src/drivers/roboclaw/module.mk b/src/drivers/roboclaw/module.mk
index 1abecf198..c5e55bdc3 100644
--- a/src/drivers/roboclaw/module.mk
+++ b/src/drivers/roboclaw/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND		= roboclaw
 
 SRCS			= roboclaw_main.cpp \
 			  RoboClaw.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/sf0x/module.mk b/src/drivers/sf0x/module.mk
index dc93a90e7..dc2c66d56 100644
--- a/src/drivers/sf0x/module.mk
+++ b/src/drivers/sf0x/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= sf0x
 
 SRCS		= sf0x.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index 70cd1ab1e..bca1715fa 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -124,6 +124,8 @@ private:
 
 	orb_advert_t			_range_finder_topic;
 
+	unsigned			_consecutive_fail_count;
+
 	perf_counter_t			_sample_perf;
 	perf_counter_t			_comms_errors;
 	perf_counter_t			_buffer_overflows;
@@ -186,6 +188,7 @@ SF0X::SF0X(const char *port) :
 	_linebuf_index(0),
 	_last_read(0),
 	_range_finder_topic(-1),
+	_consecutive_fail_count(0),
 	_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows"))
@@ -251,9 +254,6 @@ SF0X::~SF0X()
 int
 SF0X::init()
 {
-	int ret = ERROR;
-	unsigned i = 0;
-
 	/* do regular cdev init */
 	if (CDev::init() != OK) {
 		goto out;
@@ -276,34 +276,11 @@ SF0X::init()
 		warnx("advert err");
 	}
 
-	/* attempt to get a measurement 5 times */
-	while (ret != OK && i < 5) {
-
-		if (measure()) {
-			ret = ERROR;
-			_sensor_ok = false;
-		}
-
-		usleep(100000);
-
-		if (collect()) {
-			ret = ERROR;
-			_sensor_ok = false;
-
-		} else {
-			ret = OK;
-			/* sensor is ok, but we don't really know if it is within range */
-			_sensor_ok = true;
-		}
-
-		i++;
-	}
-
 	/* close the fd */
 	::close(_fd);
 	_fd = -1;
 out:
-	return ret;
+	return OK;
 }
 
 int
@@ -376,6 +353,7 @@ SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 			/* adjust to a legal polling interval in Hz */
 			default: {
+
 					/* do we need to start internal polling? */
 					bool want_start = (_measure_ticks == 0);
 
@@ -544,10 +522,16 @@ SF0X::collect()
 
 	if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
 		_linebuf_index = 0;
+	} else if (_linebuf_index > 0) {
+		/* increment to next read position */
+		_linebuf_index++;
 	}
 
+	/* the buffer for read chars is buflen minus null termination */
+	unsigned readlen = sizeof(_linebuf) - 1;
+
 	/* read from the sensor (uart buffer) */
-	ret = ::read(_fd, &_linebuf[_linebuf_index], sizeof(_linebuf) - _linebuf_index);
+	ret = ::read(_fd, &_linebuf[_linebuf_index], readlen - _linebuf_index);
 
 	if (ret < 0) {
 		_linebuf[sizeof(_linebuf) - 1] = '\0';
@@ -562,19 +546,30 @@ SF0X::collect()
 		} else {
 			return -EAGAIN;
 		}
+	} else if (ret == 0) {
+		return -EAGAIN;
 	}
 
-	_linebuf_index += ret;
-
-	if (_linebuf_index >= sizeof(_linebuf)) {
-		_linebuf_index = 0;
-	}
+	/* we did increment the index to the next position already, so just add the additional fields */
+	_linebuf_index += (ret - 1);
 
 	_last_read = hrt_absolute_time();
 
-	if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') {
-		/* incomplete read, reschedule ourselves */
+	if (_linebuf_index < 1) {
+		/* we need at least the two end bytes to make sense of this string */
 		return -EAGAIN;
+
+	} else if (_linebuf[_linebuf_index - 1] != '\r' || _linebuf[_linebuf_index] != '\n') {
+
+		if (_linebuf_index >= readlen - 1) {
+			/* we have a full buffer, but no line ending - abort */
+			_linebuf_index = 0;
+			perf_count(_comms_errors);
+			return -ENOMEM;
+		} else {
+			/* incomplete read, reschedule ourselves */
+			return -EAGAIN;
+		}
 	}
 
 	char *end;
@@ -582,22 +577,56 @@ SF0X::collect()
 	bool valid;
 
 	/* enforce line ending */
-	_linebuf[sizeof(_linebuf) - 1] = '\0';
+	unsigned lend = (_linebuf_index < (sizeof(_linebuf) - 1)) ? _linebuf_index : (sizeof(_linebuf) - 1);
+
+	_linebuf[lend] = '\0';
 
 	if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') {
 		si_units = -1.0f;
 		valid = false;
 
 	} else {
-		si_units = strtod(_linebuf, &end);
-		valid = true;
+
+		/* we need to find a dot in the string, as we're missing the meters part else */
+		valid = false;
+
+		/* wipe out partially read content from last cycle(s), check for dot */
+		for (unsigned i = 0; i < (lend - 2); i++) {
+			if (_linebuf[i] == '\n') {
+				char buf[sizeof(_linebuf)];
+				memcpy(buf, &_linebuf[i+1], (lend + 1) - (i + 1));
+				memcpy(_linebuf, buf, (lend + 1) - (i + 1));
+			}
+
+			if (_linebuf[i] == '.') {
+				valid = true;
+			}
+		}
+
+		if (valid) {
+			si_units = strtod(_linebuf, &end);
+
+			/* we require at least 3 characters for a valid number */
+			if (end > _linebuf + 3) {
+				valid = true;
+			} else {
+				si_units = -1.0f;
+				valid = false;
+			}
+		}
 	}
 
-	debug("val (float): %8.4f, raw: %s\n", si_units, _linebuf);
+	debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
 
-	/* done with this chunk, resetting */
+	/* done with this chunk, resetting - even if invalid */
 	_linebuf_index = 0;
 
+	/* if its invalid, there is no reason to forward the value */
+	if (!valid) {
+		perf_count(_comms_errors);
+		return -EINVAL;
+	}
+
 	struct range_finder_report report;
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
@@ -689,10 +718,19 @@ SF0X::cycle()
 		}
 
 		if (OK != collect_ret) {
-			log("collection error");
+
+			/* we know the sensor needs about four seconds to initialize */
+			if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
+				log("collection error #%u", _consecutive_fail_count);
+			}
+			_consecutive_fail_count++;
+
 			/* restart the measurement state machine */
 			start();
 			return;
+		} else {
+			/* apparently success */
+			_consecutive_fail_count = 0;
 		}
 
 		/* next phase is measurement */
@@ -754,7 +792,7 @@ const int ERROR = -1;
 
 SF0X	*g_dev;
 
-void	start();
+void	start(const char *port);
 void	stop();
 void	test();
 void	reset();
@@ -848,10 +886,10 @@ test()
 	}
 
 	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.distance);
-	warnx("time:        %lld", report.timestamp);
+	warnx("val:  %0.2f m", (double)report.distance);
+	warnx("time: %lld", report.timestamp);
 
-	/* start the sensor polling at 2Hz */
+	/* start the sensor polling at 2 Hz rate */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
 		errx(1, "failed to set 2Hz poll rate");
 	}
@@ -866,24 +904,26 @@ test()
 		int ret = poll(&fds, 1, 2000);
 
 		if (ret != 1) {
-			errx(1, "timed out waiting for sensor data");
+			warnx("timed out");
+			break;
 		}
 
 		/* now go get it */
 		sz = read(fd, &report, sizeof(report));
 
 		if (sz != sizeof(report)) {
-			err(1, "periodic read failed");
+			warnx("read failed: got %d vs exp. %d", sz, sizeof(report));
+			break;
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %0.3f", (double)report.distance);
-		warnx("time:        %lld", report.timestamp);
+		warnx("read #%u", i);
+		warnx("val:  %0.3f m", (double)report.distance);
+		warnx("time: %lld", report.timestamp);
 	}
 
-	/* reset the sensor polling to default rate */
+	/* reset the sensor polling to the default rate */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
-		errx(1, "failed to set default poll rate");
+		errx(1, "ERR: DEF RATE");
 	}
 
 	errx(0, "PASS");
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 0b8a275e6..aa0dca60c 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -41,6 +41,7 @@
  */
 
 #include <nuttx/config.h>
+#include <board_config.h>
 #include <drivers/device/device.h>
 
 #include <sys/types.h>
@@ -64,6 +65,8 @@
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 
+#include <uORB/topics/system_power.h>
+
 /*
  * Register accessors.
  * For now, no reason not to just use ADC1.
@@ -119,6 +122,8 @@ private:
 	unsigned		_channel_count;
 	adc_msg_s		*_samples;		/**< sample buffer */
 
+	orb_advert_t		_to_system_power;
+
 	/** work trampoline */
 	static void		_tick_trampoline(void *arg);
 
@@ -134,13 +139,16 @@ private:
 	 */
 	uint16_t		_sample(unsigned channel);
 
+	// update system_power ORB topic, only on FMUv2
+	void update_system_power(void);
 };
 
 ADC::ADC(uint32_t channels) :
 	CDev("adc", ADC_DEVICE_PATH),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ADC samples")),
+	_sample_perf(perf_alloc(PC_ELAPSED, "adc_samples")),
 	_channel_count(0),
-	_samples(nullptr)
+	_samples(nullptr),
+	_to_system_power(0)
 {
 	_debug_enabled = true;
 
@@ -290,6 +298,43 @@ ADC::_tick()
 	/* scan the channel set and sample each */
 	for (unsigned i = 0; i < _channel_count; i++)
 		_samples[i].am_data = _sample(_samples[i].am_channel);
+	update_system_power();
+}
+
+void
+ADC::update_system_power(void)
+{
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+	system_power_s system_power;
+	system_power.timestamp = hrt_absolute_time();
+
+	system_power.voltage5V_v = 0;
+	for (unsigned i = 0; i < _channel_count; i++) {
+		if (_samples[i].am_channel == 4) {
+			// it is 2:1 scaled
+			system_power.voltage5V_v = _samples[i].am_data * (6.6f / 4096);
+		}
+	}
+
+	// these are not ADC related, but it is convenient to
+	// publish these to the same topic
+	system_power.usb_connected = stm32_gpioread(GPIO_OTGFS_VBUS);
+
+	// note that the valid pins are active low
+	system_power.brick_valid   = !stm32_gpioread(GPIO_VDD_BRICK_VALID);
+	system_power.servo_valid   = !stm32_gpioread(GPIO_VDD_SERVO_VALID);
+
+	// OC pins are active low
+	system_power.periph_5V_OC  = !stm32_gpioread(GPIO_VDD_5V_PERIPH_OC);
+	system_power.hipower_5V_OC = !stm32_gpioread(GPIO_VDD_5V_HIPOWER_OC);
+
+	/* lazily publish */
+	if (_to_system_power > 0) {
+		orb_publish(ORB_ID(system_power), _to_system_power, &system_power);
+	} else {
+		_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
+	}
+#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
 }
 
 uint16_t
@@ -374,6 +419,10 @@ adc_main(int argc, char *argv[])
 		g_adc = new ADC((1 << 2) | (1 << 3) | (1 << 4) | 
 			(1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15));
 #endif
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+		/* XXX this hardcodes the default channel set for AeroCore - should be configurable */
+		g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
+#endif
 
 		if (g_adc == nullptr)
 			errx(1, "couldn't allocate the ADC driver");
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index b7c9b89a4..281f918d7 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -94,7 +94,7 @@
 #elif HRT_TIMER == 3
 # define HRT_TIMER_BASE		STM32_TIM3_BASE
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
-# define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM3EN
+# define HRT_TIMER_POWER_BIT	RCC_APB1ENR_TIM3EN
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM3
 # define HRT_TIMER_CLOCK	STM32_APB1_TIM3_CLKIN
 # if CONFIG_STM32_TIM3
@@ -141,7 +141,7 @@
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
 # define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM10EN
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM1UP
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM10_CLKIN
+# define HRT_TIMER_CLOCK	STM32_APB2_TIM10_CLKIN
 # if CONFIG_STM32_TIM10
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=10
 # endif
@@ -150,7 +150,7 @@
 # define HRT_TIMER_POWER_REG	STM32_RCC_APB1ENR
 # define HRT_TIMER_POWER_BIT	RCC_APB2ENR_TIM11EN
 # define HRT_TIMER_VECTOR	STM32_IRQ_TIM1TRGCOM
-# define HRT_TIMER_CLOCK	STM32_APB1_TIM11_CLKIN
+# define HRT_TIMER_CLOCK	STM32_APB2_TIM11_CLKIN
 # if CONFIG_STM32_TIM11
 #  error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
 # endif
@@ -354,6 +354,9 @@ __EXPORT uint16_t ppm_frame_length = 0;
 __EXPORT unsigned ppm_decoded_channels = 0;
 __EXPORT uint64_t ppm_last_valid_decode = 0;
 
+#define PPM_DEBUG 0
+
+#if PPM_DEBUG
 /* PPM edge history */
 __EXPORT uint16_t ppm_edge_history[32];
 unsigned ppm_edge_next;
@@ -361,6 +364,7 @@ unsigned ppm_edge_next;
 /* PPM pulse history */
 __EXPORT uint16_t ppm_pulse_history[32];
 unsigned ppm_pulse_next;
+#endif
 
 static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
 
@@ -455,10 +459,12 @@ hrt_ppm_decode(uint32_t status)
 	/* how long since the last edge? - this handles counter wrapping implicitely. */
 	width = count - ppm.last_edge;
 
+#if PPM_DEBUG
 	ppm_edge_history[ppm_edge_next++] = width;
 
 	if (ppm_edge_next >= 32)
 		ppm_edge_next = 0;
+#endif
 
 	/*
 	 * if this looks like a start pulse, then push the last set of values
@@ -546,10 +552,12 @@ hrt_ppm_decode(uint32_t status)
 		interval = count - ppm.last_mark;
 		ppm.last_mark = count;
 
+#if PPM_DEBUG
 		ppm_pulse_history[ppm_pulse_next++] = interval;
 
 		if (ppm_pulse_next >= 32)
 			ppm_pulse_next = 0;
+#endif
 
 		/* if the mark-mark timing is out of bounds, abandon the frame */
 		if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index f36f2091e..8f523b390 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -334,6 +334,10 @@ ToneAlarm::ToneAlarm() :
 	_default_tunes[TONE_BATTERY_WARNING_SLOW_TUNE] = "MBNT100a8";					//battery warning slow
 	_default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8";	//battery warning fast
 	_default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#";					//gps warning slow
+	_default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP";
+	_default_tunes[TONE_PARACHUTE_RELEASE_TUNE] = "MFT255L16agagagag";			// parachute release
+	_default_tunes[TONE_EKF_WARNING_TUNE] = "MFT255L8ddd#d#eeff";				// ekf warning
+	_default_tunes[TONE_BARO_WARNING_TUNE] = "MFT255L4gf#fed#d";				// baro warning
 
 	_tune_names[TONE_STARTUP_TUNE] = "startup";			// startup tune
 	_tune_names[TONE_ERROR_TUNE] = "error";				// ERROR tone
@@ -344,6 +348,10 @@ ToneAlarm::ToneAlarm() :
 	_tune_names[TONE_BATTERY_WARNING_SLOW_TUNE] = "slow_bat";	// battery warning slow
 	_tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat";	// battery warning fast
 	_tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning";	            // gps warning
+	_tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure";            //fail to arm
+	_tune_names[TONE_PARACHUTE_RELEASE_TUNE] = "parachute_release";	// parachute release
+	_tune_names[TONE_EKF_WARNING_TUNE] = "ekf_warning";				// ekf warning
+	_tune_names[TONE_BARO_WARNING_TUNE] = "baro_warning";			// baro warning
 }
 
 ToneAlarm::~ToneAlarm()
diff --git a/src/examples/fixedwing_control/module.mk b/src/examples/fixedwing_control/module.mk
index d2c48934f..a2a9eb113 100644
--- a/src/examples/fixedwing_control/module.mk
+++ b/src/examples/fixedwing_control/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	= ex_fixedwing_control
 
 SRCS		= main.c \
 		  params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/flow_position_control/flow_position_control_main.c b/src/examples/flow_position_control/flow_position_control_main.c
deleted file mode 100644
index 391e40ac1..000000000
--- a/src/examples/flow_position_control/flow_position_control_main.c
+++ /dev/null
@@ -1,613 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file flow_position_control.c
- *
- * Optical flow position controller
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <termios.h>
-#include <time.h>
-#include <math.h>
-#include <sys/prctl.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_bodyframe_speed_setpoint.h>
-#include <uORB/topics/filtered_bottom_flow.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/err.h>
-#include <poll.h>
-#include <mavlink/mavlink_log.h>
-
-#include "flow_position_control_params.h"
-
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-__EXPORT int flow_position_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of position controller.
- */
-static int flow_position_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_spawn_cmd().
- */
-int flow_position_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start"))
-	{
-		if (thread_running)
-		{
-			printf("flow position control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("flow_position_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 6,
-					 4096,
-					 flow_position_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop"))
-	{
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status"))
-	{
-		if (thread_running)
-			printf("\tflow position control app is running\n");
-		else
-			printf("\tflow position control app not started\n");
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-static int
-flow_position_control_thread_main(int argc, char *argv[])
-{
-	/* welcome user */
-	thread_running = true;
-	static int mavlink_fd;
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	mavlink_log_info(mavlink_fd, "[fpc] started");
-
-	uint32_t counter = 0;
-	const float time_scale = powf(10.0f,-6.0f);
-
-	/* structures */
-	struct actuator_armed_s armed;
-	memset(&armed, 0, sizeof(armed));
-	struct vehicle_control_mode_s control_mode;
-	memset(&control_mode, 0, sizeof(control_mode));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct manual_control_setpoint_s manual;
-	memset(&manual, 0, sizeof(manual));
-	struct filtered_bottom_flow_s filtered_flow;
-	memset(&filtered_flow, 0, sizeof(filtered_flow));
-	struct vehicle_local_position_s local_pos;
-	memset(&local_pos, 0, sizeof(local_pos));
-	struct vehicle_bodyframe_speed_setpoint_s speed_sp;
-	memset(&speed_sp, 0, sizeof(speed_sp));
-
-	/* subscribe to attitude, motor setpoints and system state */
-	int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
-	int vehicle_local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-
-	orb_advert_t speed_sp_pub;
-	bool speed_setpoint_adverted = false;
-
-	/* parameters init*/
-	struct flow_position_control_params params;
-	struct flow_position_control_param_handles param_handles;
-	parameters_init(&param_handles);
-	parameters_update(&param_handles, &params);
-
-	/* init flow sum setpoint */
-	float flow_sp_sumx = 0.0f;
-	float flow_sp_sumy = 0.0f;
-
-	/* init yaw setpoint */
-	float yaw_sp = 0.0f;
-
-	/* init height setpoint */
-	float height_sp = params.height_min;
-
-	/* height controller states */
-	bool start_phase = true;
-	bool landing_initialized = false;
-	float landing_thrust_start = 0.0f;
-
-	/* states */
-	float integrated_h_error = 0.0f;
-	float last_local_pos_z = 0.0f;
-	bool update_flow_sp_sumx = false;
-	bool update_flow_sp_sumy = false;
-	uint64_t last_time = 0.0f;
-	float dt = 0.0f; // s
-
-
-	/* register the perf counter */
-	perf_counter_t mc_loop_perf = perf_alloc(PC_ELAPSED, "flow_position_control_runtime");
-	perf_counter_t mc_interval_perf = perf_alloc(PC_INTERVAL, "flow_position_control_interval");
-	perf_counter_t mc_err_perf = perf_alloc(PC_COUNT, "flow_position_control_err");
-
-	static bool sensors_ready = false;
-	static bool status_changed = false;
-
-	while (!thread_should_exit)
-	{
-		/* wait for first attitude msg to be sure all data are available */
-		if (sensors_ready)
-		{
-			/* polling */
-			struct pollfd fds[2] = {
-				{ .fd = filtered_bottom_flow_sub, .events = POLLIN }, // positions from estimator
-				{ .fd = parameter_update_sub,   .events = POLLIN }
-
-			};
-
-			/* wait for a position update, check for exit condition every 500 ms */
-			int ret = poll(fds, 2, 500);
-
-			if (ret < 0)
-			{
-				/* poll error, count it in perf */
-				perf_count(mc_err_perf);
-			}
-			else if (ret == 0)
-			{
-				/* no return value, ignore */
-//				printf("[flow position control] no filtered flow updates\n");
-			}
-			else
-			{
-				/* parameter update available? */
-				if (fds[1].revents & POLLIN)
-				{
-					/* read from param to clear updated flag */
-					struct parameter_update_s update;
-					orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
-
-					parameters_update(&param_handles, &params);
-					mavlink_log_info(mavlink_fd,"[fpc] parameters updated.");
-				}
-
-				/* only run controller if position/speed changed */
-				if (fds[0].revents & POLLIN)
-				{
-					perf_begin(mc_loop_perf);
-
-					/* get a local copy of the vehicle state */
-					orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-					/* get a local copy of manual setpoint */
-					orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
-					/* get a local copy of attitude */
-					orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-					/* get a local copy of filtered bottom flow */
-					orb_copy(ORB_ID(filtered_bottom_flow), filtered_bottom_flow_sub, &filtered_flow);
-					/* get a local copy of local position */
-					orb_copy(ORB_ID(vehicle_local_position), vehicle_local_position_sub, &local_pos);
-					/* get a local copy of control mode */
-					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-
-					if (control_mode.flag_control_velocity_enabled)
-					{
-						float manual_pitch = manual.pitch / params.rc_scale_pitch; // 0 to 1
-						float manual_roll = manual.roll / params.rc_scale_roll; // 0 to 1
-						float manual_yaw = manual.yaw / params.rc_scale_yaw; // -1 to 1
-
-						if(status_changed == false)
-							mavlink_log_info(mavlink_fd,"[fpc] flow POSITION control engaged");
-
-						status_changed = true;
-
-						/* calc dt */
-						if(last_time == 0)
-						{
-							last_time = hrt_absolute_time();
-							continue;
-						}
-						dt = ((float) (hrt_absolute_time() - last_time)) * time_scale;
-						last_time = hrt_absolute_time();
-
-						/* update flow sum setpoint */
-						if (update_flow_sp_sumx)
-						{
-							flow_sp_sumx = filtered_flow.sumx;
-							update_flow_sp_sumx = false;
-						}
-						if (update_flow_sp_sumy)
-						{
-							flow_sp_sumy = filtered_flow.sumy;
-							update_flow_sp_sumy = false;
-						} 
-
-						/* calc new bodyframe speed setpoints */
-						float speed_body_x = (flow_sp_sumx - filtered_flow.sumx) * params.pos_p - filtered_flow.vx * params.pos_d;
-						float speed_body_y = (flow_sp_sumy - filtered_flow.sumy) * params.pos_p - filtered_flow.vy * params.pos_d;
-						float speed_limit_height_factor = height_sp; // the settings are for 1 meter
-
-						/* overwrite with rc input if there is any */
-						if(isfinite(manual_pitch) && isfinite(manual_roll))
-						{
-							if(fabsf(manual_pitch) > params.manual_threshold)
-							{
-								speed_body_x = -manual_pitch * params.limit_speed_x * speed_limit_height_factor;
-								update_flow_sp_sumx = true;
-							}
-
-							if(fabsf(manual_roll) > params.manual_threshold)
-							{
-								speed_body_y = manual_roll * params.limit_speed_y * speed_limit_height_factor;
-								update_flow_sp_sumy = true;
-							}
-						}
-
-						/* limit speed setpoints */
-						if((speed_body_x <= params.limit_speed_x * speed_limit_height_factor) &&
-								(speed_body_x >= -params.limit_speed_x * speed_limit_height_factor))
-						{
-							speed_sp.vx = speed_body_x;
-						}
-						else
-						{
-							if(speed_body_x > params.limit_speed_x * speed_limit_height_factor)
-								speed_sp.vx = params.limit_speed_x * speed_limit_height_factor;
-							if(speed_body_x < -params.limit_speed_x * speed_limit_height_factor)
-								speed_sp.vx = -params.limit_speed_x * speed_limit_height_factor;
-						}
-
-						if((speed_body_y <= params.limit_speed_y * speed_limit_height_factor) &&
-								(speed_body_y >= -params.limit_speed_y * speed_limit_height_factor))
-						{
-							speed_sp.vy = speed_body_y;
-						}
-						else
-						{
-							if(speed_body_y > params.limit_speed_y * speed_limit_height_factor)
-								speed_sp.vy = params.limit_speed_y * speed_limit_height_factor;
-							if(speed_body_y < -params.limit_speed_y * speed_limit_height_factor)
-								speed_sp.vy = -params.limit_speed_y * speed_limit_height_factor;
-						}
-
-						/* manual yaw change */
-						if(isfinite(manual_yaw) && isfinite(manual.throttle))
-						{
-							if(fabsf(manual_yaw) > params.manual_threshold && manual.throttle > 0.2f)
-							{
-								yaw_sp += manual_yaw * params.limit_yaw_step;
-
-								/* modulo for rotation -pi +pi */
-								if(yaw_sp < -M_PI_F)
-									yaw_sp = yaw_sp + M_TWOPI_F;
-								else if(yaw_sp > M_PI_F)
-									yaw_sp = yaw_sp - M_TWOPI_F;
-							}
-						}
-
-						/* forward yaw setpoint */
-						speed_sp.yaw_sp = yaw_sp;
-
-
-						/* manual height control
-						 * 0-20%: thrust linear down
-						 * 20%-40%: down
-						 * 40%-60%: stabilize altitude
-						 * 60-100%: up
-						 */
-						float thrust_control = 0.0f;
-
-						if (isfinite(manual.throttle))
-						{
-							if (start_phase)
-							{
-								/* control start thrust with stick input */
-								if (manual.throttle < 0.4f)
-								{
-									/* first 40% for up to feedforward */
-									thrust_control = manual.throttle / 0.4f * params.thrust_feedforward;
-								}
-								else
-								{
-									/* second 60% for up to feedforward + 10% */
-									thrust_control = (manual.throttle - 0.4f) / 0.6f * 0.1f + params.thrust_feedforward;
-								}
-
-								/* exit start phase if setpoint is reached */
-								if (height_sp < -local_pos.z && thrust_control > params.limit_thrust_lower)
-								{
-									start_phase = false;
-									/* switch to stabilize */
-									thrust_control = params.thrust_feedforward;
-								}
-							}
-							else
-							{
-								if (manual.throttle < 0.2f)
-								{
-									/* landing initialization */
-									if (!landing_initialized)
-									{
-										/* consider last thrust control to avoid steps */
-										landing_thrust_start = speed_sp.thrust_sp;
-										landing_initialized = true;
-									}
-
-									/* set current height as setpoint to avoid steps */
-									if (-local_pos.z > params.height_min)
-										height_sp = -local_pos.z;
-									else
-										height_sp = params.height_min;
-
-									/* lower 20% stick range controls thrust down */
-									thrust_control = manual.throttle / 0.2f * landing_thrust_start;
-
-									/* assume ground position here */
-									if (thrust_control < 0.1f)
-									{
-										/* reset integral if on ground */
-										integrated_h_error = 0.0f;
-										/* switch to start phase */
-										start_phase = true;
-										/* reset height setpoint */
-										height_sp = params.height_min;
-									}
-								}
-								else
-								{
-									/* stabilized mode */
-									landing_initialized = false;
-
-									/* calc new thrust with PID */
-									float height_error = (local_pos.z - (-height_sp));
-
-									/* update height setpoint if needed*/
-									if (manual.throttle < 0.4f)
-									{
-										/* down */
-										if (height_sp > params.height_min + params.height_rate &&
-												fabsf(height_error) < params.limit_height_error)
-											height_sp -= params.height_rate * dt;
-									}
-
-									if (manual.throttle > 0.6f)
-									{
-										/* up */
-										if (height_sp < params.height_max &&
-												fabsf(height_error) < params.limit_height_error)
-											height_sp += params.height_rate * dt;
-									}
-
-									/* instead of speed limitation, limit height error (downwards) */
-									if(height_error > params.limit_height_error)
-										height_error = params.limit_height_error;
-									else if(height_error < -params.limit_height_error)
-										height_error = -params.limit_height_error;
-
-									integrated_h_error = integrated_h_error + height_error;
-									float integrated_thrust_addition = integrated_h_error * params.height_i;
-
-									if(integrated_thrust_addition > params.limit_thrust_int)
-										integrated_thrust_addition = params.limit_thrust_int;
-									if(integrated_thrust_addition < -params.limit_thrust_int)
-										integrated_thrust_addition = -params.limit_thrust_int;
-
-									float height_speed = last_local_pos_z - local_pos.z;
-									float thrust_diff = height_error * params.height_p - height_speed * params.height_d;
-
-									thrust_control = params.thrust_feedforward + thrust_diff + integrated_thrust_addition;
-
-									/* add attitude component
-									 * F = Fz / (cos(pitch)*cos(roll)) -> can be found in rotM
-									 */
-//									// TODO problem with attitude
-//									if (att.R_valid && att.R[2][2] > 0)
-//										thrust_control = thrust_control / att.R[2][2];
-
-									/* set thrust lower limit */
-									if(thrust_control < params.limit_thrust_lower)
-										thrust_control = params.limit_thrust_lower;
-								}
-							}
-
-							/* set thrust upper limit */
-							if(thrust_control > params.limit_thrust_upper)
-								thrust_control = params.limit_thrust_upper;
-						}
-						/* store actual height for speed estimation */
-						last_local_pos_z = local_pos.z;
-
-						speed_sp.thrust_sp =  thrust_control; //manual.throttle;
-						speed_sp.timestamp = hrt_absolute_time();
-
-						/* publish new speed setpoint */
-						if(isfinite(speed_sp.vx) && isfinite(speed_sp.vy) && isfinite(speed_sp.yaw_sp) && isfinite(speed_sp.thrust_sp))
-						{
-
-							if(speed_setpoint_adverted)
-							{
-								orb_publish(ORB_ID(vehicle_bodyframe_speed_setpoint), speed_sp_pub, &speed_sp);
-							}
-							else
-							{
-								speed_sp_pub = orb_advertise(ORB_ID(vehicle_bodyframe_speed_setpoint), &speed_sp);
-								speed_setpoint_adverted = true;
-							}
-						}
-						else
-						{
-							warnx("NaN in flow position controller!");
-						}
-					}
-					else
-					{
-						/* in manual or stabilized state just reset speed and flow sum setpoint */
-						//mavlink_log_info(mavlink_fd,"[fpc] reset speed sp, flow_sp_sumx,y (%f,%f)",filtered_flow.sumx, filtered_flow.sumy);
-						if(status_changed == true)
-							mavlink_log_info(mavlink_fd,"[fpc] flow POSITION controller disengaged.");
-
-						status_changed = false;
-						speed_sp.vx = 0.0f;
-						speed_sp.vy = 0.0f;
-						flow_sp_sumx = filtered_flow.sumx;
-						flow_sp_sumy = filtered_flow.sumy;
-						if(isfinite(att.yaw))
-						{
-							yaw_sp = att.yaw;
-							speed_sp.yaw_sp = att.yaw;
-						}
-						if(isfinite(manual.throttle))
-							speed_sp.thrust_sp = manual.throttle;
-					}
-					/* measure in what intervals the controller runs */
-					perf_count(mc_interval_perf);
-					perf_end(mc_loop_perf);
-				}
-			}
-
-			counter++;
-		}
-		else
-		{
-			/* sensors not ready waiting for first attitude msg */
-
-			/* polling */
-			struct pollfd fds[1] = {
-				{ .fd = vehicle_attitude_sub, .events = POLLIN },
-			};
-
-			/* wait for a flow msg, check for exit condition every 5 s */
-			int ret = poll(fds, 1, 5000);
-
-			if (ret < 0)
-			{
-				/* poll error, count it in perf */
-				perf_count(mc_err_perf);
-			}
-			else if (ret == 0)
-			{
-				/* no return value, ignore */
-				mavlink_log_info(mavlink_fd,"[fpc] no attitude received.\n");
-			}
-			else
-			{
-				if (fds[0].revents & POLLIN)
-				{
-					sensors_ready = true;
-					mavlink_log_info(mavlink_fd,"[fpc] initialized.\n");
-				}
-			}
-		}
-	}
-
-	mavlink_log_info(mavlink_fd,"[fpc] ending now...\n");
-
-	thread_running = false;
-
-	close(parameter_update_sub);
-	close(vehicle_attitude_sub);
-	close(vehicle_local_position_sub);
-	close(armed_sub);
-	close(control_mode_sub);
-	close(manual_control_setpoint_sub);
-	close(speed_sp_pub);
-
-	perf_print_counter(mc_loop_perf);
-	perf_free(mc_loop_perf);
-
-	fflush(stdout);
-	return 0;
-}
-
diff --git a/src/examples/flow_position_control/flow_position_control_params.c b/src/examples/flow_position_control/flow_position_control_params.c
deleted file mode 100644
index eb1473647..000000000
--- a/src/examples/flow_position_control/flow_position_control_params.c
+++ /dev/null
@@ -1,124 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file flow_position_control_params.c
- */
-
-#include "flow_position_control_params.h"
-
-/* controller parameters */
-
-// Position control P gain
-PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f);
-// Position control D / damping gain
-PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f);
-// Altitude control P gain
-PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f);
-// Altitude control I (integrator) gain
-PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f);
-// Altitude control D gain
-PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f);
-// Altitude control rate limiter
-PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f);
-// Altitude control minimum altitude
-PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f);
-// Altitude control maximum altitude (higher than 1.5m is untested)
-PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f);
-// Altitude control feed forward throttle - adjust to the
-// throttle position (0..1) where the copter hovers in manual flight
-PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight
-PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f);
-PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f);
-PARAM_DEFINE_FLOAT(FPC_L_H_ERR, 0.1f);
-PARAM_DEFINE_FLOAT(FPC_L_TH_I, 0.05f);
-PARAM_DEFINE_FLOAT(FPC_L_TH_U, 0.8f);
-PARAM_DEFINE_FLOAT(FPC_L_TH_L, 0.6f);
-PARAM_DEFINE_FLOAT(FPC_L_YAW_STEP, 0.03f);
-PARAM_DEFINE_FLOAT(FPC_MAN_THR, 0.1f);
-
-
-int parameters_init(struct flow_position_control_param_handles *h)
-{
-	/* PID parameters */
-	h->pos_p	 			=	param_find("FPC_POS_P");
-	h->pos_d 				=	param_find("FPC_POS_D");
-	h->height_p 			=	param_find("FPC_H_P");
-	h->height_i 			=	param_find("FPC_H_I");
-	h->height_d 			=	param_find("FPC_H_D");
-	h->height_rate 			=	param_find("FPC_H_RATE");
-	h->height_min			=	param_find("FPC_H_MIN");
-	h->height_max			=	param_find("FPC_H_MAX");
-	h->thrust_feedforward 	=	param_find("FPC_T_FFWD");
-	h->limit_speed_x 		=	param_find("FPC_L_S_X");
-	h->limit_speed_y 		=	param_find("FPC_L_S_Y");
-	h->limit_height_error	=	param_find("FPC_L_H_ERR");
-	h->limit_thrust_int 	=	param_find("FPC_L_TH_I");
-	h->limit_thrust_upper 	=	param_find("FPC_L_TH_U");
-	h->limit_thrust_lower 	=	param_find("FPC_L_TH_L");
-	h->limit_yaw_step		=	param_find("FPC_L_YAW_STEP");
-	h->manual_threshold 	=	param_find("FPC_MAN_THR");
-	h->rc_scale_pitch		=   param_find("RC_SCALE_PITCH");
-	h->rc_scale_roll		=   param_find("RC_SCALE_ROLL");
-	h->rc_scale_yaw			=   param_find("RC_SCALE_YAW");
-
-	return OK;
-}
-
-int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p)
-{
-	param_get(h->pos_p, &(p->pos_p));
-	param_get(h->pos_d, &(p->pos_d));
-	param_get(h->height_p, &(p->height_p));
-	param_get(h->height_i, &(p->height_i));
-	param_get(h->height_d, &(p->height_d));
-	param_get(h->height_rate, &(p->height_rate));
-	param_get(h->height_min, &(p->height_min));
-	param_get(h->height_max, &(p->height_max));
-	param_get(h->thrust_feedforward, &(p->thrust_feedforward));
-	param_get(h->limit_speed_x, &(p->limit_speed_x));
-	param_get(h->limit_speed_y, &(p->limit_speed_y));
-	param_get(h->limit_height_error, &(p->limit_height_error));
-	param_get(h->limit_thrust_int, &(p->limit_thrust_int));
-	param_get(h->limit_thrust_upper, &(p->limit_thrust_upper));
-	param_get(h->limit_thrust_lower, &(p->limit_thrust_lower));
-	param_get(h->limit_yaw_step, &(p->limit_yaw_step));
-	param_get(h->manual_threshold, &(p->manual_threshold));
-	param_get(h->rc_scale_pitch, &(p->rc_scale_pitch));
-	param_get(h->rc_scale_roll, &(p->rc_scale_roll));
-	param_get(h->rc_scale_yaw, &(p->rc_scale_yaw));
-
-	return OK;
-}
diff --git a/src/examples/flow_position_control/flow_position_control_params.h b/src/examples/flow_position_control/flow_position_control_params.h
deleted file mode 100644
index d0c8fc722..000000000
--- a/src/examples/flow_position_control/flow_position_control_params.h
+++ /dev/null
@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
- *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
- *   		 Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * @file flow_position_control_params.h
- * 
- * Parameters for position controller
- */
-
-#include <systemlib/param/param.h>
-
-struct flow_position_control_params {
-	float pos_p;
-	float pos_d;
-	float height_p;
-	float height_i;
-	float height_d;
-	float height_rate;
-	float height_min;
-	float height_max;
-	float thrust_feedforward;
-	float limit_speed_x;
-	float limit_speed_y;
-	float limit_height_error;
-	float limit_thrust_int;
-	float limit_thrust_upper;
-	float limit_thrust_lower;
-	float limit_yaw_step;
-	float manual_threshold;
-	float rc_scale_pitch;
-	float rc_scale_roll;
-	float rc_scale_yaw;
-};
-
-struct flow_position_control_param_handles {
-	param_t pos_p;
-	param_t pos_d;
-	param_t height_p;
-	param_t height_i;
-	param_t height_d;
-	param_t height_rate;
-	param_t height_min;
-	param_t height_max;
-	param_t thrust_feedforward;
-	param_t limit_speed_x;
-	param_t limit_speed_y;
-	param_t limit_height_error;
-	param_t limit_thrust_int;
-	param_t limit_thrust_upper;
-	param_t limit_thrust_lower;
-	param_t limit_yaw_step;
-	param_t manual_threshold;
-	param_t rc_scale_pitch;
-	param_t rc_scale_roll;
-	param_t rc_scale_yaw;
-};
-
-/**
- * Initialize all parameter handles and values
- *
- */
-int parameters_init(struct flow_position_control_param_handles *h);
-
-/**
- * Update all parameters
- *
- */
-int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p);
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c
index 495c415f2..c775428ef 100644
--- a/src/examples/flow_position_estimator/flow_position_estimator_main.c
+++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c
@@ -65,6 +65,7 @@
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/filtered_bottom_flow.h>
 #include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
 #include <poll.h>
 
 #include "flow_position_estimator_params.h"
@@ -109,9 +110,9 @@ int flow_position_estimator_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		daemon_task = task_spawn_cmd("flow_position_estimator",
-					 SCHED_RR,
+					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 4096,
+					 4000,
 					 flow_position_estimator_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
new file mode 100644
index 000000000..c66bebeec
--- /dev/null
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -0,0 +1,247 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.		 
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file matlab_csv_serial_main.c
+ *
+ * Matlab CSV / ASCII format interface at 921600 baud, 8 data bits,
+ * 1 stop bit, no parity
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <float.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <drivers/drv_hrt.h>
+#include <termios.h>
+#include <errno.h>
+#include <limits.h>
+#include <math.h>
+#include <uORB/uORB.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/err.h>
+#include <poll.h>
+
+__EXPORT int matlab_csv_serial_main(int argc, char *argv[]);
+static bool thread_should_exit = false;		/**< Daemon exit flag */
+static bool thread_running = false;		/**< Daemon status flag */
+static int daemon_task;				/**< Handle of daemon task / thread */
+
+int matlab_csv_serial_thread_main(int argc, char *argv[]);
+static void usage(const char *reason);
+
+static void usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The daemon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_spawn_cmd().
+ */
+int matlab_csv_serial_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start"))
+	{
+		if (thread_running)
+		{
+			warnx("already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		daemon_task = task_spawn_cmd("matlab_csv_serial",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 5,
+					 2000,
+					 matlab_csv_serial_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop"))
+	{
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status"))
+	{
+		if (thread_running) {
+			warnx("running");
+		} else {
+			warnx("stopped");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int matlab_csv_serial_thread_main(int argc, char *argv[])
+{
+
+	if (argc < 2) {
+		errx(1, "need a serial port name as argument");
+	}
+
+	const char* uart_name = argv[1];
+
+	warnx("opening port %s", uart_name);
+
+	int serial_fd = open(uart_name, O_RDWR | O_NOCTTY);
+
+	unsigned speed = 921600;
+
+	if (serial_fd < 0) {
+		err(1, "failed to open port: %s", uart_name);
+	}
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(serial_fd, &uart_config)) < 0) {
+		warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
+		close(serial_fd);
+		return -1;
+	}
+
+	/* Clear ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag &= ~ONLCR;
+
+	/* USB serial is indicated by /dev/ttyACM0*/
+	if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
+
+		/* Set baud rate */
+		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
+			warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state);
+			close(serial_fd);
+			return -1;
+		}
+
+	}
+
+	if ((termios_state = tcsetattr(serial_fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERR SET CONF %s\n", uart_name);
+		close(serial_fd);
+		return -1;
+	}
+
+	/* subscribe to vehicle status, attitude, sensors and flow*/
+	struct accel_report accel0;
+	struct accel_report accel1;
+	struct gyro_report gyro0;
+	struct gyro_report gyro1;
+
+	/* subscribe to parameter changes */
+	int accel0_sub = orb_subscribe(ORB_ID(sensor_accel0));
+	int accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
+	int gyro0_sub = orb_subscribe(ORB_ID(sensor_gyro0));
+	int gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
+
+	thread_running = true;
+
+	while (!thread_should_exit)
+	{
+
+		/*This runs at the rate of the sensors */
+		struct pollfd fds[] = {
+				{ .fd = accel0_sub, .events = POLLIN }
+		};
+
+		/* wait for a sensor update, check for exit condition every 500 ms */
+		int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), 500);
+
+		if (ret < 0)
+		{
+			/* poll error, ignore */
+
+		}
+		else if (ret == 0)
+		{
+			/* no return value, ignore */
+			warnx("no sensor data");
+		}
+		else
+		{
+
+			/* accel0 update available? */
+			if (fds[0].revents & POLLIN)
+			{
+				orb_copy(ORB_ID(sensor_accel0), accel0_sub, &accel0);
+				orb_copy(ORB_ID(sensor_accel1), accel1_sub, &accel1);
+				orb_copy(ORB_ID(sensor_gyro0), gyro0_sub, &gyro0);
+				orb_copy(ORB_ID(sensor_gyro1), gyro1_sub, &gyro1);
+
+				// write out on accel 0, but collect for all other sensors as they have updates
+				dprintf(serial_fd, "%llu,%d,%d,%d,%d,%d,%d\n", accel0.timestamp, (int)accel0.x_raw, (int)accel0.y_raw, (int)accel0.z_raw,
+					(int)accel1.x_raw, (int)accel1.y_raw, (int)accel1.z_raw);
+			}
+
+		}
+	}
+
+	warnx("exiting");
+	thread_running = false;
+
+	fflush(stdout);
+	return 0;
+}
+
+
diff --git a/src/modules/att_pos_estimator_ekf/module.mk b/src/examples/matlab_csv_serial/module.mk
index 8d4a40d95..1629c2ce4 100644
--- a/src/modules/att_pos_estimator_ekf/module.mk
+++ b/src/examples/matlab_csv_serial/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,11 +32,9 @@
 ############################################################################
 
 #
-# Full attitude / position Extended Kalman Filter
+# Build position estimator
 #
 
-MODULE_COMMAND	= att_pos_estimator_ekf
+MODULE_COMMAND		= matlab_csv_serial
 
-SRCS		= kalman_main.cpp \
-		  KalmanNav.cpp \
-		  params.c
+SRCS		= matlab_csv_serial.c
diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk
index 5f8aa73d5..fc4223142 100644
--- a/src/examples/px4_daemon_app/module.mk
+++ b/src/examples/px4_daemon_app/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND		= px4_daemon_app
 
 SRCS			= px4_daemon_app.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
index 53f1b4a9a..3eaf14148 100644
--- a/src/examples/px4_daemon_app/px4_daemon_app.c
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
@@ -98,7 +98,7 @@ int px4_daemon_app_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("daemon",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
-					 4096,
+					 2000,
 					 px4_daemon_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk
index fefd61496..c7ef97fc4 100644
--- a/src/examples/px4_mavlink_debug/module.mk
+++ b/src/examples/px4_mavlink_debug/module.mk
@@ -37,4 +37,6 @@
 
 MODULE_COMMAND		= px4_mavlink_debug
 
-SRCS			= px4_mavlink_debug.c
\ No newline at end of file
+SRCS			= px4_mavlink_debug.c
+
+MODULE_STACKSIZE = 2000
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index 44e6dc7f3..4e9f099ed 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -41,6 +41,7 @@
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
+#include <string.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
diff --git a/src/include/mavlink/mavlink_log.h b/src/include/mavlink/mavlink_log.h
index 0ea655cac..6d56c546a 100644
--- a/src/include/mavlink/mavlink_log.h
+++ b/src/include/mavlink/mavlink_log.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 614877b18..e17715733 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -49,3 +49,145 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
 
 	rot_matrix->from_euler(roll, pitch, yaw);
 }
+
+#define HALF_SQRT_2 0.70710678118654757f
+
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z)
+{
+    float tmp;
+    switch (rot) {
+    case ROTATION_NONE:
+    case ROTATION_MAX:
+        return;
+    case ROTATION_YAW_45: {
+        tmp = HALF_SQRT_2*(x - y);
+        y   = HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_YAW_90: {
+        tmp = x; x = -y; y = tmp;
+        return;
+    }
+    case ROTATION_YAW_135: {
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(x - y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_YAW_180:
+        x = -x; y = -y;
+        return;
+    case ROTATION_YAW_225: {
+        tmp = HALF_SQRT_2*(y - x);
+        y   = -HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_YAW_270: {
+        tmp = x; x = y; y = -tmp;
+        return;
+    }
+    case ROTATION_YAW_315: {
+        tmp = HALF_SQRT_2*(x + y);
+        y   = HALF_SQRT_2*(y - x);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_180: {
+        y = -y; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_45: {
+        tmp = HALF_SQRT_2*(x + y);
+        y   = HALF_SQRT_2*(x - y);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_90: {
+        tmp = x; x = y; y = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_135: {
+        tmp = HALF_SQRT_2*(y - x);
+        y   = HALF_SQRT_2*(y + x);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_PITCH_180: {
+        x = -x; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_225: {
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(y - x);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_270: {
+        tmp = x; x = -y; y = -tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_180_YAW_315: {
+        tmp =  HALF_SQRT_2*(x - y);
+        y   = -HALF_SQRT_2*(x + y);
+        x = tmp; z = -z;
+        return;
+    }
+    case ROTATION_ROLL_90: {
+        tmp = z; z = y; y = -tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_YAW_45: {
+        tmp = z; z = y; y = -tmp;
+        tmp = HALF_SQRT_2*(x - y);
+        y   = HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_YAW_90: {
+        tmp = z; z = y; y = -tmp;
+        tmp = x; x = -y; y = tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_YAW_135: {
+        tmp = z; z = y; y = -tmp;
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(x - y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270: {
+        tmp = z; z = -y; y = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270_YAW_45: {
+        tmp = z; z = -y; y = tmp;
+        tmp = HALF_SQRT_2*(x - y);
+        y   = HALF_SQRT_2*(x + y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270_YAW_90: {
+        tmp = z; z = -y; y = tmp;
+        tmp = x; x = -y; y = tmp;
+        return;
+    }
+    case ROTATION_ROLL_270_YAW_135: {
+        tmp = z; z = -y; y = tmp;
+        tmp = -HALF_SQRT_2*(x + y);
+        y   =  HALF_SQRT_2*(x - y);
+        x = tmp;
+        return;
+    }
+    case ROTATION_PITCH_90: {
+        tmp = z; z = -x; x = tmp;
+        return;
+    }
+    case ROTATION_PITCH_270: {
+        tmp = z; z = x; x = -tmp;
+        return;
+    }
+    }
+}
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
index 0c56494c5..5187b448f 100644
--- a/src/lib/conversion/rotation.h
+++ b/src/lib/conversion/rotation.h
@@ -118,4 +118,12 @@ const rot_lookup_t rot_lookup[] = {
 __EXPORT void
 get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix);
 
+
+/**
+ * rotate a 3 element float vector in-place
+ */
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z);
+
+
 #endif /* ROTATION_H_ */
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 9584924cc..46db788a6 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -61,13 +61,24 @@ ECL_PitchController::ECL_PitchController() :
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f)
+	_bodyrate_setpoint(0.0f),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"))
 {
 }
 
-float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
+ECL_PitchController::~ECL_PitchController()
 {
+	perf_free(_nonfinite_input_perf);
+}
 
+float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
+{
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
+		perf_count(_nonfinite_input_perf);
+		warnx("not controlling pitch");
+		return _rate_setpoint;
+	}
 
 	/* flying inverted (wings upside down) ? */
 	bool inverted = false;
@@ -123,6 +134,14 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 		float yaw_rate_setpoint,
 		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
+				isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) &&
+				isfinite(airspeed_max) && isfinite(scaler))) {
+		perf_count(_nonfinite_input_perf);
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
@@ -132,9 +151,6 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_ff = 0;
-
 	/* input conditioning */
 	if (!isfinite(airspeed)) {
 		/* airspeed is NaN, +- INF or not available, pick center of band */
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
index 30a82a86a..39b9f9d03 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -51,12 +51,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_PitchController //XXX: create controller superclass
 {
 public:
 	ECL_PitchController();
 
+	~ECL_PitchController();
+
 	float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
 
 
@@ -126,6 +129,7 @@ private:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
 };
 
 #endif // ECL_PITCH_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index 2e86c72dc..9894a34d7 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -59,12 +59,23 @@ ECL_RollController::ECL_RollController() :
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f)
+	_bodyrate_setpoint(0.0f),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
 {
 }
 
+ECL_RollController::~ECL_RollController()
+{
+	perf_free(_nonfinite_input_perf);
+}
+
 float ECL_RollController::control_attitude(float roll_setpoint, float roll)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll_setpoint) && isfinite(roll))) {
+		perf_count(_nonfinite_input_perf);
+		return _rate_setpoint;
+	}
 
 	/* Calculate error */
 	float roll_error = roll_setpoint - roll;
@@ -86,6 +97,14 @@ float ECL_RollController::control_bodyrate(float pitch,
 		float yaw_rate_setpoint,
 		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
+			isfinite(airspeed_min) && isfinite(airspeed_max) &&
+			isfinite(scaler))) {
+		perf_count(_nonfinite_input_perf);
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
+
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
@@ -95,9 +114,6 @@ float ECL_RollController::control_bodyrate(float pitch,
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_ff = 0; //xxx: param
-
 	/* input conditioning */
 //	warnx("airspeed pre %.4f", (double)airspeed);
 	if (!isfinite(airspeed)) {
@@ -122,8 +138,8 @@ float ECL_RollController::control_bodyrate(float pitch,
 		float id = _rate_error * dt;
 
 		/*
-		 * anti-windup: do not allow integrator to increase if actuator is at limit
-		 */
+		* anti-windup: do not allow integrator to increase if actuator is at limit
+		*/
 		if (_last_output < -1.0f) {
 			/* only allow motion to center: increase value */
 			id = math::max(id, 0.0f);
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
index 92c64b95f..0799dbe03 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -51,12 +51,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_RollController //XXX: create controller superclass
 {
 public:
 	ECL_RollController();
 
+	~ECL_RollController();
+
 	float control_attitude(float roll_setpoint, float roll);
 
 	float control_bodyrate(float pitch,
@@ -117,6 +120,7 @@ private:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
+	perf_counter_t _nonfinite_input_perf;
 };
 
 #endif // ECL_ROLL_CONTROLLER_H
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 255776765..fe03b8065 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -58,20 +58,33 @@ ECL_YawController::ECL_YawController() :
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f),
-	_coordinated_min_speed(1.0f)
+	_coordinated_min_speed(1.0f),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input"))
 {
 }
 
+ECL_YawController::~ECL_YawController()
+{
+	perf_free(_nonfinite_input_perf);
+}
+
 float ECL_YawController::control_attitude(float roll, float pitch,
 		float speed_body_u, float speed_body_v, float speed_body_w,
 		float roll_rate_setpoint, float pitch_rate_setpoint)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) &&
+				isfinite(speed_body_w) && isfinite(roll_rate_setpoint) &&
+				isfinite(pitch_rate_setpoint))) {
+		perf_count(_nonfinite_input_perf);
+		return _rate_setpoint;
+	}
 //	static int counter = 0;
 	/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
 	_rate_setpoint = 0.0f;
 	if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
 		float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
-		if(denumerator != 0.0f) { //XXX: floating point comparison
+		if(fabsf(denumerator) > FLT_EPSILON) {
 			_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
 //			warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
 		}
@@ -103,6 +116,13 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 		float pitch_rate_setpoint,
 		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
 {
+	/* Do not calculate control signal with bad inputs */
+	if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) &&
+				isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) &&
+				isfinite(airspeed_max) && isfinite(scaler))) {
+		perf_count(_nonfinite_input_perf);
+		return math::constrain(_last_output, -1.0f, 1.0f);
+	}
 	/* get the usual dt estimate */
 	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
 	_last_run = ecl_absolute_time();
@@ -112,11 +132,6 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
 	if (dt_micros > 500000)
 		lock_integrator = true;
 
-
-//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
-	float k_ff = 0;
-
-
 	/* input conditioning */
 	if (!isfinite(airspeed)) {
 	/* airspeed is NaN, +- INF or not available, pick center of band */
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index 03f3202d0..a360c14b8 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -50,12 +50,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_YawController //XXX: create controller superclass
 {
 public:
 	ECL_YawController();
 
+	~ECL_YawController();
+
 	float control_attitude(float roll, float pitch,
 			float speed_body_u, float speed_body_v, float speed_body_w,
 			float roll_rate_setpoint, float pitch_rate_setpoint);
@@ -118,6 +121,7 @@ private:
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
 	float _coordinated_min_speed;
+	perf_counter_t _nonfinite_input_perf;
 
 };
 
diff --git a/src/lib/ecl/module.mk b/src/lib/ecl/module.mk
index f2aa3db6a..93a5b511f 100644
--- a/src/lib/ecl/module.mk
+++ b/src/lib/ecl/module.mk
@@ -39,3 +39,5 @@ SRCS		 = 	attitude_fw/ecl_pitch_controller.cpp \
 			attitude_fw/ecl_roll_controller.cpp \
 			attitude_fw/ecl_yaw_controller.cpp \
 			l1/ecl_l1_pos_controller.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/external_lgpl/module.mk b/src/lib/external_lgpl/module.mk
index 53f1629e3..29d3514f6 100644
--- a/src/lib/external_lgpl/module.mk
+++ b/src/lib/external_lgpl/module.mk
@@ -46,3 +46,5 @@
 #
 
 SRCS		 = 	tecs/tecs.cpp
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index 3730b1920..a57a0481a 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -298,7 +298,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 
 	} else {
 		// Calculate gain scaler from specific energy error to throttle
-		float K_STE2Thr = 1 / (_timeConst * (_STEdot_max - _STEdot_min));
+		float K_STE2Thr = 1 / (_timeConstThrot * (_STEdot_max - _STEdot_min));
 
 		// Calculate feed-forward throttle
 		float ff_throttle = 0;
@@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 		STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
 
 		if (STEdot_dem >= 0) {
-			ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);
+			ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr);
 
 		} else {
 			ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;
@@ -327,9 +327,12 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
 			_throttle_dem = constrain(_throttle_dem,
 						  _last_throttle_dem - thrRateIncr,
 						  _last_throttle_dem + thrRateIncr);
-			_last_throttle_dem = _throttle_dem;
 		}
 
+		// Ensure _last_throttle_dem is always initialized properly
+		// Also: The throttle_slewrate limit is only applied to throttle_dem, but does not limit the integrator!!
+		_last_throttle_dem = _throttle_dem;
+
 
 		// Calculate integrator state upper and lower limits
 		// Set to a value thqat will allow 0.1 (10%) throttle saturation to allow for noise on the demand
@@ -551,18 +554,30 @@ void TECS::update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, f
 	// Calculate pitch demand
 	_update_pitch();
 
-//    // Write internal variables to the log_tuning structure. This
-//    // structure will be logged in dataflash at 10Hz
-	// log_tuning.hgt_dem  = _hgt_dem_adj;
-	// log_tuning.hgt      = _integ3_state;
-	// log_tuning.dhgt_dem = _hgt_rate_dem;
-	// log_tuning.dhgt     = _integ2_state;
-	// log_tuning.spd_dem  = _TAS_dem_adj;
-	// log_tuning.spd      = _integ5_state;
-	// log_tuning.dspd     = _vel_dot;
-	// log_tuning.ithr     = _integ6_state;
-	// log_tuning.iptch    = _integ7_state;
-	// log_tuning.thr      = _throttle_dem;
-	// log_tuning.ptch     = _pitch_dem;
-	// log_tuning.dspd_dem = _TAS_rate_dem;
+	_tecs_state.timestamp = now;
+
+	if (_underspeed) {
+		_tecs_state.mode = ECL_TECS_MODE_UNDERSPEED;
+	} else if (_badDescent) {
+		_tecs_state.mode = ECL_TECS_MODE_BAD_DESCENT;
+	} else if (_climbOutDem) {
+		_tecs_state.mode = ECL_TECS_MODE_CLIMBOUT;
+	} else {
+		// If no error flag applies, conclude normal
+		_tecs_state.mode = ECL_TECS_MODE_NORMAL;
+	}
+
+	_tecs_state.hgt_dem  = _hgt_dem_adj;
+	_tecs_state.hgt      = _integ3_state;
+	_tecs_state.dhgt_dem = _hgt_rate_dem;
+	_tecs_state.dhgt     = _integ2_state;
+	_tecs_state.spd_dem  = _TAS_dem_adj;
+	_tecs_state.spd      = _integ5_state;
+	_tecs_state.dspd     = _vel_dot;
+	_tecs_state.ithr     = _integ6_state;
+	_tecs_state.iptch    = _integ7_state;
+	_tecs_state.thr      = _throttle_dem;
+	_tecs_state.ptch     = _pitch_dem;
+	_tecs_state.dspd_dem = _TAS_rate_dem;
+
 }
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 5cafb1c79..bcc2d90e5 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -28,6 +28,27 @@ class __EXPORT TECS
 {
 public:
 	TECS() :
+		_tecs_state {},
+		_update_50hz_last_usec(0),
+		_update_speed_last_usec(0),
+		_update_pitch_throttle_last_usec(0),
+		// TECS tuning parameters
+		_hgtCompFiltOmega(0.0f),
+		_spdCompFiltOmega(0.0f),
+		_maxClimbRate(2.0f),
+		_minSinkRate(1.0f),
+		_maxSinkRate(2.0f),
+		_timeConst(5.0f),
+		_timeConstThrot(8.0f),
+		_ptchDamp(0.0f),
+		_thrDamp(0.0f),
+		_integGain(0.0f),
+		_vertAccLim(0.0f),
+		_rollComp(0.0f),
+		_spdWeight(0.5f),
+		_heightrate_p(0.0f),
+		_speedrate_p(0.0f),
+		_throttle_dem(0.0f),
 		_pitch_dem(0.0f),
 		_integ1_state(0.0f),
 		_integ2_state(0.0f),
@@ -100,29 +121,42 @@ public:
 		return _spdWeight;
 	}
 
-	// log data on internal state of the controller. Called at 10Hz
-	// void log_data(DataFlash_Class &dataflash, uint8_t msgid);
-
-	// struct PACKED log_TECS_Tuning {
-	// 	LOG_PACKET_HEADER;
-	// 	float hgt;
-	// 	float dhgt;
-	// 	float hgt_dem;
-	// 	float dhgt_dem;
-	// 	float spd_dem;
-	// 	float spd;
-	// 	float dspd;
-	// 	float ithr;
-	// 	float iptch;
-	// 	float thr;
-	// 	float ptch;
-	// 	float dspd_dem;
-	// } log_tuning;
+	enum ECL_TECS_MODE {
+		ECL_TECS_MODE_NORMAL = 0,
+		ECL_TECS_MODE_UNDERSPEED,
+		ECL_TECS_MODE_BAD_DESCENT,
+		ECL_TECS_MODE_CLIMBOUT
+	};
+
+	struct tecs_state {
+		uint64_t timestamp;
+		float hgt;
+		float dhgt;
+		float hgt_dem;
+		float dhgt_dem;
+		float spd_dem;
+		float spd;
+		float dspd;
+		float ithr;
+		float iptch;
+		float thr;
+		float ptch;
+		float dspd_dem;
+		enum ECL_TECS_MODE mode;
+	};
+
+	void get_tecs_state(struct tecs_state& state) {
+		state = _tecs_state;
+	}
 
 	void set_time_const(float time_const) {
 		_timeConst = time_const;
 	}
 
+	void set_time_const_throt(float time_const_throt) {
+		_timeConstThrot = time_const_throt;
+	}
+
 	void set_min_sink_rate(float rate) {
 		_minSinkRate = rate;
 	}
@@ -188,6 +222,9 @@ public:
 	}
 
 private:
+
+	struct tecs_state _tecs_state;
+
 	// Last time update_50Hz was called
 	uint64_t _update_50hz_last_usec;
 
@@ -204,6 +241,7 @@ private:
 	float _minSinkRate;
 	float _maxSinkRate;
 	float _timeConst;
+	float _timeConstThrot;
 	float _ptchDamp;
 	float _thrDamp;
 	float _integGain;
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index f72dc607c..e600976ce 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +39,7 @@
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <geo/geo.h>
@@ -52,124 +50,58 @@
 #include <math.h>
 #include <stdbool.h>
 
+/*
+ * Azimuthal Equidistant Projection
+ * formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html
+ */
 
-/* values for map projection */
-static double phi_1;
-static double sin_phi_1;
-static double cos_phi_1;
-static double lambda_0;
-static double scale;
-
-__EXPORT void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
 {
-	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	phi_1 = lat_0 / 180.0 * M_PI;
-	lambda_0 = lon_0 / 180.0 * M_PI;
-
-	sin_phi_1 = sin(phi_1);
-	cos_phi_1 = cos(phi_1);
-
-	/* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale
-
-	/* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */
-
-	double lat1 = phi_1;
-	double lon1 = lambda_0;
-
-	double lat2 = phi_1 + 0.5 / 180 * M_PI;
-	double lon2 = lambda_0 + 0.5 / 180 * M_PI;
-	double sin_lat_2 = sin(lat2);
-	double cos_lat_2 = cos(lat2);
-	double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * CONSTANTS_RADIUS_OF_EARTH;
-
-	/* 2) calculate distance rho on plane */
-	double k_bar = 0;
-	double c =  acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0));
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane
-	double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)));
-	double rho = sqrt(pow(x2, 2) + pow(y2, 2));
-
-	scale = d / rho;
+	ref->lat = lat_0 / 180.0 * M_PI;
+	ref->lon = lon_0 / 180.0 * M_PI;
 
+	ref->sin_lat = sin(ref->lat);
+	ref->cos_lat = cos(ref->lat);
 }
 
-__EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
+__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y)
 {
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	double phi = lat / 180.0 * M_PI;
-	double lambda = lon / 180.0 * M_PI;
-
-	double sin_phi = sin(phi);
-	double cos_phi = cos(phi);
-
-	double k_bar = 0;
-	/* using small angle approximation (formula in comment is without aproximation) */
-	double c =  acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c =  acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) );
+	double lat_rad = lat / 180.0 * M_PI;
+	double lon_rad = lon / 180.0 * M_PI;
 
-	if (0 != c)
-		k_bar = c / sin(c);
+	double sin_lat = sin(lat_rad);
+	double cos_lat = cos(lat_rad);
+	double cos_d_lon = cos(lon_rad - ref->lon);
 
-	/* using small angle approximation (formula in comment is without aproximation) */
-	*y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale;
-	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; //	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale;
+	double c = acos(ref->sin_lat * sin_lat + ref->cos_lat * cos_lat * cos_d_lon);
+	double k = (c == 0.0) ? 1.0 : (c / sin(c));
 
-//	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
+	*x = k * (ref->cos_lat * sin_lat - ref->sin_lat * cos_lat * cos_d_lon) * CONSTANTS_RADIUS_OF_EARTH;
+	*y = k * cos_lat * sin(lon_rad - ref->lon) * CONSTANTS_RADIUS_OF_EARTH;
 }
 
-__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon)
+__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
 {
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-
-	double x_descaled = x / scale;
-	double y_descaled = y / scale;
-
-	double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2));
+	double x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
+	double y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
+	double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
 	double sin_c = sin(c);
 	double cos_c = cos(c);
 
-	double lat_sphere = 0;
+	double lat_rad;
+	double lon_rad;
 
-	if (c != 0)
-		lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c);
-	else
-		lat_sphere = asin(cos_c * sin_phi_1);
-
-//	printf("lat_sphere = %.10f\n",lat_sphere);
-
-	double lon_sphere = 0;
-
-	if (phi_1  == M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled));
-
-	} else if (phi_1 == -M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled));
+	if (c != 0.0) {
+		lat_rad = asin(cos_c * ref->sin_lat + (x_rad * sin_c * ref->cos_lat) / c);
+		lon_rad = (ref->lon + atan2(y_rad * sin_c, c * ref->cos_lat * cos_c - x_rad * ref->sin_lat * sin_c));
 
 	} else {
-
-		lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c));
-		//using small angle approximation
-//    	double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c);
-//    	if(denominator != 0)
-//    	{
-//    		lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator);
-//    	}
-//    	else
-//    	{
-//    	...
-//    	}
+		lat_rad = ref->lat;
+		lon_rad = ref->lon;
 	}
 
-//	printf("lon_sphere = %.10f\n",lon_sphere);
-
-	*lat = lat_sphere * 180.0 / M_PI;
-	*lon = lon_sphere * 180.0 / M_PI;
-
+	*lat = lat_rad * 180.0 / M_PI;
+	*lon = lon_rad * 180.0 / M_PI;
 }
 
 
@@ -207,14 +139,13 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
 	return theta;
 }
 
-__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e)
+__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e)
 {
 	double lat_now_rad = lat_now * M_DEG_TO_RAD;
 	double lon_now_rad = lon_now * M_DEG_TO_RAD;
 	double lat_next_rad = lat_next * M_DEG_TO_RAD;
 	double lon_next_rad = lon_next * M_DEG_TO_RAD;
 
-	double d_lat = lat_next_rad - lat_now_rad;
 	double d_lon = lon_next_rad - lon_now_rad;
 
 	/* conscious mix of double and float trig function to maximize speed and efficiency */
@@ -222,7 +153,7 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double
 	*v_e = CONSTANTS_RADIUS_OF_EARTH * sin(d_lon) * cos(lat_next_rad);
 }
 
-__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e)
+__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e)
 {
 	double lat_now_rad = lat_now * M_DEG_TO_RAD;
 	double lon_now_rad = lon_now * M_DEG_TO_RAD;
@@ -242,13 +173,13 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa
 	double lat_now_rad = lat_now * M_DEG_TO_RAD;
 	double lon_now_rad = lon_now * M_DEG_TO_RAD;
 
-	*lat_res = (lat_now_rad + v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
-	*lon_res = (lon_now_rad + v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
+	*lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
+	*lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
 }
 
 // Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
 
-__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
+__EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
 {
 // This function returns the distance to the nearest point on the track line.  Distance is positive if current
 // position is right of the track and negative if left of the track as seen from a point on the track line
@@ -265,7 +196,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_value;
+	if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
 
 	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -280,7 +211,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 	}
 
 	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-	crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
+	crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
 
 	if (sin(bearing_diff) >= 0) {
 		crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
@@ -296,8 +227,8 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error,
 }
 
 
-__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
-		float radius, float arc_start_bearing, float arc_sweep)
+__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
+				 float radius, float arc_start_bearing, float arc_sweep)
 {
 	// This function returns the distance to the nearest point on the track arc.  Distance is positive if current
 	// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
@@ -316,29 +247,29 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_value;
+	if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; }
 
 
 	if (arc_sweep >= 0) {
 		bearing_sector_start = arc_start_bearing;
 		bearing_sector_end = arc_start_bearing + arc_sweep;
 
-		if (bearing_sector_end > 2.0f * M_PI_F) bearing_sector_end -= M_TWOPI_F;
+		if (bearing_sector_end > 2.0f * M_PI_F) { bearing_sector_end -= M_TWOPI_F; }
 
 	} else {
 		bearing_sector_end = arc_start_bearing;
 		bearing_sector_start = arc_start_bearing - arc_sweep;
 
-		if (bearing_sector_start < 0.0f) bearing_sector_start += M_TWOPI_F;
+		if (bearing_sector_start < 0.0f) { bearing_sector_start += M_TWOPI_F; }
 	}
 
 	in_sector = false;
 
 	// Case where sector does not span zero
-	if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
+	if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) { in_sector = true; }
 
 	// Case where sector does span zero
-	if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) in_sector = true;
+	if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) { in_sector = true; }
 
 	// If in the sector then calculate distance and bearing to closest point
 	if (in_sector) {
@@ -363,23 +294,21 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
 		// calculate the position of the start and end points.  We should not be doing this often
 		// as this function generally will not be called repeatedly when we are out of the sector.
 
-		// TO DO - this is messed up and won't compile
-		float start_disp_x = radius * sin(arc_start_bearing);
-		float start_disp_y = radius * cos(arc_start_bearing);
-		float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
-		float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
-		float lon_start = lon_now + start_disp_x / 111111.0d;
-		float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
-		float lon_end = lon_now + end_disp_x / 111111.0d;
-		float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
-		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+		double start_disp_x = (double)radius * sin(arc_start_bearing);
+		double start_disp_y = (double)radius * cos(arc_start_bearing);
+		double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+		double lon_start = lon_now + start_disp_x / 111111.0;
+		double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
+		double lon_end = lon_now + end_disp_x / 111111.0;
+		double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
+		double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+		double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
 
 		if (dist_to_start < dist_to_end) {
 			crosstrack_error->distance = dist_to_start;
 			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
 		} else {
 			crosstrack_error->past_end = true;
 			crosstrack_error->distance = dist_to_end;
@@ -388,14 +317,14 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, d
 
 	}
 
-	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+	crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
 	return_value = OK;
 	return return_value;
 }
 
 __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
-	                                          double lat_next, double lon_next, float alt_next,
-	                                          float *dist_xy, float *dist_z)
+		double lat_next, double lon_next, float alt_next,
+		float *dist_xy, float *dist_z)
 {
 	double current_x_rad = lat_next / 180.0 * M_PI;
 	double current_y_rad = lon_next / 180.0 * M_PI;
@@ -405,7 +334,7 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now
 	double d_lat = x_rad - current_x_rad;
 	double d_lon = y_rad - current_y_rad;
 
-	double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad);
+	double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad);
 	double c = 2 * atan2(sqrt(a), sqrt(1 - a));
 
 	float dxy = CONSTANTS_RADIUS_OF_EARTH * c;
@@ -419,8 +348,8 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now
 
 
 __EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
-	                                           float x_next, float y_next, float z_next,
-	                                           float *dist_xy, float *dist_z)
+		float x_next, float y_next, float z_next,
+		float *dist_xy, float *dist_z)
 {
 	float dx = x_now - x_next;
 	float dy = y_now - y_next;
@@ -442,15 +371,19 @@ __EXPORT float _wrap_pi(float bearing)
 	int c = 0;
 	while (bearing >= M_PI_F) {
 		bearing -= M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	c = 0;
 	while (bearing < -M_PI_F) {
 		bearing += M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	return bearing;
@@ -466,15 +399,19 @@ __EXPORT float _wrap_2pi(float bearing)
 	int c = 0;
 	while (bearing >= M_TWOPI_F) {
 		bearing -= M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	c = 0;
 	while (bearing < 0.0f) {
 		bearing += M_TWOPI_F;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	return bearing;
@@ -490,15 +427,19 @@ __EXPORT float _wrap_180(float bearing)
 	int c = 0;
 	while (bearing >= 180.0f) {
 		bearing -= 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	c = 0;
 	while (bearing < -180.0f) {
 		bearing += 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	return bearing;
@@ -514,15 +455,19 @@ __EXPORT float _wrap_360(float bearing)
 	int c = 0;
 	while (bearing >= 360.0f) {
 		bearing -= 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	c = 0;
 	while (bearing < 0.0f) {
 		bearing += 360.0f;
-		if (c++ > 3)
+
+		if (c++ > 3) {
 			return NAN;
+		}
 	}
 
 	return bearing;
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 94afb4df0..8b286af36 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +39,7 @@
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  * @author Julian Oes <joes@student.ethz.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  * Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
  */
 
@@ -52,6 +50,8 @@
 
 __BEGIN_DECLS
 
+#include "geo_lookup/geo_mag_declination.h"
+
 #include <stdbool.h>
 
 #define CONSTANTS_ONE_G					9.80665f		/* m/s^2		*/
@@ -67,6 +67,14 @@ struct crosstrack_error_s {
 	float bearing;		// Bearing in radians to closest point on line/arc
 } ;
 
+/* lat/lon are in radians */
+struct map_projection_reference_s {
+	double lat;
+	double lon;
+	double sin_lat;
+	double cos_lat;
+};
+
 /**
  * Initializes the map transformation.
  *
@@ -74,7 +82,7 @@ struct crosstrack_error_s {
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
  */
-__EXPORT void map_projection_init(double lat_0, double lon_0);
+__EXPORT void map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
 
 /**
  * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
@@ -83,7 +91,7 @@ __EXPORT void map_projection_init(double lat_0, double lon_0);
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
  */
-__EXPORT void map_projection_project(double lat, double lon, float *x, float *y);
+__EXPORT void map_projection_project(struct map_projection_reference_s *ref, double lat, double lon, float *x, float *y);
 
 /**
  * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
@@ -93,7 +101,7 @@ __EXPORT void map_projection_project(double lat, double lon, float *x, float *y)
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
  */
-__EXPORT void map_projection_reproject(float x, float y, double *lat, double *lon);
+__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon);
 
 /**
  * Returns the distance to the next waypoint in meters.
@@ -115,30 +123,30 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
  */
 __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
 
-__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e);
+__EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e);
 
-__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float* v_n, float* v_e);
+__EXPORT void get_vector_to_next_waypoint_fast(double lat_now, double lon_now, double lat_next, double lon_next, float *v_n, float *v_e);
 
 __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, float v_n, float v_e, double *lat_res, double *lon_res);
 
-__EXPORT int get_distance_to_line(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
+__EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
 
-__EXPORT int get_distance_to_arc(struct crosstrack_error_s * crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
-		float radius, float arc_start_bearing, float arc_sweep);
+__EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, double lat_now, double lon_now, double lat_center, double lon_center,
+				 float radius, float arc_start_bearing, float arc_sweep);
 
 /*
  * Calculate distance in global frame
  */
 __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now, float alt_now,
-	                                          double lat_next, double lon_next, float alt_next,
-	                                          float *dist_xy, float *dist_z);
+		double lat_next, double lon_next, float alt_next,
+		float *dist_xy, float *dist_z);
 
 /*
  * Calculate distance in local frame (NED)
  */
 __EXPORT float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
-	                                           float x_next, float y_next, float z_next,
-	                                           float *dist_xy, float *dist_z);
+		float x_next, float y_next, float z_next,
+		float *dist_xy, float *dist_z);
 
 __EXPORT float _wrap_180(float bearing);
 __EXPORT float _wrap_360(float bearing);
diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk
index 30a2dc99f..d08ca4532 100644
--- a/src/lib/geo/module.mk
+++ b/src/lib/geo/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -35,4 +35,4 @@
 # Geo library
 #
 
-SRCS		 = geo.c
+SRCS		=	geo.c
diff --git a/src/lib/geo_lookup/geo_mag_declination.c b/src/lib/geo_lookup/geo_mag_declination.c
new file mode 100644
index 000000000..c41d52606
--- /dev/null
+++ b/src/lib/geo_lookup/geo_mag_declination.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name MAVGEO nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+* @file geo_mag_declination.c
+*
+* Calculation / lookup table for earth magnetic field declination.
+* 
+* Lookup table from Scott Ferguson <scottfromscott@gmail.com>
+*
+* XXX Lookup table currently too coarse in resolution (only full degrees)
+* and lat/lon res - needs extension medium term.
+*
+*/
+
+#include <geo/geo.h>
+
+/** set this always to the sampling in degrees for the table below */
+#define SAMPLING_RES		10.0f
+#define SAMPLING_MIN_LAT	-60.0f
+#define SAMPLING_MAX_LAT	60.0f
+#define SAMPLING_MIN_LON	-180.0f
+#define SAMPLING_MAX_LON	180.0f
+
+static const int8_t declination_table[13][37] = \
+{
+	{ 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46 },
+    { 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, 29, 30 },
+    { 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21 },
+    { 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, 10, 13, 15, 16 },
+    { 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12 },
+    { 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10 },
+    { 9, 9, 9, 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, 7, 8, 9 },
+    { 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, 0, 0, 0, 1, 3, 5, 7, 8 },
+    { 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8 },
+    { 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6 },
+    { 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5 },
+    { 4, 8, 12, 15, 17, 18, 16, 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, 0, 4 },
+    { 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 },
+};
+
+static float get_lookup_table_val(unsigned lat, unsigned lon);
+
+__EXPORT float get_mag_declination(float lat, float lon)
+{
+	/*
+	 * If the values exceed valid ranges, return zero as default
+	 * as we have no way of knowing what the closest real value
+	 * would be.
+	 */
+	if (lat < -90.0f || lat > 90.0f ||
+	    lon < -180.0f || lon > 180.0f) {
+		return 0.0f;
+	}
+
+	/* round down to nearest sampling resolution */
+	int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES;
+	int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES;
+
+	/* for the rare case of hitting the bounds exactly
+	 * the rounding logic wouldn't fit, so enforce it.
+	 */
+
+	/* limit to table bounds - required for maxima even when table spans full globe range */
+	if (lat <= SAMPLING_MIN_LAT) {
+		min_lat = SAMPLING_MIN_LAT;
+	}
+
+	if (lat >= SAMPLING_MAX_LAT) {
+		min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
+	}
+
+	if (lon <= SAMPLING_MIN_LON) {
+		min_lon = SAMPLING_MIN_LON;
+	}
+
+	if (lon >= SAMPLING_MAX_LON) {
+		min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES;
+	}
+
+	/* find index of nearest low sampling point */
+	unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat)  / SAMPLING_RES;
+	unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES;
+
+	float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index);
+	float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1);
+	float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1);
+	float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index);
+
+	/* perform bilinear interpolation on the four grid corners */
+
+	float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw;
+	float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw;
+
+	return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min;
+}
+
+float get_lookup_table_val(unsigned lat_index, unsigned lon_index)
+{
+	return declination_table[lat_index][lon_index];
+}
\ No newline at end of file
diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/lib/geo_lookup/geo_mag_declination.h
index 4af5edead..0ac062d6d 100644
--- a/src/modules/att_pos_estimator_ekf/params.c
+++ b/src/lib/geo_lookup/geo_mag_declination.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
+ * 3. Neither the name MAVGEO nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -31,19 +31,17 @@
  *
  ****************************************************************************/
 
-#include <systemlib/param/param.h>
+/**
+* @file geo_mag_declination.h
+*
+* Calculation / lookup table for earth magnetic field declination.
+*
+*/
 
-/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
-PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
-PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f);
-PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f);
-PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
-PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
-PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
-PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
-PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
-PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
-PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
+#pragma once
+
+__BEGIN_DECLS
+
+__EXPORT float get_mag_declination(float lat, float lon);
+
+__END_DECLS
diff --git a/src/systemcmds/hw_ver/module.mk b/src/lib/geo_lookup/module.mk
index 3cc08b6a1..d7a10df2d 100644
--- a/src/systemcmds/hw_ver/module.mk
+++ b/src/lib/geo_lookup/module.mk
@@ -32,12 +32,9 @@
 ############################################################################
 
 #
-# Show and test hardware version
+# Geo lookup table / data library
 #
 
-MODULE_COMMAND	 = hw_ver
-SRCS		 = hw_ver.c
-
-MODULE_STACKSIZE = 1024
+SRCS		 =	geo_mag_declination.c
 
 MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
index 12f80c4a3..c555a0a69 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -10,9 +10,9 @@
  *    notice, this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright
  *    notice, this list of conditions and the following disclaimer in
- *    the documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -33,9 +33,10 @@
 
 /**
  * @file CatapultLaunchMethod.cpp
- * Catpult Launch detection
+ * Catapult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  *
- * Authors and acknowledgements in header.
  */
 
 #include "CatapultLaunchMethod.h"
diff --git a/src/lib/launchdetection/CatapultLaunchMethod.h b/src/lib/launchdetection/CatapultLaunchMethod.h
index 55c46ff3f..23757f6f3 100644
--- a/src/lib/launchdetection/CatapultLaunchMethod.h
+++ b/src/lib/launchdetection/CatapultLaunchMethod.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -10,9 +10,9 @@
  *    notice, this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright
  *    notice, this list of conditions and the following disclaimer in
- *    the documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
diff --git a/src/lib/launchdetection/LaunchDetector.cpp b/src/lib/launchdetection/LaunchDetector.cpp
index bf539701b..3bf47bbb0 100644
--- a/src/lib/launchdetection/LaunchDetector.cpp
+++ b/src/lib/launchdetection/LaunchDetector.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -30,12 +30,11 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-
 /**
  * @file launchDetection.cpp
  * Auto Detection for different launch methods (e.g. catapult)
  *
- * Authors and acknowledgements in header.
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #include "LaunchDetector.h"
diff --git a/src/lib/launchdetection/LaunchDetector.h b/src/lib/launchdetection/LaunchDetector.h
index 8066ebab3..1a214b66e 100644
--- a/src/lib/launchdetection/LaunchDetector.h
+++ b/src/lib/launchdetection/LaunchDetector.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -10,9 +10,9 @@
  *    notice, this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright
  *    notice, this list of conditions and the following disclaimer in
- *    the documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
diff --git a/src/lib/launchdetection/LaunchMethod.h b/src/lib/launchdetection/LaunchMethod.h
index 01fa7050e..e04467f6a 100644
--- a/src/lib/launchdetection/LaunchMethod.h
+++ b/src/lib/launchdetection/LaunchMethod.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -10,9 +10,9 @@
  *    notice, this list of conditions and the following disclaimer.
  * 2. Redistributions in binary form must reproduce the above copyright
  *    notice, this list of conditions and the following disclaimer in
- *    the documentation4 and/or other materials provided with the
+ *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name ECL nor the names of its contributors may be
+ * 3. Neither the name PX4 nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index 45d7957f1..8df8c696c 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -18,7 +17,7 @@
  *    without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
index 13648b74c..d92f0bb45 100644
--- a/src/lib/launchdetection/module.mk
+++ b/src/lib/launchdetection/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+#   Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -38,3 +38,5 @@
 SRCS		 = 	LaunchDetector.cpp \
 			CatapultLaunchMethod.cpp \
 			launchdetection_params.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/lib/mathlib/CMSIS/Include/arm_math.h b/src/lib/mathlib/CMSIS/Include/arm_math.h
index 6f66f9ee3..61d3a3b61 100644
--- a/src/lib/mathlib/CMSIS/Include/arm_math.h
+++ b/src/lib/mathlib/CMSIS/Include/arm_math.h
@@ -5193,7 +5193,7 @@ void arm_rfft_fast_f32(
     *pIa = Ialpha;

 

     /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */

-    *pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;

+    *pIb = (float32_t)-0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;

 

   }

 

diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp
index ea0cf4ca1..ca931e2da 100644
--- a/src/lib/mathlib/math/Matrix.hpp
+++ b/src/lib/mathlib/math/Matrix.hpp
@@ -69,27 +69,34 @@ public:
 
 	/**
 	 * trivial ctor
-	 * note that this ctor will not initialize elements
+	 * Initializes the elements to zero.
 	 */
-	MatrixBase() {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase() : 
+		data{},
+		arm_mat{M, N, &data[0][0]}
+	{
 	}
 
+	virtual ~MatrixBase() {};
+
 	/**
 	 * copyt ctor
 	 */
-	MatrixBase(const MatrixBase<M, N> &m) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const MatrixBase<M, N> &m) :
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, m.data, sizeof(data));
 	}
 
-	MatrixBase(const float *d) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const float *d) :
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
-	MatrixBase(const float d[M][N]) {
-		arm_mat = {M, N, &data[0][0]};
+	MatrixBase(const float d[M][N]) : 
+		arm_mat{M, N, &data[0][0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp
index c7323c215..0ddf77615 100644
--- a/src/lib/mathlib/math/Vector.hpp
+++ b/src/lib/mathlib/math/Vector.hpp
@@ -69,25 +69,32 @@ public:
 
 	/**
 	 * trivial ctor
-	 * note that this ctor will not initialize elements
+	 * initializes elements to zero
 	 */
-	VectorBase() {
-		arm_col = {N, 1, &data[0]};
+	VectorBase() :
+		data{},
+		arm_col{N, 1, &data[0]}
+	{
+
 	}
 
+	virtual ~VectorBase() {};
+
 	/**
 	 * copy ctor
 	 */
-	VectorBase(const VectorBase<N> &v) {
-		arm_col = {N, 1, &data[0]};
+	VectorBase(const VectorBase<N> &v) :
+		arm_col{N, 1, &data[0]}
+	{
 		memcpy(data, v.data, sizeof(data));
 	}
 
 	/**
 	 * setting ctor
 	 */
-	VectorBase(const float d[N]) {
-		arm_col = {N, 1, &data[0]};
+	VectorBase(const float d[N]) :
+		arm_col{N, 1, &data[0]}
+	{
 		memcpy(data, d, sizeof(data));
 	}
 
diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp
index 3699d9bce..6f640c9f9 100644
--- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp
+++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp
@@ -69,7 +69,7 @@ float LowPassFilter2p::apply(float sample)
     // do the filtering
     float delay_element_0 = sample - _delay_element_1 * _a1 - _delay_element_2 * _a2;
     if (isnan(delay_element_0) || isinf(delay_element_0)) {
-        // don't allow bad values to propogate via the filter
+        // don't allow bad values to propagate via the filter
         delay_element_0 = sample;
     }
     float output = delay_element_0 * _b0 + _delay_element_1 * _b1 + _delay_element_2 * _b2;
@@ -81,5 +81,10 @@ float LowPassFilter2p::apply(float sample)
     return output;
 }
 
+float LowPassFilter2p::reset(float sample) {
+    _delay_element_1 = _delay_element_2 = sample;
+    return apply(sample);
+}
+
 } // namespace math
 
diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp
index 208ec98d4..436065175 100644
--- a/src/lib/mathlib/math/filter/LowPassFilter2p.hpp
+++ b/src/lib/mathlib/math/filter/LowPassFilter2p.hpp
@@ -46,24 +46,44 @@ class __EXPORT LowPassFilter2p
 {
 public:
     // constructor
-    LowPassFilter2p(float sample_freq, float cutoff_freq) {
+    LowPassFilter2p(float sample_freq, float cutoff_freq) : 
+        _cutoff_freq(cutoff_freq),
+        _a1(0.0f),
+        _a2(0.0f),
+        _b0(0.0f),
+        _b1(0.0f),
+        _b2(0.0f),
+        _delay_element_1(0.0f),
+        _delay_element_2(0.0f)
+    {
         // set initial parameters
         set_cutoff_frequency(sample_freq, cutoff_freq);
-        _delay_element_1 = _delay_element_2 = 0;
     }
 
-    // change parameters
+    /**
+     * Change filter parameters
+     */
     void set_cutoff_frequency(float sample_freq, float cutoff_freq);
 
-    // apply - Add a new raw value to the filter 
-    // and retrieve the filtered result
+    /**
+     * Add a new raw value to the filter
+     *
+     * @return retrieve the filtered result
+     */
     float apply(float sample);
 
-    // return the cutoff frequency
+    /**
+     * Return the cutoff frequency
+     */
     float get_cutoff_freq(void) const {
         return _cutoff_freq;
     }
 
+    /**
+     * Reset the filter state to this value
+     */
+    float reset(float sample);
+
 private:
     float           _cutoff_freq; 
     float           _a1;
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index af733aaf0..d8ccb6774 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -59,4 +59,8 @@
 #define	HW_ARCH "PX4FMU_V2"
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+#define	HW_ARCH "AEROCORE"
+#endif
+
 #endif /* VERSION_H_ */
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
deleted file mode 100644
index 668bac5d9..000000000
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ /dev/null
@@ -1,815 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file KalmanNav.cpp
- *
- * Kalman filter navigation code
- */
-
-#include <poll.h>
-
-#include "KalmanNav.hpp"
-#include <systemlib/err.h>
-#include <geo/geo.h>
-
-// constants
-// Titterton pg. 52
-static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
-static const float R0 = 6378137.0f; // earth radius, m
-static const float g0 = 9.806f; // standard gravitational accel. m/s^2
-static const int8_t ret_ok = 0; 		// no error in function
-static const int8_t ret_error = -1; 	// error occurred
-
-KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
-	SuperBlock(parent, name),
-	// subscriptions
-	_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
-	_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
-	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
-	// publications
-	_pos(&getPublications(), ORB_ID(vehicle_global_position)),
-	_localPos(&getPublications(), ORB_ID(vehicle_local_position)),
-	_att(&getPublications(), ORB_ID(vehicle_attitude)),
-	// timestamps
-	_pubTimeStamp(hrt_absolute_time()),
-	_predictTimeStamp(hrt_absolute_time()),
-	_attTimeStamp(hrt_absolute_time()),
-	_outTimeStamp(hrt_absolute_time()),
-	// frame count
-	_navFrames(0),
-	// miss counts
-	_miss(0),
-	// accelerations
-	fN(0), fE(0), fD(0),
-	// state
-	phi(0), theta(0), psi(0),
-	vN(0), vE(0), vD(0),
-	lat(0), lon(0), alt(0),
-	lat0(0), lon0(0), alt0(0),
-	// parameters for ground station
-	_vGyro(this, "V_GYRO"),
-	_vAccel(this, "V_ACCEL"),
-	_rMag(this, "R_MAG"),
-	_rGpsVel(this, "R_GPS_VEL"),
-	_rGpsPos(this, "R_GPS_POS"),
-	_rGpsAlt(this, "R_GPS_ALT"),
-	_rPressAlt(this, "R_PRESS_ALT"),
-	_rAccel(this, "R_ACCEL"),
-	_magDip(this, "ENV_MAG_DIP"),
-	_magDec(this, "ENV_MAG_DEC"),
-	_g(this, "ENV_G"),
-	_faultPos(this, "FAULT_POS"),
-	_faultAtt(this, "FAULT_ATT"),
-	_attitudeInitialized(false),
-	_positionInitialized(false),
-	_attitudeInitCounter(0)
-{
-	using namespace math;
-
-	F.zero();
-	G.zero();
-	V.zero();
-	HAtt.zero();
-	RAtt.zero();
-	HPos.zero();
-	RPos.zero();
-
-	// initial state covariance matrix
-	P0.identity();
-	P0 *= 0.01f;
-	P = P0;
-
-	// initial state
-	phi = 0.0f;
-	theta = 0.0f;
-	psi = 0.0f;
-	vN = 0.0f;
-	vE = 0.0f;
-	vD = 0.0f;
-	lat = 0.0f;
-	lon = 0.0f;
-	alt = 0.0f;
-
-	// initialize rotation quaternion with a single raw sensor measurement
-	_sensors.update();
-	q = init(
-		_sensors.accelerometer_m_s2[0],
-		_sensors.accelerometer_m_s2[1],
-		_sensors.accelerometer_m_s2[2],
-		_sensors.magnetometer_ga[0],
-		_sensors.magnetometer_ga[1],
-		_sensors.magnetometer_ga[2]);
-
-	// initialize dcm
-	C_nb = q.to_dcm();
-
-	// HPos is constant
-	HPos(0, 3) = 1.0f;
-	HPos(1, 4) = 1.0f;
-	HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
-	HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
-	HPos(4, 8) = 1.0f;
-	HPos(5, 8) = 1.0f;
-
-	// initialize all parameters
-	updateParams();
-}
-
-math::Quaternion KalmanNav::init(float ax, float ay, float az, float mx, float my, float mz)
-{
-    float initialRoll, initialPitch;
-    float cosRoll, sinRoll, cosPitch, sinPitch;
-    float magX, magY;
-    float initialHdg, cosHeading, sinHeading;
-
-    initialRoll = atan2(-ay, -az);
-    initialPitch = atan2(ax, -az);
-
-    cosRoll = cosf(initialRoll);
-    sinRoll = sinf(initialRoll);
-    cosPitch = cosf(initialPitch);
-    sinPitch = sinf(initialPitch);
-
-    magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;
-
-    magY = my * cosRoll - mz * sinRoll;
-
-    initialHdg = atan2f(-magY, magX);
-
-    cosRoll = cosf(initialRoll * 0.5f);
-    sinRoll = sinf(initialRoll * 0.5f);
-
-    cosPitch = cosf(initialPitch * 0.5f);
-    sinPitch = sinf(initialPitch * 0.5f);
-
-    cosHeading = cosf(initialHdg * 0.5f);
-    sinHeading = sinf(initialHdg * 0.5f);
-
-    float q0 = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
-    float q1 = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
-    float q2 = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
-    float q3 = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
-
-    return math::Quaternion(q0, q1, q2, q3);
-
-}
-
-void KalmanNav::update()
-{
-	using namespace math;
-
-	struct pollfd fds[1];
-	fds[0].fd = _sensors.getHandle();
-	fds[0].events = POLLIN;
-
-	// poll for new data
-	int ret = poll(fds, 1, 1000);
-
-	if (ret < 0) {
-		// XXX this is seriously bad - should be an emergency
-		return;
-
-	} else if (ret == 0) { // timeout
-		return;
-	}
-
-	// get new timestamp
-	uint64_t newTimeStamp = hrt_absolute_time();
-
-	// check updated subscriptions
-	if (_param_update.updated()) updateParams();
-
-	bool gpsUpdate = _gps.updated();
-	bool sensorsUpdate = _sensors.updated();
-
-	// get new information from subscriptions
-	// this clears update flag
-	updateSubscriptions();
-
-	// initialize attitude when sensors online
-	if (!_attitudeInitialized && sensorsUpdate) {
-		if (correctAtt() == ret_ok) _attitudeInitCounter++;
-
-		if (_attitudeInitCounter > 100) {
-			warnx("initialized EKF attitude");
-			warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f",
-			       double(phi), double(theta), double(psi));
-			_attitudeInitialized = true;
-		}
-	}
-
-	// initialize position when gps received
-	if (!_positionInitialized &&
-	    _attitudeInitialized && // wait for attitude first
-	    gpsUpdate &&
-	    _gps.fix_type > 2
-	    //&& _gps.counter_pos_valid > 10
-	   ) {
-		vN = _gps.vel_n_m_s;
-		vE = _gps.vel_e_m_s;
-		vD = _gps.vel_d_m_s;
-		setLatDegE7(_gps.lat);
-		setLonDegE7(_gps.lon);
-		setAltE3(_gps.alt);
-		// set reference position for
-		// local position
-		lat0 = lat;
-		lon0 = lon;
-		alt0 = alt;
-		// XXX map_projection has internal global
-		// states that multiple things could change, 
-		// should make map_projection take reference
-		// lat/lon and not have init
-		map_projection_init(lat0, lon0);
-		_positionInitialized = true;
-		warnx("initialized EKF state with GPS");
-		warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f",
-		       double(vN), double(vE), double(vD),
-		       lat, lon, double(alt));
-	}
-
-	// prediction step
-	// using sensors timestamp so we can account for packet lag
-	float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
-	//printf("dt: %15.10f\n", double(dt));
-	_predictTimeStamp = _sensors.timestamp;
-
-	// don't predict if time greater than a second
-	if (dt < 1.0f) {
-		predictState(dt);
-		predictStateCovariance(dt);
-		// count fast frames
-		_navFrames += 1;
-	}
-
-	// count times 100 Hz rate isn't met
-	if (dt > 0.01f) _miss++;
-
-	// gps correction step
-	if (_positionInitialized && gpsUpdate) {
-		correctPos();
-	}
-
-	// attitude correction step
-	if (_attitudeInitialized 								// initialized
-	    && sensorsUpdate 								// new data
-	    && _sensors.timestamp - _attTimeStamp > 1e6 / 50 	// 50 Hz
-	   ) {
-		_attTimeStamp = _sensors.timestamp;
-		correctAtt();
-	}
-
-	// publication
-	if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
-		_pubTimeStamp = newTimeStamp;
-
-		updatePublications();
-	}
-
-	// output
-	if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
-		_outTimeStamp = newTimeStamp;
-		//printf("nav: %4d Hz, miss #: %4d\n",
-		//       _navFrames / 10, _miss / 10);
-		_navFrames = 0;
-		_miss = 0;
-	}
-}
-
-void KalmanNav::updatePublications()
-{
-	using namespace math;
-
-	// global position publication
-	_pos.timestamp = _pubTimeStamp;
-	_pos.time_gps_usec = _gps.timestamp_position;
-	_pos.global_valid = true;
-	_pos.lat = lat * M_RAD_TO_DEG;
-	_pos.lon = lon * M_RAD_TO_DEG;
-	_pos.alt = float(alt);
-	_pos.vel_n = vN;
-	_pos.vel_e = vE;
-	_pos.vel_d = vD;
-	_pos.yaw = psi;
-
-	// local position publication
-	float x;
-	float y;
-	bool landed = alt < (alt0 + 0.1); // XXX improve?
-	map_projection_project(lat, lon, &x, &y); 
-	_localPos.timestamp = _pubTimeStamp;
-	_localPos.xy_valid = true;
-	_localPos.z_valid = true;
-	_localPos.v_xy_valid = true;
-	_localPos.v_z_valid = true;
-	_localPos.x = x;
-	_localPos.y = y;
-	_localPos.z = alt0 - alt;
-	_localPos.vx = vN;
-	_localPos.vy = vE;
-	_localPos.vz = vD;
-	_localPos.yaw = psi;
-	_localPos.xy_global = true;
-	_localPos.z_global = true;
-	_localPos.ref_timestamp = _pubTimeStamp;
-	_localPos.ref_lat = getLatDegE7();
-	_localPos.ref_lon = getLonDegE7();
-	_localPos.ref_alt = 0;
-	_localPos.landed = landed;
-
-	// attitude publication
-	_att.timestamp = _pubTimeStamp;
-	_att.roll = phi;
-	_att.pitch = theta;
-	_att.yaw = psi;
-	_att.rollspeed = _sensors.gyro_rad_s[0];
-	_att.pitchspeed = _sensors.gyro_rad_s[1];
-	_att.yawspeed = _sensors.gyro_rad_s[2];
-	// TODO, add gyro offsets to filter
-	_att.rate_offsets[0] = 0.0f;
-	_att.rate_offsets[1] = 0.0f;
-	_att.rate_offsets[2] = 0.0f;
-
-	for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
-			_att.R[i][j] = C_nb(i, j);
-
-	for (int i = 0; i < 4; i++) _att.q[i] = q(i);
-
-	_att.R_valid = true;
-	_att.q_valid = true;
-
-	// selectively update publications,
-	// do NOT call superblock do-all method
-	if (_positionInitialized) {
-		_pos.update();
-		_localPos.update();
-	}
-
-	if (_attitudeInitialized)
-		_att.update();
-}
-
-int KalmanNav::predictState(float dt)
-{
-	using namespace math;
-
-	// trig
-	float sinL = sinf(lat);
-	float cosL = cosf(lat);
-	float cosLSing = cosf(lat);
-
-	// prevent singularity
-	if (fabsf(cosLSing) < 0.01f) {
-		if (cosLSing > 0) cosLSing = 0.01;
-		else cosLSing = -0.01;
-	}
-
-	// attitude prediction
-	if (_attitudeInitialized) {
-		Vector<3> w(_sensors.gyro_rad_s);
-
-		// attitude
-		q = q + q.derivative(w) * dt;
-
-		// renormalize quaternion if needed
-		if (fabsf(q.length() - 1.0f) > 1e-4f) {
-			q.normalize();
-		}
-
-		// C_nb update
-		C_nb = q.to_dcm();
-
-		// euler update
-		Vector<3> euler = C_nb.to_euler();
-		phi = euler.data[0];
-		theta = euler.data[1];
-		psi = euler.data[2];
-
-		// specific acceleration in nav frame
-		Vector<3> accelB(_sensors.accelerometer_m_s2);
-		Vector<3> accelN = C_nb * accelB;
-		fN = accelN(0);
-		fE = accelN(1);
-		fD = accelN(2);
-	}
-
-	// position prediction
-	if (_positionInitialized) {
-		// neglects angular deflections in local gravity
-		// see Titerton pg. 70
-		float R = R0 + float(alt);
-		float LDot = vN / R;
-		float lDot = vE / (cosLSing * R);
-		float rotRate = 2 * omega + lDot;
-
-		// XXX position prediction using speed
-		float vNDot = fN - vE * rotRate * sinL +
-			      vD * LDot;
-		float vDDot = fD - vE * rotRate * cosL -
-			      vN * LDot + _g.get();
-		float vEDot = fE + vN * rotRate * sinL +
-			      vDDot * rotRate * cosL;
-
-		// rectangular integration
-		vN += vNDot * dt;
-		vE += vEDot * dt;
-		vD += vDDot * dt;
-		lat += double(LDot * dt);
-		lon += double(lDot * dt);
-		alt += double(-vD * dt);
-	}
-
-	return ret_ok;
-}
-
-int KalmanNav::predictStateCovariance(float dt)
-{
-	using namespace math;
-
-	// trig
-	float sinL = sinf(lat);
-	float cosL = cosf(lat);
-	float cosLSq = cosL * cosL;
-	float tanL = tanf(lat);
-
-	// prepare for matrix
-	float R = R0 + float(alt);
-	float RSq = R * R;
-
-	// F Matrix
-	// Titterton pg. 291
-
-	F(0, 1) = -(omega * sinL + vE * tanL / R);
-	F(0, 2) = vN / R;
-	F(0, 4) = 1.0f / R;
-	F(0, 6) = -omega * sinL;
-	F(0, 8) = -vE / RSq;
-
-	F(1, 0) = omega * sinL + vE * tanL / R;
-	F(1, 2) = omega * cosL + vE / R;
-	F(1, 3) = -1.0f / R;
-	F(1, 8) = vN / RSq;
-
-	F(2, 0) = -vN / R;
-	F(2, 1) = -omega * cosL - vE / R;
-	F(2, 4) = -tanL / R;
-	F(2, 6) = -omega * cosL - vE / (R * cosLSq);
-	F(2, 8) = vE * tanL / RSq;
-
-	F(3, 1) = -fD;
-	F(3, 2) = fE;
-	F(3, 3) = vD / R;
-	F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
-	F(3, 5) = vN / R;
-	F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
-	F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
-
-	F(4, 0) = fD;
-	F(4, 2) = -fN;
-	F(4, 3) = 2 * omega * sinL + vE * tanL / R;
-	F(4, 4) = (vN * tanL + vD) / R;
-	F(4, 5) = 2 * omega * cosL + vE / R;
-	F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
-		  vN * vE / (R * cosLSq);
-	F(4, 8) = -vE * (vN * tanL + vD) / RSq;
-
-	F(5, 0) = -fE;
-	F(5, 1) = fN;
-	F(5, 3) = -2 * vN / R;
-	F(5, 4) = -2 * (omega * cosL + vE / R);
-	F(5, 6) = 2 * omega * vE * sinL;
-	F(5, 8) = (vN * vN + vE * vE) / RSq;
-
-	F(6, 3) = 1 / R;
-	F(6, 8) = -vN / RSq;
-
-	F(7, 4) = 1 / (R * cosL);
-	F(7, 6) = vE * tanL / (R * cosL);
-	F(7, 8) = -vE / (cosL * RSq);
-
-	F(8, 5) = -1;
-
-	// G Matrix
-	// Titterton pg. 291
-	G(0, 0) = -C_nb(0, 0);
-	G(0, 1) = -C_nb(0, 1);
-	G(0, 2) = -C_nb(0, 2);
-	G(1, 0) = -C_nb(1, 0);
-	G(1, 1) = -C_nb(1, 1);
-	G(1, 2) = -C_nb(1, 2);
-	G(2, 0) = -C_nb(2, 0);
-	G(2, 1) = -C_nb(2, 1);
-	G(2, 2) = -C_nb(2, 2);
-
-	G(3, 3) = C_nb(0, 0);
-	G(3, 4) = C_nb(0, 1);
-	G(3, 5) = C_nb(0, 2);
-	G(4, 3) = C_nb(1, 0);
-	G(4, 4) = C_nb(1, 1);
-	G(4, 5) = C_nb(1, 2);
-	G(5, 3) = C_nb(2, 0);
-	G(5, 4) = C_nb(2, 1);
-	G(5, 5) = C_nb(2, 2);
-
-	// continuous prediction equations
-	// for discrete time EKF
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	P = P + (F * P + P * F.transposed() + G * V * G.transposed()) * dt;
-
-	return ret_ok;
-}
-
-int KalmanNav::correctAtt()
-{
-	using namespace math;
-
-	// trig
-	float cosPhi = cosf(phi);
-	float cosTheta = cosf(theta);
-	// float cosPsi = cosf(psi);
-	float sinPhi = sinf(phi);
-	float sinTheta = sinf(theta);
-	// float sinPsi = sinf(psi);
-
-	// mag predicted measurement
-	// choosing some typical magnetic field properties,
-	//  TODO dip/dec depend on lat/ lon/ time
-	//float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
-	float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
-
-	// compensate roll and pitch, but not yaw
-	// XXX take the vectors out of the C_nb matrix to avoid singularities
-	math::Matrix<3,3> C_rp;
-	C_rp.from_euler(phi, theta, 0.0f);//C_nb.transposed();
-
-	// mag measurement
-	Vector<3> magBody(_sensors.magnetometer_ga);
-
-	// transform to earth frame
-	Vector<3> magNav = C_rp * magBody;
-
-	// calculate error between estimate and measurement
-	// apply declination correction for true heading as well.
-	float yMag = -atan2f(magNav(1),magNav(0)) - psi - dec;
-	if (yMag > M_PI_F) yMag -= 2*M_PI_F;
-	if (yMag < -M_PI_F) yMag += 2*M_PI_F;
-
-	// accel measurement
-	Vector<3> zAccel(_sensors.accelerometer_m_s2);
-	float accelMag = zAccel.length();
-	zAccel.normalize();
-
-	// ignore accel correction when accel mag not close to g
-	Matrix<4,4> RAttAdjust = RAtt;
-
-	bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
-
-	if (ignoreAccel) {
-		RAttAdjust(1, 1) = 1.0e10;
-		RAttAdjust(2, 2) = 1.0e10;
-		RAttAdjust(3, 3) = 1.0e10;
-
-	} else {
-		//printf("correcting attitude with accel\n");
-	}
-
-	// accel predicted measurement
-	Vector<3> zAccelHat = (C_nb.transposed() * Vector<3>(0, 0, -_g.get())).normalized();
-
-	// calculate residual
-	Vector<4> y(yMag, zAccel(0) - zAccelHat(0), zAccel(1) - zAccelHat(1), zAccel(2) - zAccelHat(2));
-
-	// HMag
-	HAtt(0, 2) = 1;
-
-	// HAccel
-	HAtt(1, 1) = cosTheta;
-	HAtt(2, 0) = -cosPhi * cosTheta;
-	HAtt(2, 1) = sinPhi * sinTheta;
-	HAtt(3, 0) = sinPhi * cosTheta;
-	HAtt(3, 1) = cosPhi * sinTheta;
-
-	// compute correction
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	Matrix<4, 4> S = HAtt * P * HAtt.transposed() + RAttAdjust; // residual covariance
-	Matrix<9, 4> K = P * HAtt.transposed() * S.inversed();
-	Vector<9> xCorrect = K * y;
-
-	// check correciton is sane
-	for (size_t i = 0; i < xCorrect.get_size(); i++) {
-		float val = xCorrect(i);
-
-		if (isnan(val) || isinf(val)) {
-			// abort correction and return
-			warnx("numerical failure in att correction");
-			// reset P matrix to P0
-			P = P0;
-			return ret_error;
-		}
-	}
-
-	// correct state
-	if (!ignoreAccel) {
-		phi += xCorrect(PHI);
-		theta += xCorrect(THETA);
-	}
-
-	psi += xCorrect(PSI);
-
-	// attitude also affects nav velocities
-	if (_positionInitialized) {
-		vN += xCorrect(VN);
-		vE += xCorrect(VE);
-		vD += xCorrect(VD);
-	}
-
-	// update state covariance
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	P = P - K * HAtt * P;
-
-	// fault detection
-	float beta = y * (S.inversed() * y);
-
-	if (beta > _faultAtt.get()) {
-		warnx("fault in attitude: beta = %8.4f", (double)beta);
-		warnx("y:"); y.print();
-	}
-
-	// update quaternions from euler
-	// angle correction
-	q.from_euler(phi, theta, psi);
-
-	return ret_ok;
-}
-
-int KalmanNav::correctPos()
-{
-	using namespace math;
-
-	// residual
-	Vector<6> y;
-	y(0) = _gps.vel_n_m_s - vN;
-	y(1) = _gps.vel_e_m_s - vE;
-	y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG;
-	y(3) = double(_gps.lon) - double(lon) * 1.0e7 * M_RAD_TO_DEG;
-	y(4) = _gps.alt / 1.0e3f - alt;
-	y(5) = _sensors.baro_alt_meter - alt;
-
-	// compute correction
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	Matrix<6,6> S = HPos * P * HPos.transposed() + RPos; // residual covariance
-	Matrix<9,6> K = P * HPos.transposed() * S.inversed();
-	Vector<9> xCorrect = K * y;
-
-	// check correction is sane
-	for (size_t i = 0; i < xCorrect.get_size(); i++) {
-		float val = xCorrect(i);
-
-		if (!isfinite(val)) {
-			// abort correction and return
-			warnx("numerical failure in gps correction");
-			// fallback to GPS
-			vN = _gps.vel_n_m_s;
-			vE = _gps.vel_e_m_s;
-			vD = _gps.vel_d_m_s;
-			setLatDegE7(_gps.lat);
-			setLonDegE7(_gps.lon);
-			setAltE3(_gps.alt);
-			// reset P matrix to P0
-			P = P0;
-			return ret_error;
-		}
-	}
-
-	// correct state
-	vN += xCorrect(VN);
-	vE += xCorrect(VE);
-	vD += xCorrect(VD);
-	lat += double(xCorrect(LAT));
-	lon += double(xCorrect(LON));
-	alt += xCorrect(ALT);
-
-	// update state covariance
-	// http://en.wikipedia.org/wiki/Extended_Kalman_filter
-	P = P - K * HPos * P;
-
-	// fault detetcion
-	float beta = y * (S.inversed() * y);
-
-	static int counter = 0;
-	if (beta > _faultPos.get() && (counter % 10 == 0)) {
-		warnx("fault in gps: beta = %8.4f", (double)beta);
-		warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f, baro: %8.4f",
-		       double(y(0) / sqrtf(RPos(0, 0))),
-		       double(y(1) / sqrtf(RPos(1, 1))),
-		       double(y(2) / sqrtf(RPos(2, 2))),
-		       double(y(3) / sqrtf(RPos(3, 3))),
-		       double(y(4) / sqrtf(RPos(4, 4))),
-		       double(y(5) / sqrtf(RPos(5, 5))));
-	}
-	counter++;
-
-	return ret_ok;
-}
-
-void KalmanNav::updateParams()
-{
-	using namespace math;
-	using namespace control;
-	SuperBlock::updateParams();
-
-	// gyro noise
-	V(0, 0) = _vGyro.get();   // gyro x, rad/s
-	V(1, 1) = _vGyro.get();   // gyro y
-	V(2, 2) = _vGyro.get();   // gyro z
-
-	// accel noise
-	V(3, 3) = _vAccel.get();   // accel x, m/s^2
-	V(4, 4) = _vAccel.get();   // accel y
-	V(5, 5) = _vAccel.get();   // accel z
-
-	// magnetometer noise
-	float noiseMin = 1e-6f;
-	float noiseMagSq = _rMag.get() * _rMag.get();
-
-	if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
-
-	RAtt(0, 0) = noiseMagSq; // normalized direction
-
-	// accelerometer noise
-	float noiseAccelSq = _rAccel.get() * _rAccel.get();
-
-	// bound noise to prevent singularities
-	if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
-
-	RAtt(1, 1) = noiseAccelSq; // normalized direction
-	RAtt(2, 2) = noiseAccelSq;
-	RAtt(3, 3) = noiseAccelSq;
-
-	// gps noise
-	float R = R0 + float(alt);
-	float cosLSing = cosf(lat);
-
-	// prevent singularity
-	if (fabsf(cosLSing) < 0.01f) {
-		if (cosLSing > 0) cosLSing = 0.01;
-		else cosLSing = -0.01;
-	}
-
-	float noiseVel = _rGpsVel.get();
-	float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
-	float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
-	float noiseGpsAlt = _rGpsAlt.get();
-	float noisePressAlt = _rPressAlt.get();
-
-	// bound noise to prevent singularities
-	if (noiseVel < noiseMin) noiseVel = noiseMin;
-
-	if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
-
-	if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
-
-	if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
-
-	if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
-
-	RPos(0, 0) = noiseVel * noiseVel; // vn
-	RPos(1, 1) = noiseVel * noiseVel; // ve
-	RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
-	RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
-	RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
-	RPos(5, 5) = noisePressAlt * noisePressAlt; // h
-	// XXX, note that RPos depends on lat, so updateParams should
-	// be called if lat changes significantly
-}
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
deleted file mode 100644
index caf93bc78..000000000
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+++ /dev/null
@@ -1,192 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file KalmanNav.hpp
- *
- * kalman filter navigation code
- */
-
-#pragma once
-
-//#define MATRIX_ASSERT
-//#define VECTOR_ASSERT
-
-#include <nuttx/config.h>
-
-#include <mathlib/mathlib.h>
-#include <controllib/blocks.hpp>
-#include <controllib/block/BlockParam.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/Publication.hpp>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/parameter_update.h>
-
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_mag.h>
-
-#include <drivers/drv_hrt.h>
-#include <poll.h>
-#include <unistd.h>
-
-/**
- * Kalman filter navigation class
- * http://en.wikipedia.org/wiki/Extended_Kalman_filter
- * Discrete-time extended Kalman filter
- */
-class KalmanNav : public control::SuperBlock
-{
-public:
-	/**
-	 * Constructor
-	 */
-	KalmanNav(SuperBlock *parent, const char *name);
-
-	/**
-	 * Deconstuctor
-	 */
-
-	virtual ~KalmanNav() {};
-
-	math::Quaternion init(float ax, float ay, float az, float mx, float my, float mz);
-
-	/**
-	 * The main callback function for the class
-	 */
-	void update();
-
-
-	/**
-	 * Publication update
-	 */
-	virtual void updatePublications();
-
-	/**
-	 * State prediction
-	 * Continuous, non-linear
-	 */
-	int predictState(float dt);
-
-	/**
-	 * State covariance prediction
-	 * Continuous, linear
-	 */
-	int predictStateCovariance(float dt);
-
-	/**
-	 * Attitude correction
-	 */
-	int correctAtt();
-
-	/**
-	 * Position correction
-	 */
-	int correctPos();
-
-	/**
-	 * Overloaded update parameters
-	 */
-	virtual void updateParams();
-protected:
-	// kalman filter
-	math::Matrix<9,9> F;             /**< Jacobian(f,x), where dx/dt = f(x,u) */
-	math::Matrix<9,6> G;             /**< noise shaping matrix for gyro/accel */
-	math::Matrix<9,9> P;             /**< state covariance matrix */
-	math::Matrix<9,9> P0;            /**< initial state covariance matrix */
-	math::Matrix<6,6> V;             /**< gyro/ accel noise matrix */
-	math::Matrix<4,9> HAtt;          /**< attitude measurement matrix */
-	math::Matrix<4,4> RAtt;          /**< attitude measurement noise matrix */
-	math::Matrix<6,9> HPos;          /**< position measurement jacobian matrix */
-	math::Matrix<6,6> RPos;          /**< position measurement noise matrix */
-	// attitude
-	math::Matrix<3,3> C_nb;             /**< direction cosine matrix from body to nav frame */
-	math::Quaternion q;         /**< quaternion from body to nav frame */
-	// subscriptions
-	uORB::Subscription<sensor_combined_s> _sensors;          /**< sensors sub. */
-	uORB::Subscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
-	uORB::Subscription<parameter_update_s> _param_update;    /**< parameter update sub. */
-	// publications
-	uORB::Publication<vehicle_global_position_s> _pos;       /**< position pub. */
-	uORB::Publication<vehicle_local_position_s> _localPos;   /**< local position pub. */
-	uORB::Publication<vehicle_attitude_s> _att;              /**< attitude pub. */
-	// time stamps
-	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
-	uint64_t _predictTimeStamp; /**< prediction time stamp */
-	uint64_t _attTimeStamp;     /**< attitude correction time stamp */
-	uint64_t _outTimeStamp;     /**< output time stamp */
-	// frame count
-	uint16_t _navFrames;        /**< navigation frames completed in output cycle */
-	// miss counts
-	uint16_t _miss;         	/**< number of times fast prediction loop missed */
-	// accelerations
-	float fN, fE, fD;           /**< navigation frame acceleration */
-	// states
-	enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};  /**< state enumeration */
-	float phi, theta, psi;                  /**< 3-2-1 euler angles */
-	float vN, vE, vD;                       /**< navigation velocity, m/s */
-	double lat, lon;                   	/**< lat, lon radians */
-	// parameters
-	float alt;                   		/**< altitude, meters */
-	double lat0, lon0;                   	/**< reference latitude and longitude */
-	float alt0;                   		/**<  refeerence altitude (ground height) */
-	control::BlockParamFloat _vGyro;      /**< gyro process noise */
-	control::BlockParamFloat _vAccel;     /**< accelerometer process noise  */
-	control::BlockParamFloat _rMag;       /**< magnetometer measurement noise  */
-	control::BlockParamFloat _rGpsVel;    /**< gps velocity measurement noise */
-	control::BlockParamFloat _rGpsPos;    /**< gps position measurement noise */
-	control::BlockParamFloat _rGpsAlt;    /**< gps altitude measurement noise */
-	control::BlockParamFloat _rPressAlt;  /**< press altitude measurement noise */
-	control::BlockParamFloat _rAccel;     /**< accelerometer measurement noise */
-	control::BlockParamFloat _magDip;     /**< magnetic inclination with level */
-	control::BlockParamFloat _magDec;     /**< magnetic declination, clockwise rotation */
-	control::BlockParamFloat _g;          /**< gravitational constant */
-	control::BlockParamFloat _faultPos;   /**< fault detection threshold for position */
-	control::BlockParamFloat _faultAtt;   /**< fault detection threshold for attitude */
-	// status
-	bool _attitudeInitialized;
-	bool _positionInitialized;
-	uint16_t _attitudeInitCounter;
-	// accessors
-	int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
-	void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
-	int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
-	void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
-	int32_t getAltE3() { return int32_t(alt * 1.0e3); }
-	void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
-};
diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
deleted file mode 100644
index 3d20d4d2d..000000000
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ /dev/null
@@ -1,157 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: 	James Goppert
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file kalman_main.cpp
- * Combined attitude / position estimator.
- *
- * @author James Goppert
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <systemlib/systemlib.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <drivers/drv_hrt.h>
-#include <math.h>
-#include "KalmanNav.hpp"
-
-static bool thread_should_exit = false;     /**< Deamon exit flag */
-static bool thread_running = false;     /**< Deamon status flag */
-static int daemon_task;             /**< Handle of deamon task / thread */
-
-/**
- * Deamon management function.
- */
-extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int kalman_demo_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int att_pos_estimator_ekf_main(int argc, char *argv[])
-{
-
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			warnx("already running");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-
-		daemon_task = task_spawn_cmd("att_pos_estimator_ekf",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 30,
-					 8192,
-					 kalman_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("is running\n");
-			exit(0);
-
-		} else {
-			warnx("not started\n");
-			exit(1);
-		}
-
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int kalman_demo_thread_main(int argc, char *argv[])
-{
-
-	warnx("starting");
-
-	using namespace math;
-
-	thread_running = true;
-
-	KalmanNav nav(NULL, "KF");
-
-	while (!thread_should_exit) {
-		nav.update();
-	}
-
-	warnx("exiting.");
-
-	thread_running = false;
-
-	return 0;
-}
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 10a6cd2c5..35dc39ec6 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,9 +32,12 @@
  ****************************************************************************/
 
 /*
- * @file attitude_estimator_ekf_main.c
+ * @file attitude_estimator_ekf_main.cpp
  *
  * Extended Kalman Filter for Attitude Estimation.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -64,6 +65,7 @@
 #include <drivers/drv_hrt.h>
 
 #include <lib/mathlib/mathlib.h>
+#include <lib/geo/geo.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/perf_counter.h>
@@ -111,7 +113,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_ekf_main(int argc, char *argv[])
 {
@@ -265,7 +267,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
 	int loopcounter = 0;
-	int printcounter = 0;
 
 	thread_running = true;
 
@@ -273,9 +274,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
 	// orb_advert_t pub_dbg = -1;
 
-	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
-	// XXX write this out to perf regs
-
 	/* keep track of sensor updates */
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
@@ -286,11 +284,12 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* initialize parameter handles */
 	parameters_init(&ekf_param_handles);
 
-	uint64_t start_time = hrt_absolute_time();
 	bool initialized = false;
 
 	float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
-	unsigned offset_count = 0;
+
+	/* magnetic declination, in radians */
+	float mag_decl = 0.0f;
 
 	/* rotation matrix for magnetic declination */
 	math::Matrix<3, 3> R_decl;
@@ -330,9 +329,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 				/* update parameters */
 				parameters_update(&ekf_param_handles, &ekf_params);
-
-				/* update mag declination rotation matrix */
-				R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
 			}
 
 			/* only run filter if sensor values changed */
@@ -345,6 +341,13 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 				orb_check(sub_gps, &gps_updated);
 				if (gps_updated) {
 					orb_copy(ORB_ID(vehicle_gps_position), sub_gps, &gps);
+
+					if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) {
+						mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f));
+
+						/* update mag declination rotation matrix */
+						R_decl.from_euler(0.0f, 0.0f, mag_decl);
+					}
 				}
 
 				bool global_pos_updated;
@@ -381,7 +384,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					/* Fill in gyro measurements */
 					if (sensor_last_timestamp[0] != raw.timestamp) {
 						update_vect[0] = 1;
-						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
+						// sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
 
@@ -392,13 +395,13 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					/* update accelerometer measurements */
 					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
 						update_vect[1] = 1;
-						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
+						// sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
 						sensor_last_timestamp[1] = raw.accelerometer_timestamp;
 					}
 
 					hrt_abstime vel_t = 0;
 					bool vel_valid = false;
-					if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
+					if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
 						vel_valid = true;
 						if (gps_updated) {
 							vel_t = gps.timestamp_velocity;
@@ -407,7 +410,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 							vel(2) = gps.vel_d_m_s;
 						}
 
-					} else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
+					} else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 						vel_valid = true;
 						if (global_pos_updated) {
 							vel_t = global_pos.timestamp;
@@ -444,7 +447,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 					/* update magnetometer measurements */
 					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
 						update_vect[2] = 1;
-						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
+						// sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
 						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
@@ -474,7 +477,15 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 						parameters_update(&ekf_param_handles, &ekf_params);
 
 						/* update mag declination rotation matrix */
-						R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
+						if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) {
+							mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f));
+
+						} else {
+							mag_decl = ekf_params.mag_decl;
+						}
+
+						/* update mag declination rotation matrix */
+						R_decl.from_euler(0.0f, 0.0f, mag_decl);
 
 						x_aposteriori_k[0] = z_k[0];
 						x_aposteriori_k[1] = z_k[1];
@@ -497,8 +508,6 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 						continue;
 					}
 
-					uint64_t timing_start = hrt_absolute_time();
-
 					attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
 							     euler, Rot_matrix, x_aposteriori, P_aposteriori);
 
@@ -522,7 +531,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 					att.roll = euler[0];
 					att.pitch = euler[1];
-					att.yaw = euler[2] + ekf_params.mag_decl;
+					att.yaw = euler[2] + mag_decl;
 
 					att.rollspeed = x_aposteriori[0];
 					att.pitchspeed = x_aposteriori[1];
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 4154e3db4..bc0e3b93a 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -40,6 +40,7 @@
  */
 
 #include "attitude_estimator_ekf_params.h"
+#include <math.h>
 
 /* Extended Kalman Filter covariances */
 
@@ -60,11 +61,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
 /* offset estimation - UNUSED */
 PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
 
-/* offsets in roll, pitch and yaw of sensor plane and body */
-PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
-
 /* magnetic declination, in degrees */
 PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
 
@@ -84,10 +80,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 	h->r2 	=	param_find("EKF_ATT_V4_R2");
 	h->r3 	=	param_find("EKF_ATT_V4_R3");
 
-	h->roll_off  =	param_find("ATT_ROLL_OFF3");
-	h->pitch_off =	param_find("ATT_PITCH_OFF3");
-	h->yaw_off   =	param_find("ATT_YAW_OFF3");
-
 	h->mag_decl   =	param_find("ATT_MAG_DECL");
 
 	h->acc_comp   =	param_find("ATT_ACC_COMP");
@@ -108,11 +100,8 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->r2, &(p->r[2]));
 	param_get(h->r3, &(p->r[3]));
 
-	param_get(h->roll_off, &(p->roll_off));
-	param_get(h->pitch_off, &(p->pitch_off));
-	param_get(h->yaw_off, &(p->yaw_off));
-
 	param_get(h->mag_decl, &(p->mag_decl));
+	p->mag_decl *= M_PI_F / 180.0f;
 
 	param_get(h->acc_comp, &(p->acc_comp));
 
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 74a141609..5985541ca 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
@@ -54,7 +54,6 @@ struct attitude_estimator_ekf_params {
 struct attitude_estimator_ekf_param_handles {
 	param_t r0, r1, r2, r3;
 	param_t q0, q1, q2, q3, q4;
-	param_t roll_off, pitch_off, yaw_off;
 	param_t mag_decl;
 	param_t acc_comp;
 };
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index d98647f99..99d0c5bf2 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -50,3 +50,5 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
 		   codegen/cross.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
index 3653defa6..e49027e47 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Hyon Lim <limhyon@gmail.com>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
  /*
  * @file attitude_estimator_so3_main.cpp
  *
+ * @author Hyon Lim <limhyon@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * Implementation of nonlinear complementary filters on the SO(3).
  * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
  * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
@@ -131,7 +132,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_so3_main(int argc, char *argv[])
 {
@@ -391,8 +392,6 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl
  */
 int attitude_estimator_so3_thread_main(int argc, char *argv[])
 {
-	const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
-
 	//! Time constant
 	float dt = 0.005f;
 	
@@ -437,11 +436,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
 	int loopcounter = 0;
-	int printcounter = 0;
 
 	thread_running = true;
 
-	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
 	// XXX write this out to perf regs
 
 	/* keep track of sensor updates */
@@ -512,7 +509,7 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 						gyro_offsets[0] /= offset_count;
 						gyro_offsets[1] /= offset_count;
 						gyro_offsets[2] /= offset_count;
-						warnx("gyro initialized, offsets: %.5f %.5f %.5f", gyro_offsets[0], gyro_offsets[1], gyro_offsets[2]);
+						warnx("gyro initialized, offsets: %.5f %.5f %.5f", (double)gyro_offsets[0], (double)gyro_offsets[1], (double)gyro_offsets[2]);
 					}
 
 				} else {
@@ -522,12 +519,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					/* Calculate data time difference in seconds */
 					dt = (raw.timestamp - last_measurement) / 1000000.0f;
 					last_measurement = raw.timestamp;
-					uint8_t update_vect[3] = {0, 0, 0};
 
 					/* Fill in gyro measurements */
 					if (sensor_last_timestamp[0] != raw.timestamp) {
-						update_vect[0] = 1;
-						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
 
@@ -537,8 +531,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 
 					/* update accelerometer measurements */
 					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
-						update_vect[1] = 1;
-						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
 						sensor_last_timestamp[1] = raw.accelerometer_timestamp;
 					}
 
@@ -548,8 +540,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 
 					/* update magnetometer measurements */
 					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
-						update_vect[2] = 1;
-						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
 						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
@@ -568,8 +558,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 						continue;
 					}
 
-					uint64_t timing_start = hrt_absolute_time();
-
 					// NOTE : Accelerometer is reversed.
 					// Because proper mount of PX4 will give you a reversed accelerometer readings.
 					NonlinearSO3AHRSupdate(gyro[0], gyro[1], gyro[2],
@@ -608,9 +596,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 						/* due to inputs or numerical failure the output is invalid, skip it */
 						// Due to inputs or numerical failure the output is invalid
 						warnx("infinite euler angles, rotation matrix:");
-						warnx("%.3f %.3f %.3f", Rot_matrix[0], Rot_matrix[1], Rot_matrix[2]);
-						warnx("%.3f %.3f %.3f", Rot_matrix[3], Rot_matrix[4], Rot_matrix[5]);
-						warnx("%.3f %.3f %.3f", Rot_matrix[6], Rot_matrix[7], Rot_matrix[8]);
+						warnx("%.3f %.3f %.3f", (double)Rot_matrix[0], (double)Rot_matrix[1], (double)Rot_matrix[2]);
+						warnx("%.3f %.3f %.3f", (double)Rot_matrix[3], (double)Rot_matrix[4], (double)Rot_matrix[5]);
+						warnx("%.3f %.3f %.3f", (double)Rot_matrix[6], (double)Rot_matrix[7], (double)Rot_matrix[8]);
 						// Don't publish anything
 						continue;
 					}
diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk
index e29bb16a6..f52715abb 100644
--- a/src/modules/attitude_estimator_so3/module.mk
+++ b/src/modules/attitude_estimator_so3/module.mk
@@ -6,3 +6,5 @@ MODULE_COMMAND	 = attitude_estimator_so3
 
 SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 1cbdf9bf8..7a4e7a766 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -131,6 +130,7 @@
 #include <fcntl.h>
 #include <sys/prctl.h>
 #include <math.h>
+#include <float.h>
 #include <mathlib/mathlib.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
@@ -158,6 +158,8 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
 
 int do_accel_calibration(int mavlink_fd)
 {
+	int fd;
+
 	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
 
 	struct accel_scale accel_scale = {
@@ -172,7 +174,7 @@ int do_accel_calibration(int mavlink_fd)
 	int res = OK;
 
 	/* reset all offsets to zero and all scales to one */
-	int fd = open(ACCEL_DEVICE_PATH, 0);
+	fd = open(ACCEL_DEVICE_PATH, 0);
 	res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
 	close(fd);
 
@@ -194,13 +196,13 @@ int do_accel_calibration(int mavlink_fd)
 		int32_t board_rotation_int;
 		param_get(board_rotation_h, &(board_rotation_int));
 		enum Rotation board_rotation_id = (enum Rotation)board_rotation_int;
-		math::Matrix<3,3> board_rotation;
+		math::Matrix<3, 3> board_rotation;
 		get_rot_matrix(board_rotation_id, &board_rotation);
-		math::Matrix<3,3> board_rotation_t = board_rotation.transposed();
+		math::Matrix<3, 3> board_rotation_t = board_rotation.transposed();
 		math::Vector<3> accel_offs_vec(&accel_offs[0]);
-		math::Vector<3> accel_offs_rotated = board_rotation_t * accel_offs_vec;
-		math::Matrix<3,3> accel_T_mat(&accel_T[0][0]);
-		math::Matrix<3,3> accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation;
+		math::Vector<3> accel_offs_rotated = board_rotation_t *accel_offs_vec;
+		math::Matrix<3, 3> accel_T_mat(&accel_T[0][0]);
+		math::Matrix<3, 3> accel_T_rotated = board_rotation_t *accel_T_mat * board_rotation;
 
 		accel_scale.x_offset = accel_offs_rotated(0);
 		accel_scale.x_scale = accel_T_rotated(0, 0);
@@ -223,7 +225,7 @@ int do_accel_calibration(int mavlink_fd)
 
 	if (res == OK) {
 		/* apply new scaling and offsets */
-		int fd = open(ACCEL_DEVICE_PATH, 0);
+		fd = open(ACCEL_DEVICE_PATH, 0);
 		res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
 		close(fd);
 
@@ -277,11 +279,13 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
 			}
 		}
 
-		if (old_done_count != done_count)
+		if (old_done_count != done_count) {
 			mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 17 * done_count);
+		}
 
-		if (done)
+		if (done) {
 			break;
+		}
 
 		mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
 				 (!data_collected[0]) ? "x+ " : "",
@@ -380,11 +384,13 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
 				d = d * d;
 				accel_disp[i] = accel_disp[i] * (1.0f - w);
 
-				if (d > still_thr2 * 8.0f)
+				if (d > still_thr2 * 8.0f) {
 					d = still_thr2 * 8.0f;
+				}
 
-				if (d > accel_disp[i])
+				if (d > accel_disp[i]) {
 					accel_disp[i] = d;
+				}
 			}
 
 			/* still detector with hysteresis */
@@ -432,33 +438,39 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined)
 
 	if (fabsf(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 0;	// [ g, 0, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 0;        // [ g, 0, 0 ]
+	}
 
 	if (fabsf(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 1;	// [ -g, 0, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 1;        // [ -g, 0, 0 ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 2;	// [ 0, g, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 2;        // [ 0, g, 0 ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr &&
-	    fabsf(accel_ema[2]) < accel_err_thr)
-		return 3;	// [ 0, -g, 0 ]
+	    fabsf(accel_ema[2]) < accel_err_thr) {
+		return 3;        // [ 0, -g, 0 ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr)
-		return 4;	// [ 0, 0, g ]
+	    fabsf(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr) {
+		return 4;        // [ 0, 0, g ]
+	}
 
 	if (fabsf(accel_ema[0]) < accel_err_thr &&
 	    fabsf(accel_ema[1]) < accel_err_thr &&
-	    fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr)
-		return 5;	// [ 0, 0, -g ]
+	    fabsf(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr) {
+		return 5;        // [ 0, 0, -g ]
+	}
 
 	mavlink_log_critical(mavlink_fd, "ERROR: invalid orientation");
 
@@ -485,8 +497,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
 			struct sensor_combined_s sensor;
 			orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
 
-			for (int i = 0; i < 3; i++)
+			for (int i = 0; i < 3; i++) {
 				accel_sum[i] += sensor.accelerometer_m_s2[i];
+			}
 
 			count++;
 
@@ -495,8 +508,9 @@ int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samp
 			continue;
 		}
 
-		if (errcount > samples_num / 10)
+		if (errcount > samples_num / 10) {
 			return ERROR;
+		}
 	}
 
 	for (int i = 0; i < 3; i++) {
@@ -512,8 +526,9 @@ int mat_invert3(float src[3][3], float dst[3][3])
 		    src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
 		    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
 
-	if (det == 0.0f)
-		return ERROR;	// Singular matrix
+	if (fabsf(det) < FLT_EPSILON) {
+		return ERROR;        // Singular matrix
+	}
 
 	dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
 	dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det;
@@ -549,8 +564,9 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo
 	/* calculate inverse matrix for A */
 	float mat_A_inv[3][3];
 
-	if (mat_invert3(mat_A, mat_A_inv) != OK)
+	if (mat_invert3(mat_A, mat_A_inv) != OK) {
 		return ERROR;
+	}
 
 	/* copy results to accel_T */
 	for (int i = 0; i < 3; i++) {
diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h
index 1cf9c0977..6b7e16d44 100644
--- a/src/modules/commander/accelerometer_calibration.h
+++ b/src/modules/commander/accelerometer_calibration.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 6039d92a7..0e58c68b6 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -51,6 +51,7 @@
 #include <mavlink/mavlink_log.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
+#include <systemlib/airspeed.h>
 
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
@@ -64,38 +65,58 @@ int do_airspeed_calibration(int mavlink_fd)
 {
 	/* give directions */
 	mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
-	mavlink_log_info(mavlink_fd, "don't move system");
 
-	const int calibration_count = 2500;
+	const unsigned calibration_count = 2000;
 
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	struct differential_pressure_s diff_pres;
 
-	int calibration_counter = 0;
 	float diff_pres_offset = 0.0f;
 
 	/* Reset sensor parameters */
 	struct airspeed_scale airscale = {
-		0.0f,
+		diff_pres_offset,
 		1.0f,
 	};
 
 	bool paramreset_successful = false;
 	int  fd = open(AIRSPEED_DEVICE_PATH, 0);
+
 	if (fd > 0) {
 		if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 			paramreset_successful = true;
+
+		} else {
+			mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
 		}
+
 		close(fd);
 	}
 
 	if (!paramreset_successful) {
-		warn("WARNING: failed to set scale / offsets for airspeed sensor");
-		mavlink_log_critical(mavlink_fd, "could not reset dpress sensor");
-		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
-		return ERROR;
+
+		/* only warn if analog scaling is zero */
+		float analog_scaling = 0.0f;
+		param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
+		if (fabsf(analog_scaling) < 0.1f) {
+			mavlink_log_critical(mavlink_fd, "If analog sens, retry with [SENS_DPRES_ANSC=1000]");
+			close(diff_pres_sub);
+			return ERROR;
+		}
+
+		/* set scaling offset parameter */
+		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
+			close(diff_pres_sub);
+			return ERROR;
+		}
 	}
 
+	unsigned calibration_counter = 0;
+
+	mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
+	usleep(500 * 1000);
+
 	while (calibration_counter < calibration_count) {
 
 		/* wait blocking for new data */
@@ -107,11 +128,13 @@ int do_airspeed_calibration(int mavlink_fd)
 
 		if (poll_ret) {
 			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
-			diff_pres_offset += diff_pres.differential_pressure_pa;
+
+			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
 			calibration_counter++;
 
-			if (calibration_counter % (calibration_count / 20) == 0)
-				mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
+			if (calibration_counter % (calibration_count / 20) == 0) {
+				mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
+			}
 
 		} else if (poll_ret == 0) {
 			/* any poll failure for 1s is a reason to abort */
@@ -125,6 +148,16 @@ int do_airspeed_calibration(int mavlink_fd)
 
 	if (isfinite(diff_pres_offset)) {
 
+		int  fd_scale = open(AIRSPEED_DEVICE_PATH, 0);
+		airscale.offset_pa = diff_pres_offset;
+		if (fd_scale > 0) {
+			if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
+				mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
+			}
+
+			close(fd_scale);
+		}
+
 		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
 			mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
 			close(diff_pres_sub);
@@ -141,14 +174,91 @@ int do_airspeed_calibration(int mavlink_fd)
 			return ERROR;
 		}
 
-		mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
-		tune_neutral(true);
-		close(diff_pres_sub);
-		return OK;
-
 	} else {
 		mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 		close(diff_pres_sub);
 		return ERROR;
 	}
+
+	mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
+
+	/* wait 500 ms to ensure parameter propagated through the system */
+	usleep(500 * 1000);
+
+	calibration_counter = 0;
+	const unsigned maxcount = 3000;
+
+	/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
+	while (calibration_counter < maxcount) {
+
+		/* wait blocking for new data */
+		struct pollfd fds[1];
+		fds[0].fd = diff_pres_sub;
+		fds[0].events = POLLIN;
+
+		int poll_ret = poll(fds, 1, 1000);
+
+		if (poll_ret) {
+			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
+
+			calibration_counter++;
+
+			if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
+				if (calibration_counter % 100 == 0) {
+					mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
+					(int)diff_pres.differential_pressure_raw_pa);
+				}
+				continue;
+			}
+
+			/* do not allow negative values */
+			if (diff_pres.differential_pressure_raw_pa < 0.0f) {
+				mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
+					(int)diff_pres.differential_pressure_raw_pa);
+				mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
+				close(diff_pres_sub);
+
+				/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
+
+				diff_pres_offset = 0.0f;
+				if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
+					mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
+					close(diff_pres_sub);
+					return ERROR;
+				}
+
+				/* save */
+				mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 0);
+				(void)param_save_default();
+
+				close(diff_pres_sub);
+
+				mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
+				return ERROR;
+			} else {
+				mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
+					(int)diff_pres.differential_pressure_raw_pa);
+				break;
+			}
+
+		} else if (poll_ret == 0) {
+			/* any poll failure for 1s is a reason to abort */
+			mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
+			close(diff_pres_sub);
+			return ERROR;
+		}
+	}
+
+	if (calibration_counter == maxcount) {
+		mavlink_log_critical(mavlink_fd, CAL_FAILED_MSG, sensor_name);
+		close(diff_pres_sub);
+		return ERROR;
+	}
+
+	mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
+
+	mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
+	tune_neutral(true);
+	close(diff_pres_sub);
+	return OK;
 }
diff --git a/src/modules/commander/airspeed_calibration.h b/src/modules/commander/airspeed_calibration.h
index 71c701fc2..8c6b65ff1 100644
--- a/src/modules/commander/airspeed_calibration.h
+++ b/src/modules/commander/airspeed_calibration.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp
index 3123c4087..da98644b4 100644
--- a/src/modules/commander/baro_calibration.cpp
+++ b/src/modules/commander/baro_calibration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/baro_calibration.h b/src/modules/commander/baro_calibration.h
index bc42bc6cf..ce78ae700 100644
--- a/src/modules/commander/baro_calibration.h
+++ b/src/modules/commander/baro_calibration.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/calibration_messages.h b/src/modules/commander/calibration_messages.h
index fd8b8564d..b1e209efc 100644
--- a/src/modules/commander/calibration_messages.h
+++ b/src/modules/commander/calibration_messages.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index be38ea104..5796204bf 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,6 +39,7 @@
  */
 
 #include <math.h>
+#include <float.h>
 
 #include "calibration_routines.h"
 
@@ -170,7 +170,7 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[],
 	float aA, aB, aC, nA, nB, nC, dA, dB, dC;
 
 	//Iterate N times, ignore stop condition.
-	int n = 0;
+	unsigned int n = 0;
 
 	while (n < max_iterations) {
 		n++;
@@ -179,9 +179,9 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[],
 		aA = Q2 + 16.0f * (A2 - 2.0f * A * x_sum + x_sum2);
 		aB = Q2 + 16.0f * (B2 - 2.0f * B * y_sum + y_sum2);
 		aC = Q2 + 16.0f * (C2 - 2.0f * C * z_sum + z_sum2);
-		aA = (aA == 0.0f) ? 1.0f : aA;
-		aB = (aB == 0.0f) ? 1.0f : aB;
-		aC = (aC == 0.0f) ? 1.0f : aC;
+		aA = (fabsf(aA) < FLT_EPSILON) ? 1.0f : aA;
+		aB = (fabsf(aB) < FLT_EPSILON) ? 1.0f : aB;
+		aC = (fabsf(aC) < FLT_EPSILON) ? 1.0f : aC;
 
 		//Compute next iteration
 		nA = A - ((F2 + 16.0f * (B * XY + C * XZ + x_sum * (-A2 - Q0) + A * (x_sum2 + Q1 - C * z_sum - B * y_sum))) / aA);
diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h
index e3e7fbafd..3c8e49ee9 100644
--- a/src/modules/commander/calibration_routines.h
+++ b/src/modules/commander/calibration_routines.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 46ca04661..4f976546e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1,11 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *           Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -38,8 +33,13 @@
 
 /**
  * @file commander.cpp
- * Main system state machine implementation.
+ * Main fail-safe handling.
  *
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
@@ -52,6 +52,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <systemlib/err.h>
+#include <systemlib/circuit_breaker.h>
 #include <debug.h>
 #include <sys/prctl.h>
 #include <sys/stat.h>
@@ -67,6 +68,7 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/subsystem_info.h>
@@ -75,6 +77,10 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/safety.h>
+#include <uORB/topics/system_power.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+#include <uORB/topics/telemetry_status.h>
 
 #include <drivers/drv_led.h>
 #include <drivers/drv_hrt.h>
@@ -86,6 +92,8 @@
 #include <systemlib/err.h>
 #include <systemlib/cpuload.h>
 #include <systemlib/rc_check.h>
+#include <systemlib/state_table.h>
+#include <dataman/dataman.h>
 
 #include "px4_custom_mode.h"
 #include "commander_helper.h"
@@ -112,15 +120,16 @@ extern struct system_load_s system_load;
 
 #define MAVLINK_OPEN_INTERVAL 50000
 
-#define STICK_ON_OFF_LIMIT 0.75f
-#define STICK_THRUST_RANGE 1.0f
+#define STICK_ON_OFF_LIMIT 0.9f
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
-#define POSITION_TIMEOUT 1000000 /**< consider the local or global position estimate invalid after 1s */
-#define RC_TIMEOUT 100000
-#define RC_TIMEOUT_HIL 500000
-#define DIFFPRESS_TIMEOUT 2000000
+#define POSITION_TIMEOUT		(2 * 1000 * 1000)	/**< consider the local or global position estimate invalid after 600ms */
+#define FAILSAFE_DEFAULT_TIMEOUT	(3 * 1000 * 1000)	/**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
+#define RC_TIMEOUT			500000
+#define DL_TIMEOUT			5 * 1000* 1000
+#define OFFBOARD_TIMEOUT		500000
+#define DIFFPRESS_TIMEOUT		2000000
 
 #define PRINT_INTERVAL	5000000
 #define PRINT_MODE_REJECT_INTERVAL	2000000
@@ -138,7 +147,7 @@ enum MAV_MODE_FLAG {
 };
 
 /* Mavlink file descriptors */
-static int mavlink_fd;
+static int mavlink_fd = 0;
 
 /* flags */
 static bool commander_initialized = false;
@@ -154,11 +163,14 @@ static bool on_usb_power = false;
 
 static float takeoff_alt = 5.0f;
 static int parachute_enabled = 0;
+static float eph_threshold = 5.0f;
+static float epv_threshold = 10.0f;
 
 static struct vehicle_status_s status;
 static struct actuator_armed_s armed;
 static struct safety_s safety;
 static struct vehicle_control_mode_s control_mode;
+static struct offboard_control_setpoint_s sp_offboard;
 
 /* tasks waiting for low prio thread */
 typedef enum {
@@ -195,7 +207,7 @@ void usage(const char *reason);
 /**
  * React to commands that are sent e.g. from the mavlink module.
  */
-bool handle_command(struct vehicle_status_s *status, struct vehicle_command_s *cmd, struct actuator_armed_s *armed);
+bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed, struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub);
 
 /**
  * Mainloop of commander.
@@ -208,7 +220,7 @@ void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool
 
 void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
 
-transition_result_t set_main_state_rc(struct vehicle_status_s *status);
+transition_result_t set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man);
 
 void set_control_mode();
 
@@ -218,11 +230,10 @@ void print_reject_arm(const char *msg);
 
 void print_status();
 
-int arm();
-int disarm();
-
 transition_result_t check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_control_mode_s *control_mode, struct vehicle_local_position_s *local_pos);
 
+transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char *armedBy);
+
 /**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
  */
@@ -233,8 +244,9 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 
 int commander_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
@@ -248,7 +260,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     3000,
+					     2950,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 
@@ -261,8 +273,9 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "stop")) {
 
-		if (!thread_running)
+		if (!thread_running) {
 			errx(0, "commander already stopped");
+		}
 
 		thread_should_exit = true;
 
@@ -276,25 +289,32 @@ int commander_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("\tcommander is running");
-			print_status();
+	/* commands needing the app to run below */
+	if (!thread_running) {
+		warnx("\tcommander not started");
+		exit(1);
+	}
 
-		} else {
-			warnx("\tcommander not started");
-		}
+	if (!strcmp(argv[1], "status")) {
+		print_status();
+		exit(0);
+	}
 
+	if (!strcmp(argv[1], "check")) {
+		int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
+		int checkres = prearm_check(&status, mavlink_fd_local);
+		close(mavlink_fd_local);
+		warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "arm")) {
-		arm();
+		arm_disarm(true, mavlink_fd, "command line");
 		exit(0);
 	}
 
 	if (!strcmp(argv[1], "disarm")) {
-		disarm();
+		arm_disarm(false, mavlink_fd, "command line");
 		exit(0);
 	}
 
@@ -304,8 +324,9 @@ int commander_main(int argc, char *argv[])
 
 void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 	exit(1);
@@ -313,7 +334,9 @@ void usage(const char *reason)
 
 void print_status()
 {
+	warnx("type: %s", (status.is_rotary_wing) ? "ROTARY" : "PLANE");
 	warnx("usb powered: %s", (on_usb_power) ? "yes" : "no");
+	warnx("avionics rail: %6.2f V", (double)status.avionics_power_rail_voltage);
 
 	/* read all relevant states */
 	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -364,175 +387,131 @@ void print_status()
 
 static orb_advert_t status_pub;
 
-int arm()
+transition_result_t arm_disarm(bool arm, const int mavlink_fd_local, const char *armedBy)
 {
-	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
+	transition_result_t arming_res = TRANSITION_NOT_CHANGED;
 
-	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
-		return 0;
+	// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
+	// output appropriate error messages if the state cannot transition.
+	arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd_local);
 
-	} else {
-		return 1;
+	if (arming_res == TRANSITION_CHANGED && mavlink_fd) {
+		mavlink_log_info(mavlink_fd_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
+
+	} else if (arming_res == TRANSITION_DENIED) {
+		tune_negative(true);
 	}
+
+	return arming_res;
 }
 
-int disarm()
+bool handle_command(struct vehicle_status_s *status_local, const struct safety_s *safety_local,
+	struct vehicle_command_s *cmd, struct actuator_armed_s *armed_local,
+	struct home_position_s *home, struct vehicle_global_position_s *global_pos, orb_advert_t *home_pub)
 {
-	int arming_res = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
-
-	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_fd, "[cmd] ARMED by commandline");
-		return 0;
-
-	} else {
-		return 1;
+	/* only handle commands that are meant to be handled by this system and component */
+	if (cmd->target_system != status_local->system_id || ((cmd->target_component != status_local->component_id) && (cmd->target_component != 0))) { // component_id 0: valid for all components
+		return false;
 	}
-}
 
-bool handle_command(struct vehicle_status_s *status, const struct safety_s *safety, struct vehicle_command_s *cmd, struct actuator_armed_s *armed)
-{
 	/* result of the command */
-	enum VEHICLE_CMD_RESULT result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-	bool ret = false;
-
-	/* only handle high-priority commands here */
+	enum VEHICLE_CMD_RESULT cmd_result = VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 	/* request to set different system mode */
 	switch (cmd->command) {
 	case VEHICLE_CMD_DO_SET_MODE: {
-			uint8_t base_mode = (uint8_t) cmd->param1;
-			uint8_t custom_main_mode = (uint8_t) cmd->param2;
-			transition_result_t arming_res = TRANSITION_NOT_CHANGED;
-
-			/* set HIL state */
-			hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
-			int hil_ret = hil_state_transition(new_hil_state, status_pub, status, mavlink_fd);
+			uint8_t base_mode = (uint8_t)cmd->param1;
+			uint8_t custom_main_mode = (uint8_t)cmd->param2;
 
-			/* if HIL got enabled, reset battery status state */
-			if (hil_ret == OK && status->hil_state == HIL_STATE_ON) {
-				/* reset the arming mode to disarmed */
-				arming_res = arming_state_transition(status, safety, ARMING_STATE_STANDBY, armed);
+			transition_result_t arming_ret = TRANSITION_NOT_CHANGED;
 
-				if (arming_res != TRANSITION_DENIED) {
-					mavlink_log_info(mavlink_fd, "[cmd] HIL: Reset ARMED state to standby");
+			transition_result_t main_ret = TRANSITION_NOT_CHANGED;
 
-				} else {
-					mavlink_log_info(mavlink_fd, "[cmd] HIL: FAILED resetting armed state");
-				}
-			}
-
-			if (hil_ret == OK)
-				ret = true;
-
-			// TODO remove debug code
-			//mavlink_log_critical(mavlink_fd, "#audio: command setmode: %d %d", base_mode, custom_main_mode);
-			/* set arming state */
-			arming_res = TRANSITION_NOT_CHANGED;
-
-			if (base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
-					print_reject_arm("NOT ARMING: Press safety switch first.");
-					arming_res = TRANSITION_DENIED;
-
-				} else {
-					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
-				}
-
-				if (arming_res == TRANSITION_CHANGED) {
-					mavlink_log_info(mavlink_fd, "[cmd] ARMED by command");
-				}
-
-			} else {
-				if (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-					arming_state_t new_arming_state = (status->arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-					arming_res = arming_state_transition(status, safety, new_arming_state, armed);
-
-					if (arming_res == TRANSITION_CHANGED) {
-						mavlink_log_info(mavlink_fd, "[cmd] DISARMED by command");
-					}
-
-				} else {
-					arming_res = TRANSITION_NOT_CHANGED;
-				}
-			}
-
-			if (arming_res == TRANSITION_CHANGED)
-				ret = true;
+			/* set HIL state */
+			hil_state_t new_hil_state = (base_mode & MAV_MODE_FLAG_HIL_ENABLED) ? HIL_STATE_ON : HIL_STATE_OFF;
+			transition_result_t hil_ret = hil_state_transition(new_hil_state, status_pub, status_local, mavlink_fd);
 
-			/* set main state */
-			transition_result_t main_res = TRANSITION_DENIED;
+			// Transition the arming state
+			arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
 
 			if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
 				/* use autopilot-specific mode */
 				if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
 					/* MANUAL */
-					main_res = main_state_transition(status, MAIN_STATE_MANUAL);
+					main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_SEATBELT) {
-					/* SEATBELT */
-					main_res = main_state_transition(status, MAIN_STATE_SEATBELT);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) {
+					/* ALTCTL */
+					main_ret = main_state_transition(status_local, MAIN_STATE_ALTCTL);
 
-				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_EASY) {
-					/* EASY */
-					main_res = main_state_transition(status, MAIN_STATE_EASY);
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) {
+					/* POSCTL */
+					main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
 				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) {
 					/* AUTO */
-					main_res = main_state_transition(status, MAIN_STATE_AUTO);
+					main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
+
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ACRO) {
+					/* ACRO */
+					main_ret = main_state_transition(status_local, MAIN_STATE_ACRO);
+
+				} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_OFFBOARD) {
+					/* OFFBOARD */
+					main_ret = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
 				}
 
 			} else {
 				/* use base mode */
 				if (base_mode & MAV_MODE_FLAG_AUTO_ENABLED) {
 					/* AUTO */
-					main_res = main_state_transition(status, MAIN_STATE_AUTO);
+					main_ret = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
 
 				} else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) {
 					if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) {
-						/* EASY */
-						main_res = main_state_transition(status, MAIN_STATE_EASY);
+						/* POSCTL */
+						main_ret = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
 					} else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) {
 						/* MANUAL */
-						main_res = main_state_transition(status, MAIN_STATE_MANUAL);
+						main_ret = main_state_transition(status_local, MAIN_STATE_MANUAL);
 					}
 				}
 			}
 
-			if (main_res == TRANSITION_CHANGED)
-				ret = true;
-
-			if (arming_res != TRANSITION_DENIED && main_res != TRANSITION_DENIED) {
-				result = VEHICLE_CMD_RESULT_ACCEPTED;
+			if (hil_ret != TRANSITION_DENIED && arming_ret != TRANSITION_DENIED && main_ret != TRANSITION_DENIED) {
+				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
-
-			break;
 		}
+		break;
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
-			transition_result_t arming_res = TRANSITION_NOT_CHANGED;
+			// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
+			// for logic state parameters
 
-			if (!armed->armed && ((int)(cmd->param1 + 0.5f)) == 1) {
-				if (safety->safety_switch_available && !safety->safety_off && status->hil_state == HIL_STATE_OFF) {
-					print_reject_arm("NOT ARMING: Press safety switch first.");
-					arming_res = TRANSITION_DENIED;
+			if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
+				mavlink_log_critical(mavlink_fd, "Unsupported ARM_DISARM param: %.3f", (double)cmd->param1);
 
-				} else {
-					arming_res = arming_state_transition(status, safety, ARMING_STATE_ARMED, armed);
+			} else {
+
+				bool cmd_arms = (static_cast<int>(cmd->param1 + 0.5f) == 1);
+
+				// Flick to inair restore first if this comes from an onboard system
+				if (cmd->source_system == status_local->system_id && cmd->source_component == status_local->component_id) {
+					status_local->arming_state = ARMING_STATE_IN_AIR_RESTORE;
 				}
 
-				if (arming_res == TRANSITION_CHANGED) {
-					mavlink_log_critical(mavlink_fd, "#audio: ARMED by component arm cmd");
-					result = VEHICLE_CMD_RESULT_ACCEPTED;
-					ret = true;
+				transition_result_t arming_res = arm_disarm(cmd_arms, mavlink_fd, "arm/disarm component command");
+
+				if (arming_res == TRANSITION_DENIED) {
+					mavlink_log_critical(mavlink_fd, "REJECTING component arm cmd");
+					cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 
 				} else {
-					mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");
-					result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+					cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 				}
 			}
 		}
@@ -540,43 +519,93 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 
 	case VEHICLE_CMD_OVERRIDE_GOTO: {
 			// TODO listen vehicle_command topic directly from navigator (?)
-			unsigned int mav_goto = cmd->param1;
+
+			// Increase by 0.5f and rely on the integer cast
+			// implicit floor(). This is the *safest* way to
+			// convert from floats representing small ints to actual ints.
+			unsigned int mav_goto = (cmd->param1 + 0.5f);
 
 			if (mav_goto == 0) {	// MAV_GOTO_DO_HOLD
-				status->set_nav_state = NAV_STATE_LOITER;
-				status->set_nav_state_timestamp = hrt_absolute_time();
-				mavlink_log_critical(mavlink_fd, "#audio: pause mission cmd");
-				result = VEHICLE_CMD_RESULT_ACCEPTED;
-				ret = true;
+				status_local->nav_state = NAVIGATION_STATE_AUTO_LOITER;
+				mavlink_log_critical(mavlink_fd, "Pause mission cmd");
+				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else if (mav_goto == 1) {	// MAV_GOTO_DO_CONTINUE
-				status->set_nav_state = NAV_STATE_MISSION;
-				status->set_nav_state_timestamp = hrt_absolute_time();
-				mavlink_log_critical(mavlink_fd, "#audio: continue mission cmd");
-				result = VEHICLE_CMD_RESULT_ACCEPTED;
-				ret = true;
+				status_local->nav_state = NAVIGATION_STATE_AUTO_MISSION;
+				mavlink_log_critical(mavlink_fd, "Continue mission cmd");
+				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+
+			} else {
+				mavlink_log_critical(mavlink_fd, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
+					(double)cmd->param1,
+					(double)cmd->param2,
+					(double)cmd->param3,
+					(double)cmd->param4,
+					(double)cmd->param5,
+					(double)cmd->param6,
+					(double)cmd->param7);
+			}
+		}
+		break;
 
+	/* Flight termination */
+	case VEHICLE_CMD_DO_FLIGHTTERMINATION: {
+			if (cmd->param1 > 0.5f) {
+				//XXX update state machine?
+				armed_local->force_failsafe = true;
+				warnx("forcing failsafe");
 			} else {
-				mavlink_log_info(mavlink_fd, "Unsupported OVERRIDE_GOTO: %f %f %f %f %f %f %f %f", cmd->param1, cmd->param2, cmd->param3, cmd->param4, cmd->param5, cmd->param6, cmd->param7);
+				armed_local->force_failsafe = false;
+				warnx("disabling failsafe");
 			}
+			cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 		}
 		break;
 
-		/* Flight termination */
-	case VEHICLE_CMD_DO_SET_SERVO: { //xxx: needs its own mavlink command
+	case VEHICLE_CMD_DO_SET_HOME: {
+			bool use_current = cmd->param1 > 0.5f;
+
+			if (use_current) {
+				/* use current position */
+				if (status_local->condition_global_position_valid) {
+					home->lat = global_pos->lat;
+					home->lon = global_pos->lon;
+					home->alt = global_pos->alt;
 
-			//XXX: to enable the parachute, a param needs to be set
-			//xxx: for safety only for now, param3 is unused by VEHICLE_CMD_DO_SET_SERVO
-			if (armed->armed && cmd->param3 > 0.5 && parachute_enabled) {
-				transition_result_t failsafe_res = failsafe_state_transition(status, FAILSAFE_STATE_TERMINATION);
-				result = VEHICLE_CMD_RESULT_ACCEPTED;
-				ret = true;
+					home->timestamp = hrt_absolute_time();
+
+					cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
+
+				} else {
+					cmd_result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				}
 
 			} else {
-				/* reject parachute depoyment not armed */
-				result = VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				/* use specified position */
+				home->lat = cmd->param5;
+				home->lon = cmd->param6;
+				home->alt = cmd->param7;
+
+				home->timestamp = hrt_absolute_time();
+
+				cmd_result = VEHICLE_CMD_RESULT_ACCEPTED;
 			}
 
+			if (cmd_result == VEHICLE_CMD_RESULT_ACCEPTED) {
+				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home->lat, home->lon, (double)home->alt);
+				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home->lat, home->lon, (double)home->alt);
+
+				/* announce new home position */
+				if (*home_pub > 0) {
+					orb_publish(ORB_ID(home_position), *home_pub, home);
+
+				} else {
+					*home_pub = orb_advertise(ORB_ID(home_position), home);
+				}
+
+				/* mark home position as set */
+				status_local->condition_home_position_valid = true;
+			}
 		}
 		break;
 
@@ -588,22 +617,24 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		break;
 
 	default:
-		/* don't warn about unsupported commands, maybe another app supports it */
-//		answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
+		/* Warn about unsupported commands, this makes sense because only commands
+		 * to this component ID (or all) are passed by mavlink. */
+		answer_command(*cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
 		break;
 	}
 
-	if (result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
+	if (cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		/* already warned about unsupported commands in "default" case */
-		answer_command(*cmd, result);
+		answer_command(*cmd, cmd_result);
 	}
 
 	/* send any requested ACKs */
-	if (cmd->confirmation > 0 && result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
+	if (cmd->confirmation > 0 && cmd_result != VEHICLE_CMD_RESULT_UNSUPPORTED) {
 		/* send acknowledge command */
 		// XXX TODO
 	}
 
+	return true;
 }
 
 int commander_thread_main(int argc, char *argv[])
@@ -612,6 +643,7 @@ int commander_thread_main(int argc, char *argv[])
 	commander_initialized = false;
 
 	bool arm_tune_played = false;
+	bool was_armed = false;
 
 	/* set parameters */
 	param_t _param_sys_type = param_find("MAV_TYPE");
@@ -619,41 +651,54 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_component_id = param_find("MAV_COMP_ID");
 	param_t _param_takeoff_alt = param_find("NAV_TAKEOFF_ALT");
 	param_t _param_enable_parachute = param_find("NAV_PARACHUTE_EN");
+	param_t _param_enable_datalink_loss = param_find("COM_DL_LOSS_EN");
 
 	/* welcome user */
 	warnx("starting");
 
-	char *main_states_str[MAIN_STATE_MAX];
-	main_states_str[0] = "MANUAL";
-	main_states_str[1] = "SEATBELT";
-	main_states_str[2] = "EASY";
-	main_states_str[3] = "AUTO";
-
-	char *arming_states_str[ARMING_STATE_MAX];
-	arming_states_str[0] = "INIT";
-	arming_states_str[1] = "STANDBY";
-	arming_states_str[2] = "ARMED";
-	arming_states_str[3] = "ARMED_ERROR";
-	arming_states_str[4] = "STANDBY_ERROR";
-	arming_states_str[5] = "REBOOT";
-	arming_states_str[6] = "IN_AIR_RESTORE";
-
-	char *failsafe_states_str[FAILSAFE_STATE_MAX];
-	failsafe_states_str[0] = "NORMAL";
-	failsafe_states_str[1] = "RTL";
-	failsafe_states_str[2] = "LAND";
-	failsafe_states_str[3] = "TERMINATION";
+	const char *main_states_str[MAIN_STATE_MAX];
+	main_states_str[MAIN_STATE_MANUAL]			= "MANUAL";
+	main_states_str[MAIN_STATE_ALTCTL]			= "ALTCTL";
+	main_states_str[MAIN_STATE_POSCTL]			= "POSCTL";
+	main_states_str[MAIN_STATE_AUTO_MISSION]		= "AUTO_MISSION";
+	main_states_str[MAIN_STATE_AUTO_LOITER]			= "AUTO_LOITER";
+	main_states_str[MAIN_STATE_AUTO_RTL]			= "AUTO_RTL";
+	main_states_str[MAIN_STATE_ACRO]			= "ACRO";
+	main_states_str[MAIN_STATE_OFFBOARD]			= "OFFBOARD";
+
+	const char *arming_states_str[ARMING_STATE_MAX];
+	arming_states_str[ARMING_STATE_INIT]			= "INIT";
+	arming_states_str[ARMING_STATE_STANDBY]			= "STANDBY";
+	arming_states_str[ARMING_STATE_ARMED]			= "ARMED";
+	arming_states_str[ARMING_STATE_ARMED_ERROR]		= "ARMED_ERROR";
+	arming_states_str[ARMING_STATE_STANDBY_ERROR]		= "STANDBY_ERROR";
+	arming_states_str[ARMING_STATE_REBOOT]			= "REBOOT";
+	arming_states_str[ARMING_STATE_IN_AIR_RESTORE]		= "IN_AIR_RESTORE";
+
+	const char *nav_states_str[NAVIGATION_STATE_MAX];
+	nav_states_str[NAVIGATION_STATE_MANUAL]			= "MANUAL";
+	nav_states_str[NAVIGATION_STATE_ALTCTL]			= "ALTCTL";
+	nav_states_str[NAVIGATION_STATE_POSCTL]			= "POSCTL";
+	nav_states_str[NAVIGATION_STATE_AUTO_MISSION]		= "AUTO_MISSION";
+	nav_states_str[NAVIGATION_STATE_AUTO_LOITER]		= "AUTO_LOITER";
+	nav_states_str[NAVIGATION_STATE_AUTO_RTL]		= "AUTO_RTL";
+	nav_states_str[NAVIGATION_STATE_AUTO_RTGS]		= "AUTO_RTGS";
+	nav_states_str[NAVIGATION_STATE_ACRO]			= "ACRO";
+	nav_states_str[NAVIGATION_STATE_LAND]			= "LAND";
+	nav_states_str[NAVIGATION_STATE_DESCEND]		= "DESCEND";
+	nav_states_str[NAVIGATION_STATE_TERMINATION]		= "TERMINATION";
+	nav_states_str[NAVIGATION_STATE_OFFBOARD]		= "OFFBOARD";
 
 	/* pthread for slow low prio thread */
 	pthread_t commander_low_prio_thread;
 
 	/* initialize */
 	if (led_init() != 0) {
-		warnx("ERROR: Failed to initialize leds");
+		warnx("ERROR: LED INIT FAIL");
 	}
 
 	if (buzzer_init() != OK) {
-		warnx("ERROR: Failed to initialize buzzer");
+		warnx("ERROR: BUZZER INIT FAIL");
 	}
 
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@@ -664,11 +709,10 @@ int commander_thread_main(int argc, char *argv[])
 	// We want to accept RC inputs as default
 	status.rc_input_blocked = false;
 	status.main_state = MAIN_STATE_MANUAL;
-	status.set_nav_state = NAV_STATE_NONE;
-	status.set_nav_state_timestamp = 0;
+	status.nav_state = NAVIGATION_STATE_MANUAL;
 	status.arming_state = ARMING_STATE_INIT;
 	status.hil_state = HIL_STATE_OFF;
-	status.failsafe_state = FAILSAFE_STATE_NORMAL;
+	status.failsafe = false;
 
 	/* neither manual nor offboard control commands have been received */
 	status.offboard_control_signal_found_once = false;
@@ -677,6 +721,7 @@ int commander_thread_main(int argc, char *argv[])
 	/* mark all signals lost as long as they haven't been found */
 	status.rc_signal_lost = true;
 	status.offboard_control_signal_lost = true;
+	status.data_link_lost = true;
 
 	/* set battery warning flag */
 	status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
@@ -688,8 +733,20 @@ int commander_thread_main(int argc, char *argv[])
 	status.counter++;
 	status.timestamp = hrt_absolute_time();
 
+	status.condition_power_input_valid = true;
+	status.avionics_power_rail_voltage = -1.0f;
+
+	// CIRCUIT BREAKERS
+	status.circuit_breaker_engaged_power_check = false;
+	status.circuit_breaker_engaged_airspd_check = false;
+
 	/* publish initial state */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
+	if (status_pub < 0) {
+		warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
+		warnx("exiting.");
+		exit(ERROR);
+	}
 
 	/* armed topic */
 	orb_advert_t armed_pub;
@@ -707,19 +764,35 @@ int commander_thread_main(int argc, char *argv[])
 	struct home_position_s home;
 	memset(&home, 0, sizeof(home));
 
-	if (status_pub < 0) {
-		warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
-		warnx("exiting.");
-		exit(ERROR);
-	}
+	/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
+	orb_advert_t mission_pub = -1;
+	mission_s mission;
+	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
+		if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
+			warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq);
+			mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
+												mission.dataman_id, mission.count, mission.current_seq);
+		} else {
+			const char *missionfail = "reading mission state failed";
+			warnx("%s", missionfail);
+			mavlink_log_critical(mavlink_fd, missionfail);
+
+			/* initialize mission state in dataman */
+			mission.dataman_id = 0;
+			mission.count = 0;
+			mission.current_seq = 0;
+			dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
+		}
 
-	mavlink_log_info(mavlink_fd, "[cmd] started");
+		mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
+		orb_publish(ORB_ID(offboard_mission), mission_pub, &mission);
+	}
 
 	int ret;
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
@@ -738,15 +811,15 @@ int commander_thread_main(int argc, char *argv[])
 	bool low_battery_voltage_actions_done = false;
 	bool critical_battery_voltage_actions_done = false;
 
-	uint64_t last_idle_time = 0;
-	uint64_t start_time = 0;
+	hrt_abstime last_idle_time = 0;
+	hrt_abstime start_time = 0;
 
 	bool status_changed = true;
 	bool param_init_forced = true;
 
 	bool updated = false;
 
-	bool rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
+	rc_calibration_check(mavlink_fd);
 
 	/* Subscribe to safety topic */
 	int safety_sub = orb_subscribe(ORB_ID(safety));
@@ -754,6 +827,11 @@ int commander_thread_main(int argc, char *argv[])
 	safety.safety_switch_available = false;
 	safety.safety_off = false;
 
+	/* Subscribe to mission result topic */
+	int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
+	struct mission_result_s mission_result;
+	memset(&mission_result, 0, sizeof(mission_result));
+
 	/* Subscribe to manual control data */
 	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp_man;
@@ -761,13 +839,26 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* Subscribe to offboard control data */
 	int sp_offboard_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
-	struct offboard_control_setpoint_s sp_offboard;
 	memset(&sp_offboard, 0, sizeof(sp_offboard));
 
+	/* Subscribe to telemetry status topics */
+	int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
+	uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
+	bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
+
+	for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+		telemetry_last_heartbeat[i] = 0;
+		telemetry_lost[i] = true;
+	}
+
 	/* Subscribe to global position */
 	int global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	struct vehicle_global_position_s global_position;
 	memset(&global_position, 0, sizeof(global_position));
+	/* Init EPH and EPV */
+	global_position.eph = 1000.0f;
+	global_position.epv = 1000.0f;
 
 	/* Subscribe to local position data */
 	int local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
@@ -815,6 +906,21 @@ int commander_thread_main(int argc, char *argv[])
 	struct subsystem_info_s info;
 	memset(&info, 0, sizeof(info));
 
+	/* Subscribe to position setpoint triplet */
+	int pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
+	struct position_setpoint_triplet_s pos_sp_triplet;
+	memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
+
+	/* Subscribe to system power */
+	int system_power_sub = orb_subscribe(ORB_ID(system_power));
+	struct system_power_s system_power;
+	memset(&system_power, 0, sizeof(system_power));
+
+	/* Subscribe to actuator controls (outputs) */
+	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	struct actuator_controls_s actuator_controls;
+	memset(&actuator_controls, 0, sizeof(actuator_controls));
+
 	control_status_leds(&status, &armed, true);
 
 	/* now initialized */
@@ -823,6 +929,15 @@ int commander_thread_main(int argc, char *argv[])
 
 	start_time = hrt_absolute_time();
 
+	transition_result_t arming_ret;
+
+	int32_t datalink_loss_enabled = false;
+
+	/* check which state machines for changes, clear "changed" flag */
+	bool arming_state_changed = false;
+	bool main_state_changed = false;
+	bool failsafe_old = false;
+
 	while (!thread_should_exit) {
 
 		if (mavlink_fd < 0 && counter % (1000000 / MAVLINK_OPEN_INTERVAL) == 0) {
@@ -830,6 +945,9 @@ int commander_thread_main(int argc, char *argv[])
 			mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 		}
 
+		arming_ret = TRANSITION_NOT_CHANGED;
+
+
 		/* update parameters */
 		orb_check(param_changed_sub, &updated);
 
@@ -860,14 +978,20 @@ int commander_thread_main(int argc, char *argv[])
 				/* check and update system / component ID */
 				param_get(_param_system_id, &(status.system_id));
 				param_get(_param_component_id, &(status.component_id));
+
+				status.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
+				status.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
+
 				status_changed = true;
 
 				/* re-check RC calibration */
-				rc_calibration_ok = (OK == rc_calibration_check(mavlink_fd));
+				rc_calibration_check(mavlink_fd);
 			}
+
 			/* navigation parameters */
 			param_get(_param_takeoff_alt, &takeoff_alt);
 			param_get(_param_enable_parachute, &parachute_enabled);
+			param_get(_param_enable_datalink_loss, &datalink_loss_enabled);
 		}
 
 		orb_check(sp_man_sub, &updated);
@@ -882,6 +1006,41 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(offboard_control_setpoint), sp_offboard_sub, &sp_offboard);
 		}
 
+		if (sp_offboard.timestamp != 0 &&
+		    sp_offboard.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
+			if (status.offboard_control_signal_lost) {
+				status.offboard_control_signal_lost = false;
+				status_changed = true;
+			}
+		} else {
+			if (!status.offboard_control_signal_lost) {
+				status.offboard_control_signal_lost = true;
+				status_changed = true;
+			}
+		}
+
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			orb_check(telemetry_subs[i], &updated);
+
+			if (updated) {
+				struct telemetry_status_s telemetry;
+				memset(&telemetry, 0, sizeof(telemetry));
+
+				orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
+
+				/* perform system checks when new telemetry link connected */
+				if (mavlink_fd &&
+					telemetry_last_heartbeat[i] == 0 &&
+					telemetry.heartbeat_time > 0 &&
+					hrt_elapsed_time(&telemetry.heartbeat_time) < DL_TIMEOUT) {
+
+					(void)rc_calibration_check(mavlink_fd);
+				}
+
+				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
+			}
+		}
+
 		orb_check(sensor_sub, &updated);
 
 		if (updated) {
@@ -894,6 +1053,26 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
 		}
 
+		orb_check(system_power_sub, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(system_power), system_power_sub, &system_power);
+
+			if (hrt_elapsed_time(&system_power.timestamp) < 200000) {
+				if (system_power.servo_valid &&
+					!system_power.brick_valid &&
+					!system_power.usb_connected) {
+					/* flying only on servo rail, this is unsafe */
+					status.condition_power_input_valid = false;
+				} else {
+					status.condition_power_input_valid = true;
+				}
+
+				/* copy avionics voltage */
+				status.avionics_power_rail_voltage = system_power.voltage5V_v;
+			}
+		}
+
 		check_valid(diff_pres.timestamp, DIFFPRESS_TIMEOUT, true, &(status.condition_airspeed_valid), &status_changed);
 
 		/* update safety topic */
@@ -905,8 +1084,10 @@ int commander_thread_main(int argc, char *argv[])
 			/* disarm if safety is now on and still armed */
 			if (status.hil_state == HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
 				arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-				if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed)) {
-					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by safety switch");
+
+				if (TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
+					mavlink_log_info(mavlink_fd, "DISARMED by safety switch");
+					arming_state_changed = true;
 				}
 			}
 		}
@@ -919,9 +1100,6 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
 		}
 
-		/* update condition_global_position_valid */
-		check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.global_valid, &(status.condition_global_position_valid), &status_changed);
-
 		/* update local position estimate */
 		orb_check(local_position_sub, &updated);
 
@@ -930,30 +1108,94 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
 		}
 
+		/* update condition_global_position_valid */
+		/* hysteresis for EPH/EPV */
+		bool eph_good;
+
+		if (status.condition_global_position_valid) {
+			if (global_position.eph > eph_threshold * 2.5f) {
+				eph_good = false;
+
+			} else {
+				eph_good = true;
+			}
+
+		} else {
+			if (global_position.eph < eph_threshold) {
+				eph_good = true;
+
+			} else {
+				eph_good = false;
+			}
+		}
+
+		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed);
+
+		/* check if GPS fix is ok */
+
+		/* update home position */
+		if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
+		    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
+
+			home.lat = global_position.lat;
+			home.lon = global_position.lon;
+			home.alt = global_position.alt;
+
+			home.x = local_position.x;
+			home.y = local_position.y;
+			home.z = local_position.z;
+
+			warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
+			mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
+
+			/* announce new home position */
+			if (home_pub > 0) {
+				orb_publish(ORB_ID(home_position), home_pub, &home);
+
+			} else {
+				home_pub = orb_advertise(ORB_ID(home_position), &home);
+			}
+
+			/* mark home position as set */
+			status.condition_home_position_valid = true;
+			tune_positive(true);
+		}
+
 		/* update condition_local_position_valid and condition_local_altitude_valid */
-		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
+		/* hysteresis for EPH */
+		bool local_eph_good;
+
+		if (status.condition_local_position_valid) {
+			if (local_position.eph > eph_threshold * 2.5f) {
+				local_eph_good = false;
+
+			} else {
+				local_eph_good = true;
+			}
+
+		} else {
+			if (local_position.eph < eph_threshold) {
+				local_eph_good = true;
+
+			} else {
+				local_eph_good = false;
+			}
+		}
+		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed);
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
 
-		static bool published_condition_landed_fw = false;
-		if (status.is_rotary_wing && status.condition_local_altitude_valid) {
+		if (status.condition_local_altitude_valid) {
 			if (status.condition_landed != local_position.landed) {
 				status.condition_landed = local_position.landed;
 				status_changed = true;
-				published_condition_landed_fw = false; //make sure condition_landed is published again if the system type changes
 
 				if (status.condition_landed) {
-					mavlink_log_critical(mavlink_fd, "#audio: LANDED");
+					mavlink_log_critical(mavlink_fd, "LANDED MODE");
 
 				} else {
-					mavlink_log_critical(mavlink_fd, "#audio: IN AIR");
+					mavlink_log_critical(mavlink_fd, "IN AIR MODE");
 				}
 			}
-		} else {
-			if (!published_condition_landed_fw) {
-				status.condition_landed = false; // Fixedwing does not have a landing detector currently
-				published_condition_landed_fw = true;
-				status_changed = true;
-			}
 		}
 
 		/* update battery status */
@@ -961,13 +1203,17 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(battery_status), battery_sub, &battery);
+			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
 
 			/* only consider battery voltage if system has been running 2s and battery voltage is valid */
-			if (status.hil_state == HIL_STATE_OFF && hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
+			if (hrt_absolute_time() > start_time + 2000000 && battery.voltage_filtered_v > 0.0f) {
 				status.battery_voltage = battery.voltage_filtered_v;
 				status.battery_current = battery.current_a;
 				status.condition_battery_voltage_valid = true;
-				status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah);
+
+				/* get throttle (if armed), as we only care about energy negative throttle also counts */
+				float throttle = (armed.armed) ? fabsf(actuator_controls.control[3]) : 0.0f;
+				status.battery_remaining = battery_remaining_estimate_voltage(battery.voltage_filtered_v, battery.discharged_mah, throttle);
 			}
 		}
 
@@ -1006,12 +1252,20 @@ int commander_thread_main(int argc, char *argv[])
 			status_changed = true;
 		}
 
+		/* update position setpoint triplet */
+		orb_check(pos_sp_triplet_sub, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(position_setpoint_triplet), pos_sp_triplet_sub, &pos_sp_triplet);
+		}
+
 		if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
 			/* compute system load */
 			uint64_t interval_runtime = system_load.tasks[0].total_runtime - last_idle_time;
 
-			if (last_idle_time > 0)
-				status.load = 1.0f - ((float)interval_runtime / 1e6f);	//system load is time spent in non-idle
+			if (last_idle_time > 0) {
+				status.load = 1.0f - ((float)interval_runtime / 1e6f);        //system load is time spent in non-idle
+			}
 
 			last_idle_time = system_load.tasks[0].total_runtime;
 
@@ -1021,25 +1275,32 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* if battery voltage is getting lower, warn using buzzer, etc. */
-		if (status.condition_battery_voltage_valid && status.battery_remaining < 0.25f && !low_battery_voltage_actions_done) {
+		if (status.condition_battery_voltage_valid && status.battery_remaining < 0.18f && !low_battery_voltage_actions_done) {
 			low_battery_voltage_actions_done = true;
-			mavlink_log_critical(mavlink_fd, "#audio: WARNING: LOW BATTERY");
+			mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
 
-		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.1f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
+		} else if (status.condition_battery_voltage_valid && status.battery_remaining < 0.09f && !critical_battery_voltage_actions_done && low_battery_voltage_actions_done) {
 			/* critical battery voltage, this is rather an emergency, change state machine */
 			critical_battery_voltage_actions_done = true;
-			mavlink_log_critical(mavlink_fd, "#audio: EMERGENCY: CRITICAL BATTERY");
+			mavlink_log_emergency(mavlink_fd, "CRITICAL BATTERY, LAND IMMEDIATELY");
 			status.battery_warning = VEHICLE_BATTERY_WARNING_CRITICAL;
 
 			if (armed.armed) {
-				arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed);
+				arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
+
+				if (arming_ret == TRANSITION_CHANGED) {
+					arming_state_changed = true;
+				}
 
 			} else {
-				arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed);
-			}
+				arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY_ERROR, &armed, true /* fRunPreArmChecks */, mavlink_fd);
 
+				if (arming_ret == TRANSITION_CHANGED) {
+					arming_state_changed = true;
+				}
+			}
 			status_changed = true;
 		}
 
@@ -1047,11 +1308,15 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* If in INIT state, try to proceed to STANDBY state */
 		if (status.arming_state == ARMING_STATE_INIT && low_prio_task == LOW_PRIO_TASK_NONE) {
-			// XXX check for sensors
-			arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
+			/* TODO: check for sensors */
+			arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
+
+			if (arming_ret == TRANSITION_CHANGED) {
+				arming_state_changed = true;
+			}
 
 		} else {
-			// XXX: Add emergency stuff if sensors are lost
+			/* TODO: Add emergency stuff if sensors are lost */
 		}
 
 
@@ -1068,88 +1333,45 @@ int commander_thread_main(int argc, char *argv[])
 
 		if (updated) {
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
-			/* check if GPS fix is ok */
-			float hdop_threshold_m = 4.0f;
-			float vdop_threshold_m = 8.0f;
-
-			/*
-			 * If horizontal dilution of precision (hdop / eph)
-			 * and vertical diluation of precision (vdop / epv)
-			 * are below a certain threshold (e.g. 4 m), AND
-			 * home position is not yet set AND the last GPS
-			 * GPS measurement is not older than two seconds AND
-			 * the system is currently not armed, set home
-			 * position to the current position.
-			 */
-
-			if (!status.condition_home_position_valid && gps_position.fix_type >= 3 &&
-			    (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) &&
-			    (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed
-			    && global_position.global_valid) {
-
-				/* copy position data to uORB home message, store it locally as well */
-				home.lat = global_position.lat;
-				home.lon = global_position.lon;
-				home.alt = global_position.alt;
-
-				warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt);
-				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt);
-
-				/* announce new home position */
-				if (home_pub > 0) {
-					orb_publish(ORB_ID(home_position), home_pub, &home);
-
-				} else {
-					home_pub = orb_advertise(ORB_ID(home_position), &home);
-				}
-
-				/* mark home position as set */
-				status.condition_home_position_valid = true;
-				tune_positive(true);
-			}
 		}
 
+		orb_check(mission_result_sub, &updated);
 
-		/*
-		 * XXX workaround:
-		 * Prevent RC loss in HIL when sensors.cpp is only publishing sp_man at a low rate (e.g. 30Hz)
-		 * which can trigger RC loss if the computer/simulator lags.
-		 */
-		uint64_t rc_timeout = status.hil_state == HIL_STATE_ON ? RC_TIMEOUT_HIL : RC_TIMEOUT;
+		if (updated) {
+			orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
+		}
 
-		/* start RC input check */
-		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + rc_timeout) {
+		/* RC input check */
+		if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
 				status.rc_signal_found_once = true;
-				mavlink_log_critical(mavlink_fd, "#audio: detected RC signal first time");
+				mavlink_log_critical(mavlink_fd, "detected RC signal first time");
 				status_changed = true;
 
 			} else {
 				if (status.rc_signal_lost) {
-					mavlink_log_critical(mavlink_fd, "#audio: RC signal regained");
+					mavlink_log_critical(mavlink_fd, "RC signal regained");
 					status_changed = true;
 				}
 			}
 
 			status.rc_signal_lost = false;
 
-			transition_result_t res;	// store all transitions results here
-
-			/* arm/disarm by RC */
-			res = TRANSITION_NOT_CHANGED;
-
-			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSISTED mode and landed) -> disarm
+			/* check if left stick is in lower left position and we are in MANUAL or AUTO_READY mode or (ASSIST mode and landed) -> disarm
 			 * do it only for rotary wings */
 			if (status.is_rotary_wing &&
 			    (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
-			    (status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
-			    sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
+			    (status.main_state == MAIN_STATE_MANUAL || status.main_state == MAIN_STATE_ACRO || status.condition_landed) &&
+			    sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
 
 				if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
 					/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
 					arming_state_t new_arming_state = (status.arming_state == ARMING_STATE_ARMED ? ARMING_STATE_STANDBY : ARMING_STATE_STANDBY_ERROR);
-					res = arming_state_transition(&status, &safety, new_arming_state, &armed);
+					arming_ret = arming_state_transition(&status, &safety, new_arming_state, &armed, true /* fRunPreArmChecks */, mavlink_fd);
+					if (arming_ret == TRANSITION_CHANGED) {
+						arming_state_changed = true;
+					}
 					stick_off_counter = 0;
 
 				} else {
@@ -1162,16 +1384,20 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
 			if (status.arming_state == ARMING_STATE_STANDBY &&
-			    sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
+			    sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
 				if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-					if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
-						print_reject_arm("NOT ARMING: Press safety switch first.");
 
-					} else if (status.main_state != MAIN_STATE_MANUAL) {
+					/* we check outside of the transition function here because the requirement
+					 * for being in manual mode only applies to manual arming actions.
+					 * the system can be armed in auto if armed via the GCS.
+					 */
+					if (status.main_state != MAIN_STATE_MANUAL) {
 						print_reject_arm("NOT ARMING: Switch to MANUAL mode first.");
-
 					} else {
-						res = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed);
+						arming_ret = arming_state_transition(&status, &safety, ARMING_STATE_ARMED, &armed, true /* fRunPreArmChecks */, mavlink_fd);
+						if (arming_ret == TRANSITION_CHANGED) {
+							arming_state_changed = true;
+						}
 					}
 
 					stick_on_counter = 0;
@@ -1184,89 +1410,77 @@ int commander_thread_main(int argc, char *argv[])
 				stick_on_counter = 0;
 			}
 
-			if (res == TRANSITION_CHANGED) {
+			if (arming_ret == TRANSITION_CHANGED) {
 				if (status.arming_state == ARMING_STATE_ARMED) {
-					mavlink_log_info(mavlink_fd, "[cmd] ARMED by RC");
+					mavlink_log_info(mavlink_fd, "ARMED by RC");
 
 				} else {
-					mavlink_log_info(mavlink_fd, "[cmd] DISARMED by RC");
+					mavlink_log_info(mavlink_fd, "DISARMED by RC");
 				}
-
-			} else if (res == TRANSITION_DENIED) {
-				/* DENIED here indicates bug in the commander */
-				mavlink_log_critical(mavlink_fd, "ERROR: arming state transition denied");
-			}
-
-			if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
-				/* recover from failsafe */
-				transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
+				arming_state_changed = true;
+
+			} else if (arming_ret == TRANSITION_DENIED) {
+				/*
+				 * the arming transition can be denied to a number of reasons:
+				 *  - pre-flight check failed (sensors not ok or not calibrated)
+				 *  - safety not disabled
+				 *  - system not in manual mode
+				 */
+				tune_negative(true);
 			}
 
-			/* fill status according to mode switches */
-			check_mode_switches(&sp_man, &status);
-
 			/* evaluate the main state machine according to mode switches */
-			res = set_main_state_rc(&status);
+			transition_result_t main_res = set_main_state_rc(&status, &sp_man);
 
 			/* play tune on mode change only if armed, blink LED always */
-			if (res == TRANSITION_CHANGED) {
+			if (main_res == TRANSITION_CHANGED) {
 				tune_positive(armed.armed);
+				main_state_changed = true;
 
-			} else if (res == TRANSITION_DENIED) {
+			} else if (main_res == TRANSITION_DENIED) {
 				/* DENIED here indicates bug in the commander */
-				mavlink_log_critical(mavlink_fd, "ERROR: main state transition denied");
+				mavlink_log_critical(mavlink_fd, "main state transition denied");
 			}
 
 		} else {
 			if (!status.rc_signal_lost) {
-				mavlink_log_critical(mavlink_fd, "#audio: CRITICAL: RC SIGNAL LOST");
+				mavlink_log_critical(mavlink_fd, "RC SIGNAL LOST");
 				status.rc_signal_lost = true;
 				status_changed = true;
 			}
+		}
 
-			if (armed.armed) {
-				if (status.main_state == MAIN_STATE_AUTO) {
-					/* check if AUTO mode still allowed */
-					transition_result_t res = main_state_transition(&status, MAIN_STATE_AUTO);
-
-					if (res == TRANSITION_DENIED) {
-						/* AUTO mode denied, don't try RTL, switch to failsafe state LAND */
-						res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
-
-						if (res == TRANSITION_DENIED) {
-							/* LAND not allowed, set TERMINATION state */
-							transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
-						}
-					}
-
-				} else {
-					/* failsafe for manual modes */
-					transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_RTL);
-
-					if (res == TRANSITION_DENIED) {
-						/* RTL not allowed (no global position estimate), try LAND */
-						res = failsafe_state_transition(&status, FAILSAFE_STATE_LAND);
-
-						if (res == TRANSITION_DENIED) {
-							/* LAND not allowed, set TERMINATION state */
-							res = failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION);
-						}
-					}
+		/* data links check */
+		bool have_link = false;
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			if (telemetry_last_heartbeat[i] != 0 && hrt_elapsed_time(&telemetry_last_heartbeat[i]) < DL_TIMEOUT) {
+				/* handle the case where data link was regained */
+				if (telemetry_lost[i]) {
+					mavlink_log_critical(mavlink_fd, "data link %i regained", i);
+					telemetry_lost[i] = false;
 				}
+				have_link = true;
 
 			} else {
-				if (status.failsafe_state != FAILSAFE_STATE_NORMAL) {
-					/* reset failsafe when disarmed */
-					transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
+				if (!telemetry_lost[i]) {
+					mavlink_log_critical(mavlink_fd, "data link %i lost", i);
+					telemetry_lost[i] = true;
 				}
 			}
 		}
 
-		// TODO remove this hack
-		/* flight termination in manual mode if assisted switch is on easy position */
-		if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.assisted_switch > STICK_ON_OFF_LIMIT) {
-			if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) {
-				tune_positive(armed.armed);
+		if (have_link) {
+			/* handle the case where data link was regained */
+			if (status.data_link_lost) {
+				status.data_link_lost = false;
+				status_changed = true;
+			}
+
+		} else {
+			if (!status.data_link_lost) {
+				mavlink_log_critical(mavlink_fd, "ALL DATA LINKS LOST");
+				status.data_link_lost = true;
+				status_changed = true;
 			}
 		}
 
@@ -1278,31 +1492,72 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
 
 			/* handle it */
-			if (handle_command(&status, &safety, &cmd, &armed))
+			if (handle_command(&status, &safety, &cmd, &armed, &home, &global_position, &home_pub)) {
 				status_changed = true;
+			}
 		}
 
-		/* check which state machines for changes, clear "changed" flag */
-		bool arming_state_changed = check_arming_state_changed();
-		bool main_state_changed = check_main_state_changed();
-		bool failsafe_state_changed = check_failsafe_state_changed();
-
 		hrt_abstime t1 = hrt_absolute_time();
 
 		/* print new state */
 		if (arming_state_changed) {
 			status_changed = true;
 			mavlink_log_info(mavlink_fd, "[cmd] arming state: %s", arming_states_str[status.arming_state]);
+
+			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
+			if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
+			    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
+
+				// TODO remove code duplication
+				home.lat = global_position.lat;
+				home.lon = global_position.lon;
+				home.alt = global_position.alt;
+
+				home.x = local_position.x;
+				home.y = local_position.y;
+				home.z = local_position.z;
+
+				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
+				mavlink_log_info(mavlink_fd, "home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
+
+				/* announce new home position */
+				if (home_pub > 0) {
+					orb_publish(ORB_ID(home_position), home_pub, &home);
+
+				} else {
+					home_pub = orb_advertise(ORB_ID(home_position), &home);
+				}
+
+				/* mark home position as set */
+				status.condition_home_position_valid = true;
+			}
+			arming_state_changed = false;
 		}
 
+		was_armed = armed.armed;
+
+		/* now set navigation state according to failsafe and main state */
+		bool nav_state_changed = set_nav_state(&status, (bool)datalink_loss_enabled,
+						       mission_result.finished);
+
+		// TODO handle mode changes by commands
 		if (main_state_changed) {
 			status_changed = true;
+			warnx("main state: %s", main_states_str[status.main_state]);
 			mavlink_log_info(mavlink_fd, "[cmd] main state: %s", main_states_str[status.main_state]);
+			main_state_changed = false;
+		}
+
+		if (status.failsafe != failsafe_old) {
+			status_changed = true;
+			mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %i", status.failsafe);
+			failsafe_old = status.failsafe;
 		}
 
-		if (failsafe_state_changed) {
+		if (nav_state_changed) {
 			status_changed = true;
-			mavlink_log_info(mavlink_fd, "[cmd] failsafe state: %s", failsafe_states_str[status.failsafe_state]);
+			warnx("nav state: %s", nav_states_str[status.nav_state]);
+			mavlink_log_info(mavlink_fd, "[cmd] nav state: %s", nav_states_str[status.nav_state]);
 		}
 
 		/* publish states (armed, control mode, vehicle status) at least with 5 Hz */
@@ -1328,7 +1583,7 @@ int commander_thread_main(int argc, char *argv[])
 			/* play tune on battery critical */
 			set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
 
-		} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe_state != FAILSAFE_STATE_NORMAL) {
+		} else if (status.battery_warning == VEHICLE_BATTERY_WARNING_LOW || status.failsafe) {
 			/* play tune on battery warning or failsafe */
 			set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);
 
@@ -1387,6 +1642,7 @@ int commander_thread_main(int argc, char *argv[])
 	close(diff_pres_sub);
 	close(param_changed_sub);
 	close(battery_sub);
+	close(mission_pub);
 
 	thread_running = false;
 
@@ -1406,22 +1662,22 @@ check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *val
 }
 
 void
-control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_armed, bool changed)
+control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed)
 {
 	/* driving rgbled */
 	if (changed) {
 		bool set_normal_color = false;
 
 		/* set mode */
-		if (status->arming_state == ARMING_STATE_ARMED) {
+		if (status_local->arming_state == ARMING_STATE_ARMED) {
 			rgbled_set_mode(RGBLED_MODE_ON);
 			set_normal_color = true;
 
-		} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
+		} else if (status_local->arming_state == ARMING_STATE_ARMED_ERROR) {
 			rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
 			rgbled_set_color(RGBLED_COLOR_RED);
 
-		} else if (status->arming_state == ARMING_STATE_STANDBY) {
+		} else if (status_local->arming_state == ARMING_STATE_STANDBY) {
 			rgbled_set_mode(RGBLED_MODE_BREATHE);
 			set_normal_color = true;
 
@@ -1432,12 +1688,12 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 
 		if (set_normal_color) {
 			/* set color */
-			if (status->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status->failsafe_state != FAILSAFE_STATE_NORMAL) {
+			if (status_local->battery_warning == VEHICLE_BATTERY_WARNING_LOW || status_local->failsafe) {
 				rgbled_set_color(RGBLED_COLOR_AMBER);
 				/* VEHICLE_BATTERY_WARNING_CRITICAL handled as ARMING_STATE_ARMED_ERROR / ARMING_STATE_STANDBY_ERROR */
 
 			} else {
-				if (status->condition_local_position_valid) {
+				if (status_local->condition_local_position_valid) {
 					rgbled_set_color(RGBLED_COLOR_GREEN);
 
 				} else {
@@ -1456,21 +1712,24 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 
 	} else if (actuator_armed->ready_to_arm) {
 		/* ready to arm, blink at 1Hz */
-		if (leds_counter % 20 == 0)
+		if (leds_counter % 20 == 0) {
 			led_toggle(LED_BLUE);
+		}
 
 	} else {
 		/* not ready to arm, blink at 10Hz */
-		if (leds_counter % 2 == 0)
+		if (leds_counter % 2 == 0) {
 			led_toggle(LED_BLUE);
+		}
 	}
 
 #endif
 
 	/* give system warnings on error LED, XXX maybe add memory usage warning too */
-	if (status->load > 0.95f) {
-		if (leds_counter % 2 == 0)
+	if (status_local->load > 0.95f) {
+		if (leds_counter % 2 == 0) {
 			led_toggle(LED_AMBER);
+		}
 
 	} else {
 		led_off(LED_AMBER);
@@ -1479,109 +1738,125 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
 	leds_counter++;
 }
 
-void
-check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status)
+transition_result_t
+set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_setpoint_s *sp_man)
 {
-	/* main mode switch */
-	if (!isfinite(sp_man->mode_switch)) {
-		/* default to manual if signal is invalid */
-		status->mode_switch = MODE_SWITCH_MANUAL;
-
-	} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
-		status->mode_switch = MODE_SWITCH_AUTO;
+	/* set main state according to RC switches */
+	transition_result_t res = TRANSITION_DENIED;
 
-	} else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) {
-		status->mode_switch = MODE_SWITCH_MANUAL;
+	/* offboard switch overrides main switch */
+	if (sp_man->offboard_switch == SWITCH_POS_ON) {
+		res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
+		if (res == TRANSITION_DENIED) {
+			print_reject_mode(status_local, "OFFBOARD");
 
-	} else {
-		status->mode_switch = MODE_SWITCH_ASSISTED;
+		} else {
+			return res;
+		}
 	}
 
-	/* return switch */
-	if (!isfinite(sp_man->return_switch)) {
-		status->return_switch = RETURN_SWITCH_NONE;
+	/* offboard switched off or denied, check main mode switch */
+	switch (sp_man->mode_switch) {
+	case SWITCH_POS_NONE:
+		res = TRANSITION_NOT_CHANGED;
+		break;
 
-	} else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) {
-		status->return_switch = RETURN_SWITCH_RETURN;
+	case SWITCH_POS_OFF:		// MANUAL
+		if (sp_man->acro_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status_local, MAIN_STATE_ACRO);
 
-	} else {
-		status->return_switch = RETURN_SWITCH_NORMAL;
-	}
-
-	/* assisted switch */
-	if (!isfinite(sp_man->assisted_switch)) {
-		status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
+		} else {
+			res = main_state_transition(status_local, MAIN_STATE_MANUAL);
+		}
+		// TRANSITION_DENIED is not possible here
+		break;
 
-	} else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) {
-		status->assisted_switch = ASSISTED_SWITCH_EASY;
+	case SWITCH_POS_MIDDLE:		// ASSIST
+		if (sp_man->posctl_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status_local, MAIN_STATE_POSCTL);
 
-	} else {
-		status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
-	}
+			if (res != TRANSITION_DENIED) {
+				break;	// changed successfully or already in this state
+			}
 
-	/* mission switch  */
-	if (!isfinite(sp_man->mission_switch)) {
-		status->mission_switch = MISSION_SWITCH_NONE;
+			print_reject_mode(status_local, "POSCTL");
+		}
 
-	} else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) {
-		status->mission_switch = MISSION_SWITCH_LOITER;
+        // fallback to ALTCTL
+		res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
 
-	} else {
-		status->mission_switch = MISSION_SWITCH_MISSION;
-	}
-}
+		if (res != TRANSITION_DENIED) {
+			break;	// changed successfully or already in this mode
+		}
 
-transition_result_t
-set_main_state_rc(struct vehicle_status_s *status)
-{
-	/* set main state according to RC switches */
-	transition_result_t res = TRANSITION_DENIED;
+		if (sp_man->posctl_switch != SWITCH_POS_ON) {
+			print_reject_mode(status_local, "ALTCTL");
+		}
 
-	switch (status->mode_switch) {
-	case MODE_SWITCH_MANUAL:
-		res = main_state_transition(status, MAIN_STATE_MANUAL);
+		// fallback to MANUAL
+		res = main_state_transition(status_local, MAIN_STATE_MANUAL);
 		// TRANSITION_DENIED is not possible here
 		break;
 
-	case MODE_SWITCH_ASSISTED:
-		if (status->assisted_switch == ASSISTED_SWITCH_EASY) {
-			res = main_state_transition(status, MAIN_STATE_EASY);
+	case SWITCH_POS_ON:			// AUTO
+		if (sp_man->return_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status_local, MAIN_STATE_AUTO_RTL);
 
-			if (res != TRANSITION_DENIED)
+			if (res != TRANSITION_DENIED) {
 				break;	// changed successfully or already in this state
+			}
 
-			// else fallback to SEATBELT
-			print_reject_mode(status, "EASY");
-		}
+            print_reject_mode(status_local, "AUTO_RTL");
 
-		res = main_state_transition(status, MAIN_STATE_SEATBELT);
+            // fallback to LOITER if home position not set
+            res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
 
-		if (res != TRANSITION_DENIED)
-			break;	// changed successfully or already in this mode
+            if (res != TRANSITION_DENIED) {
+                break;  // changed successfully or already in this state
+            }
 
-		if (status->assisted_switch != ASSISTED_SWITCH_EASY)	// don't print both messages
-			print_reject_mode(status, "SEATBELT");
+		} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
+			res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
 
-		// else fallback to MANUAL
-		res = main_state_transition(status, MAIN_STATE_MANUAL);
-		// TRANSITION_DENIED is not possible here
-		break;
+			if (res != TRANSITION_DENIED) {
+				break;	// changed successfully or already in this state
+			}
 
-	case MODE_SWITCH_AUTO:
-		res = main_state_transition(status, MAIN_STATE_AUTO);
+            print_reject_mode(status_local, "AUTO_LOITER");
 
-		if (res != TRANSITION_DENIED)
-			break;	// changed successfully or already in this state
+		} else {
+			res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
 
-		// else fallback to SEATBELT (EASY likely will not work too)
-		print_reject_mode(status, "AUTO");
-		res = main_state_transition(status, MAIN_STATE_SEATBELT);
+			if (res != TRANSITION_DENIED) {
+				break;	// changed successfully or already in this state
+			}
+
+            print_reject_mode(status_local, "AUTO_MISSION");
+
+            // fallback to LOITER if home position not set
+            res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
+
+            if (res != TRANSITION_DENIED) {
+                break;  // changed successfully or already in this state
+            }
+		}
+
+        // fallback to POSCTL
+        res = main_state_transition(status_local, MAIN_STATE_POSCTL);
+
+        if (res != TRANSITION_DENIED) {
+            break;  // changed successfully or already in this state
+        }
 
-		if (res != TRANSITION_DENIED)
+		// fallback to ALTCTL
+		res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
+
+		if (res != TRANSITION_DENIED) {
 			break;	// changed successfully or already in this state
+		}
 
-		// else fallback to MANUAL
-		res = main_state_transition(status, MAIN_STATE_MANUAL);
+		// fallback to MANUAL
+		res = main_state_transition(status_local, MAIN_STATE_MANUAL);
 		// TRANSITION_DENIED is not possible here
 		break;
 
@@ -1593,47 +1868,83 @@ set_main_state_rc(struct vehicle_status_s *status)
 }
 
 void
-
 set_control_mode()
 {
-	/* set vehicle_control_mode according to main state and failsafe state */
+	/* set vehicle_control_mode according to set_navigation_state */
 	control_mode.flag_armed = armed.armed;
+	/* TODO: check this */
 	control_mode.flag_external_manual_override_ok = !status.is_rotary_wing;
 	control_mode.flag_system_hil_enabled = status.hil_state == HIL_STATE_ON;
+	control_mode.flag_control_offboard_enabled = false;
 
-	control_mode.flag_control_termination_enabled = false;
+	switch (status.nav_state) {
+	case NAVIGATION_STATE_MANUAL:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = status.is_rotary_wing;
+		control_mode.flag_control_attitude_enabled = status.is_rotary_wing;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = false;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
 
-	/* set this flag when navigator should act */
-	bool navigator_enabled = false;
+	case NAVIGATION_STATE_ACRO:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = false;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = false;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
 
-	switch (status.failsafe_state) {
-	case FAILSAFE_STATE_NORMAL:
-		switch (status.main_state) {
-		case MAIN_STATE_MANUAL:
-			control_mode.flag_control_manual_enabled = true;
-			control_mode.flag_control_auto_enabled = false;
-			control_mode.flag_control_rates_enabled = status.is_rotary_wing;
-			control_mode.flag_control_attitude_enabled = status.is_rotary_wing;
+	case NAVIGATION_STATE_ALTCTL:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
+	case NAVIGATION_STATE_OFFBOARD:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_offboard_enabled = true;
+
+		switch (sp_offboard.mode) {
+		case OFFBOARD_CONTROL_MODE_DIRECT_RATES:
+			control_mode.flag_control_rates_enabled = true;
+			control_mode.flag_control_attitude_enabled = false;
 			control_mode.flag_control_altitude_enabled = false;
 			control_mode.flag_control_climb_rate_enabled = false;
 			control_mode.flag_control_position_enabled = false;
 			control_mode.flag_control_velocity_enabled = false;
 			break;
-
-		case MAIN_STATE_SEATBELT:
-			control_mode.flag_control_manual_enabled = true;
-			control_mode.flag_control_auto_enabled = false;
+		case OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE:
 			control_mode.flag_control_rates_enabled = true;
 			control_mode.flag_control_attitude_enabled = true;
-			control_mode.flag_control_altitude_enabled = true;
-			control_mode.flag_control_climb_rate_enabled = true;
+			control_mode.flag_control_altitude_enabled = false;
+			control_mode.flag_control_climb_rate_enabled = false;
 			control_mode.flag_control_position_enabled = false;
 			control_mode.flag_control_velocity_enabled = false;
 			break;
-
-		case MAIN_STATE_EASY:
-			control_mode.flag_control_manual_enabled = true;
-			control_mode.flag_control_auto_enabled = false;
+		case OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY:
+			control_mode.flag_control_rates_enabled = true;
+			control_mode.flag_control_attitude_enabled = true;
+			control_mode.flag_control_altitude_enabled = true; /* XXX: hack for now */
+			control_mode.flag_control_climb_rate_enabled = true;
+			control_mode.flag_control_position_enabled = true; /* XXX: hack for now */
+			control_mode.flag_control_velocity_enabled = true;
+			break;
+		case OFFBOARD_CONTROL_MODE_DIRECT_POSITION:
 			control_mode.flag_control_rates_enabled = true;
 			control_mode.flag_control_attitude_enabled = true;
 			control_mode.flag_control_altitude_enabled = true;
@@ -1641,25 +1952,57 @@ set_control_mode()
 			control_mode.flag_control_position_enabled = true;
 			control_mode.flag_control_velocity_enabled = true;
 			break;
-
-		case MAIN_STATE_AUTO:
-			navigator_enabled = true;
-
 		default:
-			break;
+			control_mode.flag_control_rates_enabled = false;
+			control_mode.flag_control_attitude_enabled = false;
+			control_mode.flag_control_altitude_enabled = false;
+			control_mode.flag_control_climb_rate_enabled = false;
+			control_mode.flag_control_position_enabled = false;
+			control_mode.flag_control_velocity_enabled = false;
 		}
+		break;
 
+	case NAVIGATION_STATE_POSCTL:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = true;
+		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case FAILSAFE_STATE_RTL:
-		navigator_enabled = true;
+	case NAVIGATION_STATE_AUTO_MISSION:
+	case NAVIGATION_STATE_AUTO_LOITER:
+	case NAVIGATION_STATE_AUTO_RTL:
+	case NAVIGATION_STATE_AUTO_RTGS:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = true;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = true;
+		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case FAILSAFE_STATE_LAND:
-		navigator_enabled = true;
+	case NAVIGATION_STATE_LAND:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = true;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		/* in failsafe LAND mode position may be not available */
+		control_mode.flag_control_position_enabled = status.condition_local_position_valid;
+		control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case FAILSAFE_STATE_TERMINATION:
+	case NAVIGATION_STATE_TERMINATION:
 		/* disable all controllers on termination */
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = false;
@@ -1675,30 +2018,16 @@ set_control_mode()
 	default:
 		break;
 	}
-
-	/* navigator has control, set control mode flags according to nav state*/
-	if (navigator_enabled) {
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = true;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
-		control_mode.flag_control_altitude_enabled = true;
-		control_mode.flag_control_climb_rate_enabled = true;
-	}
 }
 
 void
-print_reject_mode(struct vehicle_status_s *status, const char *msg)
+print_reject_mode(struct vehicle_status_s *status_local, const char *msg)
 {
 	hrt_abstime t = hrt_absolute_time();
 
 	if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
 		last_print_mode_reject_time = t;
-		char s[80];
-		sprintf(s, "#audio: REJECT %s", msg);
-		mavlink_log_critical(mavlink_fd, s);
+		mavlink_log_critical(mavlink_fd, "REJECT %s", msg);
 
 		/* only buzz if armed, because else we're driving people nuts indoors
 		they really need to look at the leds as well. */
@@ -1713,9 +2042,7 @@ print_reject_arm(const char *msg)
 
 	if (t - last_print_mode_reject_time > PRINT_MODE_REJECT_INTERVAL) {
 		last_print_mode_reject_time = t;
-		char s[80];
-		sprintf(s, "#audio: %s", msg);
-		mavlink_log_critical(mavlink_fd, s);
+		mavlink_log_critical(mavlink_fd, msg);
 		tune_negative(true);
 	}
 }
@@ -1724,26 +2051,27 @@ void answer_command(struct vehicle_command_s &cmd, enum VEHICLE_CMD_RESULT resul
 {
 	switch (result) {
 	case VEHICLE_CMD_RESULT_ACCEPTED:
-			tune_positive(true);
+		tune_positive(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_DENIED:
-		mavlink_log_critical(mavlink_fd, "#audio: command denied: %u", cmd.command);
+		mavlink_log_critical(mavlink_fd, "command denied: %u", cmd.command);
 		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_FAILED:
-		mavlink_log_critical(mavlink_fd, "#audio: command failed: %u", cmd.command);
+		mavlink_log_critical(mavlink_fd, "command failed: %u", cmd.command);
 		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
-		mavlink_log_critical(mavlink_fd, "#audio: command temporarily rejected: %u", cmd.command);
+		/* this needs additional hints to the user - so let other messages pass and be spoken */
+		mavlink_log_critical(mavlink_fd, "command temporarily rejected: %u", cmd.command);
 		tune_negative(true);
 		break;
 
 	case VEHICLE_CMD_RESULT_UNSUPPORTED:
-		mavlink_log_critical(mavlink_fd, "#audio: command unsupported: %u", cmd.command);
+		mavlink_log_critical(mavlink_fd, "command unsupported: %u", cmd.command);
 		tune_negative(true);
 		break;
 
@@ -1774,8 +2102,9 @@ void *commander_low_prio_loop(void *arg)
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 200);
 
 		/* timed out - periodic check for thread_should_exit, etc. */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -1790,8 +2119,9 @@ void *commander_low_prio_loop(void *arg)
 		if (cmd.command == VEHICLE_CMD_DO_SET_MODE ||
 		    cmd.command == VEHICLE_CMD_COMPONENT_ARM_DISARM ||
 		    cmd.command == VEHICLE_CMD_NAV_TAKEOFF ||
-		    cmd.command == VEHICLE_CMD_DO_SET_SERVO)
+		    cmd.command == VEHICLE_CMD_DO_SET_SERVO) {
 			continue;
+		}
 
 		/* only handle low-priority commands here */
 		switch (cmd.command) {
@@ -1826,9 +2156,7 @@ void *commander_low_prio_loop(void *arg)
 				int calib_ret = ERROR;
 
 				/* try to go to INIT/PREFLIGHT arming state */
-
-				// XXX disable interrupts in arming_state_transition
-				if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed)) {
+				if (TRANSITION_DENIED == arming_state_transition(&status, &safety, ARMING_STATE_INIT, &armed, true /* fRunPreArmChecks */, mavlink_fd)) {
 					answer_command(cmd, VEHICLE_CMD_RESULT_DENIED);
 					break;
 				}
@@ -1869,6 +2197,7 @@ void *commander_low_prio_loop(void *arg)
 					/* airspeed calibration */
 					answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
 					calib_ret = do_airspeed_calibration(mavlink_fd);
+
 				} else if ((int)(cmd.param4) == 0) {
 					/* RC calibration ended - have we been in one worth confirming? */
 					if (status.rc_input_blocked) {
@@ -1883,12 +2212,14 @@ void *commander_low_prio_loop(void *arg)
 
 				}
 
-				if (calib_ret == OK)
+				if (calib_ret == OK) {
 					tune_positive(true);
-				else
+
+				} else {
 					tune_negative(true);
+				}
 
-				arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed);
+				arming_state_transition(&status, &safety, ARMING_STATE_STANDBY, &armed, true /* fRunPreArmChecks */, mavlink_fd);
 
 				break;
 			}
@@ -1906,11 +2237,13 @@ void *commander_low_prio_loop(void *arg)
 						mavlink_log_critical(mavlink_fd, "#audio: parameters load ERROR");
 
 						/* convenience as many parts of NuttX use negative errno */
-						if (ret < 0)
+						if (ret < 0) {
 							ret = -ret;
+						}
 
-						if (ret < 1000)
+						if (ret < 1000) {
 							mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
+						}
 
 						answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
 					}
@@ -1926,11 +2259,13 @@ void *commander_low_prio_loop(void *arg)
 						mavlink_log_critical(mavlink_fd, "#audio: parameters save error");
 
 						/* convenience as many parts of NuttX use negative errno */
-						if (ret < 0)
+						if (ret < 0) {
 							ret = -ret;
+						}
 
-						if (ret < 1000)
+						if (ret < 1000) {
 							mavlink_log_critical(mavlink_fd, "#audio: %s", strerror(ret));
+						}
 
 						answer_command(cmd, VEHICLE_CMD_RESULT_FAILED);
 					}
@@ -1940,8 +2275,8 @@ void *commander_low_prio_loop(void *arg)
 			}
 
 		case VEHICLE_CMD_START_RX_PAIR:
-		/* handled in the IO driver */
-		break;
+			/* handled in the IO driver */
+			break;
 
 		default:
 			/* don't answer on unsupported commands, it will be done in main loop */
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index fe6c9bfaa..2022e99fb 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,11 @@
 /**
  * @file commander_helper.cpp
  * Commander helper functions implementations
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  */
 
 #include <stdio.h>
@@ -113,17 +115,22 @@ void buzzer_deinit()
 	close(buzzer);
 }
 
-void set_tune(int tune) {
+void set_tune(int tune)
+{
 	unsigned int new_tune_duration = tune_durations[tune];
+
 	/* don't interrupt currently playing non-repeating tune by repeating */
 	if (tune_end == 0 || new_tune_duration != 0 || hrt_absolute_time() > tune_end) {
 		/* allow interrupting current non-repeating tune by the same tune */
 		if (tune != tune_current || new_tune_duration != 0) {
 			ioctl(buzzer, TONE_SET_ALARM, tune);
 		}
+
 		tune_current = tune;
+
 		if (new_tune_duration != 0) {
 			tune_end = hrt_absolute_time() + new_tune_duration;
+
 		} else {
 			tune_end = 0;
 		}
@@ -138,6 +145,7 @@ void tune_positive(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_GREEN);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(TONE_NOTIFY_POSITIVE_TUNE);
 	}
@@ -151,6 +159,7 @@ void tune_neutral(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_WHITE);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(TONE_NOTIFY_NEUTRAL_TUNE);
 	}
@@ -164,6 +173,7 @@ void tune_negative(bool use_buzzer)
 	blink_msg_end = hrt_absolute_time() + BLINK_MSG_TIME;
 	rgbled_set_color(RGBLED_COLOR_RED);
 	rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
+
 	if (use_buzzer) {
 		set_tune(TONE_NOTIFY_NEGATIVE_TUNE);
 	}
@@ -198,30 +208,26 @@ int led_init()
 		return ERROR;
 	}
 
-	/* the blue LED is only available on FMUv1 but not FMUv2 */
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+	/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
+	(void)ioctl(leds, LED_ON, LED_BLUE);
 
-	if (ioctl(leds, LED_ON, LED_BLUE)) {
-		warnx("Blue LED: ioctl fail\n");
-		return ERROR;
-	}
-
-#endif
+	/* switch blue off */
+	led_off(LED_BLUE);
 
+	/* we consider the amber led mandatory */
 	if (ioctl(leds, LED_ON, LED_AMBER)) {
 		warnx("Amber LED: ioctl fail\n");
 		return ERROR;
 	}
 
+	/* switch amber off */
+	led_off(LED_AMBER);
+
 	/* then try RGB LEDs, this can fail on FMUv1*/
 	rgbleds = open(RGBLED_DEVICE_PATH, 0);
 
 	if (rgbleds == -1) {
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
-		errx(1, "Unable to open " RGBLED_DEVICE_PATH);
-#else
-		warnx("No RGB LED found");
-#endif
+		warnx("No RGB LED found at " RGBLED_DEVICE_PATH);
 	}
 
 	return 0;
@@ -254,33 +260,38 @@ int led_off(int led)
 void rgbled_set_color(rgbled_color_t color)
 {
 
-	if (rgbleds != -1)
+	if (rgbleds != -1) {
 		ioctl(rgbleds, RGBLED_SET_COLOR, (unsigned long)color);
+	}
 }
 
 void rgbled_set_mode(rgbled_mode_t mode)
 {
 
-	if (rgbleds != -1)
+	if (rgbleds != -1) {
 		ioctl(rgbleds, RGBLED_SET_MODE, (unsigned long)mode);
+	}
 }
 
 void rgbled_set_pattern(rgbled_pattern_t *pattern)
 {
 
-	if (rgbleds != -1)
+	if (rgbleds != -1) {
 		ioctl(rgbleds, RGBLED_SET_PATTERN, (unsigned long)pattern);
+	}
 }
 
-float battery_remaining_estimate_voltage(float voltage, float discharged)
+float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized)
 {
 	float ret = 0;
 	static param_t bat_v_empty_h;
 	static param_t bat_v_full_h;
 	static param_t bat_n_cells_h;
 	static param_t bat_capacity_h;
-	static float bat_v_empty = 3.2f;
-	static float bat_v_full = 4.0f;
+	static param_t bat_v_load_drop_h;
+	static float bat_v_empty = 3.4f;
+	static float bat_v_full = 4.2f;
+	static float bat_v_load_drop = 0.06f;
 	static int bat_n_cells = 3;
 	static float bat_capacity = -1.0f;
 	static bool initialized = false;
@@ -288,27 +299,31 @@ float battery_remaining_estimate_voltage(float voltage, float discharged)
 
 	if (!initialized) {
 		bat_v_empty_h = param_find("BAT_V_EMPTY");
-		bat_v_full_h = param_find("BAT_V_FULL");
+		bat_v_full_h = param_find("BAT_V_CHARGED");
 		bat_n_cells_h = param_find("BAT_N_CELLS");
 		bat_capacity_h = param_find("BAT_CAPACITY");
+		bat_v_load_drop_h = param_find("BAT_V_LOAD_DROP");
 		initialized = true;
 	}
 
 	if (counter % 100 == 0) {
 		param_get(bat_v_empty_h, &bat_v_empty);
 		param_get(bat_v_full_h, &bat_v_full);
+		param_get(bat_v_load_drop_h, &bat_v_load_drop);
 		param_get(bat_n_cells_h, &bat_n_cells);
 		param_get(bat_capacity_h, &bat_capacity);
 	}
 
 	counter++;
 
-	/* remaining charge estimate based on voltage */
-	float remaining_voltage = (voltage - bat_n_cells * bat_v_empty) / (bat_n_cells * (bat_v_full - bat_v_empty));
+	/* remaining charge estimate based on voltage and internal resistance (drop under load) */
+	float bat_v_full_dynamic = bat_v_full - (bat_v_load_drop * throttle_normalized);
+	float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty)) / (bat_n_cells * (bat_v_full_dynamic - bat_v_empty));
 
 	if (bat_capacity > 0.0f) {
 		/* if battery capacity is known, use discharged current for estimate, but don't show more than voltage estimate */
 		ret = fminf(remaining_voltage, 1.0f - discharged / bat_capacity);
+
 	} else {
 		/* else use voltage */
 		ret = remaining_voltage;
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index e75f2592f..4a77fe487 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
 /**
  * @file commander_helper.h
  * Commander helper functions definitions
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef COMMANDER_HELPER_H_
@@ -77,8 +78,11 @@ void rgbled_set_pattern(rgbled_pattern_t *pattern);
  * Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
  * else use simple estimate based on voltage.
  *
+ * @param voltage the current battery voltage
+ * @param discharged the discharged capacity
+ * @param throttle_normalized the normalized throttle magnitude from 0 to 1. Negative throttle should be converted to this range as well, as it consumes energy.
  * @return the estimated remaining capacity in 0..1
  */
-float battery_remaining_estimate_voltage(float voltage, float discharged);
+float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized);
 
 #endif /* COMMANDER_HELPER_H_ */
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 80ca68f21..dba68700b 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -39,7 +39,7 @@
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #include <nuttx/config.h>
@@ -65,7 +65,17 @@ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
  *
  * @group Battery Calibration
  */
-PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f);
+PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
+
+/**
+ * Voltage drop per cell on 100% load
+ *
+ * This implicitely defines the internal resistance
+ * to maximum current ratio and assumes linearity.
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
 
 /**
  * Number of cells.
@@ -84,3 +94,14 @@ PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
  * @group Battery Calibration
  */
 PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
+
+/**
+ * Datalink loss mode enabled.
+ *
+ * Set to 1 to enable actions triggered when the datalink is lost.
+ *
+ * @group commander
+ * @min 0
+ * @max 1
+ */
+PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
diff --git a/src/modules/commander/commander_tests/commander_tests.cpp b/src/modules/commander/commander_tests/commander_tests.cpp
index 6e72cf0d9..0abb84a82 100644
--- a/src/modules/commander/commander_tests/commander_tests.cpp
+++ b/src/modules/commander/commander_tests/commander_tests.cpp
@@ -48,8 +48,7 @@ extern "C" __EXPORT int commander_tests_main(int argc, char *argv[]);
 
 int commander_tests_main(int argc, char *argv[])
 {
-	state_machine_helper_test();
-	//state_machine_test();
+	stateMachineHelperTest();
 
 	return 0;
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 40bedd9f3..08dda2fab 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -49,13 +49,12 @@ public:
 	StateMachineHelperTest();
 	virtual ~StateMachineHelperTest();
 
-	virtual const char*	run_tests();
+	virtual void runTests(void);
 
 private:
-	const char*	arming_state_transition_test();
-	const char*	arming_state_transition_arm_disarm_test();
-	const char*	main_state_transition_test();
-	const char*	is_safe_test();
+	bool armingStateTransitionTest();
+	bool mainStateTransitionTest();
+	bool isSafeTest();
 };
 
 StateMachineHelperTest::StateMachineHelperTest() {
@@ -64,132 +63,393 @@ StateMachineHelperTest::StateMachineHelperTest() {
 StateMachineHelperTest::~StateMachineHelperTest() {
 }
 
-const char*
-StateMachineHelperTest::arming_state_transition_test()
+bool StateMachineHelperTest::armingStateTransitionTest(void)
 {
+    // These are the critical values from vehicle_status_s and actuator_armed_s which must be primed
+    // to simulate machine state prior to testing an arming state transition. This structure is also
+    // use to represent the expected machine state after the transition has been requested.
+    typedef struct {
+        arming_state_t  arming_state;   // vehicle_status_s.arming_state
+        bool            armed;          // actuator_armed_s.armed
+        bool            ready_to_arm;   // actuator_armed_s.ready_to_arm
+    } ArmingTransitionVolatileState_t;
+    
+    // This structure represents a test case for arming_state_transition. It contains the machine
+    // state prior to transtion, the requested state to transition to and finally the expected
+    // machine state after transition.
+    typedef struct {
+        const char*                     assertMsg;                              // Text to show when test case fails
+        ArmingTransitionVolatileState_t current_state;                          // Machine state prior to transtion
+        hil_state_t                     hil_state;                              // Current vehicle_status_s.hil_state
+        bool                            condition_system_sensors_initialized;   // Current vehicle_status_s.condition_system_sensors_initialized
+        bool                            safety_switch_available;                // Current safety_s.safety_switch_available
+        bool                            safety_off;                             // Current safety_s.safety_off
+        arming_state_t                  requested_state;                        // Requested arming state to transition to
+        ArmingTransitionVolatileState_t expected_state;                         // Expected machine state after transition
+        transition_result_t             expected_transition_result;             // Expected result from arming_state_transition
+    } ArmingTransitionTest_t;
+    
+    // We use these defines so that our test cases are more readable
+    #define ATT_ARMED true
+    #define ATT_DISARMED false
+    #define ATT_READY_TO_ARM true
+    #define ATT_NOT_READY_TO_ARM false
+    #define ATT_SENSORS_INITIALIZED true
+    #define ATT_SENSORS_NOT_INITIALIZED false
+    #define ATT_SAFETY_AVAILABLE true
+    #define ATT_SAFETY_NOT_AVAILABLE true
+    #define ATT_SAFETY_OFF true
+    #define ATT_SAFETY_ON false
+    
+    // These are test cases for arming_state_transition
+    static const ArmingTransitionTest_t rgArmingTransitionTests[] = {
+        // TRANSITION_NOT_CHANGED tests
+        
+        { "no transition: identical states",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_NOT_CHANGED },
+        
+        // TRANSITION_CHANGED tests
+        
+        // Check all basic valid transitions, these don't require special state in vehicle_status_t or safety_s
+        
+        { "transition: init to standby",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to standby error",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: init to reboot",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to init",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to standby error",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to reboot",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed to standby",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed to armed error",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED_ERROR,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: armed error to standby error",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY_ERROR,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby error to reboot",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: in air restore to armed",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: in air restore to reboot",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // hil on tests, standby error to standby not normally allowed
+        
+        { "transition: standby error to standby, hil on",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // Safety switch arming tests
+        
+        { "transition: standby to armed, no safety switch",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        { "transition: standby to armed, safety switch off",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // standby error
+        { "transition: armed error to standby error requested standby",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED },
+        
+        // TRANSITION_DENIED tests
+        
+        // Check some important basic invalid transitions, these don't require special state in vehicle_status_t or safety_s
+        
+        { "no transition: init to armed",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby to armed error",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED_ERROR,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed to init",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_INIT,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed to reboot",
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed error to armed",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: armed error to reboot",
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_REBOOT,
+            { ARMING_STATE_ARMED_ERROR, ATT_ARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby error to armed",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: standby error to standby",
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: reboot to armed",
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        { "no transition: in air restore to standby",
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        // Sensor tests
+        
+        { "no transition: init to standby - sensors not initialized",
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_NOT_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_STANDBY,
+            { ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
+        
+        // Safety switch arming tests
+        
+        { "no transition: init to standby, safety switch on",
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+            ARMING_STATE_ARMED,
+            { ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED },
+    };
+    
 	struct vehicle_status_s status;
-	struct safety_s safety;
-	arming_state_t new_arming_state;
-	struct actuator_armed_s armed;
-
-	// Identical states.
-	status.arming_state = ARMING_STATE_INIT;
-	new_arming_state = ARMING_STATE_INIT;
-	mu_assert("no transition: identical states",
-		  TRANSITION_NOT_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-
-	// INIT to STANDBY.
-	armed.armed = false;
-	armed.ready_to_arm = false;
-	status.arming_state = ARMING_STATE_INIT;
-	status.condition_system_sensors_initialized = true;
-	new_arming_state = ARMING_STATE_STANDBY;
-	mu_assert("transition: init to standby",
-		  TRANSITION_CHANGED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-	mu_assert("current state: standby", ARMING_STATE_STANDBY == status.arming_state);
-	mu_assert("not armed", !armed.armed);
-	mu_assert("ready to arm", armed.ready_to_arm);
-
-	// INIT to STANDBY, sensors not initialized.
-	armed.armed = false;
-	armed.ready_to_arm = false;
-	status.arming_state = ARMING_STATE_INIT;
-	status.condition_system_sensors_initialized = false;
-	new_arming_state = ARMING_STATE_STANDBY;
-	mu_assert("no transition: sensors not initialized",
-		  TRANSITION_DENIED == arming_state_transition(&status, &safety, new_arming_state, &armed));
-	mu_assert("current state: init", ARMING_STATE_INIT == status.arming_state);
-	mu_assert("not armed", !armed.armed);
-	mu_assert("not ready to arm", !armed.ready_to_arm);
-
-	return 0;
-}
-
-const char*
-StateMachineHelperTest::arming_state_transition_arm_disarm_test()
-{
-	struct vehicle_status_s status;
-	struct safety_s safety;
-	arming_state_t new_arming_state;
+	struct safety_s         safety;
 	struct actuator_armed_s armed;
-
-	// TODO(sjwilks): ARM then DISARM.
-	return 0;
+    
+    size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
+    for (size_t i=0; i<cArmingTransitionTests; i++) {
+        const ArmingTransitionTest_t* test = &rgArmingTransitionTests[i];
+        
+        // Setup initial machine state
+        status.arming_state = test->current_state.arming_state;
+        status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
+        status.hil_state = test->hil_state;
+        safety.safety_switch_available = test->safety_switch_available;
+        safety.safety_off = test->safety_off;
+        armed.armed = test->current_state.armed;
+        armed.ready_to_arm = test->current_state.ready_to_arm;
+        
+        // Attempt transition
+        transition_result_t result = arming_state_transition(&status, &safety, test->requested_state, &armed, false /* no pre-arm checks */, 0 /* no mavlink_fd */);
+        
+        // Validate result of transition
+        ut_assert(test->assertMsg, test->expected_transition_result == result);
+        ut_assert(test->assertMsg, status.arming_state == test->expected_state.arming_state);
+        ut_assert(test->assertMsg, armed.armed == test->expected_state.armed);
+        ut_assert(test->assertMsg, armed.ready_to_arm == test->expected_state.ready_to_arm);
+    }
+
+	return true;
 }
 
-const char*
-StateMachineHelperTest::main_state_transition_test()
+bool StateMachineHelperTest::mainStateTransitionTest(void)
 {
-	struct vehicle_status_s current_state;
-	main_state_t new_main_state;
+	// This structure represent a single test case for testing Main State transitions.
+	typedef struct {
+		const char*     assertMsg;				// Text to show when test case fails
+		uint8_t		condition_bits;				// Bits for various condition_* values
+		main_state_t	from_state;				// State prior to transition request
+		main_state_t	to_state;				// State to transition to
+		transition_result_t	expected_transition_result;	// Expected result from main_state_transition call
+	} MainTransitionTest_t;
+	
+	// Bits for condition_bits
+	#define MTT_ALL_NOT_VALID		0
+	#define MTT_ROTARY_WING			1 << 0
+	#define MTT_LOC_ALT_VALID		1 << 1
+	#define MTT_LOC_POS_VALID		1 << 2
+	#define MTT_HOME_POS_VALID		1 << 3
+	#define MTT_GLOBAL_POS_VALID		1 << 4
 	
-	// Identical states.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	new_main_state = MAIN_STATE_MANUAL;
-	mu_assert("no transition: identical states",
-		  TRANSITION_NOT_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);	
-
-	// AUTO to MANUAL.
-	current_state.main_state = MAIN_STATE_AUTO;
-	new_main_state = MAIN_STATE_MANUAL;
-	mu_assert("transition changed: auto to manual",
-		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("new state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
-	// MANUAL to SEATBELT.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	current_state.condition_local_altitude_valid = true;
-	new_main_state = MAIN_STATE_SEATBELT;
-	mu_assert("tranisition: manual to seatbelt", 
-		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("new state: seatbelt", MAIN_STATE_SEATBELT == current_state.main_state);
-
-	// MANUAL to SEATBELT, invalid local altitude.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	current_state.condition_local_altitude_valid = false;
-	new_main_state = MAIN_STATE_SEATBELT;
-	mu_assert("no transition: invalid local altitude",
-		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
-	// MANUAL to EASY.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	current_state.condition_local_position_valid = true;
-	new_main_state = MAIN_STATE_EASY;
-	mu_assert("transition: manual to easy",
-		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: easy", MAIN_STATE_EASY == current_state.main_state);
-
-	// MANUAL to EASY, invalid local position.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	current_state.condition_local_position_valid = false;
-	new_main_state = MAIN_STATE_EASY;
-	mu_assert("no transition: invalid position",
-		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
-	// MANUAL to AUTO.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	current_state.condition_global_position_valid = true;
-	new_main_state = MAIN_STATE_AUTO;
-	mu_assert("transition: manual to auto",
-		  TRANSITION_CHANGED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: auto", MAIN_STATE_AUTO == current_state.main_state);
-
-	// MANUAL to AUTO, invalid global position.
-	current_state.main_state = MAIN_STATE_MANUAL;
-	current_state.condition_global_position_valid = false;
-	new_main_state = MAIN_STATE_AUTO;
-	mu_assert("no transition: invalid global position",
-		  TRANSITION_DENIED == main_state_transition(&current_state, new_main_state));
-	mu_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state);
-
-	return 0;
+	static const MainTransitionTest_t rgMainTransitionTests[] = {
+		
+		// TRANSITION_NOT_CHANGED tests
+		
+		{ "no transition: identical states",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_MANUAL, TRANSITION_NOT_CHANGED },
+				
+		// TRANSITION_CHANGED tests
+		
+		{ "transition: MANUAL to ACRO",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_ACRO, TRANSITION_CHANGED },
+
+		{ "transition: ACRO to MANUAL",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_ACRO, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to AUTO_MISSION - global position valid, home position valid",
+			MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_CHANGED },
+
+		{ "transition: AUTO_MISSION to MANUAL - global position valid, home position valid",
+			MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
+			MAIN_STATE_AUTO_MISSION, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to AUTO_LOITER - global position valid",
+			MTT_GLOBAL_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_CHANGED },
+
+		{ "transition: AUTO_LOITER to MANUAL - global position valid",
+			MTT_GLOBAL_POS_VALID,
+			MAIN_STATE_AUTO_LOITER, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to AUTO_RTL - global position valid, home position valid",
+			MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_CHANGED },
+
+		{ "transition: AUTO_RTL to MANUAL - global position valid, home position valid",
+			MTT_GLOBAL_POS_VALID | MTT_HOME_POS_VALID,
+			MAIN_STATE_AUTO_RTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to ALTCTL - not rotary",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude valid",
+			MTT_ROTARY_WING | MTT_LOC_ALT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
+		
+		{ "transition: MANUAL to ALTCTL - rotary, global position valid, local altitude not valid",
+			MTT_ROTARY_WING | MTT_GLOBAL_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_CHANGED },
+		
+		{ "transition: ALTCTL to MANUAL - local altitude valid",
+			MTT_LOC_ALT_VALID,
+			MAIN_STATE_ALTCTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to POSCTL - local position not valid, global position valid",
+			MTT_GLOBAL_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_CHANGED },
+
+		{ "transition: MANUAL to POSCTL - local position valid, global position not valid",
+			MTT_LOC_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_CHANGED },
+
+		{ "transition: POSCTL to MANUAL - local position valid, global position valid",
+			MTT_LOC_POS_VALID,
+			MAIN_STATE_POSCTL, MAIN_STATE_MANUAL, TRANSITION_CHANGED },
+
+		// TRANSITION_DENIED tests
+
+		{ "no transition: MANUAL to AUTO_MISSION - global position not valid",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_MISSION, TRANSITION_DENIED },
+		
+		{ "no transition: MANUAL to AUTO_LOITER - global position not valid",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_LOITER, TRANSITION_DENIED },
+		
+		{ "no transition: MANUAL to AUTO_RTL - global position not valid, home position not valid",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
+		
+		{ "no transition: MANUAL to AUTO_RTL - global position not valid, home position valid",
+			MTT_HOME_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
+
+		{ "no transition: MANUAL to AUTO_RTL - global position valid, home position not valid",
+			MTT_GLOBAL_POS_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_AUTO_RTL, TRANSITION_DENIED },
+		
+		{ "no transition: MANUAL to ALTCTL - rotary, global position not valid, local altitude not valid",
+			MTT_ROTARY_WING,
+			MAIN_STATE_MANUAL, MAIN_STATE_ALTCTL, TRANSITION_DENIED },
+		
+		{ "no transition: MANUAL to POSCTL - local position not valid, global position not valid",
+			MTT_ALL_NOT_VALID,
+			MAIN_STATE_MANUAL, MAIN_STATE_POSCTL, TRANSITION_DENIED },
+	};
+	
+	size_t cMainTransitionTests = sizeof(rgMainTransitionTests) / sizeof(rgMainTransitionTests[0]);
+	for (size_t i=0; i<cMainTransitionTests; i++) {
+		const MainTransitionTest_t* test = &rgMainTransitionTests[i];
+
+		// Setup initial machine state
+		struct vehicle_status_s current_state;
+		current_state.main_state = test->from_state;
+		current_state.is_rotary_wing = test->condition_bits & MTT_ROTARY_WING;
+		current_state.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
+		current_state.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
+		current_state.condition_home_position_valid = test->condition_bits & MTT_HOME_POS_VALID;
+		current_state.condition_global_position_valid = test->condition_bits & MTT_GLOBAL_POS_VALID;
+		
+		// Attempt transition
+		transition_result_t result = main_state_transition(&current_state, test->to_state);
+		
+		// Validate result of transition
+		ut_assert(test->assertMsg, test->expected_transition_result == result);
+		if (test->expected_transition_result == result) {
+			if (test->expected_transition_result == TRANSITION_CHANGED) {
+				ut_assert(test->assertMsg, test->to_state == current_state.main_state);
+			} else {
+				ut_assert(test->assertMsg, test->from_state == current_state.main_state);
+			}
+		}
+	}
+
+
+	return true;
 }
 
-const char*
-StateMachineHelperTest::is_safe_test()
+bool StateMachineHelperTest::isSafeTest(void)
 {
 	struct vehicle_status_s current_state;
 	struct safety_s safety;
@@ -199,49 +459,45 @@ StateMachineHelperTest::is_safe_test()
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	mu_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: not armed", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = false;
 	armed.lockdown = true;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	mu_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: software lockdown", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = true;
-	mu_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
+	ut_assert("not safe: safety off", !is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = true;
 	safety.safety_off = false;
-	mu_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
+	ut_assert("is safe: safety off", is_safe(&current_state, &safety, &armed));
 
 	armed.armed = true;
 	armed.lockdown = false;
 	safety.safety_switch_available = false;
 	safety.safety_off = false;
-	mu_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
+	ut_assert("not safe: no safety switch", !is_safe(&current_state, &safety, &armed));
 
-	return 0;
+	return true;
 }
 
-const char*
-StateMachineHelperTest::run_tests()
+void StateMachineHelperTest::runTests(void)
 {
-	mu_run_test(arming_state_transition_test);
-	mu_run_test(arming_state_transition_arm_disarm_test);
-	mu_run_test(main_state_transition_test);
-	mu_run_test(is_safe_test);
-
-	return 0;
+	ut_run_test(armingStateTransitionTest);
+	ut_run_test(mainStateTransitionTest);
+	ut_run_test(isSafeTest);
 }
 
-void
-state_machine_helper_test()
+void stateMachineHelperTest(void)
 {
 	StateMachineHelperTest* test = new StateMachineHelperTest();
-	test->UnitTest::print_results(test->run_tests());
+    test->runTests();
+	test->printResults();
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.h b/src/modules/commander/commander_tests/state_machine_helper_test.h
index 10a68e602..bbf66255e 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.h
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.h
@@ -39,6 +39,6 @@
 #ifndef STATE_MACHINE_HELPER_TEST_H_
 #define STATE_MACHINE_HELPER_TEST_
 
-void state_machine_helper_test();
+void stateMachineHelperTest(void);
 
 #endif /* STATE_MACHINE_HELPER_TEST_H_ */
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 30cd0d48d..d89c67c2b 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -92,7 +92,7 @@ int do_gyro_calibration(int mavlink_fd)
 		unsigned poll_errcount = 0;
 
 		/* subscribe to gyro sensor topic */
-		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro));
+		int sub_sensor_gyro = orb_subscribe(ORB_ID(sensor_gyro0));
 		struct gyro_report gyro_report;
 
 		while (calibration_counter < calibration_count) {
@@ -104,14 +104,15 @@ int do_gyro_calibration(int mavlink_fd)
 			int poll_ret = poll(fds, 1, 1000);
 
 			if (poll_ret > 0) {
-				orb_copy(ORB_ID(sensor_gyro), sub_sensor_gyro, &gyro_report);
+				orb_copy(ORB_ID(sensor_gyro0), sub_sensor_gyro, &gyro_report);
 				gyro_scale.x_offset += gyro_report.x;
 				gyro_scale.y_offset += gyro_report.y;
 				gyro_scale.z_offset += gyro_report.z;
 				calibration_counter++;
 
-				if (calibration_counter % (calibration_count / 20) == 0)
+				if (calibration_counter % (calibration_count / 20) == 0) {
 					mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count);
+				}
 
 			} else {
 				poll_errcount++;
@@ -163,8 +164,9 @@ int do_gyro_calibration(int mavlink_fd)
 	/* apply new offsets */
 	fd = open(GYRO_DEVICE_PATH, 0);
 
-	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale))
+	if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale)) {
 		warn("WARNING: failed to apply new offsets for gyro");
+	}
 
 	close(fd);
 
@@ -178,9 +180,9 @@ int do_gyro_calibration(int mavlink_fd)
 
 	float mag_last = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
 
-	if (mag_last > M_PI_F) mag_last -= 2 * M_PI_F;
+	if (mag_last > M_PI_F) { mag_last -= 2 * M_PI_F; }
 
-	if (mag_last < -M_PI_F) mag_last += 2 * M_PI_F;
+	if (mag_last < -M_PI_F) { mag_last += 2 * M_PI_F; }
 
 
 	uint64_t last_time = hrt_absolute_time();
@@ -220,15 +222,15 @@ int do_gyro_calibration(int mavlink_fd)
 			//float mag = -atan2f(magNav(1),magNav(0));
 			float mag = -atan2f(raw.magnetometer_ga[1], raw.magnetometer_ga[0]);
 
-			if (mag > M_PI_F) mag -= 2 * M_PI_F;
+			if (mag > M_PI_F) { mag -= 2 * M_PI_F; }
 
-			if (mag < -M_PI_F) mag += 2 * M_PI_F;
+			if (mag < -M_PI_F) { mag += 2 * M_PI_F; }
 
 			float diff = mag - mag_last;
 
-			if (diff > M_PI_F) diff -= 2 * M_PI_F;
+			if (diff > M_PI_F) { diff -= 2 * M_PI_F; }
 
-			if (diff < -M_PI_F) diff += 2 * M_PI_F;
+			if (diff < -M_PI_F) { diff += 2 * M_PI_F; }
 
 			baseline_integral += diff;
 			mag_last = mag;
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 4ebf266f4..23900f386 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd)
 	uint64_t calibration_interval = 45 * 1000 * 1000;
 
 	/* maximum 500 values */
-	const unsigned int calibration_maxcount = 500;
+	const unsigned int calibration_maxcount = 240;
 	unsigned int calibration_counter;
 
 	struct mag_scale mscale_null = {
@@ -121,16 +121,31 @@ int do_mag_calibration(int mavlink_fd)
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
+
+			/* clean up */
+			if (x != NULL) {
+				free(x);
+			}
+
+			if (y != NULL) {
+				free(y);
+			}
+
+			if (z != NULL) {
+				free(z);
+			}
+
 			res = ERROR;
 			return res;
 		}
+
 	} else {
 		/* exit */
 		return ERROR;
 	}
 
 	if (res == OK) {
-		int sub_mag = orb_subscribe(ORB_ID(sensor_mag));
+		int sub_mag = orb_subscribe(ORB_ID(sensor_mag0));
 		struct mag_report mag;
 
 		/* limit update rate to get equally spaced measurements over time (in ms) */
@@ -155,7 +170,7 @@ int do_mag_calibration(int mavlink_fd)
 			int poll_ret = poll(fds, 1, 1000);
 
 			if (poll_ret > 0) {
-				orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
+				orb_copy(ORB_ID(sensor_mag0), sub_mag, &mag);
 
 				x[calibration_counter] = mag.x;
 				y[calibration_counter] = mag.y;
@@ -163,8 +178,9 @@ int do_mag_calibration(int mavlink_fd)
 
 				calibration_counter++;
 
-				if (calibration_counter % (calibration_maxcount / 20) == 0)
+				if (calibration_counter % (calibration_maxcount / 20) == 0) {
 					mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 20 + (calibration_counter * 50) / calibration_maxcount);
+				}
 
 			} else {
 				poll_errcount++;
@@ -198,14 +214,17 @@ int do_mag_calibration(int mavlink_fd)
 		}
 	}
 
-	if (x != NULL)
+	if (x != NULL) {
 		free(x);
+	}
 
-	if (y != NULL)
+	if (y != NULL) {
 		free(y);
+	}
 
-	if (z != NULL)
+	if (z != NULL) {
 		free(z);
+	}
 
 	if (res == OK) {
 		/* apply calibration and set parameters */
@@ -234,23 +253,29 @@ int do_mag_calibration(int mavlink_fd)
 
 		if (res == OK) {
 			/* set parameters */
-			if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset)))
+			if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset)))
+			if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset)))
+			if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale)))
+			if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale)))
+			if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
 				res = ERROR;
+			}
 
-			if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale)))
+			if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
 				res = ERROR;
+			}
 
 			if (res != OK) {
 				mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
diff --git a/src/modules/commander/mag_calibration.h b/src/modules/commander/mag_calibration.h
index a101cd7b1..c14f948cc 100644
--- a/src/modules/commander/mag_calibration.h
+++ b/src/modules/commander/mag_calibration.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index 554dfcb08..27ca5c182 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -47,3 +47,7 @@ SRCS		 	= commander.cpp \
 			baro_calibration.cpp \
 			rc_calibration.cpp \
 			airspeed_calibration.cpp
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index 2144d3460..eaf309288 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -12,9 +12,11 @@
 
 enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_MANUAL = 1,
-	PX4_CUSTOM_MAIN_MODE_SEATBELT,
-	PX4_CUSTOM_MAIN_MODE_EASY,
+	PX4_CUSTOM_MAIN_MODE_ALTCTL,
+	PX4_CUSTOM_MAIN_MODE_POSCTL,
 	PX4_CUSTOM_MAIN_MODE_AUTO,
+	PX4_CUSTOM_MAIN_MODE_ACRO,
+	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
 };
 
 enum PX4_CUSTOM_SUB_MODE_AUTO {
@@ -24,6 +26,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
 	PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
 	PX4_CUSTOM_SUB_MODE_AUTO_RTL,
 	PX4_CUSTOM_SUB_MODE_AUTO_LAND,
+	PX4_CUSTOM_SUB_MODE_AUTO_RTGS
 };
 
 union px4_custom_mode {
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 41f3ca0aa..0776894fb 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd)
 	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
 
 	/* set parameters */
-	float p = sp.roll;
+	float p = sp.y;
 	param_set(param_find("TRIM_ROLL"), &p);
-	p = sp.pitch;
+	p = sp.x;
 	param_set(param_find("TRIM_PITCH"), &p);
-	p = sp.yaw;
+	p = sp.r;
 	param_set(param_find("TRIM_YAW"), &p);
 
 	/* store to permanent storage */
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e6f245cf9..f8589d24b 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
 /**
  * @file state_machine_helper.cpp
  * State machine helper functions implementations
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #include <stdio.h>
@@ -45,14 +46,19 @@
 #include <dirent.h>
 #include <fcntl.h>
 #include <string.h>
+#include <math.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/airspeed.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_airspeed.h>
 #include <drivers/drv_device.h>
 #include <mavlink/mavlink_log.h>
 
@@ -65,27 +71,70 @@
 #endif
 static const int ERROR = -1;
 
-static bool arming_state_changed = true;
-static bool main_state_changed = true;
-static bool failsafe_state_changed = true;
+// This array defines the arming state transitions. The rows are the new state, and the columns
+// are the current state. Using new state and current  state you can index into the array which
+// will be true for a valid transition or false for a invalid transition. In some cases even
+// though the transition is marked as true additional checks must be made. See arming_state_transition
+// code for those checks.
+static const bool arming_transitions[ARMING_STATE_MAX][ARMING_STATE_MAX] = {
+	//                                  INIT,  STANDBY, ARMED, ARMED_ERROR, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
+	{ /* ARMING_STATE_INIT */           true,  true,    false, false,       false,         false,  false },
+	{ /* ARMING_STATE_STANDBY */        true,  true,    true,  true,        false,         false,  false },
+	{ /* ARMING_STATE_ARMED */          false, true,    true,  false,       false,         false,  true },
+	{ /* ARMING_STATE_ARMED_ERROR */    false, false,   true,  true,        false,         false,  false },
+	{ /* ARMING_STATE_STANDBY_ERROR */  true,  true,    false, true,        true,          false,  false },
+	{ /* ARMING_STATE_REBOOT */         true,  true,    false, false,       true,          true,   true },
+	{ /* ARMING_STATE_IN_AIR_RESTORE */ false, false,   false, false,       false,         false,  false }, // NYI
+};
+
+// You can index into the array with an arming_state_t in order to get it's textual representation
+static const char * const state_names[ARMING_STATE_MAX] = {
+	"ARMING_STATE_INIT",
+	"ARMING_STATE_STANDBY",
+	"ARMING_STATE_ARMED",
+	"ARMING_STATE_ARMED_ERROR",
+	"ARMING_STATE_STANDBY_ERROR",
+	"ARMING_STATE_REBOOT",
+	"ARMING_STATE_IN_AIR_RESTORE",
+};
 
 transition_result_t
-arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
-			arming_state_t new_arming_state, struct actuator_armed_s *armed)
+arming_state_transition(struct vehicle_status_s *status,		///< current vehicle status
+			const struct safety_s   *safety,		///< current safety settings
+			arming_state_t          new_arming_state,	///< arming state requested
+			struct actuator_armed_s *armed,			///< current armed status
+			bool			fRunPreArmChecks,	///< true: run the pre-arm checks, false: no pre-arm checks, for unit testing
+			const int               mavlink_fd)		///< mavlink fd for error reporting, 0 for none
 {
-	/*
-	 * Perform an atomic state update
-	 */
-	irqstate_t flags = irqsave();
+	// Double check that our static arrays are still valid
+	ASSERT(ARMING_STATE_INIT == 0);
+	ASSERT(ARMING_STATE_IN_AIR_RESTORE == ARMING_STATE_MAX - 1);
 
 	transition_result_t ret = TRANSITION_DENIED;
+	arming_state_t current_arming_state = status->arming_state;
+	bool feedback_provided = false;
 
 	/* only check transition if the new state is actually different from the current one */
-	if (new_arming_state == status->arming_state) {
+	if (new_arming_state == current_arming_state) {
 		ret = TRANSITION_NOT_CHANGED;
 
 	} else {
 
+		/*
+		 * Get sensing state if necessary
+		 */
+		int prearm_ret = OK;
+
+		/* only perform the check if we have to */
+		if (fRunPreArmChecks && new_arming_state == ARMING_STATE_ARMED) {
+			prearm_ret = prearm_check(status, mavlink_fd);
+		}
+
+		/*
+		 * Perform an atomic state update
+		 */
+		irqstate_t flags = irqsave();
+
 		/* enforce lockdown in HIL */
 		if (status->hil_state == HIL_STATE_ON) {
 			armed->lockdown = true;
@@ -94,105 +143,95 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
 			armed->lockdown = false;
 		}
 
-		switch (new_arming_state) {
-		case ARMING_STATE_INIT:
-
-			/* allow going back from INIT for calibration */
-			if (status->arming_state == ARMING_STATE_STANDBY) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
-
-			break;
-
-		case ARMING_STATE_STANDBY:
-
-			/* allow coming from INIT and disarming from ARMED */
-			if (status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_ARMED
-			    || status->hil_state == HIL_STATE_ON) {
-
-				/* sensors need to be initialized for STANDBY state */
-				if (status->condition_system_sensors_initialized) {
-					ret = TRANSITION_CHANGED;
-					armed->armed = false;
-					armed->ready_to_arm = true;
-				}
-			}
+		// Check that we have a valid state transition
+		bool valid_transition = arming_transitions[new_arming_state][status->arming_state];
 
-			break;
-
-		case ARMING_STATE_ARMED:
+		if (valid_transition) {
+			// We have a good transition. Now perform any secondary validation.
+			if (new_arming_state == ARMING_STATE_ARMED) {
 
-			/* allow arming from STANDBY and IN-AIR-RESTORE */
-			if ((status->arming_state == ARMING_STATE_STANDBY
-			     || status->arming_state == ARMING_STATE_IN_AIR_RESTORE)
-			    && (!safety->safety_switch_available || safety->safety_off || status->hil_state == HIL_STATE_ON)) { /* only allow arming if safety is off */
-				ret = TRANSITION_CHANGED;
-				armed->armed = true;
-				armed->ready_to_arm = true;
-			}
+				//      Do not perform pre-arm checks if coming from in air restore
+				//      Allow if HIL_STATE_ON
+				if (status->arming_state != ARMING_STATE_IN_AIR_RESTORE &&
+					status->hil_state == HIL_STATE_OFF) {
 
-			break;
+					// Fail transition if pre-arm check fails
+					if (prearm_ret) {
+						/* the prearm check already prints the reject reason */
+						feedback_provided = true;
+						valid_transition = false;
 
-		case ARMING_STATE_ARMED_ERROR:
+					// Fail transition if we need safety switch press
+					} else if (safety->safety_switch_available && !safety->safety_off) {
 
-			/* an armed error happens when ARMED obviously */
-			if (status->arming_state == ARMING_STATE_ARMED) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = true;
-				armed->ready_to_arm = false;
-			}
+						mavlink_log_critical(mavlink_fd, "NOT ARMING: Press safety switch first!");
+						feedback_provided = true;
+						valid_transition = false;
+					}
 
-			break;
+					// Perform power checks only if circuit breaker is not
+					// engaged for these checks
+					if (!status->circuit_breaker_engaged_power_check) {
+						// Fail transition if power is not good
+						if (!status->condition_power_input_valid) {
 
-		case ARMING_STATE_STANDBY_ERROR:
+							mavlink_log_critical(mavlink_fd, "NOT ARMING: Connect power module.");
+							feedback_provided = true;
+							valid_transition = false;
+						}
 
-			/* a disarmed error happens when in STANDBY or in INIT or after ARMED_ERROR */
-			if (status->arming_state == ARMING_STATE_STANDBY
-			    || status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
-			}
+						// Fail transition if power levels on the avionics rail
+						// are measured but are insufficient
+						if (status->condition_power_input_valid && ((status->avionics_power_rail_voltage > 0.0f) &&
+							(status->avionics_power_rail_voltage < 4.9f))) {
 
-			break;
+							mavlink_log_critical(mavlink_fd, "NOT ARMING: Avionics power low: %6.2f V.", (double)status->avionics_power_rail_voltage);
+							feedback_provided = true;
+							valid_transition = false;
+						}
+					}
 
-		case ARMING_STATE_REBOOT:
+				}
 
-			/* an armed error happens when ARMED obviously */
-			if (status->arming_state == ARMING_STATE_INIT
-			    || status->arming_state == ARMING_STATE_STANDBY
-			    || status->arming_state == ARMING_STATE_STANDBY_ERROR) {
-				ret = TRANSITION_CHANGED;
-				armed->armed = false;
-				armed->ready_to_arm = false;
+			} else if (new_arming_state == ARMING_STATE_STANDBY && status->arming_state == ARMING_STATE_ARMED_ERROR) {
+				new_arming_state = ARMING_STATE_STANDBY_ERROR;
 			}
+		}
 
-			break;
-
-		case ARMING_STATE_IN_AIR_RESTORE:
-
-			/* XXX implement */
-			break;
+		// HIL can always go to standby
+		if (status->hil_state == HIL_STATE_ON && new_arming_state == ARMING_STATE_STANDBY) {
+			valid_transition = true;
+		}
 
-		default:
-			break;
+		/* Sensors need to be initialized for STANDBY state */
+		if (new_arming_state == ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
+			mavlink_log_critical(mavlink_fd, "NOT ARMING: Sensors not operational.");
+			feedback_provided = true;
+			valid_transition = false;
 		}
 
-		if (ret == TRANSITION_CHANGED) {
+		// Finish up the state transition
+		if (valid_transition) {
+			armed->armed = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_ARMED_ERROR;
+			armed->ready_to_arm = new_arming_state == ARMING_STATE_ARMED || new_arming_state == ARMING_STATE_STANDBY;
+			ret = TRANSITION_CHANGED;
 			status->arming_state = new_arming_state;
-			arming_state_changed = true;
 		}
+
+		/* end of atomic state update */
+		irqrestore(flags);
 	}
 
-	/* end of atomic state update */
-	irqrestore(flags);
+	if (ret == TRANSITION_DENIED) {
+		const char * str = "INVAL: %s - %s";
+		/* only print to console here by default as this is too technical to be useful during operation */
+		warnx(str, state_names[status->arming_state], state_names[new_arming_state]);
 
-	if (ret == TRANSITION_DENIED)
-		warnx("arming transition rejected");
+		/* print to MAVLink if we didn't provide any feedback yet */
+		if (!feedback_provided) {
+			mavlink_log_critical(mavlink_fd, str, state_names[status->arming_state], state_names[new_arming_state]);
+		}
+	}
 
 	return ret;
 }
@@ -211,65 +250,67 @@ bool is_safe(const struct vehicle_status_s *status, const struct safety_s *safet
 	}
 }
 
-bool
-check_arming_state_changed()
-{
-	if (arming_state_changed) {
-		arming_state_changed = false;
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
 transition_result_t
 main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state)
 {
 	transition_result_t ret = TRANSITION_DENIED;
 
-	/* transition may be denied even if requested the same state because conditions may be changed */
+	/* transition may be denied even if the same state is requested because conditions may have changed */
 	switch (new_main_state) {
 	case MAIN_STATE_MANUAL:
+	case MAIN_STATE_ACRO:
 		ret = TRANSITION_CHANGED;
 		break;
 
-	case MAIN_STATE_SEATBELT:
-
+	case MAIN_STATE_ALTCTL:
 		/* need at minimum altitude estimate */
+		/* TODO: add this for fixedwing as well */
 		if (!status->is_rotary_wing ||
 		    (status->condition_local_altitude_valid ||
 		     status->condition_global_position_valid)) {
 			ret = TRANSITION_CHANGED;
 		}
-
 		break;
 
-	case MAIN_STATE_EASY:
-
+	case MAIN_STATE_POSCTL:
 		/* need at minimum local position estimate */
 		if (status->condition_local_position_valid ||
 		    status->condition_global_position_valid) {
 			ret = TRANSITION_CHANGED;
 		}
-
 		break;
 
-	case MAIN_STATE_AUTO:
-
+	case MAIN_STATE_AUTO_LOITER:
 		/* need global position estimate */
 		if (status->condition_global_position_valid) {
 			ret = TRANSITION_CHANGED;
 		}
+		break;
+
+	case MAIN_STATE_AUTO_MISSION:
+	case MAIN_STATE_AUTO_RTL:
+		/* need global position and home position */
+		if (status->condition_global_position_valid && status->condition_home_position_valid) {
+			ret = TRANSITION_CHANGED;
+		}
+		break;
+
+	case MAIN_STATE_OFFBOARD:
+
+		/* need offboard signal */
+		if (!status->offboard_control_signal_lost) {
+			ret = TRANSITION_CHANGED;
+		}
 
 		break;
-	}
 
+	case MAIN_STATE_MAX:
+	default:
+		break;
+	}
 	if (ret == TRANSITION_CHANGED) {
 		if (status->main_state != new_main_state) {
 			status->main_state = new_main_state;
-			main_state_changed = true;
-
 		} else {
 			ret = TRANSITION_NOT_CHANGED;
 		}
@@ -278,69 +319,35 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 	return ret;
 }
 
-bool
-check_main_state_changed()
-{
-	if (main_state_changed) {
-		main_state_changed = false;
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
-bool
-check_failsafe_state_changed()
-{
-	if (failsafe_state_changed) {
-		failsafe_state_changed = false;
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
 /**
-* Transition from one hil state to another
-*/
-int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
+ * Transition from one hil state to another
+ */
+transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd)
 {
-	bool valid_transition = false;
-	int ret = ERROR;
+	transition_result_t ret = TRANSITION_DENIED;
 
 	if (current_status->hil_state == new_state) {
-		valid_transition = true;
+		ret = TRANSITION_NOT_CHANGED;
 
 	} else {
-
 		switch (new_state) {
-
 		case HIL_STATE_OFF:
-
 			/* we're in HIL and unexpected things can happen if we disable HIL now */
-			mavlink_log_critical(mavlink_fd, "Not switching off HIL (safety)");
-			valid_transition = false;
-
+			mavlink_log_critical(mavlink_fd, "#audio: Not switching off HIL (safety)");
+			ret = TRANSITION_DENIED;
 			break;
 
 		case HIL_STATE_ON:
-
 			if (current_status->arming_state == ARMING_STATE_INIT
 			    || current_status->arming_state == ARMING_STATE_STANDBY
 			    || current_status->arming_state == ARMING_STATE_STANDBY_ERROR) {
 
-				mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
-				valid_transition = true;
-
-				// Disable publication of all attached sensors
-
+				/* Disable publication of all attached sensors */
 				/* list directory */
 				DIR		*d;
 				d = opendir("/dev");
-				if (d) {
 
+				if (d) {
 					struct dirent	*direntry;
 					char devname[24];
 
@@ -350,26 +357,32 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 						if (!strncmp("tty", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip mtd devices */
 						if (!strncmp("mtd", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip ram devices */
 						if (!strncmp("ram", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip MMC devices */
 						if (!strncmp("mmc", direntry->d_name, 3)) {
 							continue;
 						}
+
 						/* skip mavlink */
 						if (!strcmp("mavlink", direntry->d_name)) {
 							continue;
 						}
+
 						/* skip console */
 						if (!strcmp("console", direntry->d_name)) {
 							continue;
 						}
+
 						/* skip null */
 						if (!strcmp("null", direntry->d_name)) {
 							continue;
@@ -389,290 +402,297 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 
 						printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
 					}
-
 					closedir(d);
+					ret = TRANSITION_CHANGED;
+					mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
+
 
 				} else {
 					/* failed opening dir */
-					warnx("FAILED LISTING DEVICE ROOT DIRECTORY");
-					return 1;
+					mavlink_log_info(mavlink_fd, "FAILED LISTING DEVICE ROOT DIRECTORY");
+					ret = TRANSITION_DENIED;
 				}
+			} else {
+				mavlink_log_critical(mavlink_fd, "Not switching to HIL when armed");
+				ret = TRANSITION_DENIED;
 			}
-
 			break;
 
 		default:
-			warnx("Unknown hil state");
+			warnx("Unknown HIL state");
 			break;
 		}
 	}
 
-	if (valid_transition) {
+	if (ret == TRANSITION_CHANGED) {
 		current_status->hil_state = new_state;
-
 		current_status->timestamp = hrt_absolute_time();
-		orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
 		// XXX also set lockdown here
-
-		ret = OK;
-
-	} else {
-		mavlink_log_critical(mavlink_fd, "REJECTING invalid hil state transition");
+		orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
 	}
-
 	return ret;
 }
 
-
 /**
-* Transition from one failsafe state to another
-*/
-transition_result_t failsafe_state_transition(struct vehicle_status_s *status, failsafe_state_t new_failsafe_state)
+ * Check failsafe and main status and set navigation status for navigator accordingly
+ */
+bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished)
 {
-	transition_result_t ret = TRANSITION_DENIED;
+	navigation_state_t nav_state_old = status->nav_state;
 
-	/* transition may be denied even if requested the same state because conditions may be changed */
-	if (status->failsafe_state == FAILSAFE_STATE_TERMINATION) {
-		/* transitions from TERMINATION to other states not allowed */
-		if (new_failsafe_state == FAILSAFE_STATE_TERMINATION) {
-			ret = TRANSITION_NOT_CHANGED;
+	bool armed = (status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR);
+	status->failsafe = false;
+
+	/* evaluate main state to decide in normal (non-failsafe) mode */
+	switch (status->main_state) {
+	case MAIN_STATE_ACRO:
+	case MAIN_STATE_MANUAL:
+	case MAIN_STATE_ALTCTL:
+	case MAIN_STATE_POSCTL:
+		/* require RC for all manual modes */
+		if (status->rc_signal_lost && armed) {
+			status->failsafe = true;
+
+			if (status->condition_global_position_valid && status->condition_home_position_valid) {
+				status->nav_state = NAVIGATION_STATE_AUTO_RTL;
+			} else if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
+			}
+
+		} else {
+			switch (status->main_state) {
+			case MAIN_STATE_ACRO:
+				status->nav_state = NAVIGATION_STATE_ACRO;
+				break;
+
+			case MAIN_STATE_MANUAL:
+				status->nav_state = NAVIGATION_STATE_MANUAL;
+				break;
+
+			case MAIN_STATE_ALTCTL:
+				status->nav_state = NAVIGATION_STATE_ALTCTL;
+				break;
+
+			case MAIN_STATE_POSCTL:
+				status->nav_state = NAVIGATION_STATE_POSCTL;
+				break;
+
+			default:
+				status->nav_state = NAVIGATION_STATE_MANUAL;
+				break;
+			}
 		}
+		break;
 
-	} else {
-		switch (new_failsafe_state) {
-		case FAILSAFE_STATE_NORMAL:
-			/* always allowed (except from TERMINATION state) */
-			ret = TRANSITION_CHANGED;
-			break;
+	case MAIN_STATE_AUTO_MISSION:
+		/* go into failsafe
+		 * - if either the datalink is enabled and lost as well as RC is lost
+		 * - if there is no datalink and the mission is finished */
+		if (((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) ||
+		    (!data_link_loss_enabled && status->rc_signal_lost && mission_finished)) {
+			status->failsafe = true;
+
+			if (status->condition_global_position_valid && status->condition_home_position_valid) {
+				status->nav_state = NAVIGATION_STATE_AUTO_RTL;
+			} else if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
+			}
 
-		case FAILSAFE_STATE_RTL:
+		/* also go into failsafe if just datalink is lost */
+		} else if (status->data_link_lost && data_link_loss_enabled) {
+			status->failsafe = true;
 
-			/* global position and home position required for RTL */
 			if (status->condition_global_position_valid && status->condition_home_position_valid) {
-				status->set_nav_state = NAV_STATE_RTL;
-				status->set_nav_state_timestamp = hrt_absolute_time();
-				ret = TRANSITION_CHANGED;
+				status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
+			} else if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
 			}
 
-			break;
+		/* don't bother if RC is lost and mission is not yet finished */
+		} else if (status->rc_signal_lost) {
+
+			/* this mode is ok, we don't need RC for missions */
+			status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
+		} else {
+			/* everything is perfect */
+			status->nav_state = NAVIGATION_STATE_AUTO_MISSION;
+		}
+		break;
 
-		case FAILSAFE_STATE_LAND:
+	case MAIN_STATE_AUTO_LOITER:
+		/* go into failsafe if datalink and RC is lost */
+		if ((status->data_link_lost && data_link_loss_enabled) && status->rc_signal_lost) {
+			status->failsafe = true;
 
-			/* at least relative altitude estimate required for landing */
-			if (status->condition_local_altitude_valid || status->condition_global_position_valid) {
-				status->set_nav_state = NAV_STATE_LAND;
-				status->set_nav_state_timestamp = hrt_absolute_time();
-				ret = TRANSITION_CHANGED;
+			if (status->condition_global_position_valid && status->condition_home_position_valid) {
+				status->nav_state = NAVIGATION_STATE_AUTO_RTL;
+			} else if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
 			}
 
-			break;
+		/* also go into failsafe if just datalink is lost */
+		} else if (status->data_link_lost && data_link_loss_enabled) {
+			status->failsafe = true;
 
-		case FAILSAFE_STATE_TERMINATION:
-			/* always allowed */
-			ret = TRANSITION_CHANGED;
-			break;
+			if (status->condition_global_position_valid && status->condition_home_position_valid) {
+				status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
+			} else if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
+			}
 
-		default:
-			break;
+		/* go into failsafe if RC is lost and datalink loss is not set up */
+		} else if (status->rc_signal_lost && !data_link_loss_enabled) {
+			status->failsafe = true;
+
+			if (status->condition_global_position_valid && status->condition_home_position_valid) {
+				status->nav_state = NAVIGATION_STATE_AUTO_RTGS;
+			} else if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
+			}
+
+		/* don't bother if RC is lost if datalink is connected */
+		} else if (status->rc_signal_lost) {
+
+			/* this mode is ok, we don't need RC for loitering */
+			status->nav_state = NAVIGATION_STATE_AUTO_LOITER;
+		} else {
+			/* everything is perfect */
+			status->nav_state = NAVIGATION_STATE_AUTO_LOITER;
 		}
+		break;
 
-		if (ret == TRANSITION_CHANGED) {
-			if (status->failsafe_state != new_failsafe_state) {
-				status->failsafe_state = new_failsafe_state;
-				failsafe_state_changed = true;
+	case MAIN_STATE_AUTO_RTL:
+		/* require global position and home */
+		if ((!status->condition_global_position_valid || !status->condition_home_position_valid)) {
+			status->failsafe = true;
 
+			if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
 			} else {
-				ret = TRANSITION_NOT_CHANGED;
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
 			}
+		} else {
+			status->nav_state = NAVIGATION_STATE_AUTO_RTL;
 		}
+		break;
+
+	case MAIN_STATE_OFFBOARD:
+		/* require offboard control, otherwise stay where you are */
+		if (status->offboard_control_signal_lost && !status->rc_signal_lost) {
+			status->failsafe = true;
+
+			status->nav_state = NAVIGATION_STATE_POSCTL;
+		} else if (status->offboard_control_signal_lost && status->rc_signal_lost) {
+			status->failsafe = true;
+
+			if (status->condition_local_position_valid) {
+				status->nav_state = NAVIGATION_STATE_LAND;
+			} else if (status->condition_local_altitude_valid) {
+				status->nav_state = NAVIGATION_STATE_DESCEND;
+			} else {
+				status->nav_state = NAVIGATION_STATE_TERMINATION;
+			}
+		} else {
+			status->nav_state = NAVIGATION_STATE_OFFBOARD;
+		}
+	default:
+		break;
 	}
 
-	return ret;
+	return status->nav_state != nav_state_old;
 }
 
+int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
+{
+	int ret;
+	bool failed = false;
+
+	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 
+	if (fd < 0) {
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL SENSOR MISSING");
+		failed = true;
+		goto system_eval;
+	}
+
+	ret = ioctl(fd, ACCELIOCSELFTEST, 0);
+
+	if (ret != OK) {
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL CALIBRATION");
+		failed = true;
+		goto system_eval;
+	}
+
+	/* check measurement result range */
+	struct accel_report acc;
+	ret = read(fd, &acc, sizeof(acc));
 
-// /*
-//  * Wrapper functions (to be used in the commander), all functions assume lock on current_status
-//  */
-
-// /* These functions decide if an emergency exits and then switch to SYSTEM_STATE_MISSION_ABORT or SYSTEM_STATE_GROUND_ERROR
-//  *
-//  * START SUBSYSTEM/EMERGENCY FUNCTIONS
-//  * */
-
-// void update_state_machine_subsystem_present(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_present |= 1 << *subsystem_type;
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-// }
-
-// void update_state_machine_subsystem_notpresent(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_present &= ~(1 << *subsystem_type);
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
-// 	/* if a subsystem was removed something went completely wrong */
-
-// 	switch (*subsystem_type) {
-// 	case SUBSYSTEM_TYPE_GYRO:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: gyro not present", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_ACC:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: accelerometer not present", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_MAG:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: magnetometer not present", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_GPS:
-// 		{
-// 			uint8_t flight_env = global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV];
-
-// 			if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-// 				//global_data_send_mavlink_statustext_message_out("Commander: GPS not present", MAV_SEVERITY_EMERGENCY);
-// 				state_machine_emergency(status_pub, current_status);
-// 			}
-// 		}
-// 		break;
-
-// 	default:
-// 		break;
-// 	}
-
-// }
-
-// void update_state_machine_subsystem_enabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_enabled |= 1 << *subsystem_type;
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-// }
-
-// void update_state_machine_subsystem_disabled(int status_pub, struct vehicle_status_s *current_status, subsystem_type_t *subsystem_type)
-// {
-// 	current_status->onboard_control_sensors_enabled &= ~(1 << *subsystem_type);
-// 	current_status->counter++;
-// 	current_status->timestamp = hrt_absolute_time();
-// 	orb_publish(ORB_ID(vehicle_status), status_pub, current_status);
-
-// 	/* if a subsystem was disabled something went completely wrong */
-
-// 	switch (*subsystem_type) {
-// 	case SUBSYSTEM_TYPE_GYRO:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - gyro disabled", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_ACC:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - accelerometer disabled", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_MAG:
-// 		//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - magnetometer disabled", MAV_SEVERITY_EMERGENCY);
-// 		state_machine_emergency_always_critical(status_pub, current_status);
-// 		break;
-
-// 	case SUBSYSTEM_TYPE_GPS:
-// 		{
-// 			uint8_t flight_env = (uint8_t)(global_data_parameter_storage->pm.param_values[PARAM_FLIGHT_ENV]);
-
-// 			if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
-// 				//global_data_send_mavlink_statustext_message_out("Commander: EMERGENCY - GPS disabled", MAV_SEVERITY_EMERGENCY);
-// 				state_machine_emergency(status_pub, current_status);
-// 			}
-// 		}
-// 		break;
-
-// 	default:
-// 		break;
-// 	}
-
-// }
-
-
-///* END SUBSYSTEM/EMERGENCY FUNCTIONS*/
-//
-//int update_state_machine_mode_request(int status_pub, struct vehicle_status_s *current_status, const int mavlink_fd, uint8_t mode)
-//{
-//	int ret = 1;
-//
-////	/* Switch on HIL if in standby and not already in HIL mode */
-////	if ((mode & VEHICLE_MODE_FLAG_HIL_ENABLED)
-////	    && !current_status->flag_hil_enabled) {
-////		if ((current_status->state_machine == SYSTEM_STATE_STANDBY)) {
-////			/* Enable HIL on request */
-////			current_status->flag_hil_enabled = true;
-////			ret = OK;
-////			state_machine_publish(status_pub, current_status, mavlink_fd);
-////			publish_armed_status(current_status);
-////			printf("[cmd] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
-////
-////		} else if (current_status->state_machine != SYSTEM_STATE_STANDBY &&
-////			   current_status->flag_fmu_armed) {
-////
-////			mavlink_log_critical(mavlink_fd, "REJECTING HIL, disarm first!")
-////
-////		} else {
-////
-////			mavlink_log_critical(mavlink_fd, "REJECTING HIL, not in standby.")
-////		}
-////	}
-//
-//	/* switch manual / auto */
-//	if (mode & VEHICLE_MODE_FLAG_AUTO_ENABLED) {
-//		update_state_machine_mode_auto(status_pub, current_status, mavlink_fd);
-//
-//	} else if (mode & VEHICLE_MODE_FLAG_STABILIZED_ENABLED) {
-//		update_state_machine_mode_stabilized(status_pub, current_status, mavlink_fd);
-//
-//	} else if (mode & VEHICLE_MODE_FLAG_GUIDED_ENABLED) {
-//		update_state_machine_mode_guided(status_pub, current_status, mavlink_fd);
-//
-//	} else if (mode & VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED) {
-//		update_state_machine_mode_manual(status_pub, current_status, mavlink_fd);
-//	}
-//
-//	/* vehicle is disarmed, mode requests arming */
-//	if (!(current_status->flag_fmu_armed) && (mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-//		/* only arm in standby state */
-//		// XXX REMOVE
-//		if (current_status->state_machine == SYSTEM_STATE_STANDBY || current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
-//			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_GROUND_READY);
-//			ret = OK;
-//			printf("[cmd] arming due to command request\n");
-//		}
-//	}
-//
-//	/* vehicle is armed, mode requests disarming */
-//	if (current_status->flag_fmu_armed && !(mode & VEHICLE_MODE_FLAG_SAFETY_ARMED)) {
-//		/* only disarm in ground ready */
-//		if (current_status->state_machine == SYSTEM_STATE_GROUND_READY) {
-//			do_state_update(status_pub, current_status, mavlink_fd, (commander_state_machine_t)SYSTEM_STATE_STANDBY);
-//			ret = OK;
-//			printf("[cmd] disarming due to command request\n");
-//		}
-//	}
-//
-//	/* NEVER actually switch off HIL without reboot */
-//	if (current_status->flag_hil_enabled && !(mode & VEHICLE_MODE_FLAG_HIL_ENABLED)) {
-//		warnx("DENYING request to switch off HIL. Please power cycle (safety reasons)\n");
-//		mavlink_log_critical(mavlink_fd, "Power-cycle to exit HIL");
-//		ret = ERROR;
-//	}
-//
-//	return ret;
-//}
+	if (ret == sizeof(acc)) {
+		/* evaluate values */
+		float accel_magnitude = sqrtf(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
 
+		if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL RANGE, hold still");
+			/* this is frickin' fatal */
+			failed = true;
+			goto system_eval;
+		}
+	} else {
+		mavlink_log_critical(mavlink_fd, "ARM FAIL: ACCEL READ");
+		/* this is frickin' fatal */
+		failed = true;
+		goto system_eval;
+	}
+
+	/* Perform airspeed check only if circuit breaker is not
+	 * engaged and it's not a rotary wing */
+	if (!status->circuit_breaker_engaged_airspd_check && !status->is_rotary_wing) {
+		/* accel done, close it */
+		close(fd);
+		fd = orb_subscribe(ORB_ID(airspeed));
+
+		struct airspeed_s airspeed;
+
+		if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
+			(hrt_elapsed_time(&airspeed.timestamp) > (50 * 1000))) {
+			mavlink_log_critical(mavlink_fd, "ARM FAIL: AIRSPEED SENSOR MISSING");
+			failed = true;
+			goto system_eval;
+		}
+
+		if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
+			mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
+			// XXX do not make this fatal yet
+		}
+	}
+
+system_eval:
+	close(fd);
+	return (failed);
+}
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index f04879ff9..69ce8bbce 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,14 +34,14 @@
 /**
  * @file state_machine_helper.h
  * State machine helper functions definitions
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef STATE_MACHINE_HELPER_H_
 #define STATE_MACHINE_HELPER_H_
 
-#define GPS_NOFIX_COUNTER_LIMIT 4 //need GPS_NOFIX_COUNTER_LIMIT gps packets with a bad fix to call an error (if outdoor)
-#define GPS_GOTFIX_COUNTER_REQUIRED 4 //need GPS_GOTFIX_COUNTER_REQUIRED gps packets with a good fix to obtain position lock
-
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_armed.h>
@@ -56,25 +54,17 @@ typedef enum {
 
 } transition_result_t;
 
-transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
-		arming_state_t new_arming_state, struct actuator_armed_s *armed);
-
 bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
 
-bool check_arming_state_changed();
+transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
+		arming_state_t new_arming_state, struct actuator_armed_s *armed, bool fRunPreArmChecks, const int mavlink_fd);
 
 transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);
 
-bool check_main_state_changed();
-
-transition_result_t failsafe_state_transition(struct vehicle_status_s *status, failsafe_state_t new_failsafe_state);
-
-bool check_navigation_state_changed();
-
-bool check_failsafe_state_changed();
+transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
 
-void set_navigation_state_changed();
+bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished);
 
-int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
+int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd);
 
 #endif /* STATE_MACHINE_HELPER_H_ */
diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
index 736698e21..9bd80b15b 100644
--- a/src/modules/controllib/block/Block.hpp
+++ b/src/modules/controllib/block/Block.hpp
@@ -93,6 +93,11 @@ protected:
 	List<uORB::SubscriptionBase *> _subscriptions;
 	List<uORB::PublicationBase *> _publications;
 	List<BlockParamBase *> _params;
+
+private:
+	/* this class has pointer data members and should not be copied (private constructor) */
+	Block(const control::Block&);
+	Block operator=(const control::Block&);
 };
 
 class __EXPORT SuperBlock :
diff --git a/src/modules/controllib/blocks.cpp b/src/modules/controllib/blocks.cpp
index c6c374300..f739446fa 100644
--- a/src/modules/controllib/blocks.cpp
+++ b/src/modules/controllib/blocks.cpp
@@ -121,6 +121,9 @@ int blockLimitSymTest()
 
 float BlockLowPass::update(float input)
 {
+	if (!isfinite(getState())) {
+		setState(input);
+	}
 	float b = 2 * float(M_PI) * getFCut() * getDt();
 	float a = b / (1 + b);
 	setState(a * input + (1 - a)*getState());
@@ -293,7 +296,18 @@ int blockIntegralTrapTest()
 
 float BlockDerivative::update(float input)
 {
-	float output = _lowPass.update((input - getU()) / getDt());
+	float output;
+	if (_initialized) {
+		output = _lowPass.update((input - getU()) / getDt());
+	} else {
+		// if this is the first call to update
+		// we have no valid derivative
+		// and so we use the assumption the
+		// input value is not changing much,
+		// which is the best we can do here.
+		output = 0.0f;
+		_initialized = true;
+	}
 	setU(input);
 	return output;
 }
diff --git a/src/modules/controllib/blocks.hpp b/src/modules/controllib/blocks.hpp
index 66e929038..bffc355a8 100644
--- a/src/modules/controllib/blocks.hpp
+++ b/src/modules/controllib/blocks.hpp
@@ -114,7 +114,7 @@ public:
 // methods
 	BlockLowPass(SuperBlock *parent, const char *name) :
 		Block(parent, name),
-		_state(0),
+		_state(0.0f/0.0f /* initialize to invalid val, force into is_finite() check on first call */),
 		_fCut(this, "") // only one parameter, no need to name
 	{};
 	virtual ~BlockLowPass() {};
@@ -238,9 +238,25 @@ public:
 	BlockDerivative(SuperBlock *parent, const char *name) :
 		SuperBlock(parent, name),
 		_u(0),
+		_initialized(false),
 		_lowPass(this, "LP")
 	{};
 	virtual ~BlockDerivative() {};
+
+	/**
+	 * Update the state and get current derivative
+	 *
+	 * This call updates the state and gets the current
+	 * derivative. As the derivative is only valid
+	 * on the second call to update, it will return
+	 * no change (0) on the first. To get a closer
+	 * estimate of the derivative on the first call,
+	 * call setU() one time step before using the
+	 * return value of update().
+	 *
+	 * @param input the variable to calculate the derivative of
+	 * @return the current derivative
+	 */
 	float update(float input);
 // accessors
 	void setU(float u) {_u = u;}
@@ -249,6 +265,7 @@ public:
 protected:
 // attributes
 	float _u; /**< previous input */
+	bool _initialized;
 	BlockLowPass _lowPass; /**< low pass filter */
 };
 
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index 34d20e485..ca1fe9bbb 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Jean Cyr
- *              Lorenz Meier
- *              Julian Oes
- *              Thomas Gubler
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +33,11 @@
 /**
  * @file dataman.c
  * DATAMANAGER driver.
+ *
+ * @author Jean Cyr
+ * @author Lorenz Meier
+ * @author Julian Oes
+ * @author Thomas Gubler
  */
 
 #include <nuttx/config.h>
@@ -44,9 +45,12 @@
 #include <stdlib.h>
 #include <fcntl.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/err.h>
 #include <queue.h>
+#include <string.h>
 
 #include "dataman.h"
+#include <systemlib/param/param.h>
 
 /**
  * data manager app start / stop handling function
@@ -58,9 +62,11 @@ __EXPORT int dataman_main(int argc, char *argv[]);
 __EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buffer, size_t buflen);
 __EXPORT ssize_t dm_write(dm_item_t  item, unsigned char index, dm_persitence_t persistence, const void *buffer, size_t buflen);
 __EXPORT int dm_clear(dm_item_t item);
+__EXPORT void dm_lock(dm_item_t item);
+__EXPORT void dm_unlock(dm_item_t item);
 __EXPORT int dm_restart(dm_reset_reason restart_type);
 
-/* Types of function calls supported by the worker task */
+/** Types of function calls supported by the worker task */
 typedef enum {
 	dm_write_func = 0,
 	dm_read_func,
@@ -69,11 +75,12 @@ typedef enum {
 	dm_number_of_funcs
 } dm_function_t;
 
-/* Work task work item */
+/** Work task work item */
 typedef struct {
 	sq_entry_t link;	/**< list linkage */
 	sem_t wait_sem;
-	dm_function_t func;
+	unsigned char first;
+	unsigned char func;
 	ssize_t result;
 	union {
 		struct {
@@ -98,6 +105,8 @@ typedef struct {
 	};
 } work_q_item_t;
 
+const size_t k_work_item_allocation_chunk_size = 8;
+
 /* Usage statistics */
 static unsigned g_func_counts[dm_number_of_funcs];
 
@@ -107,12 +116,17 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
 	DM_KEY_FENCE_POINTS_MAX,
 	DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
 	DM_KEY_WAYPOINTS_OFFBOARD_1_MAX,
-	DM_KEY_WAYPOINTS_ONBOARD_MAX
+	DM_KEY_WAYPOINTS_ONBOARD_MAX,
+	DM_KEY_MISSION_STATE_MAX
 };
 
 /* Table of offset for index 0 of each item type */
 static unsigned int g_key_offsets[DM_KEY_NUM_KEYS];
 
+/* Item type lock mutexes */
+static sem_t *g_item_locks[DM_KEY_NUM_KEYS];
+static sem_t g_sys_state_mutex;
+
 /* The data manager store file handle and file name */
 static int g_fd = -1, g_task_fd = -1;
 static const char *k_data_manager_device_path = "/fs/microsd/dataman";
@@ -132,22 +146,22 @@ static work_q_t g_work_q;	/* pending work items. To be consumed by worker thread
 sem_t g_work_queued_sema;	/* To notify worker thread a work item has been queued */
 sem_t g_init_sema;
 
-static bool g_task_should_exit;		/**< if true, dataman task should exit */
+static bool g_task_should_exit;	/**< if true, dataman task should exit */
 
 #define DM_SECTOR_HDR_SIZE 4	/* data manager per item header overhead */
 static const unsigned k_sector_size = DM_MAX_DATA_SIZE + DM_SECTOR_HDR_SIZE; /* total item sorage space */
 
 static void init_q(work_q_t *q)
 {
-	sq_init(&(q->q));				/* Initialize the NuttX queue structure */
+	sq_init(&(q->q));		/* Initialize the NuttX queue structure */
 	sem_init(&(q->mutex), 1, 1);	/* Queue is initially unlocked */
-	q->size = q->max_size = 0;		/* Queue is initially empty */
+	q->size = q->max_size = 0;	/* Queue is initially empty */
 }
 
 static inline void
 destroy_q(work_q_t *q)
 {
-	sem_destroy(&(q->mutex));		/* Destroy the queue lock */
+	sem_destroy(&(q->mutex));	/* Destroy the queue lock */
 }
 
 static inline void
@@ -175,9 +189,23 @@ create_work_item(void)
 
 	unlock_queue(&g_free_q);
 
-	/* If we there weren't any free items then obtain memory for a new one */
-	if (item == NULL)
-		item = (work_q_item_t *)malloc(sizeof(work_q_item_t));
+	/* If we there weren't any free items then obtain memory for a new ones */
+	if (item == NULL) {
+		item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t));
+		if (item) {
+			item->first = 1;
+			lock_queue(&g_free_q);
+			for (size_t i = 1; i < k_work_item_allocation_chunk_size; i++) {
+				(item + i)->first = 0;
+				sq_addfirst(&(item + i)->link, &(g_free_q.q));
+			}
+			/* Update the queue size and potentially the maximum queue size */
+			g_free_q.size += k_work_item_allocation_chunk_size - 1;
+			if (g_free_q.size > g_free_q.max_size)
+				g_free_q.max_size = g_free_q.size;
+			unlock_queue(&g_free_q);
+		}
+	}
 
 	/* If we got one then lock the item*/
 	if (item)
@@ -297,7 +325,9 @@ _write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const v
 	buffer[1] = persistence;
 	buffer[2] = 0;
 	buffer[3] = 0;
-	memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
+	if (count > 0) {
+		memcpy(buffer + DM_SECTOR_HDR_SIZE, buf, count);
+	}
 	count += DM_SECTOR_HDR_SIZE;
 
 	len = -1;
@@ -409,31 +439,31 @@ _clear(dm_item_t item)
 	return result;
 }
 
-/* Tell the data manager about the type of the last reset */
+/** Tell the data manager about the type of the last reset */
 static int
 _restart(dm_reset_reason reason)
 {
 	unsigned char buffer[2];
-	int offset, result = 0;
+	int offset = 0, result = 0;
 
 	/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
 
 	/* Loop through all of the data segments and delete those that are not persistent */
-	offset = 0;
-
 	while (1) {
 		size_t len;
 
 		/* Get data segment at current offset */
 		if (lseek(g_task_fd, offset, SEEK_SET) != offset) {
-			result = -1;
+			/* must be at eof */
 			break;
 		}
 
 		len = read(g_task_fd, buffer, sizeof(buffer));
 
-		if (len == 0)
+		if (len != sizeof(buffer)) {
+			/* must be at eof */
 			break;
+		}
 
 		/* check if segment contains data */
 		if (buffer[0]) {
@@ -441,12 +471,12 @@ _restart(dm_reset_reason reason)
 
 			/* Whether data gets deleted depends on reset type and data segment's persistence setting */
 			if (reason == DM_INIT_REASON_POWER_ON) {
-				if (buffer[1] != DM_PERSIST_POWER_ON_RESET) {
+				if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
 					clear_entry = 1;
 				}
 
 			} else {
-				if ((buffer[1] != DM_PERSIST_POWER_ON_RESET) && (buffer[1] != DM_PERSIST_IN_FLIGHT_RESET)) {
+				if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
 					clear_entry = 1;
 				}
 			}
@@ -478,7 +508,7 @@ _restart(dm_reset_reason reason)
 	return result;
 }
 
-/* write to the data manager file */
+/** Write to the data manager file */
 __EXPORT ssize_t
 dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count)
 {
@@ -503,7 +533,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
 	return (ssize_t)enqueue_work_item_and_wait_for_result(work);
 }
 
-/* Retrieve from the data manager file */
+/** Retrieve from the data manager file */
 __EXPORT ssize_t
 dm_read(dm_item_t item, unsigned char index, void *buf, size_t count)
 {
@@ -547,6 +577,32 @@ dm_clear(dm_item_t item)
 	return enqueue_work_item_and_wait_for_result(work);
 }
 
+__EXPORT void
+dm_lock(dm_item_t item)
+{
+	/* Make sure data manager has been started and is not shutting down */
+	if ((g_fd < 0) || g_task_should_exit)
+		return;
+	if (item >= DM_KEY_NUM_KEYS)
+		return;
+	if (g_item_locks[item]) {
+		sem_wait(g_item_locks[item]);
+	}
+}
+
+__EXPORT void
+dm_unlock(dm_item_t item)
+{
+	/* Make sure data manager has been started and is not shutting down */
+	if ((g_fd < 0) || g_task_should_exit)
+		return;
+	if (item >= DM_KEY_NUM_KEYS)
+		return;
+	if (g_item_locks[item]) {
+		sem_post(g_item_locks[item]);
+	}
+}
+
 /* Tell the data manager about the type of the last reset */
 __EXPORT int
 dm_restart(dm_reset_reason reason)
@@ -587,6 +643,12 @@ task_main(int argc, char *argv[])
 	for (unsigned i = 0; i < dm_number_of_funcs; i++)
 		g_func_counts[i] = 0;
 
+	/* Initialize the item type locks, for now only DM_KEY_MISSION_STATE supports locking */
+	sem_init(&g_sys_state_mutex, 1, 1); /* Initially unlocked */
+	for (unsigned i = 0; i < DM_KEY_NUM_KEYS; i++)
+		g_item_locks[i] = NULL;
+	g_item_locks[DM_KEY_MISSION_STATE] = &g_sys_state_mutex;
+
 	g_task_should_exit = false;
 
 	init_q(&g_work_q);
@@ -594,6 +656,20 @@ task_main(int argc, char *argv[])
 
 	sem_init(&g_work_queued_sema, 1, 0);
 
+	/* See if the data manage file exists and is a multiple of the sector size */
+	g_task_fd = open(k_data_manager_device_path, O_RDONLY | O_BINARY);
+	if (g_task_fd >= 0) {
+		/* File exists, check its size */
+		int file_size = lseek(g_task_fd, 0, SEEK_END);
+		if ((file_size % k_sector_size) != 0) {
+			warnx("Incompatible data manager file %s, resetting it", k_data_manager_device_path);
+			close(g_task_fd);
+			unlink(k_data_manager_device_path);
+		}
+		else
+			close(g_task_fd);
+	}
+
 	/* Open or create the data manager file */
 	g_task_fd = open(k_data_manager_device_path, O_RDWR | O_CREAT | O_BINARY);
 
@@ -603,7 +679,7 @@ task_main(int argc, char *argv[])
 		return -1;
 	}
 
-	if (lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
+	if ((unsigned)lseek(g_task_fd, max_offset, SEEK_SET) != max_offset) {
 		close(g_task_fd);
 		warnx("Could not seek data manager file %s", k_data_manager_device_path);
 		sem_post(&g_init_sema); /* Don't want to hang startup */
@@ -612,6 +688,23 @@ task_main(int argc, char *argv[])
 
 	fsync(g_task_fd);
 
+	/* see if we need to erase any items based on restart type */
+	int sys_restart_val;
+	if (param_get(param_find("SYS_RESTART_TYPE"), &sys_restart_val) == OK) {
+		if (sys_restart_val == DM_INIT_REASON_POWER_ON) {
+			warnx("Power on restart");
+			_restart(DM_INIT_REASON_POWER_ON);
+		}
+		else if (sys_restart_val == DM_INIT_REASON_IN_FLIGHT) {
+			warnx("In flight restart");
+			_restart(DM_INIT_REASON_IN_FLIGHT);
+		}
+		else
+			warnx("Unknown restart");
+	}
+	else
+		warnx("Unknown restart");
+
 	/* We use two file descriptors, one for the caller context and one for the worker thread */
 	/* They are actually the same but we need to some way to reject caller request while the */
 	/* worker thread is shutting down but still processing requests */
@@ -684,13 +777,14 @@ task_main(int argc, char *argv[])
 	for (;;) {
 		if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL)
 			break;
-
-		free(work);
+		if (work->first)
+			free(work);
 	}
 
 	destroy_q(&g_work_q);
 	destroy_q(&g_free_q);
 	sem_destroy(&g_work_queued_sema);
+	sem_destroy(&g_sys_state_mutex);
 
 	return 0;
 }
@@ -703,12 +797,12 @@ start(void)
 	sem_init(&g_init_sema, 1, 0);
 
 	/* start the worker thread */
-	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) {
+	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) {
 		warn("task start failed");
 		return -1;
 	}
 
-	/* wait for the thread to actuall initialize */
+	/* wait for the thread to actually initialize */
 	sem_wait(&g_init_sema);
 	sem_destroy(&g_init_sema);
 
@@ -776,4 +870,3 @@ dataman_main(int argc, char *argv[])
 
 	exit(1);
 }
-
diff --git a/src/modules/dataman/dataman.h b/src/modules/dataman/dataman.h
index a70638ccc..d625bf985 100644
--- a/src/modules/dataman/dataman.h
+++ b/src/modules/dataman/dataman.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -46,42 +46,47 @@
 extern "C" {
 #endif
 
-	/* Types of items that the data manager can store */
+	/** Types of items that the data manager can store */
 	typedef enum {
 		DM_KEY_SAFE_POINTS = 0,		/* Safe points coordinates, safe point 0 is home point */
 		DM_KEY_FENCE_POINTS,		/* Fence vertex coordinates */
 		DM_KEY_WAYPOINTS_OFFBOARD_0,	/* Mission way point coordinates sent over mavlink */
 		DM_KEY_WAYPOINTS_OFFBOARD_1,	/* (alernate between 0 and 1) */
 		DM_KEY_WAYPOINTS_ONBOARD,	/* Mission way point coordinates generated onboard */
+		DM_KEY_MISSION_STATE,		/* Persistent mission state */
 		DM_KEY_NUM_KEYS			/* Total number of item types defined */
 	} dm_item_t;
 
-	/* The maximum number of instances for each item type */
+	#define DM_KEY_WAYPOINTS_OFFBOARD(_id) (_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1)
+
+	/** The maximum number of instances for each item type */
 	enum {
 		DM_KEY_SAFE_POINTS_MAX = 8,
 		DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
 		DM_KEY_WAYPOINTS_OFFBOARD_0_MAX = NUM_MISSIONS_SUPPORTED,
 		DM_KEY_WAYPOINTS_OFFBOARD_1_MAX = NUM_MISSIONS_SUPPORTED,
-		DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
+		DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED,
+		DM_KEY_MISSION_STATE_MAX = 1
 	};
 
-	/* Data persistence levels */
+	/** Data persistence levels */
 	typedef enum {
 		DM_PERSIST_POWER_ON_RESET = 0,	/* Data survives all resets */
 		DM_PERSIST_IN_FLIGHT_RESET,     /* Data survives in-flight resets only */
 		DM_PERSIST_VOLATILE             /* Data does not survive resets */
 	} dm_persitence_t;
 
-	/* The reason for the last reset */
+	/** The reason for the last reset */
 	typedef enum {
 		DM_INIT_REASON_POWER_ON = 0,	/* Data survives resets */
-		DM_INIT_REASON_IN_FLIGHT	/* Data survives in-flight resets only */
+		DM_INIT_REASON_IN_FLIGHT,		/* Data survives in-flight resets only */
+		DM_INIT_REASON_VOLATILE			/* Data does not survive reset */
 	} dm_reset_reason;
 
-	/* Maximum size in bytes of a single item instance */
-	#define DM_MAX_DATA_SIZE 126
+	/** Maximum size in bytes of a single item instance */
+	#define DM_MAX_DATA_SIZE 124
 
-	/* Retrieve from the data manager store */
+	/** Retrieve from the data manager store */
 	__EXPORT ssize_t
 	dm_read(
 		dm_item_t item,			/* The item type to retrieve */
@@ -90,7 +95,7 @@ extern "C" {
 		size_t buflen			/* Length in bytes of data to retrieve */
 	);
 
-	/* write to the data manager store */
+	/** write to the data manager store */
 	__EXPORT ssize_t
 	dm_write(
 		dm_item_t  item,		/* The item type to store */
@@ -100,13 +105,25 @@ extern "C" {
 		size_t buflen			/* Length in bytes of data to retrieve */
 	);
 
-	/* Retrieve from the data manager store */
+	/** Lock all items of this type */
+	__EXPORT void
+	dm_lock(
+		dm_item_t item			/* The item type to clear */
+		);
+
+	/** Unlock all items of this type */
+	__EXPORT void
+	dm_unlock(
+		dm_item_t item			/* The item type to clear */
+		);
+
+	/** Erase all items of this type */
 	__EXPORT int
 	dm_clear(
 		dm_item_t item			/* The item type to clear */
 		);
 
-	/* Tell the data manager about the type of the last reset */
+	/** Tell the data manager about the type of the last reset */
 	__EXPORT int
 	dm_restart(
 		dm_reset_reason restart_type	/* The last reset type */
diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk
index 27670dd3f..234607b3d 100644
--- a/src/modules/dataman/module.mk
+++ b/src/modules/dataman/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= dataman
 
 SRCS		= dataman.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
new file mode 100644
index 000000000..91d17e787
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -0,0 +1,1720 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ekf_att_pos_estimator_main.cpp
+ * Implementation of the attitude and position estimator.
+ *
+ * @author Paul Riseborough <p_riseborough@live.com.au>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <time.h>
+#include <float.h>
+
+#define SENSOR_COMBINED_SUB
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_baro.h>
+#ifdef SENSOR_COMBINED_SUB
+#include <uORB/topics/sensor_combined.h>
+#endif
+#include <arch/board/board.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/airspeed.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/estimator_status.h>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/wind_estimate.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/systemlib.h>
+#include <mathlib/mathlib.h>
+#include <mavlink/mavlink_log.h>
+
+#include "estimator_23states.h"
+
+
+
+/**
+ * estimator app start / stop handling function
+ *
+ * @ingroup apps
+ */
+extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);
+
+__EXPORT uint32_t millis();
+
+static uint64_t IMUmsec = 0;
+static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;
+
+uint32_t millis()
+{
+	return IMUmsec;
+}
+
+class FixedwingEstimator
+{
+public:
+	/**
+	 * Constructor
+	 */
+	FixedwingEstimator();
+
+	/* we do not want people ever copying this class */
+	FixedwingEstimator(const FixedwingEstimator& that) = delete;
+	FixedwingEstimator operator=(const FixedwingEstimator&) = delete;
+
+	/**
+	 * Destructor, also kills the sensors task.
+	 */
+	~FixedwingEstimator();
+
+	/**
+	 * Start the sensors task.
+	 *
+	 * @return	OK on success.
+	 */
+	int		start();
+
+	/**
+	 * Task status
+	 *
+	 * @return	true if the mainloop is running
+	 */
+	bool		task_running() { return _task_running; }
+
+	/**
+	 * Print the current status.
+	 */
+	void		print_status();
+
+	/**
+	 * Trip the filter by feeding it NaN values.
+	 */
+	int		trip_nan();
+
+	/**
+	 * Enable logging.
+	 *
+	 * @param	enable Set to true to enable logging, false to disable
+	 */
+	int		enable_logging(bool enable);
+
+	/**
+	 * Set debug level.
+	 *
+	 * @param	debug Desired debug level - 0 to disable.
+	 */
+	int		set_debuglevel(unsigned debug) { _debug = debug; return 0; }
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	bool		_task_running;			/**< if true, task is running in its mainloop */
+	int		_estimator_task;		/**< task handle for sensor task */
+#ifndef SENSOR_COMBINED_SUB
+	int		_gyro_sub;			/**< gyro sensor subscription */
+	int		_accel_sub;			/**< accel sensor subscription */
+	int		_mag_sub;			/**< mag sensor subscription */
+#else
+	int		_sensor_combined_sub;
+#endif
+	int		_airspeed_sub;			/**< airspeed subscription */
+	int		_baro_sub;			/**< barometer subscription */
+	int		_gps_sub;			/**< GPS subscription */
+	int		_vstatus_sub;			/**< vehicle status subscription */
+	int 		_params_sub;			/**< notification of parameter updates */
+	int 		_manual_control_sub;		/**< notification of manual control updates */
+	int		_mission_sub;
+	int		_home_sub;			/**< home position as defined by commander / user */
+
+	orb_advert_t	_att_pub;			/**< vehicle attitude */
+	orb_advert_t	_global_pos_pub;		/**< global position */
+	orb_advert_t	_local_pos_pub;			/**< position in local frame */
+	orb_advert_t	_estimator_status_pub;		/**< status of the estimator */
+	orb_advert_t	_wind_pub;			/**< wind estimate */
+
+	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
+	struct gyro_report				_gyro;
+	struct accel_report				_accel;
+	struct mag_report				_mag;
+	struct airspeed_s				_airspeed;		/**< airspeed */
+	struct baro_report				_baro;			/**< baro readings */
+	struct vehicle_status_s				_vstatus;		/**< vehicle status */
+	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
+	struct vehicle_local_position_s			_local_pos;		/**< local vehicle position */
+	struct vehicle_gps_position_s			_gps;			/**< GPS position */
+	struct wind_estimate_s				_wind;			/**< Wind estimate */
+
+	struct gyro_scale				_gyro_offsets;
+	struct accel_scale				_accel_offsets;
+	struct mag_scale				_mag_offsets;
+
+#ifdef SENSOR_COMBINED_SUB
+	struct sensor_combined_s			_sensor_combined;
+#endif
+
+	struct map_projection_reference_s	_pos_ref;
+
+	float						_baro_ref;		/**< barometer reference altitude */
+	float						_baro_ref_offset;	/**< offset between initial baro reference and GPS init baro altitude */
+	float						_baro_gps_offset;	/**< offset between baro altitude (at GPS init time) and GPS altitude */
+
+	perf_counter_t	_loop_perf;			///< loop performance counter
+	perf_counter_t	_perf_gyro;			///<local performance counter for gyro updates
+	perf_counter_t	_perf_mag;			///<local performance counter for mag updates
+	perf_counter_t	_perf_gps;			///<local performance counter for gps updates
+	perf_counter_t	_perf_baro;			///<local performance counter for baro updates
+	perf_counter_t	_perf_airspeed;			///<local performance counter for airspeed updates
+	perf_counter_t	_perf_reset;			///<local performance counter for filter resets
+
+	bool						_baro_init;
+	bool						_gps_initialized;
+	hrt_abstime					_gps_start_time;
+	hrt_abstime					_filter_start_time;
+	hrt_abstime					_last_sensor_timestamp;
+	hrt_abstime					_last_run;
+	bool						_gyro_valid;
+	bool						_accel_valid;
+	bool						_mag_valid;
+	bool						_ekf_logging;		///< log EKF state
+	unsigned					_debug;			///< debug level - default 0
+
+	int						_mavlink_fd;
+
+	struct {
+		int32_t	vel_delay_ms;
+		int32_t	pos_delay_ms;
+		int32_t	height_delay_ms;
+		int32_t	mag_delay_ms;
+		int32_t	tas_delay_ms;
+		float velne_noise;
+		float veld_noise;
+		float posne_noise;
+		float posd_noise;
+		float mag_noise;
+		float gyro_pnoise;
+		float acc_pnoise;
+		float gbias_pnoise;
+		float abias_pnoise;
+		float mage_pnoise;
+		float magb_pnoise;
+		float eas_noise;
+		float pos_stddev_threshold;
+	}		_parameters;			/**< local copies of interesting parameters */
+
+	struct {
+		param_t vel_delay_ms;
+		param_t	pos_delay_ms;
+		param_t	height_delay_ms;
+		param_t	mag_delay_ms;
+		param_t	tas_delay_ms;
+		param_t velne_noise;
+		param_t veld_noise;
+		param_t posne_noise;
+		param_t posd_noise;
+		param_t mag_noise;
+		param_t gyro_pnoise;
+		param_t acc_pnoise;
+		param_t gbias_pnoise;
+		param_t abias_pnoise;
+		param_t mage_pnoise;
+		param_t magb_pnoise;
+		param_t eas_noise;
+		param_t pos_stddev_threshold;
+	}		_parameter_handles;		/**< handles for interesting parameters */
+
+	AttPosEKF					*_ekf;
+
+	float						_velocity_xy_filtered;
+	float						_velocity_z_filtered;
+	float						_airspeed_filtered;
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	int		parameters_update();
+
+	/**
+	 * Update control outputs
+	 *
+	 */
+	void		control_update();
+
+	/**
+	 * Check for changes in vehicle status.
+	 */
+	void		vehicle_status_poll();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main filter task.
+	 */
+	void		task_main();
+
+	/**
+	 * Check filter sanity state
+	 *
+	 * @return zero if ok, non-zero for a filter error condition.
+	 */
+	int		check_filter_state();
+};
+
+namespace estimator
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+FixedwingEstimator	*g_estimator = nullptr;
+}
+
+FixedwingEstimator::FixedwingEstimator() :
+
+	_task_should_exit(false),
+	_task_running(false),
+	_estimator_task(-1),
+
+/* subscriptions */
+#ifndef SENSOR_COMBINED_SUB
+	_gyro_sub(-1),
+	_accel_sub(-1),
+	_mag_sub(-1),
+#else
+	_sensor_combined_sub(-1),
+#endif
+	_airspeed_sub(-1),
+	_baro_sub(-1),
+	_gps_sub(-1),
+	_vstatus_sub(-1),
+	_params_sub(-1),
+	_manual_control_sub(-1),
+	_mission_sub(-1),
+	_home_sub(-1),
+
+/* publications */
+	_att_pub(-1),
+	_global_pos_pub(-1),
+	_local_pos_pub(-1),
+	_estimator_status_pub(-1),
+	_wind_pub(-1),
+
+	_att({}),
+	_gyro({}),
+	_accel({}),
+	_mag({}),
+	_airspeed({}),
+	_baro({}),
+	_vstatus({}),
+	_global_pos({}),
+	_local_pos({}),
+	_gps({}),
+	_wind({}),
+
+	_gyro_offsets({}),
+	_accel_offsets({}),
+	_mag_offsets({}),
+
+	#ifdef SENSOR_COMBINED_SUB
+	_sensor_combined{},
+	#endif
+
+	_pos_ref{},
+	_baro_ref(0.0f),
+	_baro_ref_offset(0.0f),
+	_baro_gps_offset(0.0f),
+
+/* performance counters */
+	_loop_perf(perf_alloc(PC_ELAPSED, "ekf_att_pos_estimator")),
+	_perf_gyro(perf_alloc(PC_INTERVAL, "ekf_att_pos_gyro_upd")),
+	_perf_mag(perf_alloc(PC_INTERVAL, "ekf_att_pos_mag_upd")),
+	_perf_gps(perf_alloc(PC_INTERVAL, "ekf_att_pos_gps_upd")),
+	_perf_baro(perf_alloc(PC_INTERVAL, "ekf_att_pos_baro_upd")),
+	_perf_airspeed(perf_alloc(PC_INTERVAL, "ekf_att_pos_aspd_upd")),
+	_perf_reset(perf_alloc(PC_COUNT, "ekf_att_pos_reset")),
+
+/* states */
+	_baro_init(false),
+	_gps_initialized(false),
+	_gps_start_time(0),
+	_filter_start_time(0),
+	_last_sensor_timestamp(0),
+	_last_run(0),
+	_gyro_valid(false),
+	_accel_valid(false),
+	_mag_valid(false),
+	_ekf_logging(true),
+	_debug(0),
+	_mavlink_fd(-1),
+	_parameters{},
+	_parameter_handles{},
+	_ekf(nullptr),
+	_velocity_xy_filtered(0.0f),
+	_velocity_z_filtered(0.0f),
+	_airspeed_filtered(0.0f)
+{
+
+	_last_run = hrt_absolute_time();
+
+	_parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS");
+	_parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS");
+	_parameter_handles.height_delay_ms = param_find("PE_HGT_DELAY_MS");
+	_parameter_handles.mag_delay_ms = param_find("PE_MAG_DELAY_MS");
+	_parameter_handles.tas_delay_ms = param_find("PE_TAS_DELAY_MS");
+	_parameter_handles.velne_noise = param_find("PE_VELNE_NOISE");
+	_parameter_handles.veld_noise = param_find("PE_VELD_NOISE");
+	_parameter_handles.posne_noise = param_find("PE_POSNE_NOISE");
+	_parameter_handles.posd_noise = param_find("PE_POSD_NOISE");
+	_parameter_handles.mag_noise = param_find("PE_MAG_NOISE");
+	_parameter_handles.gyro_pnoise = param_find("PE_GYRO_PNOISE");
+	_parameter_handles.acc_pnoise = param_find("PE_ACC_PNOISE");
+	_parameter_handles.gbias_pnoise = param_find("PE_GBIAS_PNOISE");
+	_parameter_handles.abias_pnoise = param_find("PE_ABIAS_PNOISE");
+	_parameter_handles.mage_pnoise = param_find("PE_MAGE_PNOISE");
+	_parameter_handles.magb_pnoise = param_find("PE_MAGB_PNOISE");
+	_parameter_handles.eas_noise = param_find("PE_EAS_NOISE");
+	_parameter_handles.pos_stddev_threshold = param_find("PE_POSDEV_INIT");
+
+	/* fetch initial parameter values */
+	parameters_update();
+
+	/* get offsets */
+
+	int fd, res;
+
+	fd = open(GYRO_DEVICE_PATH, O_RDONLY);
+
+	if (fd > 0) {
+		res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets);
+		close(fd);
+
+		if (res) {
+			warnx("G SCALE FAIL");
+		}
+	}
+
+	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+
+	if (fd > 0) {
+		res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets);
+		close(fd);
+
+		if (res) {
+			warnx("A SCALE FAIL");
+		}
+	}
+
+	fd = open(MAG_DEVICE_PATH, O_RDONLY);
+
+	if (fd > 0) {
+		res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets);
+		close(fd);
+
+		if (res) {
+			warnx("M SCALE FAIL");
+		}
+	}
+}
+
+FixedwingEstimator::~FixedwingEstimator()
+{
+	if (_estimator_task != -1) {
+
+		/* task wakes up every 100ms or so at the longest */
+		_task_should_exit = true;
+
+		/* wait for a second for the task to quit at our request */
+		unsigned i = 0;
+
+		do {
+			/* wait 20ms */
+			usleep(20000);
+
+			/* if we have given up, kill it */
+			if (++i > 50) {
+				task_delete(_estimator_task);
+				break;
+			}
+		} while (_estimator_task != -1);
+	}
+
+	delete _ekf;
+
+	estimator::g_estimator = nullptr;
+}
+
+int
+FixedwingEstimator::enable_logging(bool logging)
+{
+	_ekf_logging = logging;
+
+	return 0;
+}
+
+int
+FixedwingEstimator::parameters_update()
+{
+
+	param_get(_parameter_handles.vel_delay_ms, &(_parameters.vel_delay_ms));
+	param_get(_parameter_handles.pos_delay_ms, &(_parameters.pos_delay_ms));
+	param_get(_parameter_handles.height_delay_ms, &(_parameters.height_delay_ms));
+	param_get(_parameter_handles.mag_delay_ms, &(_parameters.mag_delay_ms));
+	param_get(_parameter_handles.tas_delay_ms, &(_parameters.tas_delay_ms));
+	param_get(_parameter_handles.velne_noise, &(_parameters.velne_noise));
+	param_get(_parameter_handles.veld_noise, &(_parameters.veld_noise));
+	param_get(_parameter_handles.posne_noise, &(_parameters.posne_noise));
+	param_get(_parameter_handles.posd_noise, &(_parameters.posd_noise));
+	param_get(_parameter_handles.mag_noise, &(_parameters.mag_noise));
+	param_get(_parameter_handles.gyro_pnoise, &(_parameters.gyro_pnoise));
+	param_get(_parameter_handles.acc_pnoise, &(_parameters.acc_pnoise));
+	param_get(_parameter_handles.gbias_pnoise, &(_parameters.gbias_pnoise));
+	param_get(_parameter_handles.abias_pnoise, &(_parameters.abias_pnoise));
+	param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise));
+	param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise));
+	param_get(_parameter_handles.eas_noise, &(_parameters.eas_noise));
+	param_get(_parameter_handles.pos_stddev_threshold, &(_parameters.pos_stddev_threshold));
+
+	if (_ekf) {
+		// _ekf->yawVarScale = 1.0f;
+		// _ekf->windVelSigma = 0.1f;
+		_ekf->dAngBiasSigma = _parameters.gbias_pnoise;
+		_ekf->dVelBiasSigma = _parameters.abias_pnoise;
+		_ekf->magEarthSigma = _parameters.mage_pnoise;
+		_ekf->magBodySigma  = _parameters.magb_pnoise;
+		// _ekf->gndHgtSigma  = 0.02f;
+		_ekf->vneSigma = _parameters.velne_noise;
+		_ekf->vdSigma = _parameters.veld_noise;
+		_ekf->posNeSigma = _parameters.posne_noise;
+		_ekf->posDSigma = _parameters.posd_noise;
+		_ekf->magMeasurementSigma = _parameters.mag_noise;
+		_ekf->gyroProcessNoise = _parameters.gyro_pnoise;
+        	_ekf->accelProcessNoise = _parameters.acc_pnoise;
+		_ekf->airspeedMeasurementSigma = _parameters.eas_noise;
+	}
+
+	return OK;
+}
+
+void
+FixedwingEstimator::vehicle_status_poll()
+{
+	bool vstatus_updated;
+
+	/* Check HIL state if vehicle status has changed */
+	orb_check(_vstatus_sub, &vstatus_updated);
+
+	if (vstatus_updated) {
+
+		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
+	}
+}
+
+int
+FixedwingEstimator::check_filter_state()
+{
+	/*
+	 *    CHECK IF THE INPUT DATA IS SANE
+	 */
+
+	struct ekf_status_report ekf_report;
+
+	int check = _ekf->CheckAndBound(&ekf_report);
+
+	const char* const feedback[] = { 0,
+					"NaN in states, resetting",
+					"stale IMU data, resetting",
+					"got initial position lock",
+					"excessive gyro offsets",
+					"GPS velocity divergence",
+					"excessive covariances",
+					"unknown condition"};
+
+	// Print out error condition
+	if (check) {
+		unsigned warn_index = static_cast<unsigned>(check);
+		unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0]));
+
+		if (max_warn_index < warn_index) {
+			warn_index = max_warn_index;
+		}
+
+		warnx("reset: %s", feedback[warn_index]);
+		mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
+	}
+
+	struct estimator_status_report rep;
+	memset(&rep, 0, sizeof(rep));
+
+	// If error flag is set, we got a filter reset
+	if (check && ekf_report.error) {
+
+		// Count the reset condition
+		perf_count(_perf_reset);
+
+	} else if (_ekf_logging) {
+		_ekf->GetFilterState(&ekf_report);
+	}
+
+	if (_ekf_logging || check) {
+		rep.timestamp = hrt_absolute_time();
+
+		rep.nan_flags |= (((uint8_t)ekf_report.angNaN)		<< 0);
+		rep.nan_flags |= (((uint8_t)ekf_report.summedDelVelNaN)	<< 1);
+		rep.nan_flags |= (((uint8_t)ekf_report.KHNaN)		<< 2);
+		rep.nan_flags |= (((uint8_t)ekf_report.KHPNaN)		<< 3);
+		rep.nan_flags |= (((uint8_t)ekf_report.PNaN)		<< 4);
+		rep.nan_flags |= (((uint8_t)ekf_report.covarianceNaN)	<< 5);
+		rep.nan_flags |= (((uint8_t)ekf_report.kalmanGainsNaN)	<< 6);
+		rep.nan_flags |= (((uint8_t)ekf_report.statesNaN)	<< 7);
+
+		rep.health_flags |= (((uint8_t)ekf_report.velHealth)	<< 0);
+		rep.health_flags |= (((uint8_t)ekf_report.posHealth)	<< 1);
+		rep.health_flags |= (((uint8_t)ekf_report.hgtHealth)	<< 2);
+		rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive)	<< 3);
+		rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
+		rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
+		rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
+		rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
+
+		rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout)	<< 0);
+		rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout)	<< 1);
+		rep.timeout_flags |= (((uint8_t)ekf_report.hgtTimeout)	<< 2);
+		rep.timeout_flags |= (((uint8_t)ekf_report.imuTimeout)	<< 3);
+
+		if (_debug > 10) {
+
+			if (rep.health_flags < ((1 << 0) | (1 << 1) | (1 << 2) | (1 << 3))) {
+				warnx("health: VEL:%s POS:%s HGT:%s OFFS:%s",
+					((rep.health_flags & (1 << 0)) ? "OK" : "ERR"),
+					((rep.health_flags & (1 << 1)) ? "OK" : "ERR"),
+					((rep.health_flags & (1 << 2)) ? "OK" : "ERR"),
+					((rep.health_flags & (1 << 3)) ? "OK" : "ERR"));
+			}
+
+			if (rep.timeout_flags) {
+				warnx("timeout: %s%s%s%s",
+					((rep.timeout_flags & (1 << 0)) ? "VEL " : ""),
+					((rep.timeout_flags & (1 << 1)) ? "POS " : ""),
+					((rep.timeout_flags & (1 << 2)) ? "HGT " : ""),
+					((rep.timeout_flags & (1 << 3)) ? "IMU " : ""));
+			}
+		}
+
+		// Copy all states or at least all that we can fit
+		unsigned ekf_n_states = ekf_report.n_states;
+		unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0]));
+		rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states;
+
+		for (unsigned i = 0; i < rep.n_states; i++) {
+			rep.states[i] = ekf_report.states[i];
+		}
+
+		for (unsigned i = 0; i < rep.n_states; i++) {
+			rep.states[i] = ekf_report.states[i];
+		}
+
+		if (_estimator_status_pub > 0) {
+			orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
+		} else {
+			_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep);
+		}
+	}
+
+	return check;
+}
+
+void
+FixedwingEstimator::task_main_trampoline(int argc, char *argv[])
+{
+	estimator::g_estimator->task_main();
+}
+
+void
+FixedwingEstimator::task_main()
+{
+	_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+	_ekf = new AttPosEKF();
+	float dt = 0.0f; // time lapsed since last covariance prediction
+	_filter_start_time = hrt_absolute_time();
+
+	if (!_ekf) {
+		errx(1, "OUT OF MEM!");
+	}
+
+	/*
+	 * do subscriptions
+	 */
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
+	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
+	_params_sub = orb_subscribe(ORB_ID(parameter_update));
+	_home_sub = orb_subscribe(ORB_ID(home_position));
+
+	/* rate limit vehicle status updates to 5Hz */
+	orb_set_interval(_vstatus_sub, 200);
+
+#ifndef SENSOR_COMBINED_SUB
+
+	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
+
+	/* rate limit gyro updates to 50 Hz */
+	/* XXX remove this!, BUT increase the data buffer size! */
+	orb_set_interval(_gyro_sub, 4);
+#else
+	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
+	/* XXX remove this!, BUT increase the data buffer size! */
+	orb_set_interval(_sensor_combined_sub, 9);
+#endif
+
+	/* sets also parameters in the EKF object */
+	parameters_update();
+
+	Vector3f lastAngRate;
+	Vector3f lastAccel;
+
+	/* wakeup source(s) */
+	struct pollfd fds[2];
+
+	/* Setup of loop */
+	fds[0].fd = _params_sub;
+	fds[0].events = POLLIN;
+#ifndef SENSOR_COMBINED_SUB
+	fds[1].fd = _gyro_sub;
+	fds[1].events = POLLIN;
+#else
+	fds[1].fd = _sensor_combined_sub;
+	fds[1].events = POLLIN;
+#endif
+
+	bool newDataGps = false;
+	bool newHgtData = false;
+	bool newAdsData = false;
+	bool newDataMag = false;
+
+	float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)
+
+	uint64_t last_gps = 0;
+	_gps.vel_n_m_s = 0.0f;
+	_gps.vel_e_m_s = 0.0f;
+	_gps.vel_d_m_s = 0.0f;
+
+	_task_running = true;
+
+	while (!_task_should_exit) {
+
+		/* wait for up to 500ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+
+		/* timed out - periodic check for _task_should_exit, etc. */
+		if (pret == 0)
+			continue;
+
+		/* this is undesirable but not much we can do - might want to flag unhappy status */
+		if (pret < 0) {
+			warn("POLL ERR %d, %d", pret, errno);
+			continue;
+		}
+
+		perf_begin(_loop_perf);
+
+		/* only update parameters if they changed */
+		if (fds[0].revents & POLLIN) {
+			/* read from param to clear updated flag */
+			struct parameter_update_s update;
+			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
+
+			/* update parameters from storage */
+			parameters_update();
+		}
+
+		/* only run estimator if gyro updated */
+		if (fds[1].revents & POLLIN) {
+
+			/* check vehicle status for changes to publication state */
+			bool prev_hil = (_vstatus.hil_state == HIL_STATE_ON);
+			vehicle_status_poll();
+
+			bool accel_updated;
+			bool mag_updated;
+
+			perf_count(_perf_gyro);
+
+			/* Reset baro reference if switching to HIL, reset sensor states */
+			if (!prev_hil && (_vstatus.hil_state == HIL_STATE_ON)) {
+				/* system is in HIL now, wait for measurements to come in one last round */
+				usleep(60000);
+
+#ifndef SENSOR_COMBINED_SUB
+				orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
+				orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+				orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
+#else
+				/* now read all sensor publications to ensure all real sensor data is purged */
+				orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
+#endif
+
+				/* set sensors to de-initialized state */
+				_gyro_valid = false;
+				_accel_valid = false;
+				_mag_valid = false;
+
+				_baro_init = false;
+				_gps_initialized = false;
+				_last_sensor_timestamp = hrt_absolute_time();
+				_last_run = _last_sensor_timestamp;
+
+				_ekf->ZeroVariables();
+				_ekf->dtIMU = 0.01f;
+				_filter_start_time = _last_sensor_timestamp;
+
+				/* now skip this loop and get data on the next one, which will also re-init the filter */
+				continue;
+			}
+
+			/**
+			 *    PART ONE: COLLECT ALL DATA
+			 **/
+
+			/* load local copies */
+#ifndef SENSOR_COMBINED_SUB
+			orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
+
+
+			orb_check(_accel_sub, &accel_updated);
+
+			if (accel_updated) {
+				orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+			}
+
+			_last_sensor_timestamp = _gyro.timestamp;
+			IMUmsec = _gyro.timestamp / 1e3f;
+
+			float deltaT = (_gyro.timestamp - _last_run) / 1e6f;
+			_last_run = _gyro.timestamp;
+
+			/* guard against too large deltaT's */
+			if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) {
+				deltaT = 0.01f;
+			}
+
+
+			// Always store data, independent of init status
+			/* fill in last data set */
+			_ekf->dtIMU = deltaT;
+
+			if (isfinite(_gyro.x) &&
+				isfinite(_gyro.y) &&
+				isfinite(_gyro.z)) {
+				_ekf->angRate.x = _gyro.x;
+				_ekf->angRate.y = _gyro.y;
+				_ekf->angRate.z = _gyro.z;
+
+				if (!_gyro_valid) {
+					lastAngRate = _ekf->angRate;
+				}
+
+				_gyro_valid = true;
+			}
+
+			if (accel_updated) {
+				_ekf->accel.x = _accel.x;
+				_ekf->accel.y = _accel.y;
+				_ekf->accel.z = _accel.z;
+
+				if (!_accel_valid) {
+					lastAccel = _ekf->accel;
+				}
+
+				_accel_valid = true;
+			}
+
+			_ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
+			_ekf->lastAngRate = angRate;
+			_ekf->dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
+			_ekf->lastAccel = accel;
+
+
+#else
+			orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
+
+			static hrt_abstime last_accel = 0;
+			static hrt_abstime last_mag = 0;
+
+			if (last_accel != _sensor_combined.accelerometer_timestamp) {
+				accel_updated = true;
+			} else {
+				accel_updated = false;
+			}
+
+			last_accel = _sensor_combined.accelerometer_timestamp;
+
+
+			// Copy gyro and accel
+			_last_sensor_timestamp = _sensor_combined.timestamp;
+			IMUmsec = _sensor_combined.timestamp / 1e3f;
+
+			float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f;
+
+			/* guard against too large deltaT's */
+			if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) {
+				deltaT = 0.01f;
+			}
+
+			_last_run = _sensor_combined.timestamp;
+
+			// Always store data, independent of init status
+			/* fill in last data set */
+			_ekf->dtIMU = deltaT;
+
+			if (isfinite(_sensor_combined.gyro_rad_s[0]) &&
+				isfinite(_sensor_combined.gyro_rad_s[1]) &&
+				isfinite(_sensor_combined.gyro_rad_s[2])) {
+				_ekf->angRate.x = _sensor_combined.gyro_rad_s[0];
+				_ekf->angRate.y = _sensor_combined.gyro_rad_s[1];
+				_ekf->angRate.z = _sensor_combined.gyro_rad_s[2];
+
+				if (!_gyro_valid) {
+					lastAngRate = _ekf->angRate;
+				}
+
+				_gyro_valid = true;
+				perf_count(_perf_gyro);
+			}
+
+			if (accel_updated) {
+				_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
+				_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
+				_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];
+
+				if (!_accel_valid) {
+					lastAccel = _ekf->accel;
+				}
+
+				_accel_valid = true;
+			}
+
+			_ekf->dAngIMU = 0.5f * (_ekf->angRate + lastAngRate) * _ekf->dtIMU;
+			lastAngRate = _ekf->angRate;
+			_ekf->dVelIMU = 0.5f * (_ekf->accel + lastAccel) * _ekf->dtIMU;
+			lastAccel = _ekf->accel;
+
+			if (last_mag != _sensor_combined.magnetometer_timestamp) {
+				mag_updated = true;
+				newDataMag = true;
+
+			} else {
+				newDataMag = false;
+			}
+
+			last_mag = _sensor_combined.magnetometer_timestamp;
+
+#endif
+
+			//warnx("dang: %8.4f %8.4f dvel: %8.4f %8.4f", _ekf->dAngIMU.x, _ekf->dAngIMU.z, _ekf->dVelIMU.x, _ekf->dVelIMU.z);
+
+			bool airspeed_updated;
+			orb_check(_airspeed_sub, &airspeed_updated);
+
+			if (airspeed_updated) {
+				orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
+				perf_count(_perf_airspeed);
+
+				_ekf->VtasMeas = _airspeed.true_airspeed_m_s;
+				newAdsData = true;
+
+			} else {
+				newAdsData = false;
+			}
+
+			bool gps_updated;
+			orb_check(_gps_sub, &gps_updated);
+
+			if (gps_updated) {
+
+				last_gps = _gps.timestamp_position;
+
+				orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
+				perf_count(_perf_gps);
+
+				if (_gps.fix_type < 3) {
+					newDataGps = false;
+
+				} else {
+
+					/* store time of valid GPS measurement */
+					_gps_start_time = hrt_absolute_time();
+
+					/* check if we had a GPS outage for a long time */
+					if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
+						_ekf->ResetPosition();
+						_ekf->ResetVelocity();
+						_ekf->ResetStoredStates();
+					}
+
+					/* fuse GPS updates */
+
+					//_gps.timestamp / 1e3;
+					_ekf->GPSstatus = _gps.fix_type;
+					_ekf->velNED[0] = _gps.vel_n_m_s;
+					_ekf->velNED[1] = _gps.vel_e_m_s;
+					_ekf->velNED[2] = _gps.vel_d_m_s;
+
+					// warnx("GPS updated: status: %d, vel: %8.4f %8.4f %8.4f", (int)GPSstatus, velNED[0], velNED[1], velNED[2]);
+
+					_ekf->gpsLat = math::radians(_gps.lat / (double)1e7);
+					_ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
+					_ekf->gpsHgt = _gps.alt / 1e3f;
+
+					// if (_gps.s_variance_m_s > 0.25f && _gps.s_variance_m_s < 100.0f * 100.0f) {
+					// 	_ekf->vneSigma = sqrtf(_gps.s_variance_m_s);
+					// } else {
+					// 	_ekf->vneSigma = _parameters.velne_noise;
+					// }
+
+					// if (_gps.p_variance_m > 0.25f && _gps.p_variance_m < 100.0f * 100.0f) {
+					// 	_ekf->posNeSigma = sqrtf(_gps.p_variance_m);
+					// } else {
+					// 	_ekf->posNeSigma = _parameters.posne_noise;
+					// }
+
+					// warnx("vel: %8.4f pos: %8.4f", _gps.s_variance_m_s, _gps.p_variance_m);
+
+					newDataGps = true;
+
+				}
+
+			}
+
+			bool baro_updated;
+			orb_check(_baro_sub, &baro_updated);
+
+			if (baro_updated) {
+				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
+
+				_ekf->baroHgt = _baro.altitude;
+
+				if (!_baro_init) {
+					_baro_ref = _baro.altitude;
+					_baro_init = true;
+					warnx("ALT REF INIT");
+				}
+
+				perf_count(_perf_baro);
+
+				newHgtData = true;
+			} else {
+				newHgtData = false;
+			}
+
+#ifndef SENSOR_COMBINED_SUB
+			orb_check(_mag_sub, &mag_updated);
+#endif
+
+			if (mag_updated) {
+
+				_mag_valid = true;
+
+				perf_count(_perf_mag);
+
+#ifndef SENSOR_COMBINED_SUB
+				orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
+
+				// XXX we compensate the offsets upfront - should be close to zero.
+				// 0.001f
+				_ekf->magData.x = _mag.x;
+				_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
+
+				_ekf->magData.y = _mag.y;
+				_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
+
+				_ekf->magData.z = _mag.z;
+				_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
+
+#else
+
+				// XXX we compensate the offsets upfront - should be close to zero.
+				// 0.001f
+				_ekf->magData.x = _sensor_combined.magnetometer_ga[0];
+				_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
+
+				_ekf->magData.y = _sensor_combined.magnetometer_ga[1];
+				_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
+
+				_ekf->magData.z = _sensor_combined.magnetometer_ga[2];
+				_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
+
+#endif
+
+				newDataMag = true;
+
+			} else {
+				newDataMag = false;
+			}
+
+			/*
+			 *    CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY
+			 */
+			if (hrt_elapsed_time(&_filter_start_time) < FILTER_INIT_DELAY) {
+				continue;
+			}
+
+			/**
+			 *    PART TWO: EXECUTE THE FILTER
+			 *
+			 *    We run the filter only once all data has been fetched
+			 **/
+
+			if (_baro_init && _gyro_valid && _accel_valid && _mag_valid) {
+
+				float initVelNED[3];
+
+				/* Initialize the filter first */
+				if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph < _parameters.pos_stddev_threshold && _gps.epv < _parameters.pos_stddev_threshold) {
+
+					// GPS is in scaled integers, convert
+					double lat = _gps.lat / 1.0e7;
+					double lon = _gps.lon / 1.0e7;
+					float gps_alt = _gps.alt / 1e3f;
+
+					initVelNED[0] = _gps.vel_n_m_s;
+					initVelNED[1] = _gps.vel_e_m_s;
+					initVelNED[2] = _gps.vel_d_m_s;
+
+					// Set up height correctly
+					orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
+					_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
+					_baro_gps_offset = _baro.altitude - gps_alt;
+					_ekf->baroHgt = _baro.altitude;
+					_ekf->hgtMea = 1.0f * (_ekf->baroHgt - (_baro_ref));
+
+					// Set up position variables correctly
+					_ekf->GPSstatus = _gps.fix_type;
+
+					_ekf->gpsLat = math::radians(lat);
+					_ekf->gpsLon = math::radians(lon) - M_PI;
+					_ekf->gpsHgt = gps_alt;
+
+					// Look up mag declination based on current position
+					float declination = math::radians(get_mag_declination(lat, lon));
+
+					_ekf->InitialiseFilter(initVelNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination);
+
+					// Initialize projection
+					_local_pos.ref_lat = lat;
+					_local_pos.ref_lon = lon;
+					_local_pos.ref_alt = gps_alt;
+					_local_pos.ref_timestamp = _gps.timestamp_position;
+
+					map_projection_init(&_pos_ref, lat, lon);
+					mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
+
+					#if 0
+					warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
+						(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
+					warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", (double)_ekf->baroHgt, (double)_baro_ref, (double)_baro_ref_offset);
+					warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph, (double)_gps.epv, (double)math::degrees(declination));
+					#endif
+
+					_gps_initialized = true;
+
+				} else if (!_ekf->statesInitialised) {
+
+					initVelNED[0] = 0.0f;
+					initVelNED[1] = 0.0f;
+					initVelNED[2] = 0.0f;
+					_ekf->posNE[0] = posNED[0];
+					_ekf->posNE[1] = posNED[1];
+
+					_local_pos.ref_alt = _baro_ref;
+					_baro_ref_offset = 0.0f;
+					_baro_gps_offset = 0.0f;
+
+					_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
+
+				} else if (_ekf->statesInitialised) {
+
+					// We're apparently initialized in this case now
+					int check = check_filter_state();
+
+					if (check) {
+						// Let the system re-initialize itself
+						continue;
+					}
+
+					// Run the strapdown INS equations every IMU update
+					_ekf->UpdateStrapdownEquationsNED();
+	#if 0
+					// debug code - could be tunred into a filter mnitoring/watchdog function
+					float tempQuat[4];
+
+					for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
+
+					quat2eul(eulerEst, tempQuat);
+
+					for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
+
+					if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
+
+					if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
+
+	#endif
+					// store the predicted states for subsequent use by measurement fusion
+					_ekf->StoreStates(IMUmsec);
+					// Check if on ground - status is used by covariance prediction
+					_ekf->OnGroundCheck();
+					// sum delta angles and time used by covariance prediction
+					_ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng;
+					_ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU;
+					dt += _ekf->dtIMU;
+
+					// perform a covariance prediction if the total delta angle has exceeded the limit
+					// or the time limit will be exceeded at the next IMU update
+					if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) {
+						_ekf->CovariancePrediction(dt);
+						_ekf->summedDelAng.zero();
+						_ekf->summedDelVel.zero();
+						dt = 0.0f;
+					}
+
+					// Fuse GPS Measurements
+					if (newDataGps && _gps_initialized) {
+						// Convert GPS measurements to Pos NE, hgt and Vel NED
+
+						float gps_dt = (_gps.timestamp_position - last_gps) / 1e6f;
+
+						// Calculate acceleration predicted by GPS velocity change
+						if (((fabsf(_ekf->velNED[0] - _gps.vel_n_m_s) > FLT_EPSILON) ||
+							(fabsf(_ekf->velNED[1] - _gps.vel_e_m_s) > FLT_EPSILON) ||
+							(fabsf(_ekf->velNED[2] - _gps.vel_d_m_s) > FLT_EPSILON)) && (gps_dt > 0.00001f)) {
+
+							_ekf->accelGPSNED[0] = (_ekf->velNED[0] - _gps.vel_n_m_s) / gps_dt;
+							_ekf->accelGPSNED[1] = (_ekf->velNED[1] - _gps.vel_e_m_s) / gps_dt;
+							_ekf->accelGPSNED[2] = (_ekf->velNED[2] - _gps.vel_d_m_s) / gps_dt;
+						}
+
+						_ekf->velNED[0] = _gps.vel_n_m_s;
+						_ekf->velNED[1] = _gps.vel_e_m_s;
+						_ekf->velNED[2] = _gps.vel_d_m_s;
+						_ekf->calcposNED(posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef);
+
+						_ekf->posNE[0] = posNED[0];
+						_ekf->posNE[1] = posNED[1];
+						// set fusion flags
+						_ekf->fuseVelData = true;
+						_ekf->fusePosData = true;
+						// recall states stored at time of measurement after adjusting for delays
+						_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
+						_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
+						// run the fusion step
+						_ekf->FuseVelposNED();
+
+					} else if (!_gps_initialized) {
+
+						// force static mode
+						_ekf->staticMode = true;
+
+						// Convert GPS measurements to Pos NE, hgt and Vel NED
+						_ekf->velNED[0] = 0.0f;
+						_ekf->velNED[1] = 0.0f;
+						_ekf->velNED[2] = 0.0f;
+
+						_ekf->posNE[0] = 0.0f;
+						_ekf->posNE[1] = 0.0f;
+						// set fusion flags
+						_ekf->fuseVelData = true;
+						_ekf->fusePosData = true;
+						// recall states stored at time of measurement after adjusting for delays
+						_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
+						_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
+						// run the fusion step
+						_ekf->FuseVelposNED();
+
+					} else {
+						_ekf->fuseVelData = false;
+						_ekf->fusePosData = false;
+					}
+
+					if (newHgtData) {
+						// Could use a blend of GPS and baro alt data if desired
+						_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
+						_ekf->fuseHgtData = true;
+						// recall states stored at time of measurement after adjusting for delays
+						_ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
+						// run the fusion step
+						_ekf->FuseVelposNED();
+
+					} else {
+						_ekf->fuseHgtData = false;
+					}
+
+					// Fuse Magnetometer Measurements
+					if (newDataMag) {
+						_ekf->fuseMagData = true;
+						_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
+
+						_ekf->magstate.obsIndex = 0;
+						_ekf->FuseMagnetometer();
+						_ekf->FuseMagnetometer();
+						_ekf->FuseMagnetometer();
+
+					} else {
+						_ekf->fuseMagData = false;
+					}
+
+					// Fuse Airspeed Measurements
+					if (newAdsData && _ekf->VtasMeas > 7.0f) {
+						_ekf->fuseVtasData = true;
+						_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
+						_ekf->FuseAirspeed();
+
+					} else {
+						_ekf->fuseVtasData = false;
+					}
+
+
+					// Output results
+					math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
+					math::Matrix<3, 3> R = q.to_dcm();
+					math::Vector<3> euler = R.to_euler();
+
+					for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
+							_att.R[i][j] = R(i, j);
+
+					_att.timestamp = _last_sensor_timestamp;
+					_att.q[0] = _ekf->states[0];
+					_att.q[1] = _ekf->states[1];
+					_att.q[2] = _ekf->states[2];
+					_att.q[3] = _ekf->states[3];
+					_att.q_valid = true;
+					_att.R_valid = true;
+
+					_att.timestamp = _last_sensor_timestamp;
+					_att.roll = euler(0);
+					_att.pitch = euler(1);
+					_att.yaw = euler(2);
+
+					_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
+					_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
+					_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
+					// gyro offsets
+					_att.rate_offsets[0] = _ekf->states[10];
+					_att.rate_offsets[1] = _ekf->states[11];
+					_att.rate_offsets[2] = _ekf->states[12];
+
+					/* lazily publish the attitude only once available */
+					if (_att_pub > 0) {
+						/* publish the attitude setpoint */
+						orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
+
+					} else {
+						/* advertise and publish */
+						_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
+					}
+
+					if (_gps_initialized) {
+						_local_pos.timestamp = _last_sensor_timestamp;
+						_local_pos.x = _ekf->states[7];
+						_local_pos.y = _ekf->states[8];
+						// XXX need to announce change of Z reference somehow elegantly
+						_local_pos.z = _ekf->states[9] - _baro_ref_offset;
+
+						_local_pos.vx = _ekf->states[4];
+						_local_pos.vy = _ekf->states[5];
+						_local_pos.vz = _ekf->states[6];
+
+						_local_pos.xy_valid = _gps_initialized;
+						_local_pos.z_valid = true;
+						_local_pos.v_xy_valid = _gps_initialized;
+						_local_pos.v_z_valid = true;
+						_local_pos.xy_global = true;
+
+						_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
+						_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
+						_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
+
+
+						/* crude land detector for fixedwing only,
+						* TODO: adapt so that it works for both, maybe move to another location
+						*/
+						if (_velocity_xy_filtered < 5
+							&& _velocity_z_filtered < 10
+							&& _airspeed_filtered < 10) {
+							_local_pos.landed = true;
+						} else {
+							_local_pos.landed = false;
+						}
+
+						_local_pos.z_global = false;
+						_local_pos.yaw = _att.yaw;
+
+						/* lazily publish the local position only once available */
+						if (_local_pos_pub > 0) {
+							/* publish the attitude setpoint */
+							orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
+
+						} else {
+							/* advertise and publish */
+							_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
+						}
+
+						_global_pos.timestamp = _local_pos.timestamp;
+
+						if (_local_pos.xy_global) {
+							double est_lat, est_lon;
+							map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
+							_global_pos.lat = est_lat;
+							_global_pos.lon = est_lon;
+							_global_pos.time_gps_usec = _gps.time_gps_usec;
+							_global_pos.eph = _gps.eph;
+							_global_pos.epv = _gps.epv;
+						}
+
+						if (_local_pos.v_xy_valid) {
+							_global_pos.vel_n = _local_pos.vx;
+							_global_pos.vel_e = _local_pos.vy;
+						} else {
+							_global_pos.vel_n = 0.0f;
+							_global_pos.vel_e = 0.0f;
+						}
+
+						/* local pos alt is negative, change sign and add alt offsets */
+						_global_pos.alt = _baro_ref + (-_local_pos.z) - _baro_gps_offset;
+
+						if (_local_pos.v_z_valid) {
+							_global_pos.vel_d = _local_pos.vz;
+						}
+
+
+						_global_pos.yaw = _local_pos.yaw;
+
+						_global_pos.eph = _gps.eph;
+						_global_pos.epv = _gps.epv;
+
+						_global_pos.timestamp = _local_pos.timestamp;
+
+						/* lazily publish the global position only once available */
+						if (_global_pos_pub > 0) {
+							/* publish the global position */
+							orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
+
+						} else {
+							/* advertise and publish */
+							_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
+						}
+
+						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
+							_wind.timestamp = _global_pos.timestamp;
+							_wind.windspeed_north = _ekf->states[14];
+							_wind.windspeed_east = _ekf->states[15];
+							_wind.covariance_north = _ekf->P[14][14];
+							_wind.covariance_east = _ekf->P[15][15];
+
+							/* lazily publish the wind estimate only once available */
+							if (_wind_pub > 0) {
+								/* publish the wind estimate */
+								orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
+
+							} else {
+								/* advertise and publish */
+								_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
+							}
+						}
+
+					}
+
+				}
+
+			}
+
+		}
+
+		perf_end(_loop_perf);
+	}
+
+	_task_running = false;
+
+	warnx("exiting.\n");
+
+	_estimator_task = -1;
+	_exit(0);
+}
+
+int
+FixedwingEstimator::start()
+{
+	ASSERT(_estimator_task == -1);
+
+	/* start the task */
+	_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_MAX - 40,
+					 5000,
+					 (main_t)&FixedwingEstimator::task_main_trampoline,
+					 nullptr);
+
+	if (_estimator_task < 0) {
+		warn("task start failed");
+		return -errno;
+	}
+
+	return OK;
+}
+
+void
+FixedwingEstimator::print_status()
+{
+	math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
+	math::Matrix<3, 3> R = q.to_dcm();
+	math::Vector<3> euler = R.to_euler();
+
+	printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n",
+	       (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));
+
+	// State vector:
+	// 0-3: quaternions (q0, q1, q2, q3)
+	// 4-6: Velocity - m/sec (North, East, Down)
+	// 7-9: Position - m (North, East, Down)
+	// 10-12: Delta Angle bias - rad (X,Y,Z)
+	// 13:    Accelerometer offset
+	// 14-15: Wind Vector  - m/sec (North,East)
+	// 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
+	// 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
+
+	printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec);
+	printf("baro alt: %8.4f GPS alt: %8.4f\n", (double)_baro.altitude, (double)(_gps.alt / 1e3f));
+	printf("ref alt: %8.4f baro ref offset: %8.4f baro GPS offset: %8.4f\n", (double)_baro_ref, (double)_baro_ref_offset, (double)_baro_gps_offset);
+	printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
+	printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z);
+	printf("states (quat)        [0-3]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
+	printf("states (vel m/s)     [4-6]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
+	printf("states (pos m)      [7-9]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
+	printf("states (delta ang) [10-12]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
+
+	if (n_states == 23) {
+		printf("states (accel offs)   [13]: %8.4f\n", (double)_ekf->states[13]);
+		printf("states (wind)      [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]);
+		printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]);
+		printf("states (body mag)  [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]);
+		printf("states (terrain)      [22]: %8.4f\n", (double)_ekf->states[22]);
+
+	} else {
+		printf("states (wind)      [13-14]: %8.4f, %8.4f\n", (double)_ekf->states[13], (double)_ekf->states[14]);
+		printf("states (earth mag) [15-17]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[15], (double)_ekf->states[16], (double)_ekf->states[17]);
+		printf("states (body mag)  [18-20]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[18], (double)_ekf->states[19], (double)_ekf->states[20]);
+	}
+	printf("states: %s %s %s %s %s %s %s %s %s %s\n",
+		       (_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT",
+		       (_ekf->onGround) ? "ON_GROUND" : "AIRBORNE",
+		       (_ekf->fuseVelData) ? "FUSE_VEL" : "INH_VEL",
+		       (_ekf->fusePosData) ? "FUSE_POS" : "INH_POS",
+		       (_ekf->fuseHgtData) ? "FUSE_HGT" : "INH_HGT",
+		       (_ekf->fuseMagData) ? "FUSE_MAG" : "INH_MAG",
+		       (_ekf->fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS",
+		       (_ekf->useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD",
+		       (_ekf->useCompass) ? "USE_COMPASS" : "IGN_COMPASS",
+		       (_ekf->staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE");
+}
+
+int FixedwingEstimator::trip_nan() {
+
+	int ret = 0;
+
+	// If system is not armed, inject a NaN value into the filter
+	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+
+	struct actuator_armed_s armed;
+	orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
+
+	if (armed.armed) {
+		warnx("ACTUATORS ARMED! NOT TRIPPING SYSTEM");
+		ret = 1;
+	} else {
+
+		float nan_val = 0.0f / 0.0f;
+
+		warnx("system not armed, tripping state vector with NaN values");
+		_ekf->states[5] = nan_val;
+		usleep(100000);
+
+		warnx("tripping covariance #1 with NaN values");
+		_ekf->KH[2][2] = nan_val; //  intermediate result used for covariance updates
+		usleep(100000);
+
+		warnx("tripping covariance #2 with NaN values");
+		_ekf->KHP[5][5] = nan_val; // intermediate result used for covariance updates
+		usleep(100000);
+
+		warnx("tripping covariance #3 with NaN values");
+		_ekf->P[3][3] = nan_val; // covariance matrix
+		usleep(100000);
+
+		warnx("tripping Kalman gains with NaN values");
+		_ekf->Kfusion[0] = nan_val; // Kalman gains
+		usleep(100000);
+
+		warnx("tripping stored states[0] with NaN values");
+		_ekf->storedStates[0][0] = nan_val;
+		usleep(100000);
+
+		warnx("\nDONE - FILTER STATE:");
+		print_status();
+	}
+
+	close(armed_sub);
+	return ret;
+}
+
+int ekf_att_pos_estimator_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		errx(1, "usage: ekf_att_pos_estimator {start|stop|status|logging}");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (estimator::g_estimator != nullptr)
+			errx(1, "already running");
+
+		estimator::g_estimator = new FixedwingEstimator;
+
+		if (estimator::g_estimator == nullptr)
+			errx(1, "alloc failed");
+
+		if (OK != estimator::g_estimator->start()) {
+			delete estimator::g_estimator;
+			estimator::g_estimator = nullptr;
+			err(1, "start failed");
+		}
+
+		/* avoid memory fragmentation by not exiting start handler until the task has fully started */
+		while (estimator::g_estimator == nullptr || !estimator::g_estimator->task_running()) {
+			usleep(50000);
+			printf(".");
+			fflush(stdout);
+		}
+		printf("\n");
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (estimator::g_estimator == nullptr)
+			errx(1, "not running");
+
+		delete estimator::g_estimator;
+		estimator::g_estimator = nullptr;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (estimator::g_estimator) {
+			warnx("running");
+
+			estimator::g_estimator->print_status();
+
+			exit(0);
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	if (!strcmp(argv[1], "trip")) {
+		if (estimator::g_estimator) {
+			int ret = estimator::g_estimator->trip_nan();
+
+			exit(ret);
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	if (!strcmp(argv[1], "logging")) {
+		if (estimator::g_estimator) {
+			int ret = estimator::g_estimator->enable_logging(true);
+
+			exit(ret);
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	if (!strcmp(argv[1], "debug")) {
+		if (estimator::g_estimator) {
+			int debug = strtoul(argv[2], NULL, 10);
+			int ret = estimator::g_estimator->set_debuglevel(debug);
+
+			exit(ret);
+
+		} else {
+			errx(1, "not running");
+		}
+	}
+
+	warnx("unrecognized command");
+	return 1;
+}
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
new file mode 100644
index 000000000..8c82dd6c1
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
@@ -0,0 +1,271 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ekf_att_pos_estimator_params.c
+ *
+ * Parameters defined by the attitude and position estimator task
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Estimator parameters, accessible via MAVLink
+ *
+ */
+
+/**
+ * Velocity estimate delay
+ *
+ * The delay in milliseconds of the velocity estimate from GPS.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230);
+
+/**
+ * Position estimate delay
+ *
+ * The delay in milliseconds of the position estimate from GPS.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210);
+
+/**
+ * Height estimate delay
+ *
+ * The delay in milliseconds of the height estimate from the barometer.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350);
+
+/**
+ * Mag estimate delay
+ *
+ * The delay in milliseconds of the magnetic field estimate from
+ * the magnetometer.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30);
+
+/**
+ * True airspeeed estimate delay
+ *
+ * The delay in milliseconds of the airspeed estimate.
+ *
+ * @min 0
+ * @max 1000
+ * @group Position Estimator
+ */
+PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
+
+/**
+ * GPS vs. barometric altitude update weight
+ *
+ * RE-CHECK this.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
+
+/**
+ * Airspeed measurement noise.
+ *
+ * Increasing this value will make the filter trust this sensor
+ * less and trust other sensors more.
+ *
+ * @min 0.5
+ * @max 5.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f);
+
+/**
+ * Velocity measurement noise in north-east (horizontal) direction.
+ *
+ * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5
+ *
+ * @min 0.05
+ * @max 5.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
+
+/**
+ * Velocity noise in down (vertical) direction
+ *
+ * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7
+ *
+ * @min 0.05
+ * @max 5.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f);
+
+/**
+ * Position noise in north-east (horizontal) direction
+ *
+ * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5
+ *
+ * @min 0.1
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
+
+/**
+ * Position noise in down (vertical) direction
+ *
+ * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0
+ *
+ * @min 0.1
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f);
+
+/**
+ * Magnetometer measurement noise
+ *
+ * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
+ *
+ * @min 0.1
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);
+
+/**
+ * Gyro process noise
+ *
+ * Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015.
+ * This noise controls how much the filter trusts the gyro measurements.
+ * Increasing it makes the filter trust the gyro less and other sensors more.
+ *
+ * @min 0.001
+ * @max 0.05
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
+
+/**
+ * Accelerometer process noise
+ *
+ * Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25.
+ * Increasing this value makes the filter trust the accelerometer less
+ * and other sensors more.
+ *
+ * @min 0.05
+ * @max 1.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
+
+/**
+ * Gyro bias estimate process noise
+ *
+ * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
+ * Increasing this value will make the gyro bias converge faster but noisier.
+ *
+ * @min 0.0000001
+ * @max 0.00001
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
+
+/**
+ * Accelerometer bias estimate process noise
+ *
+ * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
+ * Increasing this value makes the bias estimation faster and noisier.
+ *
+ * @min 0.00001
+ * @max 0.001
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f);
+
+/**
+ * Magnetometer earth frame offsets process noise
+ *
+ * Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001.
+ * Increasing this value makes the magnetometer earth bias estimate converge
+ * faster but also noisier.
+ *
+ * @min 0.0001
+ * @max 0.01
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
+
+/**
+ * Magnetometer body frame offsets process noise
+ *
+ * Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003.
+ * Increasing this value makes the magnetometer body bias estimate converge faster
+ * but also noisier.
+ *
+ * @min 0.0001
+ * @max 0.01
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
+
+/**
+ * Threshold for filter initialization.
+ *
+ * If the standard deviation of the GPS position estimate is below this threshold
+ * in meters, the filter will initialize.
+ *
+ * @min 0.3
+ * @max 10.0
+ * @group Position Estimator
+ */
+PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f);
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator_21states.cpp
index 46e405526..67bfec4ea 100644
--- a/src/modules/fw_att_pos_estimator/estimator.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_21states.cpp
@@ -1,191 +1,33 @@
-#include "estimator.h"
+#include "estimator_21states.h"
 
 #include <string.h>
 
-// Global variables
-float KH[n_states][n_states]; //  intermediate result used for covariance updates
-float KHP[n_states][n_states]; // intermediate result used for covariance updates
-float P[n_states][n_states]; // covariance matrix
-float Kfusion[n_states]; // Kalman gains
-float states[n_states]; // state matrix
-Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
-Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
-Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
-Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
-float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
-Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
-Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
-Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
-Vector3f dVelIMU;
-Vector3f dAngIMU;
-float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
-uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
-float innovVelPos[6]; // innovation output
-float varInnovVelPos[6]; // innovation variance output
-
-float velNED[3]; // North, East, Down velocity obs (m/s)
-float posNE[2]; // North, East position obs (m)
-float hgtMea; //  measured height (m)
-float posNED[3]; // North, East Down position (m)
-
-float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
-float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
-float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
-float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
-float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
-
-float innovMag[3]; // innovation output
-float varInnovMag[3]; // innovation variance output
-Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
-float innovVtas; // innovation output
-float varInnovVtas; // innovation variance output
-float VtasMeas; // true airspeed measurement (m/s)
-float latRef; // WGS-84 latitude of reference point (rad)
-float lonRef; // WGS-84 longitude of reference point (rad)
-float hgtRef; // WGS-84 height of reference point (m)
-Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
-uint8_t covSkipCount = 0; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
-float EAS2TAS = 1.0f; // ratio f true to equivalent airspeed
-
-// GPS input data variables
-float gpsCourse;
-float gpsVelD;
-float gpsLat;
-float gpsLon;
-float gpsHgt;
-uint8_t GPSstatus;
-
-float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
-uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
-
-// Baro input
-float baroHgt;
-
-bool statesInitialised = false;
-
-bool fuseVelData = false; // this boolean causes the posNE and velNED obs to be fused
-bool fusePosData = false; // this boolean causes the posNE and velNED obs to be fused
-bool fuseHgtData = false; // this boolean causes the hgtMea obs to be fused
-bool fuseMagData = false; // boolean true when magnetometer data is to be fused
-bool fuseVtasData = false; // boolean true when airspeed data is to be fused
-
-bool onGround    = true;    ///< boolean true when the flight vehicle is on the ground (not flying)
-bool staticMode  = true;    ///< boolean true if no position feedback is fused
-bool useAirspeed = true;    ///< boolean true if airspeed data is being used
-bool useCompass  = true;    ///< boolean true if magnetometer data is being used
-
-struct ekf_status_report current_ekf_state;
-struct ekf_status_report last_ekf_error;
-
-bool numericalProtection = true;
-
-static unsigned storeIndex = 0;
-
-float Vector3f::length(void) const
+AttPosEKF::AttPosEKF() :
+    fusionModeGPS(0),
+    covSkipCount(0),
+    EAS2TAS(1.0f),
+    statesInitialised(false),
+    fuseVelData(false),
+    fusePosData(false),
+    fuseHgtData(false),
+    fuseMagData(false),
+    fuseVtasData(false),
+    onGround(true),
+    staticMode(true),
+    useAirspeed(true),
+    useCompass(true),
+    numericalProtection(true),
+    storeIndex(0),
+    magDeclination(0.0f)
 {
-    return sqrt(x*x + y*y + z*z);
+    InitialiseParameters();
 }
 
-Vector3f Vector3f::zero(void) const
+AttPosEKF::~AttPosEKF()
 {
-    Vector3f ret = *this;
-    ret.x = 0.0;
-    ret.y = 0.0;
-    ret.z = 0.0;
-    return ret;
-}
-
-Mat3f::Mat3f() {
-    x.x = 1.0f;
-    x.y = 0.0f;
-    x.z = 0.0f;
-
-    y.x = 0.0f;
-    y.y = 1.0f;
-    y.z = 0.0f;
-
-    z.x = 0.0f;
-    z.y = 0.0f;
-    z.z = 1.0f;
-}
-
-Mat3f Mat3f::transpose(void) const
-{
-    Mat3f ret = *this;
-    swap_var(ret.x.y, ret.y.x);
-    swap_var(ret.x.z, ret.z.x);
-    swap_var(ret.y.z, ret.z.y);
-    return ret;
-}
-
-// overload + operator to provide a vector addition
-Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
-{
-    Vector3f vecOut;
-    vecOut.x = vecIn1.x + vecIn2.x;
-    vecOut.y = vecIn1.y + vecIn2.y;
-    vecOut.z = vecIn1.z + vecIn2.z;
-    return vecOut;
-}
-
-// overload - operator to provide a vector subtraction
-Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
-{
-    Vector3f vecOut;
-    vecOut.x = vecIn1.x - vecIn2.x;
-    vecOut.y = vecIn1.y - vecIn2.y;
-    vecOut.z = vecIn1.z - vecIn2.z;
-    return vecOut;
-}
-
-// overload * operator to provide a matrix vector product
-Vector3f operator*( Mat3f matIn, Vector3f vecIn)
-{
-    Vector3f vecOut;
-    vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
-    vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
-    vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
-    return vecOut;
-}
-
-// overload % operator to provide a vector cross product
-Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
-{
-    Vector3f vecOut;
-    vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
-    vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
-    vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
-    return vecOut;
-}
-
-// overload * operator to provide a vector scaler product
-Vector3f operator*(Vector3f vecIn1, float sclIn1)
-{
-    Vector3f vecOut;
-    vecOut.x = vecIn1.x * sclIn1;
-    vecOut.y = vecIn1.y * sclIn1;
-    vecOut.z = vecIn1.z * sclIn1;
-    return vecOut;
 }
 
-// overload * operator to provide a vector scaler product
-Vector3f operator*(float sclIn1, Vector3f vecIn1)
-{
-    Vector3f vecOut;
-    vecOut.x = vecIn1.x * sclIn1;
-    vecOut.y = vecIn1.y * sclIn1;
-    vecOut.z = vecIn1.z * sclIn1;
-    return vecOut;
-}
-
-void swap_var(float &d1, float &d2)
-{
-    float tmp = d1;
-    d1 = d2;
-    d2 = tmp;
-}
-
-void  UpdateStrapdownEquationsNED()
+void AttPosEKF::UpdateStrapdownEquationsNED()
 {
     Vector3f delVelNav;
     float q00;
@@ -203,7 +45,7 @@ void  UpdateStrapdownEquationsNED()
     float rotationMag;
     float qUpdated[4];
     float quatMag;
-    float deltaQuat[4];
+    double deltaQuat[4];
     const Vector3f gravityNED = {0.0,0.0,GRAVITY_MSS};
 
 // Remove sensor bias errors
@@ -220,7 +62,6 @@ void  UpdateStrapdownEquationsNED()
 // Apply corrections for earths rotation rate and coning errors
 // * and + operators have been overloaded
     correctedDelAng   = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng);
-
 // Convert the rotation vector to its equivalent quaternion
     rotationMag = correctedDelAng.length();
     if (rotationMag < 1e-12f)
@@ -233,7 +74,7 @@ void  UpdateStrapdownEquationsNED()
     else
     {
         deltaQuat[0] = cos(0.5f*rotationMag);
-        float rotScaler = (sin(0.5f*rotationMag))/rotationMag;
+        double rotScaler = (sin(0.5f*rotationMag))/rotationMag;
         deltaQuat[1] = correctedDelAng.x*rotScaler;
         deltaQuat[2] = correctedDelAng.y*rotScaler;
         deltaQuat[3] = correctedDelAng.z*rotScaler;
@@ -247,7 +88,7 @@ void  UpdateStrapdownEquationsNED()
     qUpdated[3] = states[0]*deltaQuat[3] + states[3]*deltaQuat[0] + states[1]*deltaQuat[2] - states[2]*deltaQuat[1];
 
 // Normalise the quaternions and update the quaternion states
-    quatMag = sqrt(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3]));
+    quatMag = sqrtf(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3]));
     if (quatMag > 1e-16f)
     {
         float quatMagInv = 1.0f/quatMag;
@@ -309,17 +150,12 @@ void  UpdateStrapdownEquationsNED()
     states[9] = states[9] + 0.5f*(states[6] + lastVelocity[2])*dtIMU;
 
     // Constrain states (to protect against filter divergence)
-    ConstrainStates();
+    //ConstrainStates();
 }
 
-void CovariancePrediction(float dt)
+void AttPosEKF::CovariancePrediction(float dt)
 {
     // scalars
-    float windVelSigma;
-    float dAngBiasSigma;
-    // float dVelBiasSigma;
-    float magEarthSigma;
-    float magBodySigma;
     float daxCov;
     float dayCov;
     float dazCov;
@@ -349,7 +185,6 @@ void CovariancePrediction(float dt)
     float nextP[21][21];
 
     // calculate covariance prediction process noise
-    const float yawVarScale = 1.0f;
     windVelSigma = dt*0.1f;
     dAngBiasSigma = dt*5.0e-7f;
     magEarthSigma = dt*3.0e-4f;
@@ -953,7 +788,7 @@ void CovariancePrediction(float dt)
     ConstrainVariances();
 }
 
-void FuseVelposNED()
+void AttPosEKF::FuseVelposNED()
 {
 
 // declare variables used by fault isolation logic
@@ -999,8 +834,8 @@ void FuseVelposNED()
         observation[5] = -(hgtMea);
 
         // Estimate the GPS Velocity, GPS horiz position and height measurement variances.
-        velErr = 0.2*accNavMag; // additional error in GPS velocities caused by manoeuvring
-        posErr = 0.2*accNavMag; // additional error in GPS position caused by manoeuvring
+        velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring
+        posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring
         R_OBS[0] = 0.04f + sq(velErr);
         R_OBS[1] = R_OBS[0];
         R_OBS[2] = 0.08f + sq(velErr);
@@ -1026,7 +861,7 @@ void FuseVelposNED()
                 varInnovVelPos[i] = P[stateIndex][stateIndex] + R_OBS[i];
             }
             // apply a 5-sigma threshold
-            current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0*(varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
+            current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
             current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime;
             if (current_ekf_state.velHealth || current_ekf_state.velTimeout)
             {
@@ -1175,7 +1010,7 @@ void FuseVelposNED()
     //printf("velh: %s, posh: %s, hgth: %s\n", ((velHealth) ? "OK" : "FAIL"), ((posHealth) ? "OK" : "FAIL"), ((hgtHealth) ? "OK" : "FAIL"));
 }
 
-void FuseMagnetometer()
+void AttPosEKF::FuseMagnetometer()
 {
     uint8_t obsIndex;
     uint8_t indexLimit;
@@ -1482,7 +1317,7 @@ void FuseMagnetometer()
     ConstrainVariances();
 }
 
-void FuseAirspeed()
+void AttPosEKF::FuseAirspeed()
 {
     float vn;
     float ve;
@@ -1503,14 +1338,14 @@ void FuseAirspeed()
 
     // Need to check that it is flying before fusing airspeed data
     // Calculate the predicted airspeed
-    VtasPred = sqrt((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd);
+    VtasPred = sqrtf((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd);
     // Perform fusion of True Airspeed measurement
-    if (useAirspeed && fuseVtasData && (VtasPred > 1.0) && (VtasMeas > 8.0))
+    if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
     {
         // Calculate observation jacobians
         SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
-        SH_TAS[1] = (SH_TAS[0]*(2*ve - 2*vwe))/2;
-        SH_TAS[2] = (SH_TAS[0]*(2*vn - 2*vwn))/2;
+        SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
+        SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f;
         
         float H_TAS[21];
         for (uint8_t i=0; i<=20; i++) H_TAS[i] = 0.0f;
@@ -1611,7 +1446,7 @@ void FuseAirspeed()
     ConstrainVariances();
 }
 
-void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
+void AttPosEKF::zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
 {
     uint8_t row;
     uint8_t col;
@@ -1624,7 +1459,7 @@ void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
     }
 }
 
-void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
+void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
 {
     uint8_t row;
     uint8_t col;
@@ -1637,13 +1472,13 @@ void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
     }
 }
 
-float sq(float valIn)
+float AttPosEKF::sq(float valIn)
 {
     return valIn*valIn;
 }
 
 // Store states in a history array along with time stamp
-void StoreStates(uint64_t timestamp_ms)
+void AttPosEKF::StoreStates(uint64_t timestamp_ms)
 {
     for (unsigned i=0; i<n_states; i++)
         storedStates[i][storeIndex] = states[i];
@@ -1653,7 +1488,7 @@ void StoreStates(uint64_t timestamp_ms)
         storeIndex = 0;
 }
 
-void ResetStoredStates()
+void AttPosEKF::ResetStoredStates()
 {
     // reset all stored states
     memset(&storedStates[0][0], 0, sizeof(storedStates));
@@ -1674,7 +1509,7 @@ void ResetStoredStates()
 }
 
 // Output the state vector stored at the time that best matches that specified by msec
-int RecallStates(float statesForFusion[n_states], uint64_t msec)
+int AttPosEKF::RecallStates(float statesForFusion[n_states], uint64_t msec)
 {
     int ret = 0;
 
@@ -1723,7 +1558,7 @@ int RecallStates(float statesForFusion[n_states], uint64_t msec)
     return ret;
 }
 
-void quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
+void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
 {
     // Calculate the nav to body cosine matrix
     float q00 = sq(quat[0]);
@@ -1748,7 +1583,7 @@ void quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
     Tnb.y.z = 2*(q23 + q01);
 }
 
-void quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
+void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
 {
     // Calculate the body to nav cosine matrix
     float q00 = sq(quat[0]);
@@ -1773,7 +1608,7 @@ void quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
     Tbn.z.y = 2*(q23 + q01);
 }
 
-void eul2quat(float (&quat)[4], const float (&eul)[3])
+void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3])
 {
     float u1 = cos(0.5f*eul[0]);
     float u2 = cos(0.5f*eul[1]);
@@ -1787,35 +1622,35 @@ void eul2quat(float (&quat)[4], const float (&eul)[3])
     quat[3] = u1*u2*u6-u4*u5*u3;
 }
 
-void quat2eul(float (&y)[3], const float (&u)[4])
+void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4])
 {
-    y[0] = atan2((2.0*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3]));
-    y[1] = -asin(2.0*(u[1]*u[3]-u[0]*u[2]));
-    y[2] = atan2((2.0*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
+    y[0] = atan2f((2.0f*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3]));
+    y[1] = -asinf(2.0f*(u[1]*u[3]-u[0]*u[2]));
+    y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
 }
 
-void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
+void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
 {
-    velNED[0] = gpsGndSpd*cos(gpsCourse);
-    velNED[1] = gpsGndSpd*sin(gpsCourse);
+    velNED[0] = gpsGndSpd*cosf(gpsCourse);
+    velNED[1] = gpsGndSpd*sinf(gpsCourse);
     velNED[2] = gpsVelD;
 }
 
-void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
+void AttPosEKF::calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
 {
     posNED[0] = earthRadius * (lat - latRef);
     posNED[1] = earthRadius * cos(latRef) * (lon - lonRef);
     posNED[2] = -(hgt - hgtRef);
 }
 
-void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
+void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
 {
     lat = latRef + posNED[0] * earthRadiusInv;
     lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef);
     hgt = hgtRef - posNED[2];
 }
 
-void OnGroundCheck()
+void AttPosEKF::OnGroundCheck()
 {
     onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
     if (staticMode) {
@@ -1823,7 +1658,7 @@ void OnGroundCheck()
     }
 }
 
-void calcEarthRateNED(Vector3f &omega, float latitude)
+void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude)
 {
     //Define Earth rotation vector in the NED navigation frame
     omega.x  = earthRate*cosf(latitude);
@@ -1831,13 +1666,13 @@ void calcEarthRateNED(Vector3f &omega, float latitude)
     omega.z  = -earthRate*sinf(latitude);
 }
 
-void CovarianceInit()
+void AttPosEKF::CovarianceInit()
 {
     // Calculate the initial covariance matrix P
-    P[0][0]   = 0.25f*sq(1.0f*deg2rad);
-    P[1][1]   = 0.25f*sq(1.0f*deg2rad);
-    P[2][2]   = 0.25f*sq(1.0f*deg2rad);
-    P[3][3]   = 0.25f*sq(10.0f*deg2rad);
+    P[0][0]   = 0.25f * sq(1.0f*deg2rad);
+    P[1][1]   = 0.25f * sq(1.0f*deg2rad);
+    P[2][2]   = 0.25f * sq(1.0f*deg2rad);
+    P[3][3]   = 0.25f * sq(10.0f*deg2rad);
     P[4][4]   = sq(0.7);
     P[5][5]   = P[4][4];
     P[6][6]   = sq(0.7);
@@ -1857,12 +1692,12 @@ void CovarianceInit()
     P[20][20] = P[18][18];
 }
 
-float ConstrainFloat(float val, float min, float max)
+float AttPosEKF::ConstrainFloat(float val, float min, float max)
 {
     return (val > max) ? max : ((val < min) ? min : val);
 }
 
-void ConstrainVariances()
+void AttPosEKF::ConstrainVariances()
 {
     if (!numericalProtection) {
         return;
@@ -1914,7 +1749,7 @@ void ConstrainVariances()
 
 }
 
-void ConstrainStates()
+void AttPosEKF::ConstrainStates()
 {
     if (!numericalProtection) {
         return;
@@ -1971,7 +1806,7 @@ void ConstrainStates()
 
 }
 
-void ForceSymmetry()
+void AttPosEKF::ForceSymmetry()
 {
     if (!numericalProtection) {
         return;
@@ -1989,7 +1824,7 @@ void ForceSymmetry()
     }
 }
 
-bool FilterHealthy()
+bool AttPosEKF::FilterHealthy()
 {
     if (!statesInitialised) {
         return false;
@@ -2012,7 +1847,7 @@ bool FilterHealthy()
  * This resets the position to the last GPS measurement
  * or to zero in case of static position.
  */
-void ResetPosition(void)
+void AttPosEKF::ResetPosition(void)
 {
     if (staticMode) {
         states[7] = 0;
@@ -2030,7 +1865,7 @@ void ResetPosition(void)
  *
  * This resets the height state with the last altitude measurements
  */
-void ResetHeight(void)
+void AttPosEKF::ResetHeight(void)
 {
     // write to the state vector
     states[9]   = -hgtMea;
@@ -2039,7 +1874,7 @@ void ResetHeight(void)
 /**
  * Reset the velocity state.
  */
-void ResetVelocity(void)
+void AttPosEKF::ResetVelocity(void)
 {
     if (staticMode) {
         states[4] = 0.0f;
@@ -2054,7 +1889,7 @@ void ResetVelocity(void)
 }
 
 
-void FillErrorReport(struct ekf_status_report *err)
+void AttPosEKF::FillErrorReport(struct ekf_status_report *err)
 {
     for (int i = 0; i < n_states; i++)
     {
@@ -2069,7 +1904,7 @@ void FillErrorReport(struct ekf_status_report *err)
     err->hgtTimeout = current_ekf_state.hgtTimeout;
 }
 
-bool StatesNaN(struct ekf_status_report *err_report) {
+bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
     bool err = false;
 
     // check all states and covariance matrices
@@ -2122,7 +1957,7 @@ bool StatesNaN(struct ekf_status_report *err_report) {
  * updated, but before any of the fusion steps are
  * executed.
  */
-int CheckAndBound()
+int AttPosEKF::CheckAndBound()
 {
 
     // Store the old filter state
@@ -2131,7 +1966,7 @@ int CheckAndBound()
     // Reset the filter if the states went NaN
     if (StatesNaN(&last_ekf_error)) {
 
-        InitializeDynamic(velNED);
+        InitializeDynamic(velNED, magDeclination);
 
         return 1;
     }
@@ -2164,7 +1999,7 @@ int CheckAndBound()
     return 0;
 }
 
-void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat)
+void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat)
 {
     float initialRoll, initialPitch;
     float cosRoll, sinRoll, cosPitch, sinPitch;
@@ -2184,6 +2019,8 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl
     magY = my * cosRoll - mz * sinRoll;
 
     initialHdg = atan2f(-magY, magX);
+    /* true heading is the mag heading minus declination */
+    initialHdg += declination;
 
     cosRoll = cosf(initialRoll * 0.5f);
     sinRoll = sinf(initialRoll * 0.5f);
@@ -2200,19 +2037,21 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl
     initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
 }
 
-void InitializeDynamic(float (&initvelNED)[3])
+void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
 {
 
     // Clear the init flag
     statesInitialised = false;
 
+    magDeclination = declination;
+
     ZeroVariables();
 
     // Calculate initial filter quaternion states from raw measurements
     float initQuat[4];
     Vector3f initMagXYZ;
     initMagXYZ   = magData - magBias;
-    AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat);
+    AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, magDeclination, initQuat);
 
     // Calculate initial Tbn matrix and rotate Mag measurements into NED
     // to set initial NED magnetic field states
@@ -2254,19 +2093,19 @@ void InitializeDynamic(float (&initvelNED)[3])
     summedDelVel.z = 0.0f;
 }
 
-void InitialiseFilter(float (&initvelNED)[3])
+void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination)
 {
     //store initial lat,long and height
-    latRef = gpsLat;
-    lonRef = gpsLon;
-    hgtRef = gpsHgt;
+    latRef = referenceLat;
+    lonRef = referenceLon;
+    hgtRef = referenceHgt;
 
     memset(&last_ekf_error, 0, sizeof(last_ekf_error));
 
-    InitializeDynamic(initvelNED);
+    InitializeDynamic(initvelNED, declination);
 }
 
-void ZeroVariables()
+void AttPosEKF::ZeroVariables()
 {
     // Do the data structure init
     for (unsigned i = 0; i < n_states; i++) {
@@ -2292,12 +2131,12 @@ void ZeroVariables()
     memset(&current_ekf_state, 0, sizeof(current_ekf_state));
 }
 
-void GetFilterState(struct ekf_status_report *state)
+void AttPosEKF::GetFilterState(struct ekf_status_report *state)
 {
     memcpy(state, &current_ekf_state, sizeof(state));
 }
 
-void GetLastErrorState(struct ekf_status_report *last_error)
+void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error)
 {
     memcpy(last_error, &last_ekf_error, sizeof(last_error));
 }
diff --git a/src/modules/ekf_att_pos_estimator/estimator_21states.h b/src/modules/ekf_att_pos_estimator/estimator_21states.h
new file mode 100644
index 000000000..a19ff1995
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator_21states.h
@@ -0,0 +1,247 @@
+#pragma once
+
+#include "estimator_utilities.h"
+
+class AttPosEKF {
+
+public:
+
+    AttPosEKF();
+    ~AttPosEKF();
+
+    /* ##############################################
+     *
+     *   M A I N    F I L T E R    P A R A M E T E R S
+     *
+     * ########################################### */
+
+    /*
+     * parameters are defined here and initialised in
+     * the InitialiseParameters() (which is just 20 lines down)
+     */
+
+    float covTimeStepMax; // maximum time allowed between covariance predictions
+    float covDelAngMax; // maximum delta angle between covariance predictions
+    float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
+
+    float yawVarScale;
+    float windVelSigma;
+    float dAngBiasSigma;
+    float dVelBiasSigma;
+    float magEarthSigma;
+    float magBodySigma;
+    float gndHgtSigma;
+
+    float vneSigma;
+    float vdSigma;
+    float posNeSigma;
+    float posDSigma;
+    float magMeasurementSigma;
+    float airspeedMeasurementSigma;
+
+    float gyroProcessNoise;
+    float accelProcessNoise;
+
+    float EAS2TAS; // ratio f true to equivalent airspeed
+
+    void InitialiseParameters()
+    {
+        covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
+        covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
+        rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
+        EAS2TAS = 1.0f;
+
+        yawVarScale = 1.0f;
+        windVelSigma = 0.1f;
+        dAngBiasSigma = 5.0e-7f;
+        dVelBiasSigma = 1e-4f;
+        magEarthSigma = 3.0e-4f;
+        magBodySigma  = 3.0e-4f;
+        gndHgtSigma  = 0.02f; // assume 2% terrain gradient 1-sigma
+
+        vneSigma = 0.2f;
+        vdSigma = 0.3f;
+        posNeSigma = 2.0f;
+        posDSigma = 2.0f;
+
+        magMeasurementSigma = 0.05;
+        airspeedMeasurementSigma = 1.4f;
+        gyroProcessNoise = 1.4544411e-2f;
+        accelProcessNoise = 0.5f;
+    }
+
+    // Global variables
+    float KH[n_states][n_states]; //  intermediate result used for covariance updates
+    float KHP[n_states][n_states]; // intermediate result used for covariance updates
+    float P[n_states][n_states]; // covariance matrix
+    float Kfusion[n_states]; // Kalman gains
+    float states[n_states]; // state matrix
+    float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
+    uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
+
+    float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+    float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+    float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
+    float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
+    float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
+
+    Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
+    Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
+    Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
+    Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
+    float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
+    Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
+    Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
+    Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
+    Vector3f dVelIMU;
+    Vector3f dAngIMU;
+    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
+    uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
+    float innovVelPos[6]; // innovation output
+    float varInnovVelPos[6]; // innovation variance output
+
+    float velNED[3]; // North, East, Down velocity obs (m/s)
+    float posNE[2]; // North, East position obs (m)
+    float hgtMea; //  measured height (m)
+    float posNED[3]; // North, East Down position (m)
+
+    float innovMag[3]; // innovation output
+    float varInnovMag[3]; // innovation variance output
+    Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
+    float innovVtas; // innovation output
+    float varInnovVtas; // innovation variance output
+    float VtasMeas; // true airspeed measurement (m/s)
+    float magDeclination;
+    float latRef; // WGS-84 latitude of reference point (rad)
+    float lonRef; // WGS-84 longitude of reference point (rad)
+    float hgtRef; // WGS-84 height of reference point (m)
+    Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
+    uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
+
+    // GPS input data variables
+    float gpsCourse;
+    float gpsVelD;
+    float gpsLat;
+    float gpsLon;
+    float gpsHgt;
+    uint8_t GPSstatus;
+
+    // Baro input
+    float baroHgt;
+
+    bool statesInitialised;
+
+    bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
+    bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
+    bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
+    bool fuseMagData; // boolean true when magnetometer data is to be fused
+    bool fuseVtasData; // boolean true when airspeed data is to be fused
+
+    bool onGround;    ///< boolean true when the flight vehicle is on the ground (not flying)
+    bool staticMode;    ///< boolean true if no position feedback is fused
+    bool useAirspeed;    ///< boolean true if airspeed data is being used
+    bool useCompass;    ///< boolean true if magnetometer data is being used
+
+    struct ekf_status_report current_ekf_state;
+    struct ekf_status_report last_ekf_error;
+
+    bool numericalProtection;
+
+    unsigned storeIndex;
+
+
+void  UpdateStrapdownEquationsNED();
+
+void CovariancePrediction(float dt);
+
+void FuseVelposNED();
+
+void FuseMagnetometer();
+
+void FuseAirspeed();
+
+void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void quatNorm(float (&quatOut)[4], const float quatIn[4]);
+
+// store staes along with system time stamp in msces
+void StoreStates(uint64_t timestamp_ms);
+
+/**
+ * Recall the state vector.
+ *
+ * Recalls the vector stored at closest time to the one specified by msec
+ *
+ * @return zero on success, integer indicating the number of invalid states on failure.
+ *         Does only copy valid states, if the statesForFusion vector was initialized
+ *         correctly by the caller, the result can be safely used, but is a mixture
+ *         time-wise where valid states were updated and invalid remained at the old
+ *         value.
+ */
+int RecallStates(float statesForFusion[n_states], uint64_t msec);
+
+void ResetStoredStates();
+
+void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
+
+void calcEarthRateNED(Vector3f &omega, float latitude);
+
+static void eul2quat(float (&quat)[4], const float (&eul)[3]);
+
+static void quat2eul(float (&eul)[3], const float (&quat)[4]);
+
+static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
+
+static void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
+
+static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
+
+static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
+
+static float sq(float valIn);
+
+void OnGroundCheck();
+
+void CovarianceInit();
+
+void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination);
+
+float ConstrainFloat(float val, float min, float max);
+
+void ConstrainVariances();
+
+void ConstrainStates();
+
+void ForceSymmetry();
+
+int CheckAndBound();
+
+void ResetPosition();
+
+void ResetVelocity();
+
+void ZeroVariables();
+
+void GetFilterState(struct ekf_status_report *state);
+
+void GetLastErrorState(struct ekf_status_report *last_error);
+
+bool StatesNaN(struct ekf_status_report *err_report);
+void FillErrorReport(struct ekf_status_report *err);
+
+void InitializeDynamic(float (&initvelNED)[3], float declination);
+
+protected:
+
+bool FilterHealthy();
+
+void ResetHeight(void);
+
+void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
+
+};
+
+uint32_t millis();
+
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
new file mode 100644
index 000000000..c7c7305b2
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -0,0 +1,3075 @@
+#include "estimator_23states.h"
+#include <string.h>
+#include <stdio.h>
+#include <stdarg.h>
+
+#define EKF_COVARIANCE_DIVERGED 1.0e8f
+
+AttPosEKF::AttPosEKF() :
+    covTimeStepMax(0.0f),
+    covDelAngMax(0.0f),
+    rngFinderPitch(0.0f),
+    a1(0.0f),
+    a2(0.0f),
+    a3(0.0f),
+    yawVarScale(0.0f),
+    windVelSigma(0.0f),
+    dAngBiasSigma(0.0f),
+    dVelBiasSigma(0.0f),
+    magEarthSigma(0.0f),
+    magBodySigma(0.0f),
+    gndHgtSigma(0.0f),
+    vneSigma(0.0f),
+    vdSigma(0.0f),
+    posNeSigma(0.0f),
+    posDSigma(0.0f),
+    magMeasurementSigma(0.0f),
+    airspeedMeasurementSigma(0.0f),
+    gyroProcessNoise(0.0f),
+    accelProcessNoise(0.0f),
+    EAS2TAS(1.0f),
+    magstate{},
+    resetMagState{},
+    KH{},
+    KHP{},
+    P{},
+    Kfusion{},
+    states{},
+    resetStates{},
+    storedStates{},
+    statetimeStamp{},
+    statesAtVelTime{},
+    statesAtPosTime{},
+    statesAtHgtTime{},
+    statesAtMagMeasTime{},
+    statesAtVtasMeasTime{},
+    statesAtRngTime{},
+    statesAtOptFlowTime{},
+    correctedDelAng(),
+    correctedDelVel(),
+    summedDelAng(),
+    summedDelVel(),
+    accNavMag(),
+    earthRateNED(),
+    angRate(),
+    lastGyroOffset(),
+    delAngTotal(),
+    Tbn(),
+    Tnb(),
+    accel(),
+    dVelIMU(),
+    dAngIMU(),
+    dtIMU(0),
+    fusionModeGPS(0),
+    innovVelPos{},
+    varInnovVelPos{},
+    velNED{},
+    accelGPSNED{},
+    posNE{},
+    hgtMea(0.0f),
+    baroHgtOffset(0.0f),
+    rngMea(0.0f),
+    innovMag{},
+    varInnovMag{},
+    magData{},
+    losData{},
+    innovVtas(0.0f),
+    innovRng(0.0f),
+    innovOptFlow{},
+    varInnovOptFlow{},
+    varInnovVtas(0.0f),
+    varInnovRng(0.0f),
+    VtasMeas(0.0f),
+    magDeclination(0.0f),
+    latRef(0.0f),
+    lonRef(-M_PI_F),
+    hgtRef(0.0f),
+    refSet(false),
+    magBias(),
+    covSkipCount(0),
+    gpsLat(0.0),
+    gpsLon(-M_PI),
+    gpsHgt(0.0f),
+    GPSstatus(0),
+    baroHgt(0.0f),
+    statesInitialised(false),
+    fuseVelData(false),
+    fusePosData(false),
+    fuseHgtData(false),
+    fuseMagData(false),
+    fuseVtasData(false),
+    fuseRngData(false),
+    fuseOptFlowData(false),
+
+    inhibitWindStates(true),
+    inhibitMagStates(true),
+    inhibitGndHgtState(true),
+
+    onGround(true),
+    staticMode(true),
+    useAirspeed(true),
+    useCompass(true),
+    useRangeFinder(false),
+    useOpticalFlow(false),
+
+    ekfDiverged(false),
+    lastReset(0),
+    current_ekf_state{},
+    last_ekf_error{},
+    numericalProtection(true),
+    storeIndex(0)
+{
+    memset(&last_ekf_error, 0, sizeof(last_ekf_error));
+    memset(&current_ekf_state, 0, sizeof(current_ekf_state));
+    ZeroVariables();
+    InitialiseParameters();
+}
+
+AttPosEKF::~AttPosEKF()
+{
+}
+
+void AttPosEKF::UpdateStrapdownEquationsNED()
+{
+    Vector3f delVelNav;
+    float q00;
+    float q11;
+    float q22;
+    float q33;
+    float q01;
+    float q02;
+    float q03;
+    float q12;
+    float q13;
+    float q23;
+    float rotationMag;
+    float qUpdated[4];
+    float quatMag;
+    float deltaQuat[4];
+    const Vector3f gravityNED(0.0f, 0.0f, GRAVITY_MSS);
+
+// Remove sensor bias errors
+    correctedDelAng.x = dAngIMU.x - states[10];
+    correctedDelAng.y = dAngIMU.y - states[11];
+    correctedDelAng.z = dAngIMU.z - states[12];
+    dVelIMU.x = dVelIMU.x;
+    dVelIMU.y = dVelIMU.y;
+    dVelIMU.z = dVelIMU.z - states[13];
+
+    delAngTotal.x += correctedDelAng.x;
+    delAngTotal.y += correctedDelAng.y;
+    delAngTotal.z += correctedDelAng.z;
+
+// Save current measurements
+    Vector3f  prevDelAng = correctedDelAng;
+
+// Apply corrections for earths rotation rate and coning errors
+// * and + operators have been overloaded
+    correctedDelAng   = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng);
+
+// Convert the rotation vector to its equivalent quaternion
+    rotationMag = correctedDelAng.length();
+    if (rotationMag < 1e-12f)
+    {
+        deltaQuat[0] = 1.0;
+        deltaQuat[1] = 0.0;
+        deltaQuat[2] = 0.0;
+        deltaQuat[3] = 0.0;
+    }
+    else
+    {
+        // We are using double here as we are unsure how small
+        // the angle differences are and if we get into numeric
+        // issues with float. The runtime impact is not measurable
+        // for these quantities.
+        deltaQuat[0] = cos(0.5*(double)rotationMag);
+        float rotScaler = (sin(0.5*(double)rotationMag))/(double)rotationMag;
+        deltaQuat[1] = correctedDelAng.x*rotScaler;
+        deltaQuat[2] = correctedDelAng.y*rotScaler;
+        deltaQuat[3] = correctedDelAng.z*rotScaler;
+    }
+
+// Update the quaternions by rotating from the previous attitude through
+// the delta angle rotation quaternion
+    qUpdated[0] = states[0]*deltaQuat[0] - states[1]*deltaQuat[1] - states[2]*deltaQuat[2] - states[3]*deltaQuat[3];
+    qUpdated[1] = states[0]*deltaQuat[1] + states[1]*deltaQuat[0] + states[2]*deltaQuat[3] - states[3]*deltaQuat[2];
+    qUpdated[2] = states[0]*deltaQuat[2] + states[2]*deltaQuat[0] + states[3]*deltaQuat[1] - states[1]*deltaQuat[3];
+    qUpdated[3] = states[0]*deltaQuat[3] + states[3]*deltaQuat[0] + states[1]*deltaQuat[2] - states[2]*deltaQuat[1];
+
+// Normalise the quaternions and update the quaternion states
+    quatMag = sqrtf(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3]));
+    if (quatMag > 1e-16f)
+    {
+        float quatMagInv = 1.0f/quatMag;
+        states[0] = quatMagInv*qUpdated[0];
+        states[1] = quatMagInv*qUpdated[1];
+        states[2] = quatMagInv*qUpdated[2];
+        states[3] = quatMagInv*qUpdated[3];
+    }
+
+// Calculate the body to nav cosine matrix
+    q00 = sq(states[0]);
+    q11 = sq(states[1]);
+    q22 = sq(states[2]);
+    q33 = sq(states[3]);
+    q01 =  states[0]*states[1];
+    q02 =  states[0]*states[2];
+    q03 =  states[0]*states[3];
+    q12 =  states[1]*states[2];
+    q13 =  states[1]*states[3];
+    q23 =  states[2]*states[3];
+
+    Tbn.x.x = q00 + q11 - q22 - q33;
+    Tbn.y.y = q00 - q11 + q22 - q33;
+    Tbn.z.z = q00 - q11 - q22 + q33;
+    Tbn.x.y = 2*(q12 - q03);
+    Tbn.x.z = 2*(q13 + q02);
+    Tbn.y.x = 2*(q12 + q03);
+    Tbn.y.z = 2*(q23 - q01);
+    Tbn.z.x = 2*(q13 - q02);
+    Tbn.z.y = 2*(q23 + q01);
+
+    Tnb = Tbn.transpose();
+
+// transform body delta velocities to delta velocities in the nav frame
+// * and + operators have been overloaded
+    //delVelNav = Tbn*dVelIMU + gravityNED*dtIMU;
+    delVelNav.x = Tbn.x.x*dVelIMU.x + Tbn.x.y*dVelIMU.y + Tbn.x.z*dVelIMU.z + gravityNED.x*dtIMU;
+    delVelNav.y = Tbn.y.x*dVelIMU.x + Tbn.y.y*dVelIMU.y + Tbn.y.z*dVelIMU.z + gravityNED.y*dtIMU;
+    delVelNav.z = Tbn.z.x*dVelIMU.x + Tbn.z.y*dVelIMU.y + Tbn.z.z*dVelIMU.z + gravityNED.z*dtIMU;
+
+// calculate the magnitude of the nav acceleration (required for GPS
+// variance estimation)
+    accNavMag = delVelNav.length()/dtIMU;
+
+// If calculating position save previous velocity
+    float lastVelocity[3];
+    lastVelocity[0] = states[4];
+    lastVelocity[1] = states[5];
+    lastVelocity[2] = states[6];
+
+// Sum delta velocities to get velocity
+    states[4] = states[4] + delVelNav.x;
+    states[5] = states[5] + delVelNav.y;
+    states[6] = states[6] + delVelNav.z;
+
+// If calculating postions, do a trapezoidal integration for position
+    states[7] = states[7] + 0.5f*(states[4] + lastVelocity[0])*dtIMU;
+    states[8] = states[8] + 0.5f*(states[5] + lastVelocity[1])*dtIMU;
+    states[9] = states[9] + 0.5f*(states[6] + lastVelocity[2])*dtIMU;
+
+    // Constrain states (to protect against filter divergence)
+    ConstrainStates();
+}
+
+void AttPosEKF::CovariancePrediction(float dt)
+{
+    // scalars
+    float daxCov;
+    float dayCov;
+    float dazCov;
+    float dvxCov;
+    float dvyCov;
+    float dvzCov;
+    float dvx;
+    float dvy;
+    float dvz;
+    float dax;
+    float day;
+    float daz;
+    float q0;
+    float q1;
+    float q2;
+    float q3;
+    float dax_b;
+    float day_b;
+    float daz_b;
+    float dvz_b;
+
+    // arrays
+    float processNoise[n_states];
+    float SF[15];
+    float SG[8];
+    float SQ[11];
+    float SPP[8] = {0};
+    float nextP[n_states][n_states];
+
+    // calculate covariance prediction process noise
+    for (uint8_t i= 0; i<4;  i++) processNoise[i] = 1.0e-9f;
+    for (uint8_t i= 4; i<10;  i++) processNoise[i] = 1.0e-9f;
+    for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
+    // scale gyro bias noise when on ground to allow for faster bias estimation
+    for (uint8_t i=10; i<=12; i++) processNoise[i] = dt * dAngBiasSigma;
+    processNoise[13] = dVelBiasSigma;
+    if (!inhibitWindStates) {
+        for (uint8_t i=14; i<=15; i++) processNoise[i] = dt * windVelSigma;
+    } else {
+        for (uint8_t i=14; i<=15; i++) processNoise[i] = 0;
+    }
+    if (!inhibitMagStates) {
+        for (uint8_t i=16; i<=18; i++) processNoise[i] = dt * magEarthSigma;
+        for (uint8_t i=19; i<=21; i++) processNoise[i] = dt * magBodySigma;
+    } else {
+        for (uint8_t i=16; i<=21; i++) processNoise[i] = 0;
+    }
+    if (!inhibitGndHgtState) {
+        processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma;
+    } else {
+        processNoise[22] = 0;
+    }
+
+    // square all sigmas
+    for (unsigned i = 0; i < n_states; i++) processNoise[i] = sq(processNoise[i]);
+
+    // set variables used to calculate covariance growth
+    dvx = summedDelVel.x;
+    dvy = summedDelVel.y;
+    dvz = summedDelVel.z;
+    dax = summedDelAng.x;
+    day = summedDelAng.y;
+    daz = summedDelAng.z;
+    q0 = states[0];
+    q1 = states[1];
+    q2 = states[2];
+    q3 = states[3];
+    dax_b = states[10];
+    day_b = states[11];
+    daz_b = states[12];
+    dvz_b =  states[13];
+    gyroProcessNoise = ConstrainFloat(gyroProcessNoise, 1e-3f, 5e-2f);
+    daxCov = sq(dt*gyroProcessNoise);
+    dayCov = sq(dt*gyroProcessNoise);
+    dazCov = sq(dt*gyroProcessNoise);
+    if (onGround) dazCov = dazCov * sq(yawVarScale);
+    accelProcessNoise = ConstrainFloat(accelProcessNoise, 5e-2, 1.0f);
+    dvxCov = sq(dt*accelProcessNoise);
+    dvyCov = sq(dt*accelProcessNoise);
+    dvzCov = sq(dt*accelProcessNoise);
+
+    // Predicted covariance calculation
+    SF[0] = dvz - dvz_b;
+    SF[1] = 2*q3*SF[0] + 2*dvx*q1 + 2*dvy*q2;
+    SF[2] = 2*dvx*q3 - 2*q1*SF[0] + 2*dvy*q0;
+    SF[3] = 2*q2*SF[0] + 2*dvx*q0 - 2*dvy*q3;
+    SF[4] = day/2 - day_b/2;
+    SF[5] = daz/2 - daz_b/2;
+    SF[6] = dax/2 - dax_b/2;
+    SF[7] = dax_b/2 - dax/2;
+    SF[8] = daz_b/2 - daz/2;
+    SF[9] = day_b/2 - day/2;
+    SF[10] = 2*q0*SF[0];
+    SF[11] = q1/2;
+    SF[12] = q2/2;
+    SF[13] = q3/2;
+    SF[14] = 2*dvy*q1;
+
+    SG[0] = q0/2;
+    SG[1] = sq(q3);
+    SG[2] = sq(q2);
+    SG[3] = sq(q1);
+    SG[4] = sq(q0);
+    SG[5] = 2*q2*q3;
+    SG[6] = 2*q1*q3;
+    SG[7] = 2*q1*q2;
+
+    SQ[0] = dvzCov*(SG[5] - 2*q0*q1)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvyCov*(SG[5] + 2*q0*q1)*(SG[1] - SG[2] + SG[3] - SG[4]) + dvxCov*(SG[6] - 2*q0*q2)*(SG[7] + 2*q0*q3);
+    SQ[1] = dvzCov*(SG[6] + 2*q0*q2)*(SG[1] - SG[2] - SG[3] + SG[4]) - dvxCov*(SG[6] - 2*q0*q2)*(SG[1] + SG[2] - SG[3] - SG[4]) + dvyCov*(SG[5] + 2*q0*q1)*(SG[7] - 2*q0*q3);
+    SQ[2] = dvzCov*(SG[5] - 2*q0*q1)*(SG[6] + 2*q0*q2) - dvyCov*(SG[7] - 2*q0*q3)*(SG[1] - SG[2] + SG[3] - SG[4]) - dvxCov*(SG[7] + 2*q0*q3)*(SG[1] + SG[2] - SG[3] - SG[4]);
+    SQ[3] = (dayCov*q1*SG[0])/2 - (dazCov*q1*SG[0])/2 - (daxCov*q2*q3)/4;
+    SQ[4] = (dazCov*q2*SG[0])/2 - (daxCov*q2*SG[0])/2 - (dayCov*q1*q3)/4;
+    SQ[5] = (daxCov*q3*SG[0])/2 - (dayCov*q3*SG[0])/2 - (dazCov*q1*q2)/4;
+    SQ[6] = (daxCov*q1*q2)/4 - (dazCov*q3*SG[0])/2 - (dayCov*q1*q2)/4;
+    SQ[7] = (dazCov*q1*q3)/4 - (daxCov*q1*q3)/4 - (dayCov*q2*SG[0])/2;
+    SQ[8] = (dayCov*q2*q3)/4 - (daxCov*q1*SG[0])/2 - (dazCov*q2*q3)/4;
+    SQ[9] = sq(SG[0]);
+    SQ[10] = sq(q1);
+
+    SPP[0] = SF[10] + SF[14] - 2*dvx*q2;
+    SPP[1] = 2*q2*SF[0] + 2*dvx*q0 - 2*dvy*q3;
+    SPP[2] = 2*dvx*q3 - 2*q1*SF[0] + 2*dvy*q0;
+    SPP[3] = 2*q0*q1 - 2*q2*q3;
+    SPP[4] = 2*q0*q2 + 2*q1*q3;
+    SPP[5] = sq(q0) - sq(q1) - sq(q2) + sq(q3);
+    SPP[6] = SF[13];
+    SPP[7] = SF[12];
+
+    nextP[0][0] = P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6] + (daxCov*SQ[10])/4 + SF[7]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[9]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[8]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SF[11]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) + SPP[7]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) + SPP[6]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) + (dayCov*sq(q2))/4 + (dazCov*sq(q3))/4;
+    nextP[0][1] = P[0][1] + SQ[8] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6] + SF[6]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[5]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[9]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SPP[6]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) - SPP[7]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) - (q0*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]))/2;
+    nextP[0][2] = P[0][2] + SQ[7] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6] + SF[4]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[8]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[6]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SF[11]*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]) - SPP[6]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) - (q0*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]))/2;
+    nextP[0][3] = P[0][3] + SQ[6] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6] + SF[5]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[4]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[7]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - SF[11]*(P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6]) + SPP[7]*(P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6]) - (q0*(P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6]))/2;
+    nextP[0][4] = P[0][4] + P[1][4]*SF[7] + P[2][4]*SF[9] + P[3][4]*SF[8] + P[10][4]*SF[11] + P[11][4]*SPP[7] + P[12][4]*SPP[6] + SF[3]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[1]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SPP[0]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - SPP[2]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) - SPP[4]*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]);
+    nextP[0][5] = P[0][5] + P[1][5]*SF[7] + P[2][5]*SF[9] + P[3][5]*SF[8] + P[10][5]*SF[11] + P[11][5]*SPP[7] + P[12][5]*SPP[6] + SF[2]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) + SF[1]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) + SF[3]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) - SPP[0]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SPP[3]*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]);
+    nextP[0][6] = P[0][6] + P[1][6]*SF[7] + P[2][6]*SF[9] + P[3][6]*SF[8] + P[10][6]*SF[11] + P[11][6]*SPP[7] + P[12][6]*SPP[6] + SF[2]*(P[0][1] + P[1][1]*SF[7] + P[2][1]*SF[9] + P[3][1]*SF[8] + P[10][1]*SF[11] + P[11][1]*SPP[7] + P[12][1]*SPP[6]) + SF[1]*(P[0][3] + P[1][3]*SF[7] + P[2][3]*SF[9] + P[3][3]*SF[8] + P[10][3]*SF[11] + P[11][3]*SPP[7] + P[12][3]*SPP[6]) + SPP[0]*(P[0][0] + P[1][0]*SF[7] + P[2][0]*SF[9] + P[3][0]*SF[8] + P[10][0]*SF[11] + P[11][0]*SPP[7] + P[12][0]*SPP[6]) - SPP[1]*(P[0][2] + P[1][2]*SF[7] + P[2][2]*SF[9] + P[3][2]*SF[8] + P[10][2]*SF[11] + P[11][2]*SPP[7] + P[12][2]*SPP[6]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6]);
+    nextP[0][7] = P[0][7] + P[1][7]*SF[7] + P[2][7]*SF[9] + P[3][7]*SF[8] + P[10][7]*SF[11] + P[11][7]*SPP[7] + P[12][7]*SPP[6] + dt*(P[0][4] + P[1][4]*SF[7] + P[2][4]*SF[9] + P[3][4]*SF[8] + P[10][4]*SF[11] + P[11][4]*SPP[7] + P[12][4]*SPP[6]);
+    nextP[0][8] = P[0][8] + P[1][8]*SF[7] + P[2][8]*SF[9] + P[3][8]*SF[8] + P[10][8]*SF[11] + P[11][8]*SPP[7] + P[12][8]*SPP[6] + dt*(P[0][5] + P[1][5]*SF[7] + P[2][5]*SF[9] + P[3][5]*SF[8] + P[10][5]*SF[11] + P[11][5]*SPP[7] + P[12][5]*SPP[6]);
+    nextP[0][9] = P[0][9] + P[1][9]*SF[7] + P[2][9]*SF[9] + P[3][9]*SF[8] + P[10][9]*SF[11] + P[11][9]*SPP[7] + P[12][9]*SPP[6] + dt*(P[0][6] + P[1][6]*SF[7] + P[2][6]*SF[9] + P[3][6]*SF[8] + P[10][6]*SF[11] + P[11][6]*SPP[7] + P[12][6]*SPP[6]);
+    nextP[0][10] = P[0][10] + P[1][10]*SF[7] + P[2][10]*SF[9] + P[3][10]*SF[8] + P[10][10]*SF[11] + P[11][10]*SPP[7] + P[12][10]*SPP[6];
+    nextP[0][11] = P[0][11] + P[1][11]*SF[7] + P[2][11]*SF[9] + P[3][11]*SF[8] + P[10][11]*SF[11] + P[11][11]*SPP[7] + P[12][11]*SPP[6];
+    nextP[0][12] = P[0][12] + P[1][12]*SF[7] + P[2][12]*SF[9] + P[3][12]*SF[8] + P[10][12]*SF[11] + P[11][12]*SPP[7] + P[12][12]*SPP[6];
+    nextP[0][13] = P[0][13] + P[1][13]*SF[7] + P[2][13]*SF[9] + P[3][13]*SF[8] + P[10][13]*SF[11] + P[11][13]*SPP[7] + P[12][13]*SPP[6];
+    nextP[0][14] = P[0][14] + P[1][14]*SF[7] + P[2][14]*SF[9] + P[3][14]*SF[8] + P[10][14]*SF[11] + P[11][14]*SPP[7] + P[12][14]*SPP[6];
+    nextP[0][15] = P[0][15] + P[1][15]*SF[7] + P[2][15]*SF[9] + P[3][15]*SF[8] + P[10][15]*SF[11] + P[11][15]*SPP[7] + P[12][15]*SPP[6];
+    nextP[0][16] = P[0][16] + P[1][16]*SF[7] + P[2][16]*SF[9] + P[3][16]*SF[8] + P[10][16]*SF[11] + P[11][16]*SPP[7] + P[12][16]*SPP[6];
+    nextP[0][17] = P[0][17] + P[1][17]*SF[7] + P[2][17]*SF[9] + P[3][17]*SF[8] + P[10][17]*SF[11] + P[11][17]*SPP[7] + P[12][17]*SPP[6];
+    nextP[0][18] = P[0][18] + P[1][18]*SF[7] + P[2][18]*SF[9] + P[3][18]*SF[8] + P[10][18]*SF[11] + P[11][18]*SPP[7] + P[12][18]*SPP[6];
+    nextP[0][19] = P[0][19] + P[1][19]*SF[7] + P[2][19]*SF[9] + P[3][19]*SF[8] + P[10][19]*SF[11] + P[11][19]*SPP[7] + P[12][19]*SPP[6];
+    nextP[0][20] = P[0][20] + P[1][20]*SF[7] + P[2][20]*SF[9] + P[3][20]*SF[8] + P[10][20]*SF[11] + P[11][20]*SPP[7] + P[12][20]*SPP[6];
+    nextP[0][21] = P[0][21] + P[1][21]*SF[7] + P[2][21]*SF[9] + P[3][21]*SF[8] + P[10][21]*SF[11] + P[11][21]*SPP[7] + P[12][21]*SPP[6];
+    nextP[0][22] = P[0][22] + P[1][22]*SF[7] + P[2][22]*SF[9] + P[3][22]*SF[8] + P[10][22]*SF[11] + P[11][22]*SPP[7] + P[12][22]*SPP[6];
+    nextP[1][0] = P[1][0] + SQ[8] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2 + SF[7]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[9]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[8]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SF[11]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) + SPP[7]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) + SPP[6]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2);
+    nextP[1][1] = P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] + daxCov*SQ[9] - (P[10][1]*q0)/2 + SF[6]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[5]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[9]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SPP[6]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) - SPP[7]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2) + (dayCov*sq(q3))/4 + (dazCov*sq(q2))/4 - (q0*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2))/2;
+    nextP[1][2] = P[1][2] + SQ[5] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2 + SF[4]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[8]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[6]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SF[11]*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2) - SPP[6]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) - (q0*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2))/2;
+    nextP[1][3] = P[1][3] + SQ[4] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2 + SF[5]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[4]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[7]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - SF[11]*(P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2) + SPP[7]*(P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2) - (q0*(P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2))/2;
+    nextP[1][4] = P[1][4] + P[0][4]*SF[6] + P[2][4]*SF[5] + P[3][4]*SF[9] + P[11][4]*SPP[6] - P[12][4]*SPP[7] - (P[10][4]*q0)/2 + SF[3]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[1]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SPP[0]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - SPP[2]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) - SPP[4]*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2);
+    nextP[1][5] = P[1][5] + P[0][5]*SF[6] + P[2][5]*SF[5] + P[3][5]*SF[9] + P[11][5]*SPP[6] - P[12][5]*SPP[7] - (P[10][5]*q0)/2 + SF[2]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) + SF[1]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) + SF[3]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) - SPP[0]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SPP[3]*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2);
+    nextP[1][6] = P[1][6] + P[0][6]*SF[6] + P[2][6]*SF[5] + P[3][6]*SF[9] + P[11][6]*SPP[6] - P[12][6]*SPP[7] - (P[10][6]*q0)/2 + SF[2]*(P[1][1] + P[0][1]*SF[6] + P[2][1]*SF[5] + P[3][1]*SF[9] + P[11][1]*SPP[6] - P[12][1]*SPP[7] - (P[10][1]*q0)/2) + SF[1]*(P[1][3] + P[0][3]*SF[6] + P[2][3]*SF[5] + P[3][3]*SF[9] + P[11][3]*SPP[6] - P[12][3]*SPP[7] - (P[10][3]*q0)/2) + SPP[0]*(P[1][0] + P[0][0]*SF[6] + P[2][0]*SF[5] + P[3][0]*SF[9] + P[11][0]*SPP[6] - P[12][0]*SPP[7] - (P[10][0]*q0)/2) - SPP[1]*(P[1][2] + P[0][2]*SF[6] + P[2][2]*SF[5] + P[3][2]*SF[9] + P[11][2]*SPP[6] - P[12][2]*SPP[7] - (P[10][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2);
+    nextP[1][7] = P[1][7] + P[0][7]*SF[6] + P[2][7]*SF[5] + P[3][7]*SF[9] + P[11][7]*SPP[6] - P[12][7]*SPP[7] - (P[10][7]*q0)/2 + dt*(P[1][4] + P[0][4]*SF[6] + P[2][4]*SF[5] + P[3][4]*SF[9] + P[11][4]*SPP[6] - P[12][4]*SPP[7] - (P[10][4]*q0)/2);
+    nextP[1][8] = P[1][8] + P[0][8]*SF[6] + P[2][8]*SF[5] + P[3][8]*SF[9] + P[11][8]*SPP[6] - P[12][8]*SPP[7] - (P[10][8]*q0)/2 + dt*(P[1][5] + P[0][5]*SF[6] + P[2][5]*SF[5] + P[3][5]*SF[9] + P[11][5]*SPP[6] - P[12][5]*SPP[7] - (P[10][5]*q0)/2);
+    nextP[1][9] = P[1][9] + P[0][9]*SF[6] + P[2][9]*SF[5] + P[3][9]*SF[9] + P[11][9]*SPP[6] - P[12][9]*SPP[7] - (P[10][9]*q0)/2 + dt*(P[1][6] + P[0][6]*SF[6] + P[2][6]*SF[5] + P[3][6]*SF[9] + P[11][6]*SPP[6] - P[12][6]*SPP[7] - (P[10][6]*q0)/2);
+    nextP[1][10] = P[1][10] + P[0][10]*SF[6] + P[2][10]*SF[5] + P[3][10]*SF[9] + P[11][10]*SPP[6] - P[12][10]*SPP[7] - (P[10][10]*q0)/2;
+    nextP[1][11] = P[1][11] + P[0][11]*SF[6] + P[2][11]*SF[5] + P[3][11]*SF[9] + P[11][11]*SPP[6] - P[12][11]*SPP[7] - (P[10][11]*q0)/2;
+    nextP[1][12] = P[1][12] + P[0][12]*SF[6] + P[2][12]*SF[5] + P[3][12]*SF[9] + P[11][12]*SPP[6] - P[12][12]*SPP[7] - (P[10][12]*q0)/2;
+    nextP[1][13] = P[1][13] + P[0][13]*SF[6] + P[2][13]*SF[5] + P[3][13]*SF[9] + P[11][13]*SPP[6] - P[12][13]*SPP[7] - (P[10][13]*q0)/2;
+    nextP[1][14] = P[1][14] + P[0][14]*SF[6] + P[2][14]*SF[5] + P[3][14]*SF[9] + P[11][14]*SPP[6] - P[12][14]*SPP[7] - (P[10][14]*q0)/2;
+    nextP[1][15] = P[1][15] + P[0][15]*SF[6] + P[2][15]*SF[5] + P[3][15]*SF[9] + P[11][15]*SPP[6] - P[12][15]*SPP[7] - (P[10][15]*q0)/2;
+    nextP[1][16] = P[1][16] + P[0][16]*SF[6] + P[2][16]*SF[5] + P[3][16]*SF[9] + P[11][16]*SPP[6] - P[12][16]*SPP[7] - (P[10][16]*q0)/2;
+    nextP[1][17] = P[1][17] + P[0][17]*SF[6] + P[2][17]*SF[5] + P[3][17]*SF[9] + P[11][17]*SPP[6] - P[12][17]*SPP[7] - (P[10][17]*q0)/2;
+    nextP[1][18] = P[1][18] + P[0][18]*SF[6] + P[2][18]*SF[5] + P[3][18]*SF[9] + P[11][18]*SPP[6] - P[12][18]*SPP[7] - (P[10][18]*q0)/2;
+    nextP[1][19] = P[1][19] + P[0][19]*SF[6] + P[2][19]*SF[5] + P[3][19]*SF[9] + P[11][19]*SPP[6] - P[12][19]*SPP[7] - (P[10][19]*q0)/2;
+    nextP[1][20] = P[1][20] + P[0][20]*SF[6] + P[2][20]*SF[5] + P[3][20]*SF[9] + P[11][20]*SPP[6] - P[12][20]*SPP[7] - (P[10][20]*q0)/2;
+    nextP[1][21] = P[1][21] + P[0][21]*SF[6] + P[2][21]*SF[5] + P[3][21]*SF[9] + P[11][21]*SPP[6] - P[12][21]*SPP[7] - (P[10][21]*q0)/2;
+    nextP[1][22] = P[1][22] + P[0][22]*SF[6] + P[2][22]*SF[5] + P[3][22]*SF[9] + P[11][22]*SPP[6] - P[12][22]*SPP[7] - (P[10][22]*q0)/2;
+    nextP[2][0] = P[2][0] + SQ[7] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2 + SF[7]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[9]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[8]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SF[11]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) + SPP[7]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) + SPP[6]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2);
+    nextP[2][1] = P[2][1] + SQ[5] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2 + SF[6]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[5]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[9]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SPP[6]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) - SPP[7]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2) - (q0*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2))/2;
+    nextP[2][2] = P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] + dayCov*SQ[9] + (dazCov*SQ[10])/4 - (P[11][2]*q0)/2 + SF[4]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[8]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[6]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SF[11]*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2) - SPP[6]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) + (daxCov*sq(q3))/4 - (q0*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2))/2;
+    nextP[2][3] = P[2][3] + SQ[3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2 + SF[5]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[4]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[7]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - SF[11]*(P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2) + SPP[7]*(P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2) - (q0*(P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2))/2;
+    nextP[2][4] = P[2][4] + P[0][4]*SF[4] + P[1][4]*SF[8] + P[3][4]*SF[6] + P[12][4]*SF[11] - P[10][4]*SPP[6] - (P[11][4]*q0)/2 + SF[3]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[1]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SPP[0]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - SPP[2]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) - SPP[4]*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2);
+    nextP[2][5] = P[2][5] + P[0][5]*SF[4] + P[1][5]*SF[8] + P[3][5]*SF[6] + P[12][5]*SF[11] - P[10][5]*SPP[6] - (P[11][5]*q0)/2 + SF[2]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) + SF[1]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) + SF[3]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) - SPP[0]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SPP[3]*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2);
+    nextP[2][6] = P[2][6] + P[0][6]*SF[4] + P[1][6]*SF[8] + P[3][6]*SF[6] + P[12][6]*SF[11] - P[10][6]*SPP[6] - (P[11][6]*q0)/2 + SF[2]*(P[2][1] + P[0][1]*SF[4] + P[1][1]*SF[8] + P[3][1]*SF[6] + P[12][1]*SF[11] - P[10][1]*SPP[6] - (P[11][1]*q0)/2) + SF[1]*(P[2][3] + P[0][3]*SF[4] + P[1][3]*SF[8] + P[3][3]*SF[6] + P[12][3]*SF[11] - P[10][3]*SPP[6] - (P[11][3]*q0)/2) + SPP[0]*(P[2][0] + P[0][0]*SF[4] + P[1][0]*SF[8] + P[3][0]*SF[6] + P[12][0]*SF[11] - P[10][0]*SPP[6] - (P[11][0]*q0)/2) - SPP[1]*(P[2][2] + P[0][2]*SF[4] + P[1][2]*SF[8] + P[3][2]*SF[6] + P[12][2]*SF[11] - P[10][2]*SPP[6] - (P[11][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2);
+    nextP[2][7] = P[2][7] + P[0][7]*SF[4] + P[1][7]*SF[8] + P[3][7]*SF[6] + P[12][7]*SF[11] - P[10][7]*SPP[6] - (P[11][7]*q0)/2 + dt*(P[2][4] + P[0][4]*SF[4] + P[1][4]*SF[8] + P[3][4]*SF[6] + P[12][4]*SF[11] - P[10][4]*SPP[6] - (P[11][4]*q0)/2);
+    nextP[2][8] = P[2][8] + P[0][8]*SF[4] + P[1][8]*SF[8] + P[3][8]*SF[6] + P[12][8]*SF[11] - P[10][8]*SPP[6] - (P[11][8]*q0)/2 + dt*(P[2][5] + P[0][5]*SF[4] + P[1][5]*SF[8] + P[3][5]*SF[6] + P[12][5]*SF[11] - P[10][5]*SPP[6] - (P[11][5]*q0)/2);
+    nextP[2][9] = P[2][9] + P[0][9]*SF[4] + P[1][9]*SF[8] + P[3][9]*SF[6] + P[12][9]*SF[11] - P[10][9]*SPP[6] - (P[11][9]*q0)/2 + dt*(P[2][6] + P[0][6]*SF[4] + P[1][6]*SF[8] + P[3][6]*SF[6] + P[12][6]*SF[11] - P[10][6]*SPP[6] - (P[11][6]*q0)/2);
+    nextP[2][10] = P[2][10] + P[0][10]*SF[4] + P[1][10]*SF[8] + P[3][10]*SF[6] + P[12][10]*SF[11] - P[10][10]*SPP[6] - (P[11][10]*q0)/2;
+    nextP[2][11] = P[2][11] + P[0][11]*SF[4] + P[1][11]*SF[8] + P[3][11]*SF[6] + P[12][11]*SF[11] - P[10][11]*SPP[6] - (P[11][11]*q0)/2;
+    nextP[2][12] = P[2][12] + P[0][12]*SF[4] + P[1][12]*SF[8] + P[3][12]*SF[6] + P[12][12]*SF[11] - P[10][12]*SPP[6] - (P[11][12]*q0)/2;
+    nextP[2][13] = P[2][13] + P[0][13]*SF[4] + P[1][13]*SF[8] + P[3][13]*SF[6] + P[12][13]*SF[11] - P[10][13]*SPP[6] - (P[11][13]*q0)/2;
+    nextP[2][14] = P[2][14] + P[0][14]*SF[4] + P[1][14]*SF[8] + P[3][14]*SF[6] + P[12][14]*SF[11] - P[10][14]*SPP[6] - (P[11][14]*q0)/2;
+    nextP[2][15] = P[2][15] + P[0][15]*SF[4] + P[1][15]*SF[8] + P[3][15]*SF[6] + P[12][15]*SF[11] - P[10][15]*SPP[6] - (P[11][15]*q0)/2;
+    nextP[2][16] = P[2][16] + P[0][16]*SF[4] + P[1][16]*SF[8] + P[3][16]*SF[6] + P[12][16]*SF[11] - P[10][16]*SPP[6] - (P[11][16]*q0)/2;
+    nextP[2][17] = P[2][17] + P[0][17]*SF[4] + P[1][17]*SF[8] + P[3][17]*SF[6] + P[12][17]*SF[11] - P[10][17]*SPP[6] - (P[11][17]*q0)/2;
+    nextP[2][18] = P[2][18] + P[0][18]*SF[4] + P[1][18]*SF[8] + P[3][18]*SF[6] + P[12][18]*SF[11] - P[10][18]*SPP[6] - (P[11][18]*q0)/2;
+    nextP[2][19] = P[2][19] + P[0][19]*SF[4] + P[1][19]*SF[8] + P[3][19]*SF[6] + P[12][19]*SF[11] - P[10][19]*SPP[6] - (P[11][19]*q0)/2;
+    nextP[2][20] = P[2][20] + P[0][20]*SF[4] + P[1][20]*SF[8] + P[3][20]*SF[6] + P[12][20]*SF[11] - P[10][20]*SPP[6] - (P[11][20]*q0)/2;
+    nextP[2][21] = P[2][21] + P[0][21]*SF[4] + P[1][21]*SF[8] + P[3][21]*SF[6] + P[12][21]*SF[11] - P[10][21]*SPP[6] - (P[11][21]*q0)/2;
+    nextP[2][22] = P[2][22] + P[0][22]*SF[4] + P[1][22]*SF[8] + P[3][22]*SF[6] + P[12][22]*SF[11] - P[10][22]*SPP[6] - (P[11][22]*q0)/2;
+    nextP[3][0] = P[3][0] + SQ[6] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2 + SF[7]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[9]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[8]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SF[11]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) + SPP[7]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) + SPP[6]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2);
+    nextP[3][1] = P[3][1] + SQ[4] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2 + SF[6]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[5]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[9]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SPP[6]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) - SPP[7]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2) - (q0*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2))/2;
+    nextP[3][2] = P[3][2] + SQ[3] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2 + SF[4]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[8]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[6]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SF[11]*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2) - SPP[6]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) - (q0*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2))/2;
+    nextP[3][3] = P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] + (dayCov*SQ[10])/4 + dazCov*SQ[9] - (P[12][3]*q0)/2 + SF[5]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[4]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[7]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - SF[11]*(P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2) + SPP[7]*(P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2) + (daxCov*sq(q2))/4 - (q0*(P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2))/2;
+    nextP[3][4] = P[3][4] + P[0][4]*SF[5] + P[1][4]*SF[4] + P[2][4]*SF[7] - P[11][4]*SF[11] + P[10][4]*SPP[7] - (P[12][4]*q0)/2 + SF[3]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[1]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SPP[0]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - SPP[2]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) - SPP[4]*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2);
+    nextP[3][5] = P[3][5] + P[0][5]*SF[5] + P[1][5]*SF[4] + P[2][5]*SF[7] - P[11][5]*SF[11] + P[10][5]*SPP[7] - (P[12][5]*q0)/2 + SF[2]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) + SF[1]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) + SF[3]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) - SPP[0]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SPP[3]*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2);
+    nextP[3][6] = P[3][6] + P[0][6]*SF[5] + P[1][6]*SF[4] + P[2][6]*SF[7] - P[11][6]*SF[11] + P[10][6]*SPP[7] - (P[12][6]*q0)/2 + SF[2]*(P[3][1] + P[0][1]*SF[5] + P[1][1]*SF[4] + P[2][1]*SF[7] - P[11][1]*SF[11] + P[10][1]*SPP[7] - (P[12][1]*q0)/2) + SF[1]*(P[3][3] + P[0][3]*SF[5] + P[1][3]*SF[4] + P[2][3]*SF[7] - P[11][3]*SF[11] + P[10][3]*SPP[7] - (P[12][3]*q0)/2) + SPP[0]*(P[3][0] + P[0][0]*SF[5] + P[1][0]*SF[4] + P[2][0]*SF[7] - P[11][0]*SF[11] + P[10][0]*SPP[7] - (P[12][0]*q0)/2) - SPP[1]*(P[3][2] + P[0][2]*SF[5] + P[1][2]*SF[4] + P[2][2]*SF[7] - P[11][2]*SF[11] + P[10][2]*SPP[7] - (P[12][2]*q0)/2) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2);
+    nextP[3][7] = P[3][7] + P[0][7]*SF[5] + P[1][7]*SF[4] + P[2][7]*SF[7] - P[11][7]*SF[11] + P[10][7]*SPP[7] - (P[12][7]*q0)/2 + dt*(P[3][4] + P[0][4]*SF[5] + P[1][4]*SF[4] + P[2][4]*SF[7] - P[11][4]*SF[11] + P[10][4]*SPP[7] - (P[12][4]*q0)/2);
+    nextP[3][8] = P[3][8] + P[0][8]*SF[5] + P[1][8]*SF[4] + P[2][8]*SF[7] - P[11][8]*SF[11] + P[10][8]*SPP[7] - (P[12][8]*q0)/2 + dt*(P[3][5] + P[0][5]*SF[5] + P[1][5]*SF[4] + P[2][5]*SF[7] - P[11][5]*SF[11] + P[10][5]*SPP[7] - (P[12][5]*q0)/2);
+    nextP[3][9] = P[3][9] + P[0][9]*SF[5] + P[1][9]*SF[4] + P[2][9]*SF[7] - P[11][9]*SF[11] + P[10][9]*SPP[7] - (P[12][9]*q0)/2 + dt*(P[3][6] + P[0][6]*SF[5] + P[1][6]*SF[4] + P[2][6]*SF[7] - P[11][6]*SF[11] + P[10][6]*SPP[7] - (P[12][6]*q0)/2);
+    nextP[3][10] = P[3][10] + P[0][10]*SF[5] + P[1][10]*SF[4] + P[2][10]*SF[7] - P[11][10]*SF[11] + P[10][10]*SPP[7] - (P[12][10]*q0)/2;
+    nextP[3][11] = P[3][11] + P[0][11]*SF[5] + P[1][11]*SF[4] + P[2][11]*SF[7] - P[11][11]*SF[11] + P[10][11]*SPP[7] - (P[12][11]*q0)/2;
+    nextP[3][12] = P[3][12] + P[0][12]*SF[5] + P[1][12]*SF[4] + P[2][12]*SF[7] - P[11][12]*SF[11] + P[10][12]*SPP[7] - (P[12][12]*q0)/2;
+    nextP[3][13] = P[3][13] + P[0][13]*SF[5] + P[1][13]*SF[4] + P[2][13]*SF[7] - P[11][13]*SF[11] + P[10][13]*SPP[7] - (P[12][13]*q0)/2;
+    nextP[3][14] = P[3][14] + P[0][14]*SF[5] + P[1][14]*SF[4] + P[2][14]*SF[7] - P[11][14]*SF[11] + P[10][14]*SPP[7] - (P[12][14]*q0)/2;
+    nextP[3][15] = P[3][15] + P[0][15]*SF[5] + P[1][15]*SF[4] + P[2][15]*SF[7] - P[11][15]*SF[11] + P[10][15]*SPP[7] - (P[12][15]*q0)/2;
+    nextP[3][16] = P[3][16] + P[0][16]*SF[5] + P[1][16]*SF[4] + P[2][16]*SF[7] - P[11][16]*SF[11] + P[10][16]*SPP[7] - (P[12][16]*q0)/2;
+    nextP[3][17] = P[3][17] + P[0][17]*SF[5] + P[1][17]*SF[4] + P[2][17]*SF[7] - P[11][17]*SF[11] + P[10][17]*SPP[7] - (P[12][17]*q0)/2;
+    nextP[3][18] = P[3][18] + P[0][18]*SF[5] + P[1][18]*SF[4] + P[2][18]*SF[7] - P[11][18]*SF[11] + P[10][18]*SPP[7] - (P[12][18]*q0)/2;
+    nextP[3][19] = P[3][19] + P[0][19]*SF[5] + P[1][19]*SF[4] + P[2][19]*SF[7] - P[11][19]*SF[11] + P[10][19]*SPP[7] - (P[12][19]*q0)/2;
+    nextP[3][20] = P[3][20] + P[0][20]*SF[5] + P[1][20]*SF[4] + P[2][20]*SF[7] - P[11][20]*SF[11] + P[10][20]*SPP[7] - (P[12][20]*q0)/2;
+    nextP[3][21] = P[3][21] + P[0][21]*SF[5] + P[1][21]*SF[4] + P[2][21]*SF[7] - P[11][21]*SF[11] + P[10][21]*SPP[7] - (P[12][21]*q0)/2;
+    nextP[3][22] = P[3][22] + P[0][22]*SF[5] + P[1][22]*SF[4] + P[2][22]*SF[7] - P[11][22]*SF[11] + P[10][22]*SPP[7] - (P[12][22]*q0)/2;
+    nextP[4][0] = P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4] + SF[7]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[9]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[8]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SF[11]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) + SPP[7]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) + SPP[6]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]);
+    nextP[4][1] = P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4] + SF[6]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[5]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[9]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SPP[6]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) - SPP[7]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]) - (q0*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]))/2;
+    nextP[4][2] = P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4] + SF[4]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[8]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[6]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SF[11]*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]) - SPP[6]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) - (q0*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]))/2;
+    nextP[4][3] = P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4] + SF[5]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[4]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[7]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - SF[11]*(P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4]) + SPP[7]*(P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4]) - (q0*(P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4]))/2;
+    nextP[4][4] = P[4][4] + P[0][4]*SF[3] + P[1][4]*SF[1] + P[2][4]*SPP[0] - P[3][4]*SPP[2] - P[13][4]*SPP[4] + dvyCov*sq(SG[7] - 2*q0*q3) + dvzCov*sq(SG[6] + 2*q0*q2) + SF[3]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[1]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SPP[0]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - SPP[2]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) - SPP[4]*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]) + dvxCov*sq(SG[1] + SG[2] - SG[3] - SG[4]);
+    nextP[4][5] = P[4][5] + SQ[2] + P[0][5]*SF[3] + P[1][5]*SF[1] + P[2][5]*SPP[0] - P[3][5]*SPP[2] - P[13][5]*SPP[4] + SF[2]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) + SF[1]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) + SF[3]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) - SPP[0]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SPP[3]*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]);
+    nextP[4][6] = P[4][6] + SQ[1] + P[0][6]*SF[3] + P[1][6]*SF[1] + P[2][6]*SPP[0] - P[3][6]*SPP[2] - P[13][6]*SPP[4] + SF[2]*(P[4][1] + P[0][1]*SF[3] + P[1][1]*SF[1] + P[2][1]*SPP[0] - P[3][1]*SPP[2] - P[13][1]*SPP[4]) + SF[1]*(P[4][3] + P[0][3]*SF[3] + P[1][3]*SF[1] + P[2][3]*SPP[0] - P[3][3]*SPP[2] - P[13][3]*SPP[4]) + SPP[0]*(P[4][0] + P[0][0]*SF[3] + P[1][0]*SF[1] + P[2][0]*SPP[0] - P[3][0]*SPP[2] - P[13][0]*SPP[4]) - SPP[1]*(P[4][2] + P[0][2]*SF[3] + P[1][2]*SF[1] + P[2][2]*SPP[0] - P[3][2]*SPP[2] - P[13][2]*SPP[4]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4]);
+    nextP[4][7] = P[4][7] + P[0][7]*SF[3] + P[1][7]*SF[1] + P[2][7]*SPP[0] - P[3][7]*SPP[2] - P[13][7]*SPP[4] + dt*(P[4][4] + P[0][4]*SF[3] + P[1][4]*SF[1] + P[2][4]*SPP[0] - P[3][4]*SPP[2] - P[13][4]*SPP[4]);
+    nextP[4][8] = P[4][8] + P[0][8]*SF[3] + P[1][8]*SF[1] + P[2][8]*SPP[0] - P[3][8]*SPP[2] - P[13][8]*SPP[4] + dt*(P[4][5] + P[0][5]*SF[3] + P[1][5]*SF[1] + P[2][5]*SPP[0] - P[3][5]*SPP[2] - P[13][5]*SPP[4]);
+    nextP[4][9] = P[4][9] + P[0][9]*SF[3] + P[1][9]*SF[1] + P[2][9]*SPP[0] - P[3][9]*SPP[2] - P[13][9]*SPP[4] + dt*(P[4][6] + P[0][6]*SF[3] + P[1][6]*SF[1] + P[2][6]*SPP[0] - P[3][6]*SPP[2] - P[13][6]*SPP[4]);
+    nextP[4][10] = P[4][10] + P[0][10]*SF[3] + P[1][10]*SF[1] + P[2][10]*SPP[0] - P[3][10]*SPP[2] - P[13][10]*SPP[4];
+    nextP[4][11] = P[4][11] + P[0][11]*SF[3] + P[1][11]*SF[1] + P[2][11]*SPP[0] - P[3][11]*SPP[2] - P[13][11]*SPP[4];
+    nextP[4][12] = P[4][12] + P[0][12]*SF[3] + P[1][12]*SF[1] + P[2][12]*SPP[0] - P[3][12]*SPP[2] - P[13][12]*SPP[4];
+    nextP[4][13] = P[4][13] + P[0][13]*SF[3] + P[1][13]*SF[1] + P[2][13]*SPP[0] - P[3][13]*SPP[2] - P[13][13]*SPP[4];
+    nextP[4][14] = P[4][14] + P[0][14]*SF[3] + P[1][14]*SF[1] + P[2][14]*SPP[0] - P[3][14]*SPP[2] - P[13][14]*SPP[4];
+    nextP[4][15] = P[4][15] + P[0][15]*SF[3] + P[1][15]*SF[1] + P[2][15]*SPP[0] - P[3][15]*SPP[2] - P[13][15]*SPP[4];
+    nextP[4][16] = P[4][16] + P[0][16]*SF[3] + P[1][16]*SF[1] + P[2][16]*SPP[0] - P[3][16]*SPP[2] - P[13][16]*SPP[4];
+    nextP[4][17] = P[4][17] + P[0][17]*SF[3] + P[1][17]*SF[1] + P[2][17]*SPP[0] - P[3][17]*SPP[2] - P[13][17]*SPP[4];
+    nextP[4][18] = P[4][18] + P[0][18]*SF[3] + P[1][18]*SF[1] + P[2][18]*SPP[0] - P[3][18]*SPP[2] - P[13][18]*SPP[4];
+    nextP[4][19] = P[4][19] + P[0][19]*SF[3] + P[1][19]*SF[1] + P[2][19]*SPP[0] - P[3][19]*SPP[2] - P[13][19]*SPP[4];
+    nextP[4][20] = P[4][20] + P[0][20]*SF[3] + P[1][20]*SF[1] + P[2][20]*SPP[0] - P[3][20]*SPP[2] - P[13][20]*SPP[4];
+    nextP[4][21] = P[4][21] + P[0][21]*SF[3] + P[1][21]*SF[1] + P[2][21]*SPP[0] - P[3][21]*SPP[2] - P[13][21]*SPP[4];
+    nextP[4][22] = P[4][22] + P[0][22]*SF[3] + P[1][22]*SF[1] + P[2][22]*SPP[0] - P[3][22]*SPP[2] - P[13][22]*SPP[4];
+    nextP[5][0] = P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3] + SF[7]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[9]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[8]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SF[11]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) + SPP[7]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) + SPP[6]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]);
+    nextP[5][1] = P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3] + SF[6]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[5]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[9]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SPP[6]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) - SPP[7]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]) - (q0*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]))/2;
+    nextP[5][2] = P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3] + SF[4]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[8]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[6]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SF[11]*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]) - SPP[6]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) - (q0*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]))/2;
+    nextP[5][3] = P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3] + SF[5]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[4]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[7]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - SF[11]*(P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3]) + SPP[7]*(P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3]) - (q0*(P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3]))/2;
+    nextP[5][4] = P[5][4] + SQ[2] + P[0][4]*SF[2] + P[2][4]*SF[1] + P[3][4]*SF[3] - P[1][4]*SPP[0] + P[13][4]*SPP[3] + SF[3]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[1]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SPP[0]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - SPP[2]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) - SPP[4]*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]);
+    nextP[5][5] = P[5][5] + P[0][5]*SF[2] + P[2][5]*SF[1] + P[3][5]*SF[3] - P[1][5]*SPP[0] + P[13][5]*SPP[3] + dvxCov*sq(SG[7] + 2*q0*q3) + dvzCov*sq(SG[5] - 2*q0*q1) + SF[2]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) + SF[1]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) + SF[3]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) - SPP[0]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SPP[3]*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]) + dvyCov*sq(SG[1] - SG[2] + SG[3] - SG[4]);
+    nextP[5][6] = P[5][6] + SQ[0] + P[0][6]*SF[2] + P[2][6]*SF[1] + P[3][6]*SF[3] - P[1][6]*SPP[0] + P[13][6]*SPP[3] + SF[2]*(P[5][1] + P[0][1]*SF[2] + P[2][1]*SF[1] + P[3][1]*SF[3] - P[1][1]*SPP[0] + P[13][1]*SPP[3]) + SF[1]*(P[5][3] + P[0][3]*SF[2] + P[2][3]*SF[1] + P[3][3]*SF[3] - P[1][3]*SPP[0] + P[13][3]*SPP[3]) + SPP[0]*(P[5][0] + P[0][0]*SF[2] + P[2][0]*SF[1] + P[3][0]*SF[3] - P[1][0]*SPP[0] + P[13][0]*SPP[3]) - SPP[1]*(P[5][2] + P[0][2]*SF[2] + P[2][2]*SF[1] + P[3][2]*SF[3] - P[1][2]*SPP[0] + P[13][2]*SPP[3]) - (sq(q0) - sq(q1) - sq(q2) + sq(q3))*(P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3]);
+    nextP[5][7] = P[5][7] + P[0][7]*SF[2] + P[2][7]*SF[1] + P[3][7]*SF[3] - P[1][7]*SPP[0] + P[13][7]*SPP[3] + dt*(P[5][4] + P[0][4]*SF[2] + P[2][4]*SF[1] + P[3][4]*SF[3] - P[1][4]*SPP[0] + P[13][4]*SPP[3]);
+    nextP[5][8] = P[5][8] + P[0][8]*SF[2] + P[2][8]*SF[1] + P[3][8]*SF[3] - P[1][8]*SPP[0] + P[13][8]*SPP[3] + dt*(P[5][5] + P[0][5]*SF[2] + P[2][5]*SF[1] + P[3][5]*SF[3] - P[1][5]*SPP[0] + P[13][5]*SPP[3]);
+    nextP[5][9] = P[5][9] + P[0][9]*SF[2] + P[2][9]*SF[1] + P[3][9]*SF[3] - P[1][9]*SPP[0] + P[13][9]*SPP[3] + dt*(P[5][6] + P[0][6]*SF[2] + P[2][6]*SF[1] + P[3][6]*SF[3] - P[1][6]*SPP[0] + P[13][6]*SPP[3]);
+    nextP[5][10] = P[5][10] + P[0][10]*SF[2] + P[2][10]*SF[1] + P[3][10]*SF[3] - P[1][10]*SPP[0] + P[13][10]*SPP[3];
+    nextP[5][11] = P[5][11] + P[0][11]*SF[2] + P[2][11]*SF[1] + P[3][11]*SF[3] - P[1][11]*SPP[0] + P[13][11]*SPP[3];
+    nextP[5][12] = P[5][12] + P[0][12]*SF[2] + P[2][12]*SF[1] + P[3][12]*SF[3] - P[1][12]*SPP[0] + P[13][12]*SPP[3];
+    nextP[5][13] = P[5][13] + P[0][13]*SF[2] + P[2][13]*SF[1] + P[3][13]*SF[3] - P[1][13]*SPP[0] + P[13][13]*SPP[3];
+    nextP[5][14] = P[5][14] + P[0][14]*SF[2] + P[2][14]*SF[1] + P[3][14]*SF[3] - P[1][14]*SPP[0] + P[13][14]*SPP[3];
+    nextP[5][15] = P[5][15] + P[0][15]*SF[2] + P[2][15]*SF[1] + P[3][15]*SF[3] - P[1][15]*SPP[0] + P[13][15]*SPP[3];
+    nextP[5][16] = P[5][16] + P[0][16]*SF[2] + P[2][16]*SF[1] + P[3][16]*SF[3] - P[1][16]*SPP[0] + P[13][16]*SPP[3];
+    nextP[5][17] = P[5][17] + P[0][17]*SF[2] + P[2][17]*SF[1] + P[3][17]*SF[3] - P[1][17]*SPP[0] + P[13][17]*SPP[3];
+    nextP[5][18] = P[5][18] + P[0][18]*SF[2] + P[2][18]*SF[1] + P[3][18]*SF[3] - P[1][18]*SPP[0] + P[13][18]*SPP[3];
+    nextP[5][19] = P[5][19] + P[0][19]*SF[2] + P[2][19]*SF[1] + P[3][19]*SF[3] - P[1][19]*SPP[0] + P[13][19]*SPP[3];
+    nextP[5][20] = P[5][20] + P[0][20]*SF[2] + P[2][20]*SF[1] + P[3][20]*SF[3] - P[1][20]*SPP[0] + P[13][20]*SPP[3];
+    nextP[5][21] = P[5][21] + P[0][21]*SF[2] + P[2][21]*SF[1] + P[3][21]*SF[3] - P[1][21]*SPP[0] + P[13][21]*SPP[3];
+    nextP[5][22] = P[5][22] + P[0][22]*SF[2] + P[2][22]*SF[1] + P[3][22]*SF[3] - P[1][22]*SPP[0] + P[13][22]*SPP[3];
+    nextP[6][0] = P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[7]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[9]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[8]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[11]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[7]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[6]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)));
+    nextP[6][1] = P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[6]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[5]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[9]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[6]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[7]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2;
+    nextP[6][2] = P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[4]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[8]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[6]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[11]*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[6]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2;
+    nextP[6][3] = P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[5]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[4]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[7]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SF[11]*(P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[7]*(P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - (q0*(P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))))/2;
+    nextP[6][4] = P[6][4] + SQ[1] + P[1][4]*SF[2] + P[3][4]*SF[1] + P[0][4]*SPP[0] - P[2][4]*SPP[1] - P[13][4]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[3]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[0]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[2]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[4]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)));
+    nextP[6][5] = P[6][5] + SQ[0] + P[1][5]*SF[2] + P[3][5]*SF[1] + P[0][5]*SPP[0] - P[2][5]*SPP[1] - P[13][5]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + SF[2]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[3]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[0]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[3]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)));
+    nextP[6][6] = P[6][6] + P[1][6]*SF[2] + P[3][6]*SF[1] + P[0][6]*SPP[0] - P[2][6]*SPP[1] - P[13][6]*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + dvxCov*sq(SG[6] - 2*q0*q2) + dvyCov*sq(SG[5] + 2*q0*q1) - SPP[5]*(P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*SPP[5]) + SF[2]*(P[6][1] + P[1][1]*SF[2] + P[3][1]*SF[1] + P[0][1]*SPP[0] - P[2][1]*SPP[1] - P[13][1]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SF[1]*(P[6][3] + P[1][3]*SF[2] + P[3][3]*SF[1] + P[0][3]*SPP[0] - P[2][3]*SPP[1] - P[13][3]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + SPP[0]*(P[6][0] + P[1][0]*SF[2] + P[3][0]*SF[1] + P[0][0]*SPP[0] - P[2][0]*SPP[1] - P[13][0]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) - SPP[1]*(P[6][2] + P[1][2]*SF[2] + P[3][2]*SF[1] + P[0][2]*SPP[0] - P[2][2]*SPP[1] - P[13][2]*(sq(q0) - sq(q1) - sq(q2) + sq(q3))) + dvzCov*sq(SG[1] - SG[2] - SG[3] + SG[4]);
+    nextP[6][7] = P[6][7] + P[1][7]*SF[2] + P[3][7]*SF[1] + P[0][7]*SPP[0] - P[2][7]*SPP[1] - P[13][7]*SPP[5] + dt*(P[6][4] + P[1][4]*SF[2] + P[3][4]*SF[1] + P[0][4]*SPP[0] - P[2][4]*SPP[1] - P[13][4]*SPP[5]);
+    nextP[6][8] = P[6][8] + P[1][8]*SF[2] + P[3][8]*SF[1] + P[0][8]*SPP[0] - P[2][8]*SPP[1] - P[13][8]*SPP[5] + dt*(P[6][5] + P[1][5]*SF[2] + P[3][5]*SF[1] + P[0][5]*SPP[0] - P[2][5]*SPP[1] - P[13][5]*SPP[5]);
+    nextP[6][9] = P[6][9] + P[1][9]*SF[2] + P[3][9]*SF[1] + P[0][9]*SPP[0] - P[2][9]*SPP[1] - P[13][9]*SPP[5] + dt*(P[6][6] + P[1][6]*SF[2] + P[3][6]*SF[1] + P[0][6]*SPP[0] - P[2][6]*SPP[1] - P[13][6]*SPP[5]);
+    nextP[6][10] = P[6][10] + P[1][10]*SF[2] + P[3][10]*SF[1] + P[0][10]*SPP[0] - P[2][10]*SPP[1] - P[13][10]*SPP[5];
+    nextP[6][11] = P[6][11] + P[1][11]*SF[2] + P[3][11]*SF[1] + P[0][11]*SPP[0] - P[2][11]*SPP[1] - P[13][11]*SPP[5];
+    nextP[6][12] = P[6][12] + P[1][12]*SF[2] + P[3][12]*SF[1] + P[0][12]*SPP[0] - P[2][12]*SPP[1] - P[13][12]*SPP[5];
+    nextP[6][13] = P[6][13] + P[1][13]*SF[2] + P[3][13]*SF[1] + P[0][13]*SPP[0] - P[2][13]*SPP[1] - P[13][13]*SPP[5];
+    nextP[6][14] = P[6][14] + P[1][14]*SF[2] + P[3][14]*SF[1] + P[0][14]*SPP[0] - P[2][14]*SPP[1] - P[13][14]*SPP[5];
+    nextP[6][15] = P[6][15] + P[1][15]*SF[2] + P[3][15]*SF[1] + P[0][15]*SPP[0] - P[2][15]*SPP[1] - P[13][15]*SPP[5];
+    nextP[6][16] = P[6][16] + P[1][16]*SF[2] + P[3][16]*SF[1] + P[0][16]*SPP[0] - P[2][16]*SPP[1] - P[13][16]*SPP[5];
+    nextP[6][17] = P[6][17] + P[1][17]*SF[2] + P[3][17]*SF[1] + P[0][17]*SPP[0] - P[2][17]*SPP[1] - P[13][17]*SPP[5];
+    nextP[6][18] = P[6][18] + P[1][18]*SF[2] + P[3][18]*SF[1] + P[0][18]*SPP[0] - P[2][18]*SPP[1] - P[13][18]*SPP[5];
+    nextP[6][19] = P[6][19] + P[1][19]*SF[2] + P[3][19]*SF[1] + P[0][19]*SPP[0] - P[2][19]*SPP[1] - P[13][19]*SPP[5];
+    nextP[6][20] = P[6][20] + P[1][20]*SF[2] + P[3][20]*SF[1] + P[0][20]*SPP[0] - P[2][20]*SPP[1] - P[13][20]*SPP[5];
+    nextP[6][21] = P[6][21] + P[1][21]*SF[2] + P[3][21]*SF[1] + P[0][21]*SPP[0] - P[2][21]*SPP[1] - P[13][21]*SPP[5];
+    nextP[6][22] = P[6][22] + P[1][22]*SF[2] + P[3][22]*SF[1] + P[0][22]*SPP[0] - P[2][22]*SPP[1] - P[13][22]*SPP[5];
+    nextP[7][0] = P[7][0] + P[4][0]*dt + SF[7]*(P[7][1] + P[4][1]*dt) + SF[9]*(P[7][2] + P[4][2]*dt) + SF[8]*(P[7][3] + P[4][3]*dt) + SF[11]*(P[7][10] + P[4][10]*dt) + SPP[7]*(P[7][11] + P[4][11]*dt) + SPP[6]*(P[7][12] + P[4][12]*dt);
+    nextP[7][1] = P[7][1] + P[4][1]*dt + SF[6]*(P[7][0] + P[4][0]*dt) + SF[5]*(P[7][2] + P[4][2]*dt) + SF[9]*(P[7][3] + P[4][3]*dt) + SPP[6]*(P[7][11] + P[4][11]*dt) - SPP[7]*(P[7][12] + P[4][12]*dt) - (q0*(P[7][10] + P[4][10]*dt))/2;
+    nextP[7][2] = P[7][2] + P[4][2]*dt + SF[4]*(P[7][0] + P[4][0]*dt) + SF[8]*(P[7][1] + P[4][1]*dt) + SF[6]*(P[7][3] + P[4][3]*dt) + SF[11]*(P[7][12] + P[4][12]*dt) - SPP[6]*(P[7][10] + P[4][10]*dt) - (q0*(P[7][11] + P[4][11]*dt))/2;
+    nextP[7][3] = P[7][3] + P[4][3]*dt + SF[5]*(P[7][0] + P[4][0]*dt) + SF[4]*(P[7][1] + P[4][1]*dt) + SF[7]*(P[7][2] + P[4][2]*dt) - SF[11]*(P[7][11] + P[4][11]*dt) + SPP[7]*(P[7][10] + P[4][10]*dt) - (q0*(P[7][12] + P[4][12]*dt))/2;
+    nextP[7][4] = P[7][4] + P[4][4]*dt + SF[1]*(P[7][1] + P[4][1]*dt) + SF[3]*(P[7][0] + P[4][0]*dt) + SPP[0]*(P[7][2] + P[4][2]*dt) - SPP[2]*(P[7][3] + P[4][3]*dt) - SPP[4]*(P[7][13] + P[4][13]*dt);
+    nextP[7][5] = P[7][5] + P[4][5]*dt + SF[2]*(P[7][0] + P[4][0]*dt) + SF[1]*(P[7][2] + P[4][2]*dt) + SF[3]*(P[7][3] + P[4][3]*dt) - SPP[0]*(P[7][1] + P[4][1]*dt) + SPP[3]*(P[7][13] + P[4][13]*dt);
+    nextP[7][6] = P[7][6] + P[4][6]*dt + SF[2]*(P[7][1] + P[4][1]*dt) + SF[1]*(P[7][3] + P[4][3]*dt) + SPP[0]*(P[7][0] + P[4][0]*dt) - SPP[1]*(P[7][2] + P[4][2]*dt) - SPP[5]*(P[7][13] + P[4][13]*dt);
+    nextP[7][7] = P[7][7] + P[4][7]*dt + dt*(P[7][4] + P[4][4]*dt);
+    nextP[7][8] = P[7][8] + P[4][8]*dt + dt*(P[7][5] + P[4][5]*dt);
+    nextP[7][9] = P[7][9] + P[4][9]*dt + dt*(P[7][6] + P[4][6]*dt);
+    nextP[7][10] = P[7][10] + P[4][10]*dt;
+    nextP[7][11] = P[7][11] + P[4][11]*dt;
+    nextP[7][12] = P[7][12] + P[4][12]*dt;
+    nextP[7][13] = P[7][13] + P[4][13]*dt;
+    nextP[7][14] = P[7][14] + P[4][14]*dt;
+    nextP[7][15] = P[7][15] + P[4][15]*dt;
+    nextP[7][16] = P[7][16] + P[4][16]*dt;
+    nextP[7][17] = P[7][17] + P[4][17]*dt;
+    nextP[7][18] = P[7][18] + P[4][18]*dt;
+    nextP[7][19] = P[7][19] + P[4][19]*dt;
+    nextP[7][20] = P[7][20] + P[4][20]*dt;
+    nextP[7][21] = P[7][21] + P[4][21]*dt;
+    nextP[7][22] = P[7][22] + P[4][22]*dt;
+    nextP[8][0] = P[8][0] + P[5][0]*dt + SF[7]*(P[8][1] + P[5][1]*dt) + SF[9]*(P[8][2] + P[5][2]*dt) + SF[8]*(P[8][3] + P[5][3]*dt) + SF[11]*(P[8][10] + P[5][10]*dt) + SPP[7]*(P[8][11] + P[5][11]*dt) + SPP[6]*(P[8][12] + P[5][12]*dt);
+    nextP[8][1] = P[8][1] + P[5][1]*dt + SF[6]*(P[8][0] + P[5][0]*dt) + SF[5]*(P[8][2] + P[5][2]*dt) + SF[9]*(P[8][3] + P[5][3]*dt) + SPP[6]*(P[8][11] + P[5][11]*dt) - SPP[7]*(P[8][12] + P[5][12]*dt) - (q0*(P[8][10] + P[5][10]*dt))/2;
+    nextP[8][2] = P[8][2] + P[5][2]*dt + SF[4]*(P[8][0] + P[5][0]*dt) + SF[8]*(P[8][1] + P[5][1]*dt) + SF[6]*(P[8][3] + P[5][3]*dt) + SF[11]*(P[8][12] + P[5][12]*dt) - SPP[6]*(P[8][10] + P[5][10]*dt) - (q0*(P[8][11] + P[5][11]*dt))/2;
+    nextP[8][3] = P[8][3] + P[5][3]*dt + SF[5]*(P[8][0] + P[5][0]*dt) + SF[4]*(P[8][1] + P[5][1]*dt) + SF[7]*(P[8][2] + P[5][2]*dt) - SF[11]*(P[8][11] + P[5][11]*dt) + SPP[7]*(P[8][10] + P[5][10]*dt) - (q0*(P[8][12] + P[5][12]*dt))/2;
+    nextP[8][4] = P[8][4] + P[5][4]*dt + SF[1]*(P[8][1] + P[5][1]*dt) + SF[3]*(P[8][0] + P[5][0]*dt) + SPP[0]*(P[8][2] + P[5][2]*dt) - SPP[2]*(P[8][3] + P[5][3]*dt) - SPP[4]*(P[8][13] + P[5][13]*dt);
+    nextP[8][5] = P[8][5] + P[5][5]*dt + SF[2]*(P[8][0] + P[5][0]*dt) + SF[1]*(P[8][2] + P[5][2]*dt) + SF[3]*(P[8][3] + P[5][3]*dt) - SPP[0]*(P[8][1] + P[5][1]*dt) + SPP[3]*(P[8][13] + P[5][13]*dt);
+    nextP[8][6] = P[8][6] + P[5][6]*dt + SF[2]*(P[8][1] + P[5][1]*dt) + SF[1]*(P[8][3] + P[5][3]*dt) + SPP[0]*(P[8][0] + P[5][0]*dt) - SPP[1]*(P[8][2] + P[5][2]*dt) - SPP[5]*(P[8][13] + P[5][13]*dt);
+    nextP[8][7] = P[8][7] + P[5][7]*dt + dt*(P[8][4] + P[5][4]*dt);
+    nextP[8][8] = P[8][8] + P[5][8]*dt + dt*(P[8][5] + P[5][5]*dt);
+    nextP[8][9] = P[8][9] + P[5][9]*dt + dt*(P[8][6] + P[5][6]*dt);
+    nextP[8][10] = P[8][10] + P[5][10]*dt;
+    nextP[8][11] = P[8][11] + P[5][11]*dt;
+    nextP[8][12] = P[8][12] + P[5][12]*dt;
+    nextP[8][13] = P[8][13] + P[5][13]*dt;
+    nextP[8][14] = P[8][14] + P[5][14]*dt;
+    nextP[8][15] = P[8][15] + P[5][15]*dt;
+    nextP[8][16] = P[8][16] + P[5][16]*dt;
+    nextP[8][17] = P[8][17] + P[5][17]*dt;
+    nextP[8][18] = P[8][18] + P[5][18]*dt;
+    nextP[8][19] = P[8][19] + P[5][19]*dt;
+    nextP[8][20] = P[8][20] + P[5][20]*dt;
+    nextP[8][21] = P[8][21] + P[5][21]*dt;
+    nextP[8][22] = P[8][22] + P[5][22]*dt;
+    nextP[9][0] = P[9][0] + P[6][0]*dt + SF[7]*(P[9][1] + P[6][1]*dt) + SF[9]*(P[9][2] + P[6][2]*dt) + SF[8]*(P[9][3] + P[6][3]*dt) + SF[11]*(P[9][10] + P[6][10]*dt) + SPP[7]*(P[9][11] + P[6][11]*dt) + SPP[6]*(P[9][12] + P[6][12]*dt);
+    nextP[9][1] = P[9][1] + P[6][1]*dt + SF[6]*(P[9][0] + P[6][0]*dt) + SF[5]*(P[9][2] + P[6][2]*dt) + SF[9]*(P[9][3] + P[6][3]*dt) + SPP[6]*(P[9][11] + P[6][11]*dt) - SPP[7]*(P[9][12] + P[6][12]*dt) - (q0*(P[9][10] + P[6][10]*dt))/2;
+    nextP[9][2] = P[9][2] + P[6][2]*dt + SF[4]*(P[9][0] + P[6][0]*dt) + SF[8]*(P[9][1] + P[6][1]*dt) + SF[6]*(P[9][3] + P[6][3]*dt) + SF[11]*(P[9][12] + P[6][12]*dt) - SPP[6]*(P[9][10] + P[6][10]*dt) - (q0*(P[9][11] + P[6][11]*dt))/2;
+    nextP[9][3] = P[9][3] + P[6][3]*dt + SF[5]*(P[9][0] + P[6][0]*dt) + SF[4]*(P[9][1] + P[6][1]*dt) + SF[7]*(P[9][2] + P[6][2]*dt) - SF[11]*(P[9][11] + P[6][11]*dt) + SPP[7]*(P[9][10] + P[6][10]*dt) - (q0*(P[9][12] + P[6][12]*dt))/2;
+    nextP[9][4] = P[9][4] + P[6][4]*dt + SF[1]*(P[9][1] + P[6][1]*dt) + SF[3]*(P[9][0] + P[6][0]*dt) + SPP[0]*(P[9][2] + P[6][2]*dt) - SPP[2]*(P[9][3] + P[6][3]*dt) - SPP[4]*(P[9][13] + P[6][13]*dt);
+    nextP[9][5] = P[9][5] + P[6][5]*dt + SF[2]*(P[9][0] + P[6][0]*dt) + SF[1]*(P[9][2] + P[6][2]*dt) + SF[3]*(P[9][3] + P[6][3]*dt) - SPP[0]*(P[9][1] + P[6][1]*dt) + SPP[3]*(P[9][13] + P[6][13]*dt);
+    nextP[9][6] = P[9][6] + P[6][6]*dt + SF[2]*(P[9][1] + P[6][1]*dt) + SF[1]*(P[9][3] + P[6][3]*dt) + SPP[0]*(P[9][0] + P[6][0]*dt) - SPP[1]*(P[9][2] + P[6][2]*dt) - SPP[5]*(P[9][13] + P[6][13]*dt);
+    nextP[9][7] = P[9][7] + P[6][7]*dt + dt*(P[9][4] + P[6][4]*dt);
+    nextP[9][8] = P[9][8] + P[6][8]*dt + dt*(P[9][5] + P[6][5]*dt);
+    nextP[9][9] = P[9][9] + P[6][9]*dt + dt*(P[9][6] + P[6][6]*dt);
+    nextP[9][10] = P[9][10] + P[6][10]*dt;
+    nextP[9][11] = P[9][11] + P[6][11]*dt;
+    nextP[9][12] = P[9][12] + P[6][12]*dt;
+    nextP[9][13] = P[9][13] + P[6][13]*dt;
+    nextP[9][14] = P[9][14] + P[6][14]*dt;
+    nextP[9][15] = P[9][15] + P[6][15]*dt;
+    nextP[9][16] = P[9][16] + P[6][16]*dt;
+    nextP[9][17] = P[9][17] + P[6][17]*dt;
+    nextP[9][18] = P[9][18] + P[6][18]*dt;
+    nextP[9][19] = P[9][19] + P[6][19]*dt;
+    nextP[9][20] = P[9][20] + P[6][20]*dt;
+    nextP[9][21] = P[9][21] + P[6][21]*dt;
+    nextP[9][22] = P[9][22] + P[6][22]*dt;
+    nextP[10][0] = P[10][0] + P[10][1]*SF[7] + P[10][2]*SF[9] + P[10][3]*SF[8] + P[10][10]*SF[11] + P[10][11]*SPP[7] + P[10][12]*SPP[6];
+    nextP[10][1] = P[10][1] + P[10][0]*SF[6] + P[10][2]*SF[5] + P[10][3]*SF[9] + P[10][11]*SPP[6] - P[10][12]*SPP[7] - (P[10][10]*q0)/2;
+    nextP[10][2] = P[10][2] + P[10][0]*SF[4] + P[10][1]*SF[8] + P[10][3]*SF[6] + P[10][12]*SF[11] - P[10][10]*SPP[6] - (P[10][11]*q0)/2;
+    nextP[10][3] = P[10][3] + P[10][0]*SF[5] + P[10][1]*SF[4] + P[10][2]*SF[7] - P[10][11]*SF[11] + P[10][10]*SPP[7] - (P[10][12]*q0)/2;
+    nextP[10][4] = P[10][4] + P[10][1]*SF[1] + P[10][0]*SF[3] + P[10][2]*SPP[0] - P[10][3]*SPP[2] - P[10][13]*SPP[4];
+    nextP[10][5] = P[10][5] + P[10][0]*SF[2] + P[10][2]*SF[1] + P[10][3]*SF[3] - P[10][1]*SPP[0] + P[10][13]*SPP[3];
+    nextP[10][6] = P[10][6] + P[10][1]*SF[2] + P[10][3]*SF[1] + P[10][0]*SPP[0] - P[10][2]*SPP[1] - P[10][13]*SPP[5];
+    nextP[10][7] = P[10][7] + P[10][4]*dt;
+    nextP[10][8] = P[10][8] + P[10][5]*dt;
+    nextP[10][9] = P[10][9] + P[10][6]*dt;
+    nextP[10][10] = P[10][10];
+    nextP[10][11] = P[10][11];
+    nextP[10][12] = P[10][12];
+    nextP[10][13] = P[10][13];
+    nextP[10][14] = P[10][14];
+    nextP[10][15] = P[10][15];
+    nextP[10][16] = P[10][16];
+    nextP[10][17] = P[10][17];
+    nextP[10][18] = P[10][18];
+    nextP[10][19] = P[10][19];
+    nextP[10][20] = P[10][20];
+    nextP[10][21] = P[10][21];
+    nextP[10][22] = P[10][22];
+    nextP[11][0] = P[11][0] + P[11][1]*SF[7] + P[11][2]*SF[9] + P[11][3]*SF[8] + P[11][10]*SF[11] + P[11][11]*SPP[7] + P[11][12]*SPP[6];
+    nextP[11][1] = P[11][1] + P[11][0]*SF[6] + P[11][2]*SF[5] + P[11][3]*SF[9] + P[11][11]*SPP[6] - P[11][12]*SPP[7] - (P[11][10]*q0)/2;
+    nextP[11][2] = P[11][2] + P[11][0]*SF[4] + P[11][1]*SF[8] + P[11][3]*SF[6] + P[11][12]*SF[11] - P[11][10]*SPP[6] - (P[11][11]*q0)/2;
+    nextP[11][3] = P[11][3] + P[11][0]*SF[5] + P[11][1]*SF[4] + P[11][2]*SF[7] - P[11][11]*SF[11] + P[11][10]*SPP[7] - (P[11][12]*q0)/2;
+    nextP[11][4] = P[11][4] + P[11][1]*SF[1] + P[11][0]*SF[3] + P[11][2]*SPP[0] - P[11][3]*SPP[2] - P[11][13]*SPP[4];
+    nextP[11][5] = P[11][5] + P[11][0]*SF[2] + P[11][2]*SF[1] + P[11][3]*SF[3] - P[11][1]*SPP[0] + P[11][13]*SPP[3];
+    nextP[11][6] = P[11][6] + P[11][1]*SF[2] + P[11][3]*SF[1] + P[11][0]*SPP[0] - P[11][2]*SPP[1] - P[11][13]*SPP[5];
+    nextP[11][7] = P[11][7] + P[11][4]*dt;
+    nextP[11][8] = P[11][8] + P[11][5]*dt;
+    nextP[11][9] = P[11][9] + P[11][6]*dt;
+    nextP[11][10] = P[11][10];
+    nextP[11][11] = P[11][11];
+    nextP[11][12] = P[11][12];
+    nextP[11][13] = P[11][13];
+    nextP[11][14] = P[11][14];
+    nextP[11][15] = P[11][15];
+    nextP[11][16] = P[11][16];
+    nextP[11][17] = P[11][17];
+    nextP[11][18] = P[11][18];
+    nextP[11][19] = P[11][19];
+    nextP[11][20] = P[11][20];
+    nextP[11][21] = P[11][21];
+    nextP[11][22] = P[11][22];
+    nextP[12][0] = P[12][0] + P[12][1]*SF[7] + P[12][2]*SF[9] + P[12][3]*SF[8] + P[12][10]*SF[11] + P[12][11]*SPP[7] + P[12][12]*SPP[6];
+    nextP[12][1] = P[12][1] + P[12][0]*SF[6] + P[12][2]*SF[5] + P[12][3]*SF[9] + P[12][11]*SPP[6] - P[12][12]*SPP[7] - (P[12][10]*q0)/2;
+    nextP[12][2] = P[12][2] + P[12][0]*SF[4] + P[12][1]*SF[8] + P[12][3]*SF[6] + P[12][12]*SF[11] - P[12][10]*SPP[6] - (P[12][11]*q0)/2;
+    nextP[12][3] = P[12][3] + P[12][0]*SF[5] + P[12][1]*SF[4] + P[12][2]*SF[7] - P[12][11]*SF[11] + P[12][10]*SPP[7] - (P[12][12]*q0)/2;
+    nextP[12][4] = P[12][4] + P[12][1]*SF[1] + P[12][0]*SF[3] + P[12][2]*SPP[0] - P[12][3]*SPP[2] - P[12][13]*SPP[4];
+    nextP[12][5] = P[12][5] + P[12][0]*SF[2] + P[12][2]*SF[1] + P[12][3]*SF[3] - P[12][1]*SPP[0] + P[12][13]*SPP[3];
+    nextP[12][6] = P[12][6] + P[12][1]*SF[2] + P[12][3]*SF[1] + P[12][0]*SPP[0] - P[12][2]*SPP[1] - P[12][13]*SPP[5];
+    nextP[12][7] = P[12][7] + P[12][4]*dt;
+    nextP[12][8] = P[12][8] + P[12][5]*dt;
+    nextP[12][9] = P[12][9] + P[12][6]*dt;
+    nextP[12][10] = P[12][10];
+    nextP[12][11] = P[12][11];
+    nextP[12][12] = P[12][12];
+    nextP[12][13] = P[12][13];
+    nextP[12][14] = P[12][14];
+    nextP[12][15] = P[12][15];
+    nextP[12][16] = P[12][16];
+    nextP[12][17] = P[12][17];
+    nextP[12][18] = P[12][18];
+    nextP[12][19] = P[12][19];
+    nextP[12][20] = P[12][20];
+    nextP[12][21] = P[12][21];
+    nextP[12][22] = P[12][22];
+    nextP[13][0] = P[13][0] + P[13][1]*SF[7] + P[13][2]*SF[9] + P[13][3]*SF[8] + P[13][10]*SF[11] + P[13][11]*SPP[7] + P[13][12]*SPP[6];
+    nextP[13][1] = P[13][1] + P[13][0]*SF[6] + P[13][2]*SF[5] + P[13][3]*SF[9] + P[13][11]*SPP[6] - P[13][12]*SPP[7] - (P[13][10]*q0)/2;
+    nextP[13][2] = P[13][2] + P[13][0]*SF[4] + P[13][1]*SF[8] + P[13][3]*SF[6] + P[13][12]*SF[11] - P[13][10]*SPP[6] - (P[13][11]*q0)/2;
+    nextP[13][3] = P[13][3] + P[13][0]*SF[5] + P[13][1]*SF[4] + P[13][2]*SF[7] - P[13][11]*SF[11] + P[13][10]*SPP[7] - (P[13][12]*q0)/2;
+    nextP[13][4] = P[13][4] + P[13][1]*SF[1] + P[13][0]*SF[3] + P[13][2]*SPP[0] - P[13][3]*SPP[2] - P[13][13]*SPP[4];
+    nextP[13][5] = P[13][5] + P[13][0]*SF[2] + P[13][2]*SF[1] + P[13][3]*SF[3] - P[13][1]*SPP[0] + P[13][13]*SPP[3];
+    nextP[13][6] = P[13][6] + P[13][1]*SF[2] + P[13][3]*SF[1] + P[13][0]*SPP[0] - P[13][2]*SPP[1] - P[13][13]*SPP[5];
+    nextP[13][7] = P[13][7] + P[13][4]*dt;
+    nextP[13][8] = P[13][8] + P[13][5]*dt;
+    nextP[13][9] = P[13][9] + P[13][6]*dt;
+    nextP[13][10] = P[13][10];
+    nextP[13][11] = P[13][11];
+    nextP[13][12] = P[13][12];
+    nextP[13][13] = P[13][13];
+    nextP[13][14] = P[13][14];
+    nextP[13][15] = P[13][15];
+    nextP[13][16] = P[13][16];
+    nextP[13][17] = P[13][17];
+    nextP[13][18] = P[13][18];
+    nextP[13][19] = P[13][19];
+    nextP[13][20] = P[13][20];
+    nextP[13][21] = P[13][21];
+    nextP[13][22] = P[13][22];
+    nextP[14][0] = P[14][0] + P[14][1]*SF[7] + P[14][2]*SF[9] + P[14][3]*SF[8] + P[14][10]*SF[11] + P[14][11]*SPP[7] + P[14][12]*SPP[6];
+    nextP[14][1] = P[14][1] + P[14][0]*SF[6] + P[14][2]*SF[5] + P[14][3]*SF[9] + P[14][11]*SPP[6] - P[14][12]*SPP[7] - (P[14][10]*q0)/2;
+    nextP[14][2] = P[14][2] + P[14][0]*SF[4] + P[14][1]*SF[8] + P[14][3]*SF[6] + P[14][12]*SF[11] - P[14][10]*SPP[6] - (P[14][11]*q0)/2;
+    nextP[14][3] = P[14][3] + P[14][0]*SF[5] + P[14][1]*SF[4] + P[14][2]*SF[7] - P[14][11]*SF[11] + P[14][10]*SPP[7] - (P[14][12]*q0)/2;
+    nextP[14][4] = P[14][4] + P[14][1]*SF[1] + P[14][0]*SF[3] + P[14][2]*SPP[0] - P[14][3]*SPP[2] - P[14][13]*SPP[4];
+    nextP[14][5] = P[14][5] + P[14][0]*SF[2] + P[14][2]*SF[1] + P[14][3]*SF[3] - P[14][1]*SPP[0] + P[14][13]*SPP[3];
+    nextP[14][6] = P[14][6] + P[14][1]*SF[2] + P[14][3]*SF[1] + P[14][0]*SPP[0] - P[14][2]*SPP[1] - P[14][13]*SPP[5];
+    nextP[14][7] = P[14][7] + P[14][4]*dt;
+    nextP[14][8] = P[14][8] + P[14][5]*dt;
+    nextP[14][9] = P[14][9] + P[14][6]*dt;
+    nextP[14][10] = P[14][10];
+    nextP[14][11] = P[14][11];
+    nextP[14][12] = P[14][12];
+    nextP[14][13] = P[14][13];
+    nextP[14][14] = P[14][14];
+    nextP[14][15] = P[14][15];
+    nextP[14][16] = P[14][16];
+    nextP[14][17] = P[14][17];
+    nextP[14][18] = P[14][18];
+    nextP[14][19] = P[14][19];
+    nextP[14][20] = P[14][20];
+    nextP[14][21] = P[14][21];
+    nextP[14][22] = P[14][22];
+    nextP[15][0] = P[15][0] + P[15][1]*SF[7] + P[15][2]*SF[9] + P[15][3]*SF[8] + P[15][10]*SF[11] + P[15][11]*SPP[7] + P[15][12]*SPP[6];
+    nextP[15][1] = P[15][1] + P[15][0]*SF[6] + P[15][2]*SF[5] + P[15][3]*SF[9] + P[15][11]*SPP[6] - P[15][12]*SPP[7] - (P[15][10]*q0)/2;
+    nextP[15][2] = P[15][2] + P[15][0]*SF[4] + P[15][1]*SF[8] + P[15][3]*SF[6] + P[15][12]*SF[11] - P[15][10]*SPP[6] - (P[15][11]*q0)/2;
+    nextP[15][3] = P[15][3] + P[15][0]*SF[5] + P[15][1]*SF[4] + P[15][2]*SF[7] - P[15][11]*SF[11] + P[15][10]*SPP[7] - (P[15][12]*q0)/2;
+    nextP[15][4] = P[15][4] + P[15][1]*SF[1] + P[15][0]*SF[3] + P[15][2]*SPP[0] - P[15][3]*SPP[2] - P[15][13]*SPP[4];
+    nextP[15][5] = P[15][5] + P[15][0]*SF[2] + P[15][2]*SF[1] + P[15][3]*SF[3] - P[15][1]*SPP[0] + P[15][13]*SPP[3];
+    nextP[15][6] = P[15][6] + P[15][1]*SF[2] + P[15][3]*SF[1] + P[15][0]*SPP[0] - P[15][2]*SPP[1] - P[15][13]*SPP[5];
+    nextP[15][7] = P[15][7] + P[15][4]*dt;
+    nextP[15][8] = P[15][8] + P[15][5]*dt;
+    nextP[15][9] = P[15][9] + P[15][6]*dt;
+    nextP[15][10] = P[15][10];
+    nextP[15][11] = P[15][11];
+    nextP[15][12] = P[15][12];
+    nextP[15][13] = P[15][13];
+    nextP[15][14] = P[15][14];
+    nextP[15][15] = P[15][15];
+    nextP[15][16] = P[15][16];
+    nextP[15][17] = P[15][17];
+    nextP[15][18] = P[15][18];
+    nextP[15][19] = P[15][19];
+    nextP[15][20] = P[15][20];
+    nextP[15][21] = P[15][21];
+    nextP[15][22] = P[15][22];
+    nextP[16][0] = P[16][0] + P[16][1]*SF[7] + P[16][2]*SF[9] + P[16][3]*SF[8] + P[16][10]*SF[11] + P[16][11]*SPP[7] + P[16][12]*SPP[6];
+    nextP[16][1] = P[16][1] + P[16][0]*SF[6] + P[16][2]*SF[5] + P[16][3]*SF[9] + P[16][11]*SPP[6] - P[16][12]*SPP[7] - (P[16][10]*q0)/2;
+    nextP[16][2] = P[16][2] + P[16][0]*SF[4] + P[16][1]*SF[8] + P[16][3]*SF[6] + P[16][12]*SF[11] - P[16][10]*SPP[6] - (P[16][11]*q0)/2;
+    nextP[16][3] = P[16][3] + P[16][0]*SF[5] + P[16][1]*SF[4] + P[16][2]*SF[7] - P[16][11]*SF[11] + P[16][10]*SPP[7] - (P[16][12]*q0)/2;
+    nextP[16][4] = P[16][4] + P[16][1]*SF[1] + P[16][0]*SF[3] + P[16][2]*SPP[0] - P[16][3]*SPP[2] - P[16][13]*SPP[4];
+    nextP[16][5] = P[16][5] + P[16][0]*SF[2] + P[16][2]*SF[1] + P[16][3]*SF[3] - P[16][1]*SPP[0] + P[16][13]*SPP[3];
+    nextP[16][6] = P[16][6] + P[16][1]*SF[2] + P[16][3]*SF[1] + P[16][0]*SPP[0] - P[16][2]*SPP[1] - P[16][13]*SPP[5];
+    nextP[16][7] = P[16][7] + P[16][4]*dt;
+    nextP[16][8] = P[16][8] + P[16][5]*dt;
+    nextP[16][9] = P[16][9] + P[16][6]*dt;
+    nextP[16][10] = P[16][10];
+    nextP[16][11] = P[16][11];
+    nextP[16][12] = P[16][12];
+    nextP[16][13] = P[16][13];
+    nextP[16][14] = P[16][14];
+    nextP[16][15] = P[16][15];
+    nextP[16][16] = P[16][16];
+    nextP[16][17] = P[16][17];
+    nextP[16][18] = P[16][18];
+    nextP[16][19] = P[16][19];
+    nextP[16][20] = P[16][20];
+    nextP[16][21] = P[16][21];
+    nextP[16][22] = P[16][22];
+    nextP[17][0] = P[17][0] + P[17][1]*SF[7] + P[17][2]*SF[9] + P[17][3]*SF[8] + P[17][10]*SF[11] + P[17][11]*SPP[7] + P[17][12]*SPP[6];
+    nextP[17][1] = P[17][1] + P[17][0]*SF[6] + P[17][2]*SF[5] + P[17][3]*SF[9] + P[17][11]*SPP[6] - P[17][12]*SPP[7] - (P[17][10]*q0)/2;
+    nextP[17][2] = P[17][2] + P[17][0]*SF[4] + P[17][1]*SF[8] + P[17][3]*SF[6] + P[17][12]*SF[11] - P[17][10]*SPP[6] - (P[17][11]*q0)/2;
+    nextP[17][3] = P[17][3] + P[17][0]*SF[5] + P[17][1]*SF[4] + P[17][2]*SF[7] - P[17][11]*SF[11] + P[17][10]*SPP[7] - (P[17][12]*q0)/2;
+    nextP[17][4] = P[17][4] + P[17][1]*SF[1] + P[17][0]*SF[3] + P[17][2]*SPP[0] - P[17][3]*SPP[2] - P[17][13]*SPP[4];
+    nextP[17][5] = P[17][5] + P[17][0]*SF[2] + P[17][2]*SF[1] + P[17][3]*SF[3] - P[17][1]*SPP[0] + P[17][13]*SPP[3];
+    nextP[17][6] = P[17][6] + P[17][1]*SF[2] + P[17][3]*SF[1] + P[17][0]*SPP[0] - P[17][2]*SPP[1] - P[17][13]*SPP[5];
+    nextP[17][7] = P[17][7] + P[17][4]*dt;
+    nextP[17][8] = P[17][8] + P[17][5]*dt;
+    nextP[17][9] = P[17][9] + P[17][6]*dt;
+    nextP[17][10] = P[17][10];
+    nextP[17][11] = P[17][11];
+    nextP[17][12] = P[17][12];
+    nextP[17][13] = P[17][13];
+    nextP[17][14] = P[17][14];
+    nextP[17][15] = P[17][15];
+    nextP[17][16] = P[17][16];
+    nextP[17][17] = P[17][17];
+    nextP[17][18] = P[17][18];
+    nextP[17][19] = P[17][19];
+    nextP[17][20] = P[17][20];
+    nextP[17][21] = P[17][21];
+    nextP[17][22] = P[17][22];
+    nextP[18][0] = P[18][0] + P[18][1]*SF[7] + P[18][2]*SF[9] + P[18][3]*SF[8] + P[18][10]*SF[11] + P[18][11]*SPP[7] + P[18][12]*SPP[6];
+    nextP[18][1] = P[18][1] + P[18][0]*SF[6] + P[18][2]*SF[5] + P[18][3]*SF[9] + P[18][11]*SPP[6] - P[18][12]*SPP[7] - (P[18][10]*q0)/2;
+    nextP[18][2] = P[18][2] + P[18][0]*SF[4] + P[18][1]*SF[8] + P[18][3]*SF[6] + P[18][12]*SF[11] - P[18][10]*SPP[6] - (P[18][11]*q0)/2;
+    nextP[18][3] = P[18][3] + P[18][0]*SF[5] + P[18][1]*SF[4] + P[18][2]*SF[7] - P[18][11]*SF[11] + P[18][10]*SPP[7] - (P[18][12]*q0)/2;
+    nextP[18][4] = P[18][4] + P[18][1]*SF[1] + P[18][0]*SF[3] + P[18][2]*SPP[0] - P[18][3]*SPP[2] - P[18][13]*SPP[4];
+    nextP[18][5] = P[18][5] + P[18][0]*SF[2] + P[18][2]*SF[1] + P[18][3]*SF[3] - P[18][1]*SPP[0] + P[18][13]*SPP[3];
+    nextP[18][6] = P[18][6] + P[18][1]*SF[2] + P[18][3]*SF[1] + P[18][0]*SPP[0] - P[18][2]*SPP[1] - P[18][13]*SPP[5];
+    nextP[18][7] = P[18][7] + P[18][4]*dt;
+    nextP[18][8] = P[18][8] + P[18][5]*dt;
+    nextP[18][9] = P[18][9] + P[18][6]*dt;
+    nextP[18][10] = P[18][10];
+    nextP[18][11] = P[18][11];
+    nextP[18][12] = P[18][12];
+    nextP[18][13] = P[18][13];
+    nextP[18][14] = P[18][14];
+    nextP[18][15] = P[18][15];
+    nextP[18][16] = P[18][16];
+    nextP[18][17] = P[18][17];
+    nextP[18][18] = P[18][18];
+    nextP[18][19] = P[18][19];
+    nextP[18][20] = P[18][20];
+    nextP[18][21] = P[18][21];
+    nextP[18][22] = P[18][22];
+    nextP[19][0] = P[19][0] + P[19][1]*SF[7] + P[19][2]*SF[9] + P[19][3]*SF[8] + P[19][10]*SF[11] + P[19][11]*SPP[7] + P[19][12]*SPP[6];
+    nextP[19][1] = P[19][1] + P[19][0]*SF[6] + P[19][2]*SF[5] + P[19][3]*SF[9] + P[19][11]*SPP[6] - P[19][12]*SPP[7] - (P[19][10]*q0)/2;
+    nextP[19][2] = P[19][2] + P[19][0]*SF[4] + P[19][1]*SF[8] + P[19][3]*SF[6] + P[19][12]*SF[11] - P[19][10]*SPP[6] - (P[19][11]*q0)/2;
+    nextP[19][3] = P[19][3] + P[19][0]*SF[5] + P[19][1]*SF[4] + P[19][2]*SF[7] - P[19][11]*SF[11] + P[19][10]*SPP[7] - (P[19][12]*q0)/2;
+    nextP[19][4] = P[19][4] + P[19][1]*SF[1] + P[19][0]*SF[3] + P[19][2]*SPP[0] - P[19][3]*SPP[2] - P[19][13]*SPP[4];
+    nextP[19][5] = P[19][5] + P[19][0]*SF[2] + P[19][2]*SF[1] + P[19][3]*SF[3] - P[19][1]*SPP[0] + P[19][13]*SPP[3];
+    nextP[19][6] = P[19][6] + P[19][1]*SF[2] + P[19][3]*SF[1] + P[19][0]*SPP[0] - P[19][2]*SPP[1] - P[19][13]*SPP[5];
+    nextP[19][7] = P[19][7] + P[19][4]*dt;
+    nextP[19][8] = P[19][8] + P[19][5]*dt;
+    nextP[19][9] = P[19][9] + P[19][6]*dt;
+    nextP[19][10] = P[19][10];
+    nextP[19][11] = P[19][11];
+    nextP[19][12] = P[19][12];
+    nextP[19][13] = P[19][13];
+    nextP[19][14] = P[19][14];
+    nextP[19][15] = P[19][15];
+    nextP[19][16] = P[19][16];
+    nextP[19][17] = P[19][17];
+    nextP[19][18] = P[19][18];
+    nextP[19][19] = P[19][19];
+    nextP[19][20] = P[19][20];
+    nextP[19][21] = P[19][21];
+    nextP[19][22] = P[19][22];
+    nextP[20][0] = P[20][0] + P[20][1]*SF[7] + P[20][2]*SF[9] + P[20][3]*SF[8] + P[20][10]*SF[11] + P[20][11]*SPP[7] + P[20][12]*SPP[6];
+    nextP[20][1] = P[20][1] + P[20][0]*SF[6] + P[20][2]*SF[5] + P[20][3]*SF[9] + P[20][11]*SPP[6] - P[20][12]*SPP[7] - (P[20][10]*q0)/2;
+    nextP[20][2] = P[20][2] + P[20][0]*SF[4] + P[20][1]*SF[8] + P[20][3]*SF[6] + P[20][12]*SF[11] - P[20][10]*SPP[6] - (P[20][11]*q0)/2;
+    nextP[20][3] = P[20][3] + P[20][0]*SF[5] + P[20][1]*SF[4] + P[20][2]*SF[7] - P[20][11]*SF[11] + P[20][10]*SPP[7] - (P[20][12]*q0)/2;
+    nextP[20][4] = P[20][4] + P[20][1]*SF[1] + P[20][0]*SF[3] + P[20][2]*SPP[0] - P[20][3]*SPP[2] - P[20][13]*SPP[4];
+    nextP[20][5] = P[20][5] + P[20][0]*SF[2] + P[20][2]*SF[1] + P[20][3]*SF[3] - P[20][1]*SPP[0] + P[20][13]*SPP[3];
+    nextP[20][6] = P[20][6] + P[20][1]*SF[2] + P[20][3]*SF[1] + P[20][0]*SPP[0] - P[20][2]*SPP[1] - P[20][13]*SPP[5];
+    nextP[20][7] = P[20][7] + P[20][4]*dt;
+    nextP[20][8] = P[20][8] + P[20][5]*dt;
+    nextP[20][9] = P[20][9] + P[20][6]*dt;
+    nextP[20][10] = P[20][10];
+    nextP[20][11] = P[20][11];
+    nextP[20][12] = P[20][12];
+    nextP[20][13] = P[20][13];
+    nextP[20][14] = P[20][14];
+    nextP[20][15] = P[20][15];
+    nextP[20][16] = P[20][16];
+    nextP[20][17] = P[20][17];
+    nextP[20][18] = P[20][18];
+    nextP[20][19] = P[20][19];
+    nextP[20][20] = P[20][20];
+    nextP[20][21] = P[20][21];
+    nextP[20][22] = P[20][22];
+    nextP[21][0] = P[21][0] + P[21][1]*SF[7] + P[21][2]*SF[9] + P[21][3]*SF[8] + P[21][10]*SF[11] + P[21][11]*SPP[7] + P[21][12]*SPP[6];
+    nextP[21][1] = P[21][1] + P[21][0]*SF[6] + P[21][2]*SF[5] + P[21][3]*SF[9] + P[21][11]*SPP[6] - P[21][12]*SPP[7] - (P[21][10]*q0)/2;
+    nextP[21][2] = P[21][2] + P[21][0]*SF[4] + P[21][1]*SF[8] + P[21][3]*SF[6] + P[21][12]*SF[11] - P[21][10]*SPP[6] - (P[21][11]*q0)/2;
+    nextP[21][3] = P[21][3] + P[21][0]*SF[5] + P[21][1]*SF[4] + P[21][2]*SF[7] - P[21][11]*SF[11] + P[21][10]*SPP[7] - (P[21][12]*q0)/2;
+    nextP[21][4] = P[21][4] + P[21][1]*SF[1] + P[21][0]*SF[3] + P[21][2]*SPP[0] - P[21][3]*SPP[2] - P[21][13]*SPP[4];
+    nextP[21][5] = P[21][5] + P[21][0]*SF[2] + P[21][2]*SF[1] + P[21][3]*SF[3] - P[21][1]*SPP[0] + P[21][13]*SPP[3];
+    nextP[21][6] = P[21][6] + P[21][1]*SF[2] + P[21][3]*SF[1] + P[21][0]*SPP[0] - P[21][2]*SPP[1] - P[21][13]*SPP[5];
+    nextP[21][7] = P[21][7] + P[21][4]*dt;
+    nextP[21][8] = P[21][8] + P[21][5]*dt;
+    nextP[21][9] = P[21][9] + P[21][6]*dt;
+    nextP[21][10] = P[21][10];
+    nextP[21][11] = P[21][11];
+    nextP[21][12] = P[21][12];
+    nextP[21][13] = P[21][13];
+    nextP[21][14] = P[21][14];
+    nextP[21][15] = P[21][15];
+    nextP[21][16] = P[21][16];
+    nextP[21][17] = P[21][17];
+    nextP[21][18] = P[21][18];
+    nextP[21][19] = P[21][19];
+    nextP[21][20] = P[21][20];
+    nextP[21][21] = P[21][21];
+    nextP[21][22] = P[21][22];
+    nextP[22][0] = P[22][0] + P[22][1]*SF[7] + P[22][2]*SF[9] + P[22][3]*SF[8] + P[22][10]*SF[11] + P[22][11]*SPP[7] + P[22][12]*SPP[6];
+    nextP[22][1] = P[22][1] + P[22][0]*SF[6] + P[22][2]*SF[5] + P[22][3]*SF[9] + P[22][11]*SPP[6] - P[22][12]*SPP[7] - (P[22][10]*q0)/2;
+    nextP[22][2] = P[22][2] + P[22][0]*SF[4] + P[22][1]*SF[8] + P[22][3]*SF[6] + P[22][12]*SF[11] - P[22][10]*SPP[6] - (P[22][11]*q0)/2;
+    nextP[22][3] = P[22][3] + P[22][0]*SF[5] + P[22][1]*SF[4] + P[22][2]*SF[7] - P[22][11]*SF[11] + P[22][10]*SPP[7] - (P[22][12]*q0)/2;
+    nextP[22][4] = P[22][4] + P[22][1]*SF[1] + P[22][0]*SF[3] + P[22][2]*SPP[0] - P[22][3]*SPP[2] - P[22][13]*SPP[4];
+    nextP[22][5] = P[22][5] + P[22][0]*SF[2] + P[22][2]*SF[1] + P[22][3]*SF[3] - P[22][1]*SPP[0] + P[22][13]*SPP[3];
+    nextP[22][6] = P[22][6] + P[22][1]*SF[2] + P[22][3]*SF[1] + P[22][0]*SPP[0] - P[22][2]*SPP[1] - P[22][13]*SPP[5];
+    nextP[22][7] = P[22][7] + P[22][4]*dt;
+    nextP[22][8] = P[22][8] + P[22][5]*dt;
+    nextP[22][9] = P[22][9] + P[22][6]*dt;
+    nextP[22][10] = P[22][10];
+    nextP[22][11] = P[22][11];
+    nextP[22][12] = P[22][12];
+    nextP[22][13] = P[22][13];
+    nextP[22][14] = P[22][14];
+    nextP[22][15] = P[22][15];
+    nextP[22][16] = P[22][16];
+    nextP[22][17] = P[22][17];
+    nextP[22][18] = P[22][18];
+    nextP[22][19] = P[22][19];
+    nextP[22][20] = P[22][20];
+    nextP[22][21] = P[22][21];
+    nextP[22][22] = P[22][22];
+
+    for (unsigned i = 0; i < n_states; i++)
+    {
+        nextP[i][i] = nextP[i][i] + processNoise[i];
+    }
+
+    // If the total position variance exceds 1E6 (1000m), then stop covariance
+    // growth by setting the predicted to the previous values
+    // This prevent an ill conditioned matrix from occurring for long periods
+    // without GPS
+    if ((P[7][7] + P[8][8]) > 1E6f)
+    {
+        for (uint8_t i=7; i<=8; i++)
+        {
+            for (unsigned j = 0; j < n_states; j++)
+            {
+                nextP[i][j] = P[i][j];
+                nextP[j][i] = P[j][i];
+            }
+        }
+    }
+
+    // Copy covariance
+    for (unsigned i = 0; i < n_states; i++) {
+        P[i][i] = nextP[i][i];
+    }
+
+    // force symmetry for observable states
+    for (unsigned i = 1; i < n_states; i++)
+    {
+        for (uint8_t j = 0; j < i; j++)
+        {
+            P[i][j] = 0.5f * (nextP[i][j] + nextP[j][i]);
+            P[j][i] = P[i][j];
+        }
+    }
+
+        ConstrainVariances();
+}
+
+void AttPosEKF::FuseVelposNED()
+{
+
+// declare variables used by fault isolation logic
+    uint32_t gpsRetryTime = 3000; // time in msec before GPS fusion will be retried following innovation consistency failure
+    uint32_t gpsRetryTimeNoTAS = 500; // retry time if no TAS measurement available
+    uint32_t hgtRetryTime = 500; // height measurement retry time
+    uint32_t horizRetryTime;
+
+// declare variables used to check measurement errors
+    float velInnov[3] = {0.0f,0.0f,0.0f};
+    float posInnov[2] = {0.0f,0.0f};
+    float hgtInnov = 0.0f;
+
+// declare variables used to control access to arrays
+    bool fuseData[6] = {false,false,false,false,false,false};
+    uint8_t stateIndex;
+    uint8_t obsIndex;
+    uint8_t indexLimit = 22;
+
+// declare variables used by state and covariance update calculations
+    float velErr;
+    float posErr;
+    float R_OBS[6];
+    float observation[6];
+    float SK;
+    float quatMag;
+
+// Perform sequential fusion of GPS measurements. This assumes that the
+// errors in the different velocity and position components are
+// uncorrelated which is not true, however in the absence of covariance
+// data from the GPS receiver it is the only assumption we can make
+// so we might as well take advantage of the computational efficiencies
+// associated with sequential fusion
+    if (fuseVelData || fusePosData || fuseHgtData)
+    {
+        // set the GPS data timeout depending on whether airspeed data is present
+        if (useAirspeed) horizRetryTime = gpsRetryTime;
+        else horizRetryTime = gpsRetryTimeNoTAS;
+
+        // Form the observation vector
+        for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i];
+        for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3];
+        observation[5] = -(hgtMea);
+
+        // Estimate the GPS Velocity, GPS horiz position and height measurement variances.
+        velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring
+        posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring
+        R_OBS[0] = sq(vneSigma) + sq(velErr);
+        R_OBS[1] = R_OBS[0];
+        R_OBS[2] = sq(vdSigma) + sq(velErr);
+        R_OBS[3] = sq(posNeSigma) + sq(posErr);
+        R_OBS[4] = R_OBS[3];
+        R_OBS[5] = sq(posDSigma) + sq(posErr);
+
+        // calculate innovations and check GPS data validity using an innovation consistency check
+        if (fuseVelData)
+        {
+            // test velocity measurements
+            uint8_t imax = 2;
+            if (fusionModeGPS == 1) imax = 1;
+            for (uint8_t i = 0; i<=imax; i++)
+            {
+                velInnov[i] = statesAtVelTime[i+4] - velNED[i];
+                stateIndex = 4 + i;
+                varInnovVelPos[i] = P[stateIndex][stateIndex] + R_OBS[i];
+            }
+            // apply a 5-sigma threshold
+            current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
+            current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime;
+            if (current_ekf_state.velHealth || staticMode) {
+                current_ekf_state.velHealth = true;
+                current_ekf_state.velFailTime = millis();
+            } else if (current_ekf_state.velTimeout || !current_ekf_state.posHealth) {
+                // XXX check
+                current_ekf_state.velHealth = true;
+                ResetVelocity();
+                ResetStoredStates();
+                // do not fuse bad data
+                fuseVelData = false;
+            }
+            else
+            {
+                current_ekf_state.velHealth = false;
+            }
+        }
+        if (fusePosData)
+        {
+            // test horizontal position measurements
+            posInnov[0] = statesAtPosTime[7] - posNE[0];
+            posInnov[1] = statesAtPosTime[8] - posNE[1];
+            varInnovVelPos[3] = P[7][7] + R_OBS[3];
+            varInnovVelPos[4] = P[8][8] + R_OBS[4];
+            // apply a 10-sigma threshold
+            current_ekf_state.posHealth = (sq(posInnov[0]) + sq(posInnov[1])) < 100.0f*(varInnovVelPos[3] + varInnovVelPos[4]);
+            current_ekf_state.posTimeout = (millis() - current_ekf_state.posFailTime) > horizRetryTime;
+            if (current_ekf_state.posHealth || current_ekf_state.posTimeout)
+            {
+                current_ekf_state.posHealth = true;
+                current_ekf_state.posFailTime = millis();
+
+                if (current_ekf_state.posTimeout) {
+                    ResetPosition();
+                    
+                    // XXX cross-check the state reset
+                    ResetStoredStates();
+
+                    // do not fuse position data on this time
+                    // step
+                    fusePosData = false;
+                }
+            }
+            else
+            {
+                current_ekf_state.posHealth = false;
+            }
+        }
+        // test height measurements
+        if (fuseHgtData)
+        {
+            hgtInnov = statesAtHgtTime[9] + hgtMea;
+            varInnovVelPos[5] = P[9][9] + R_OBS[5];
+            // apply a 10-sigma threshold
+            current_ekf_state.hgtHealth = sq(hgtInnov) < 100.0f*varInnovVelPos[5];
+            current_ekf_state.hgtTimeout = (millis() - current_ekf_state.hgtFailTime) > hgtRetryTime;
+            if (current_ekf_state.hgtHealth || current_ekf_state.hgtTimeout || staticMode)
+            {
+                current_ekf_state.hgtHealth = true;
+                current_ekf_state.hgtFailTime = millis();
+
+                // if we just reset from a timeout, do not fuse
+                // the height data, but reset height and stored states
+                if (current_ekf_state.hgtTimeout) {
+                    ResetHeight();
+                    ResetStoredStates();
+                    fuseHgtData = false;
+                }
+            }
+            else
+            {
+                current_ekf_state.hgtHealth = false;
+            }
+        }
+        // Set range for sequential fusion of velocity and position measurements depending
+        // on which data is available and its health
+        if (fuseVelData && fusionModeGPS == 0 && current_ekf_state.velHealth)
+        {
+            fuseData[0] = true;
+            fuseData[1] = true;
+            fuseData[2] = true;
+        }
+        if (fuseVelData && fusionModeGPS == 1 && current_ekf_state.velHealth)
+        {
+            fuseData[0] = true;
+            fuseData[1] = true;
+        }
+        if (fusePosData && fusionModeGPS <= 2 && current_ekf_state.posHealth)
+        {
+            fuseData[3] = true;
+            fuseData[4] = true;
+        }
+        if (fuseHgtData && current_ekf_state.hgtHealth)
+        {
+            fuseData[5] = true;
+        }
+        // Fuse measurements sequentially
+        for (obsIndex=0; obsIndex<=5; obsIndex++)
+        {
+            if (fuseData[obsIndex])
+            {
+                stateIndex = 4 + obsIndex;
+                // Calculate the measurement innovation, using states from a
+                // different time coordinate if fusing height data
+                if (obsIndex <= 2)
+                {
+                    innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex];
+                }
+                else if (obsIndex == 3 || obsIndex == 4)
+                {
+                    innovVelPos[obsIndex] = statesAtPosTime[stateIndex] - observation[obsIndex];
+                }
+                else if (obsIndex == 5)
+                {
+                    innovVelPos[obsIndex] = statesAtHgtTime[stateIndex] - observation[obsIndex];
+                }
+                // Calculate the Kalman Gain
+                // Calculate innovation variances - also used for data logging
+                varInnovVelPos[obsIndex] = P[stateIndex][stateIndex] + R_OBS[obsIndex];
+                SK = 1.0/(double)varInnovVelPos[obsIndex];
+                for (uint8_t i= 0; i<=indexLimit; i++)
+                {
+                    Kfusion[i] = P[i][stateIndex]*SK;
+                }
+
+                // Don't update Z accel bias state unless using a height observation (GPS velocities can be biased)
+                if (obsIndex != 5) {
+                    Kfusion[13] = 0;
+                }
+                // Don't update wind states if inhibited
+                if (inhibitWindStates) {
+                    Kfusion[14] = 0;
+                    Kfusion[15] = 0;
+                }
+                // Don't update magnetic field states if inhibited
+                if (inhibitMagStates) {
+                    for (uint8_t i = 16; i<=21; i++)
+                    {
+                        Kfusion[i] = 0;
+                    }
+                }
+                // Don't update terrain state if inhibited
+                if (inhibitGndHgtState) {
+                    Kfusion[22] = 0;
+               }
+
+                // Calculate state corrections and re-normalise the quaternions
+                for (uint8_t i = 0; i<=indexLimit; i++)
+                {
+                    states[i] = states[i] - Kfusion[i] * innovVelPos[obsIndex];
+                }
+                quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+                if (quatMag > 1e-12f) // divide by  0 protection
+                {
+                    for (uint8_t i = 0; i<=3; i++)
+                    {
+                        states[i] = states[i] / quatMag;
+                    }
+                }
+                // Update the covariance - take advantage of direct observation of a
+                // single state at index = stateIndex to reduce computations
+                // Optimised implementation of standard equation P = (I - K*H)*P;
+                for (uint8_t i= 0; i<=indexLimit; i++)
+                {
+                    for (uint8_t j= 0; j<=indexLimit; j++)
+                    {
+                        KHP[i][j] = Kfusion[i] * P[stateIndex][j];
+                    }
+                }
+                for (uint8_t i= 0; i<=indexLimit; i++)
+                {
+                    for (uint8_t j= 0; j<=indexLimit; j++)
+                    {
+                        P[i][j] = P[i][j] - KHP[i][j];
+                    }
+                }
+            }
+        }
+    }
+
+    ForceSymmetry();
+    ConstrainVariances();
+
+}
+
+void AttPosEKF::FuseMagnetometer()
+{
+
+    float &q0 = magstate.q0;
+    float &q1 = magstate.q1;
+    float &q2 = magstate.q2;
+    float &q3 = magstate.q3;
+    float &magN = magstate.magN;
+    float &magE = magstate.magE;
+    float &magD = magstate.magD;
+    float &magXbias = magstate.magXbias;
+    float &magYbias = magstate.magYbias;
+    float &magZbias = magstate.magZbias;
+    unsigned &obsIndex = magstate.obsIndex;
+    Mat3f &DCM = magstate.DCM;
+    float *MagPred = &magstate.MagPred[0];
+    float &R_MAG = magstate.R_MAG;
+    float *SH_MAG = &magstate.SH_MAG[0];
+
+    float SK_MX[6];
+    float SK_MY[5];
+    float SK_MZ[6];
+    float H_MAG[n_states];
+    for (uint8_t i = 0; i < n_states; i++) {
+        H_MAG[i] = 0.0f;
+    }
+
+// Perform sequential fusion of Magnetometer measurements.
+// This assumes that the errors in the different components are
+// uncorrelated which is not true, however in the absence of covariance
+// data fit is the only assumption we can make
+// so we might as well take advantage of the computational efficiencies
+// associated with sequential fusion
+    if (useCompass && fuseMagData && (obsIndex < 3))
+    {
+        // Calculate observation jacobians and Kalman gains
+        if (obsIndex == 0)
+        {
+            // Copy required states to local variable names
+            q0       = statesAtMagMeasTime[0];
+            q1       = statesAtMagMeasTime[1];
+            q2       = statesAtMagMeasTime[2];
+            q3       = statesAtMagMeasTime[3];
+            magN     = statesAtMagMeasTime[16];
+            magE     = statesAtMagMeasTime[17];
+            magD     = statesAtMagMeasTime[18];
+            magXbias = statesAtMagMeasTime[19];
+            magYbias = statesAtMagMeasTime[20];
+            magZbias = statesAtMagMeasTime[21];
+
+            // rotate predicted earth components into body axes and calculate
+            // predicted measurments
+            DCM.x.x = q0*q0 + q1*q1 - q2*q2 - q3*q3;
+            DCM.x.y = 2*(q1*q2 + q0*q3);
+            DCM.x.z = 2*(q1*q3-q0*q2);
+            DCM.y.x = 2*(q1*q2 - q0*q3);
+            DCM.y.y = q0*q0 - q1*q1 + q2*q2 - q3*q3;
+            DCM.y.z = 2*(q2*q3 + q0*q1);
+            DCM.z.x = 2*(q1*q3 + q0*q2);
+            DCM.z.y = 2*(q2*q3 - q0*q1);
+            DCM.z.z = q0*q0 - q1*q1 - q2*q2 + q3*q3;
+            MagPred[0] = DCM.x.x*magN + DCM.x.y*magE  + DCM.x.z*magD + magXbias;
+            MagPred[1] = DCM.y.x*magN + DCM.y.y*magE  + DCM.y.z*magD + magYbias;
+            MagPred[2] = DCM.z.x*magN + DCM.z.y*magE  + DCM.z.z*magD + magZbias;
+
+            // scale magnetometer observation error with total angular rate
+            R_MAG = sq(magMeasurementSigma) + sq(0.05f*dAngIMU.length()/dtIMU);
+
+            // Calculate observation jacobians
+            SH_MAG[0] = 2*magD*q3 + 2*magE*q2 + 2*magN*q1;
+            SH_MAG[1] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2;
+            SH_MAG[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3;
+            SH_MAG[3] = sq(q3);
+            SH_MAG[4] = sq(q2);
+            SH_MAG[5] = sq(q1);
+            SH_MAG[6] = sq(q0);
+            SH_MAG[7] = 2*magN*q0;
+            SH_MAG[8] = 2*magE*q3;
+
+            for (uint8_t i = 0; i < n_states; i++) H_MAG[i] = 0;
+            H_MAG[0] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            H_MAG[1] = SH_MAG[0];
+            H_MAG[2] = 2*magE*q1 - 2*magD*q0 - 2*magN*q2;
+            H_MAG[3] = SH_MAG[2];
+            H_MAG[16] = SH_MAG[5] - SH_MAG[4] - SH_MAG[3] + SH_MAG[6];
+            H_MAG[17] = 2*q0*q3 + 2*q1*q2;
+            H_MAG[18] = 2*q1*q3 - 2*q0*q2;
+            H_MAG[19] = 1.0f;
+
+            // Calculate Kalman gain
+            float temp = (P[19][19] + R_MAG + P[1][19]*SH_MAG[0] + P[3][19]*SH_MAG[2] - P[16][19]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) - (2*magD*q0 - 2*magE*q1 + 2*magN*q2)*(P[19][2] + P[1][2]*SH_MAG[0] + P[3][2]*SH_MAG[2] - P[16][2]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][2]*(2*q0*q3 + 2*q1*q2) - P[18][2]*(2*q0*q2 - 2*q1*q3) - P[2][2]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[19][0] + P[1][0]*SH_MAG[0] + P[3][0]*SH_MAG[2] - P[16][0]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][0]*(2*q0*q3 + 2*q1*q2) - P[18][0]*(2*q0*q2 - 2*q1*q3) - P[2][0]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[19][1] + P[1][1]*SH_MAG[0] + P[3][1]*SH_MAG[2] - P[16][1]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][1]*(2*q0*q3 + 2*q1*q2) - P[18][1]*(2*q0*q2 - 2*q1*q3) - P[2][1]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[2]*(P[19][3] + P[1][3]*SH_MAG[0] + P[3][3]*SH_MAG[2] - P[16][3]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][3]*(2*q0*q3 + 2*q1*q2) - P[18][3]*(2*q0*q2 - 2*q1*q3) - P[2][3]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P[19][16] + P[1][16]*SH_MAG[0] + P[3][16]*SH_MAG[2] - P[16][16]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][16]*(2*q0*q3 + 2*q1*q2) - P[18][16]*(2*q0*q2 - 2*q1*q3) - P[2][16]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[17][19]*(2*q0*q3 + 2*q1*q2) - P[18][19]*(2*q0*q2 - 2*q1*q3) - P[2][19]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + (2*q0*q3 + 2*q1*q2)*(P[19][17] + P[1][17]*SH_MAG[0] + P[3][17]*SH_MAG[2] - P[16][17]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][17]*(2*q0*q3 + 2*q1*q2) - P[18][17]*(2*q0*q2 - 2*q1*q3) - P[2][17]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q2 - 2*q1*q3)*(P[19][18] + P[1][18]*SH_MAG[0] + P[3][18]*SH_MAG[2] - P[16][18]*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P[17][18]*(2*q0*q3 + 2*q1*q2) - P[18][18]*(2*q0*q2 - 2*q1*q3) - P[2][18]*(2*magD*q0 - 2*magE*q1 + 2*magN*q2) + P[0][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[0][19]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
+            if (temp >= R_MAG) {
+                SK_MX[0] = 1.0f / temp;
+            } else {
+                // the calculation is badly conditioned, so we cannot perform fusion on this step
+                // we increase the state variances and try again next time
+                P[19][19] += 0.1f*R_MAG;
+                obsIndex = 1;
+                return;
+            }
+            SK_MX[1] = SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6];
+            SK_MX[2] = 2*magD*q0 - 2*magE*q1 + 2*magN*q2;
+            SK_MX[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            SK_MX[4] = 2*q0*q2 - 2*q1*q3;
+            SK_MX[5] = 2*q0*q3 + 2*q1*q2;
+            Kfusion[0] = SK_MX[0]*(P[0][19] + P[0][1]*SH_MAG[0] + P[0][3]*SH_MAG[2] + P[0][0]*SK_MX[3] - P[0][2]*SK_MX[2] - P[0][16]*SK_MX[1] + P[0][17]*SK_MX[5] - P[0][18]*SK_MX[4]);
+            Kfusion[1] = SK_MX[0]*(P[1][19] + P[1][1]*SH_MAG[0] + P[1][3]*SH_MAG[2] + P[1][0]*SK_MX[3] - P[1][2]*SK_MX[2] - P[1][16]*SK_MX[1] + P[1][17]*SK_MX[5] - P[1][18]*SK_MX[4]);
+            Kfusion[2] = SK_MX[0]*(P[2][19] + P[2][1]*SH_MAG[0] + P[2][3]*SH_MAG[2] + P[2][0]*SK_MX[3] - P[2][2]*SK_MX[2] - P[2][16]*SK_MX[1] + P[2][17]*SK_MX[5] - P[2][18]*SK_MX[4]);
+            Kfusion[3] = SK_MX[0]*(P[3][19] + P[3][1]*SH_MAG[0] + P[3][3]*SH_MAG[2] + P[3][0]*SK_MX[3] - P[3][2]*SK_MX[2] - P[3][16]*SK_MX[1] + P[3][17]*SK_MX[5] - P[3][18]*SK_MX[4]);
+            Kfusion[4] = SK_MX[0]*(P[4][19] + P[4][1]*SH_MAG[0] + P[4][3]*SH_MAG[2] + P[4][0]*SK_MX[3] - P[4][2]*SK_MX[2] - P[4][16]*SK_MX[1] + P[4][17]*SK_MX[5] - P[4][18]*SK_MX[4]);
+            Kfusion[5] = SK_MX[0]*(P[5][19] + P[5][1]*SH_MAG[0] + P[5][3]*SH_MAG[2] + P[5][0]*SK_MX[3] - P[5][2]*SK_MX[2] - P[5][16]*SK_MX[1] + P[5][17]*SK_MX[5] - P[5][18]*SK_MX[4]);
+            Kfusion[6] = SK_MX[0]*(P[6][19] + P[6][1]*SH_MAG[0] + P[6][3]*SH_MAG[2] + P[6][0]*SK_MX[3] - P[6][2]*SK_MX[2] - P[6][16]*SK_MX[1] + P[6][17]*SK_MX[5] - P[6][18]*SK_MX[4]);
+            Kfusion[7] = SK_MX[0]*(P[7][19] + P[7][1]*SH_MAG[0] + P[7][3]*SH_MAG[2] + P[7][0]*SK_MX[3] - P[7][2]*SK_MX[2] - P[7][16]*SK_MX[1] + P[7][17]*SK_MX[5] - P[7][18]*SK_MX[4]);
+            Kfusion[8] = SK_MX[0]*(P[8][19] + P[8][1]*SH_MAG[0] + P[8][3]*SH_MAG[2] + P[8][0]*SK_MX[3] - P[8][2]*SK_MX[2] - P[8][16]*SK_MX[1] + P[8][17]*SK_MX[5] - P[8][18]*SK_MX[4]);
+            Kfusion[9] = SK_MX[0]*(P[9][19] + P[9][1]*SH_MAG[0] + P[9][3]*SH_MAG[2] + P[9][0]*SK_MX[3] - P[9][2]*SK_MX[2] - P[9][16]*SK_MX[1] + P[9][17]*SK_MX[5] - P[9][18]*SK_MX[4]);
+            Kfusion[10] = SK_MX[0]*(P[10][19] + P[10][1]*SH_MAG[0] + P[10][3]*SH_MAG[2] + P[10][0]*SK_MX[3] - P[10][2]*SK_MX[2] - P[10][16]*SK_MX[1] + P[10][17]*SK_MX[5] - P[10][18]*SK_MX[4]);
+            Kfusion[11] = SK_MX[0]*(P[11][19] + P[11][1]*SH_MAG[0] + P[11][3]*SH_MAG[2] + P[11][0]*SK_MX[3] - P[11][2]*SK_MX[2] - P[11][16]*SK_MX[1] + P[11][17]*SK_MX[5] - P[11][18]*SK_MX[4]);
+            Kfusion[12] = SK_MX[0]*(P[12][19] + P[12][1]*SH_MAG[0] + P[12][3]*SH_MAG[2] + P[12][0]*SK_MX[3] - P[12][2]*SK_MX[2] - P[12][16]*SK_MX[1] + P[12][17]*SK_MX[5] - P[12][18]*SK_MX[4]);
+            // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+            Kfusion[13] = 0.0f;//SK_MX[0]*(P[13][19] + P[13][1]*SH_MAG[0] + P[13][3]*SH_MAG[2] + P[13][0]*SK_MX[3] - P[13][2]*SK_MX[2] - P[13][16]*SK_MX[1] + P[13][17]*SK_MX[5] - P[13][18]*SK_MX[4]);
+            // Estimation of selected states is inhibited by setting their Kalman gains to zero
+            if (!inhibitWindStates) {
+                Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][1]*SH_MAG[0] + P[14][3]*SH_MAG[2] + P[14][0]*SK_MX[3] - P[14][2]*SK_MX[2] - P[14][16]*SK_MX[1] + P[14][17]*SK_MX[5] - P[14][18]*SK_MX[4]);
+                Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][1]*SH_MAG[0] + P[15][3]*SH_MAG[2] + P[15][0]*SK_MX[3] - P[15][2]*SK_MX[2] - P[15][16]*SK_MX[1] + P[15][17]*SK_MX[5] - P[15][18]*SK_MX[4]);
+            } else {
+                Kfusion[14] = 0;
+                Kfusion[15] = 0;
+            }
+            if (!inhibitMagStates) {
+                Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][1]*SH_MAG[0] + P[16][3]*SH_MAG[2] + P[16][0]*SK_MX[3] - P[16][2]*SK_MX[2] - P[16][16]*SK_MX[1] + P[16][17]*SK_MX[5] - P[16][18]*SK_MX[4]);
+                Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][1]*SH_MAG[0] + P[17][3]*SH_MAG[2] + P[17][0]*SK_MX[3] - P[17][2]*SK_MX[2] - P[17][16]*SK_MX[1] + P[17][17]*SK_MX[5] - P[17][18]*SK_MX[4]);
+                Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][1]*SH_MAG[0] + P[18][3]*SH_MAG[2] + P[18][0]*SK_MX[3] - P[18][2]*SK_MX[2] - P[18][16]*SK_MX[1] + P[18][17]*SK_MX[5] - P[18][18]*SK_MX[4]);
+                Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][1]*SH_MAG[0] + P[19][3]*SH_MAG[2] + P[19][0]*SK_MX[3] - P[19][2]*SK_MX[2] - P[19][16]*SK_MX[1] + P[19][17]*SK_MX[5] - P[19][18]*SK_MX[4]);
+                Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][1]*SH_MAG[0] + P[20][3]*SH_MAG[2] + P[20][0]*SK_MX[3] - P[20][2]*SK_MX[2] - P[20][16]*SK_MX[1] + P[20][17]*SK_MX[5] - P[20][18]*SK_MX[4]);
+                Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][1]*SH_MAG[0] + P[21][3]*SH_MAG[2] + P[21][0]*SK_MX[3] - P[21][2]*SK_MX[2] - P[21][16]*SK_MX[1] + P[21][17]*SK_MX[5] - P[21][18]*SK_MX[4]);
+            } else {
+                for (uint8_t i=16; i <= 21; i++) {
+                    Kfusion[i] = 0;
+                }
+            }
+            if (!inhibitGndHgtState) {
+                Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]);
+            } else {
+                Kfusion[22] = 0;
+            }
+            varInnovMag[0] = 1.0f/SK_MX[0];
+            innovMag[0] = MagPred[0] - magData.x;
+        }
+        else if (obsIndex == 1) // we are now fusing the Y measurement
+        {
+            // Calculate observation jacobians
+            for (unsigned int i = 0; i < n_states; i++) H_MAG[i] = 0;
+            H_MAG[0] = SH_MAG[2];
+            H_MAG[1] = SH_MAG[1];
+            H_MAG[2] = SH_MAG[0];
+            H_MAG[3] = 2*magD*q2 - SH_MAG[8] - SH_MAG[7];
+            H_MAG[16] = 2*q1*q2 - 2*q0*q3;
+            H_MAG[17] = SH_MAG[4] - SH_MAG[3] - SH_MAG[5] + SH_MAG[6];
+            H_MAG[18] = 2*q0*q1 + 2*q2*q3;
+            H_MAG[20] = 1;
+
+            // Calculate Kalman gain
+            float temp = (P[20][20] + R_MAG + P[0][20]*SH_MAG[2] + P[1][20]*SH_MAG[1] + P[2][20]*SH_MAG[0] - P[17][20]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2*q0*q3 - 2*q1*q2)*(P[20][16] + P[0][16]*SH_MAG[2] + P[1][16]*SH_MAG[1] + P[2][16]*SH_MAG[0] - P[17][16]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][16]*(2*q0*q3 - 2*q1*q2) + P[18][16]*(2*q0*q1 + 2*q2*q3) - P[3][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (2*q0*q1 + 2*q2*q3)*(P[20][18] + P[0][18]*SH_MAG[2] + P[1][18]*SH_MAG[1] + P[2][18]*SH_MAG[0] - P[17][18]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][18]*(2*q0*q3 - 2*q1*q2) + P[18][18]*(2*q0*q1 + 2*q2*q3) - P[3][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[20][3] + P[0][3]*SH_MAG[2] + P[1][3]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[17][3]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][3]*(2*q0*q3 - 2*q1*q2) + P[18][3]*(2*q0*q1 + 2*q2*q3) - P[3][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[16][20]*(2*q0*q3 - 2*q1*q2) + P[18][20]*(2*q0*q1 + 2*q2*q3) + SH_MAG[2]*(P[20][0] + P[0][0]*SH_MAG[2] + P[1][0]*SH_MAG[1] + P[2][0]*SH_MAG[0] - P[17][0]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][0]*(2*q0*q3 - 2*q1*q2) + P[18][0]*(2*q0*q1 + 2*q2*q3) - P[3][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[20][1] + P[0][1]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[2][1]*SH_MAG[0] - P[17][1]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][1]*(2*q0*q3 - 2*q1*q2) + P[18][1]*(2*q0*q1 + 2*q2*q3) - P[3][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[20][2] + P[0][2]*SH_MAG[2] + P[1][2]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[17][2]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][2]*(2*q0*q3 - 2*q1*q2) + P[18][2]*(2*q0*q1 + 2*q2*q3) - P[3][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P[20][17] + P[0][17]*SH_MAG[2] + P[1][17]*SH_MAG[1] + P[2][17]*SH_MAG[0] - P[17][17]*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P[16][17]*(2*q0*q3 - 2*q1*q2) + P[18][17]*(2*q0*q1 + 2*q2*q3) - P[3][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - P[3][20]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
+            if (temp >= R_MAG) {
+                SK_MY[0] = 1.0f / temp;
+            } else {
+                // the calculation is badly conditioned, so we cannot perform fusion on this step
+                // we increase the state variances and try again next time
+                P[20][20] += 0.1f*R_MAG;
+                obsIndex = 2;
+                return;
+            }
+            SK_MY[1] = SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6];
+            SK_MY[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            SK_MY[3] = 2*q0*q3 - 2*q1*q2;
+            SK_MY[4] = 2*q0*q1 + 2*q2*q3;
+            Kfusion[0] = SK_MY[0]*(P[0][20] + P[0][0]*SH_MAG[2] + P[0][1]*SH_MAG[1] + P[0][2]*SH_MAG[0] - P[0][3]*SK_MY[2] - P[0][17]*SK_MY[1] - P[0][16]*SK_MY[3] + P[0][18]*SK_MY[4]);
+            Kfusion[1] = SK_MY[0]*(P[1][20] + P[1][0]*SH_MAG[2] + P[1][1]*SH_MAG[1] + P[1][2]*SH_MAG[0] - P[1][3]*SK_MY[2] - P[1][17]*SK_MY[1] - P[1][16]*SK_MY[3] + P[1][18]*SK_MY[4]);
+            Kfusion[2] = SK_MY[0]*(P[2][20] + P[2][0]*SH_MAG[2] + P[2][1]*SH_MAG[1] + P[2][2]*SH_MAG[0] - P[2][3]*SK_MY[2] - P[2][17]*SK_MY[1] - P[2][16]*SK_MY[3] + P[2][18]*SK_MY[4]);
+            Kfusion[3] = SK_MY[0]*(P[3][20] + P[3][0]*SH_MAG[2] + P[3][1]*SH_MAG[1] + P[3][2]*SH_MAG[0] - P[3][3]*SK_MY[2] - P[3][17]*SK_MY[1] - P[3][16]*SK_MY[3] + P[3][18]*SK_MY[4]);
+            Kfusion[4] = SK_MY[0]*(P[4][20] + P[4][0]*SH_MAG[2] + P[4][1]*SH_MAG[1] + P[4][2]*SH_MAG[0] - P[4][3]*SK_MY[2] - P[4][17]*SK_MY[1] - P[4][16]*SK_MY[3] + P[4][18]*SK_MY[4]);
+            Kfusion[5] = SK_MY[0]*(P[5][20] + P[5][0]*SH_MAG[2] + P[5][1]*SH_MAG[1] + P[5][2]*SH_MAG[0] - P[5][3]*SK_MY[2] - P[5][17]*SK_MY[1] - P[5][16]*SK_MY[3] + P[5][18]*SK_MY[4]);
+            Kfusion[6] = SK_MY[0]*(P[6][20] + P[6][0]*SH_MAG[2] + P[6][1]*SH_MAG[1] + P[6][2]*SH_MAG[0] - P[6][3]*SK_MY[2] - P[6][17]*SK_MY[1] - P[6][16]*SK_MY[3] + P[6][18]*SK_MY[4]);
+            Kfusion[7] = SK_MY[0]*(P[7][20] + P[7][0]*SH_MAG[2] + P[7][1]*SH_MAG[1] + P[7][2]*SH_MAG[0] - P[7][3]*SK_MY[2] - P[7][17]*SK_MY[1] - P[7][16]*SK_MY[3] + P[7][18]*SK_MY[4]);
+            Kfusion[8] = SK_MY[0]*(P[8][20] + P[8][0]*SH_MAG[2] + P[8][1]*SH_MAG[1] + P[8][2]*SH_MAG[0] - P[8][3]*SK_MY[2] - P[8][17]*SK_MY[1] - P[8][16]*SK_MY[3] + P[8][18]*SK_MY[4]);
+            Kfusion[9] = SK_MY[0]*(P[9][20] + P[9][0]*SH_MAG[2] + P[9][1]*SH_MAG[1] + P[9][2]*SH_MAG[0] - P[9][3]*SK_MY[2] - P[9][17]*SK_MY[1] - P[9][16]*SK_MY[3] + P[9][18]*SK_MY[4]);
+            Kfusion[10] = SK_MY[0]*(P[10][20] + P[10][0]*SH_MAG[2] + P[10][1]*SH_MAG[1] + P[10][2]*SH_MAG[0] - P[10][3]*SK_MY[2] - P[10][17]*SK_MY[1] - P[10][16]*SK_MY[3] + P[10][18]*SK_MY[4]);
+            Kfusion[11] = SK_MY[0]*(P[11][20] + P[11][0]*SH_MAG[2] + P[11][1]*SH_MAG[1] + P[11][2]*SH_MAG[0] - P[11][3]*SK_MY[2] - P[11][17]*SK_MY[1] - P[11][16]*SK_MY[3] + P[11][18]*SK_MY[4]);
+            Kfusion[12] = SK_MY[0]*(P[12][20] + P[12][0]*SH_MAG[2] + P[12][1]*SH_MAG[1] + P[12][2]*SH_MAG[0] - P[12][3]*SK_MY[2] - P[12][17]*SK_MY[1] - P[12][16]*SK_MY[3] + P[12][18]*SK_MY[4]);
+            // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+            Kfusion[13] = 0.0f;//SK_MY[0]*(P[13][20] + P[13][0]*SH_MAG[2] + P[13][1]*SH_MAG[1] + P[13][2]*SH_MAG[0] - P[13][3]*SK_MY[2] - P[13][17]*SK_MY[1] - P[13][16]*SK_MY[3] + P[13][18]*SK_MY[4]);
+            // Estimation of selected states is inhibited by setting their Kalman gains to zero
+            if (!inhibitWindStates) {
+                Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][0]*SH_MAG[2] + P[14][1]*SH_MAG[1] + P[14][2]*SH_MAG[0] - P[14][3]*SK_MY[2] - P[14][17]*SK_MY[1] - P[14][16]*SK_MY[3] + P[14][18]*SK_MY[4]);
+                Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][0]*SH_MAG[2] + P[15][1]*SH_MAG[1] + P[15][2]*SH_MAG[0] - P[15][3]*SK_MY[2] - P[15][17]*SK_MY[1] - P[15][16]*SK_MY[3] + P[15][18]*SK_MY[4]);
+            } else {
+                Kfusion[14] = 0;
+                Kfusion[15] = 0;
+            }
+            if (!inhibitMagStates) {
+                Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][0]*SH_MAG[2] + P[16][1]*SH_MAG[1] + P[16][2]*SH_MAG[0] - P[16][3]*SK_MY[2] - P[16][17]*SK_MY[1] - P[16][16]*SK_MY[3] + P[16][18]*SK_MY[4]);
+                Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][0]*SH_MAG[2] + P[17][1]*SH_MAG[1] + P[17][2]*SH_MAG[0] - P[17][3]*SK_MY[2] - P[17][17]*SK_MY[1] - P[17][16]*SK_MY[3] + P[17][18]*SK_MY[4]);
+                Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][0]*SH_MAG[2] + P[18][1]*SH_MAG[1] + P[18][2]*SH_MAG[0] - P[18][3]*SK_MY[2] - P[18][17]*SK_MY[1] - P[18][16]*SK_MY[3] + P[18][18]*SK_MY[4]);
+                Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][0]*SH_MAG[2] + P[19][1]*SH_MAG[1] + P[19][2]*SH_MAG[0] - P[19][3]*SK_MY[2] - P[19][17]*SK_MY[1] - P[19][16]*SK_MY[3] + P[19][18]*SK_MY[4]);
+                Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][0]*SH_MAG[2] + P[20][1]*SH_MAG[1] + P[20][2]*SH_MAG[0] - P[20][3]*SK_MY[2] - P[20][17]*SK_MY[1] - P[20][16]*SK_MY[3] + P[20][18]*SK_MY[4]);
+                Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][0]*SH_MAG[2] + P[21][1]*SH_MAG[1] + P[21][2]*SH_MAG[0] - P[21][3]*SK_MY[2] - P[21][17]*SK_MY[1] - P[21][16]*SK_MY[3] + P[21][18]*SK_MY[4]);
+            } else {
+                Kfusion[16] = 0;
+                Kfusion[17] = 0;
+                Kfusion[18] = 0;
+                Kfusion[19] = 0;
+                Kfusion[20] = 0;
+                Kfusion[21] = 0;
+            }
+            if (!inhibitGndHgtState) {
+                Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]);
+            } else {
+                Kfusion[22] = 0;
+            }
+            varInnovMag[1] = 1.0f/SK_MY[0];
+            innovMag[1] = MagPred[1] - magData.y;
+        }
+        else if (obsIndex == 2) // we are now fusing the Z measurement
+        {
+            // Calculate observation jacobians
+            for (uint8_t i = 0; i < n_states; i++) H_MAG[i] = 0;
+            H_MAG[0] = SH_MAG[1];
+            H_MAG[1] = 2*magN*q3 - 2*magE*q0 - 2*magD*q1;
+            H_MAG[2] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            H_MAG[3] = SH_MAG[0];
+            H_MAG[16] = 2*q0*q2 + 2*q1*q3;
+            H_MAG[17] = 2*q2*q3 - 2*q0*q1;
+            H_MAG[18] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6];
+            H_MAG[21] = 1;
+
+            // Calculate Kalman gain
+            float temp = (P[21][21] + R_MAG + P[0][21]*SH_MAG[1] + P[3][21]*SH_MAG[0] + P[18][21]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) - (2*magD*q1 + 2*magE*q0 - 2*magN*q3)*(P[21][1] + P[0][1]*SH_MAG[1] + P[3][1]*SH_MAG[0] + P[18][1]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][1]*(2*q0*q2 + 2*q1*q3) - P[17][1]*(2*q0*q1 - 2*q2*q3) - P[1][1]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][1]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2*magD*q2)*(P[21][2] + P[0][2]*SH_MAG[1] + P[3][2]*SH_MAG[0] + P[18][2]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][2]*(2*q0*q2 + 2*q1*q3) - P[17][2]*(2*q0*q1 - 2*q2*q3) - P[1][2]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][2]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[1]*(P[21][0] + P[0][0]*SH_MAG[1] + P[3][0]*SH_MAG[0] + P[18][0]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][0]*(2*q0*q2 + 2*q1*q3) - P[17][0]*(2*q0*q1 - 2*q2*q3) - P[1][0]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][0]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + SH_MAG[0]*(P[21][3] + P[0][3]*SH_MAG[1] + P[3][3]*SH_MAG[0] + P[18][3]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][3]*(2*q0*q2 + 2*q1*q3) - P[17][3]*(2*q0*q1 - 2*q2*q3) - P[1][3]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][3]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P[21][18] + P[0][18]*SH_MAG[1] + P[3][18]*SH_MAG[0] + P[18][18]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][18]*(2*q0*q2 + 2*q1*q3) - P[17][18]*(2*q0*q1 - 2*q2*q3) - P[1][18]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][18]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[16][21]*(2*q0*q2 + 2*q1*q3) - P[17][21]*(2*q0*q1 - 2*q2*q3) - P[1][21]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + (2*q0*q2 + 2*q1*q3)*(P[21][16] + P[0][16]*SH_MAG[1] + P[3][16]*SH_MAG[0] + P[18][16]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][16]*(2*q0*q2 + 2*q1*q3) - P[17][16]*(2*q0*q1 - 2*q2*q3) - P[1][16]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][16]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[0][17]*SH_MAG[1] + P[3][17]*SH_MAG[0] + P[18][17]*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P[16][17]*(2*q0*q2 + 2*q1*q3) - P[17][17]*(2*q0*q1 - 2*q2*q3) - P[1][17]*(2*magD*q1 + 2*magE*q0 - 2*magN*q3) + P[2][17]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2)) + P[2][21]*(SH_MAG[7] + SH_MAG[8] - 2*magD*q2));
+            if (temp >= R_MAG) {
+                SK_MZ[0] = 1.0f / temp;
+            } else {
+                // the calculation is badly conditioned, so we cannot perform fusion on this step
+                // we increase the state variances and try again next time
+                P[21][21] += 0.1f*R_MAG;
+                obsIndex = 3;
+                return;
+            }
+            SK_MZ[1] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6];
+            SK_MZ[2] = 2*magD*q1 + 2*magE*q0 - 2*magN*q3;
+            SK_MZ[3] = SH_MAG[7] + SH_MAG[8] - 2*magD*q2;
+            SK_MZ[4] = 2*q0*q1 - 2*q2*q3;
+            SK_MZ[5] = 2*q0*q2 + 2*q1*q3;
+            Kfusion[0] = SK_MZ[0]*(P[0][21] + P[0][0]*SH_MAG[1] + P[0][3]*SH_MAG[0] - P[0][1]*SK_MZ[2] + P[0][2]*SK_MZ[3] + P[0][18]*SK_MZ[1] + P[0][16]*SK_MZ[5] - P[0][17]*SK_MZ[4]);
+            Kfusion[1] = SK_MZ[0]*(P[1][21] + P[1][0]*SH_MAG[1] + P[1][3]*SH_MAG[0] - P[1][1]*SK_MZ[2] + P[1][2]*SK_MZ[3] + P[1][18]*SK_MZ[1] + P[1][16]*SK_MZ[5] - P[1][17]*SK_MZ[4]);
+            Kfusion[2] = SK_MZ[0]*(P[2][21] + P[2][0]*SH_MAG[1] + P[2][3]*SH_MAG[0] - P[2][1]*SK_MZ[2] + P[2][2]*SK_MZ[3] + P[2][18]*SK_MZ[1] + P[2][16]*SK_MZ[5] - P[2][17]*SK_MZ[4]);
+            Kfusion[3] = SK_MZ[0]*(P[3][21] + P[3][0]*SH_MAG[1] + P[3][3]*SH_MAG[0] - P[3][1]*SK_MZ[2] + P[3][2]*SK_MZ[3] + P[3][18]*SK_MZ[1] + P[3][16]*SK_MZ[5] - P[3][17]*SK_MZ[4]);
+            Kfusion[4] = SK_MZ[0]*(P[4][21] + P[4][0]*SH_MAG[1] + P[4][3]*SH_MAG[0] - P[4][1]*SK_MZ[2] + P[4][2]*SK_MZ[3] + P[4][18]*SK_MZ[1] + P[4][16]*SK_MZ[5] - P[4][17]*SK_MZ[4]);
+            Kfusion[5] = SK_MZ[0]*(P[5][21] + P[5][0]*SH_MAG[1] + P[5][3]*SH_MAG[0] - P[5][1]*SK_MZ[2] + P[5][2]*SK_MZ[3] + P[5][18]*SK_MZ[1] + P[5][16]*SK_MZ[5] - P[5][17]*SK_MZ[4]);
+            Kfusion[6] = SK_MZ[0]*(P[6][21] + P[6][0]*SH_MAG[1] + P[6][3]*SH_MAG[0] - P[6][1]*SK_MZ[2] + P[6][2]*SK_MZ[3] + P[6][18]*SK_MZ[1] + P[6][16]*SK_MZ[5] - P[6][17]*SK_MZ[4]);
+            Kfusion[7] = SK_MZ[0]*(P[7][21] + P[7][0]*SH_MAG[1] + P[7][3]*SH_MAG[0] - P[7][1]*SK_MZ[2] + P[7][2]*SK_MZ[3] + P[7][18]*SK_MZ[1] + P[7][16]*SK_MZ[5] - P[7][17]*SK_MZ[4]);
+            Kfusion[8] = SK_MZ[0]*(P[8][21] + P[8][0]*SH_MAG[1] + P[8][3]*SH_MAG[0] - P[8][1]*SK_MZ[2] + P[8][2]*SK_MZ[3] + P[8][18]*SK_MZ[1] + P[8][16]*SK_MZ[5] - P[8][17]*SK_MZ[4]);
+            Kfusion[9] = SK_MZ[0]*(P[9][21] + P[9][0]*SH_MAG[1] + P[9][3]*SH_MAG[0] - P[9][1]*SK_MZ[2] + P[9][2]*SK_MZ[3] + P[9][18]*SK_MZ[1] + P[9][16]*SK_MZ[5] - P[9][17]*SK_MZ[4]);
+            Kfusion[10] = SK_MZ[0]*(P[10][21] + P[10][0]*SH_MAG[1] + P[10][3]*SH_MAG[0] - P[10][1]*SK_MZ[2] + P[10][2]*SK_MZ[3] + P[10][18]*SK_MZ[1] + P[10][16]*SK_MZ[5] - P[10][17]*SK_MZ[4]);
+            Kfusion[11] = SK_MZ[0]*(P[11][21] + P[11][0]*SH_MAG[1] + P[11][3]*SH_MAG[0] - P[11][1]*SK_MZ[2] + P[11][2]*SK_MZ[3] + P[11][18]*SK_MZ[1] + P[11][16]*SK_MZ[5] - P[11][17]*SK_MZ[4]);
+            Kfusion[12] = SK_MZ[0]*(P[12][21] + P[12][0]*SH_MAG[1] + P[12][3]*SH_MAG[0] - P[12][1]*SK_MZ[2] + P[12][2]*SK_MZ[3] + P[12][18]*SK_MZ[1] + P[12][16]*SK_MZ[5] - P[12][17]*SK_MZ[4]);
+            // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+            Kfusion[13] = 0.0f;//SK_MZ[0]*(P[13][21] + P[13][0]*SH_MAG[1] + P[13][3]*SH_MAG[0] - P[13][1]*SK_MZ[2] + P[13][2]*SK_MZ[3] + P[13][18]*SK_MZ[1] + P[13][16]*SK_MZ[5] - P[13][17]*SK_MZ[4]);
+            // Estimation of selected states is inhibited by setting their Kalman gains to zero
+            if (!inhibitWindStates) {
+                Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][0]*SH_MAG[1] + P[14][3]*SH_MAG[0] - P[14][1]*SK_MZ[2] + P[14][2]*SK_MZ[3] + P[14][18]*SK_MZ[1] + P[14][16]*SK_MZ[5] - P[14][17]*SK_MZ[4]);
+                Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][0]*SH_MAG[1] + P[15][3]*SH_MAG[0] - P[15][1]*SK_MZ[2] + P[15][2]*SK_MZ[3] + P[15][18]*SK_MZ[1] + P[15][16]*SK_MZ[5] - P[15][17]*SK_MZ[4]);
+            } else {
+                Kfusion[14] = 0;
+                Kfusion[15] = 0;
+            }
+            if (!inhibitMagStates) {
+                Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][0]*SH_MAG[1] + P[16][3]*SH_MAG[0] - P[16][1]*SK_MZ[2] + P[16][2]*SK_MZ[3] + P[16][18]*SK_MZ[1] + P[16][16]*SK_MZ[5] - P[16][17]*SK_MZ[4]);
+                Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][0]*SH_MAG[1] + P[17][3]*SH_MAG[0] - P[17][1]*SK_MZ[2] + P[17][2]*SK_MZ[3] + P[17][18]*SK_MZ[1] + P[17][16]*SK_MZ[5] - P[17][17]*SK_MZ[4]);
+                Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][0]*SH_MAG[1] + P[18][3]*SH_MAG[0] - P[18][1]*SK_MZ[2] + P[18][2]*SK_MZ[3] + P[18][18]*SK_MZ[1] + P[18][16]*SK_MZ[5] - P[18][17]*SK_MZ[4]);
+                Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][0]*SH_MAG[1] + P[19][3]*SH_MAG[0] - P[19][1]*SK_MZ[2] + P[19][2]*SK_MZ[3] + P[19][18]*SK_MZ[1] + P[19][16]*SK_MZ[5] - P[19][17]*SK_MZ[4]);
+                Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][0]*SH_MAG[1] + P[20][3]*SH_MAG[0] - P[20][1]*SK_MZ[2] + P[20][2]*SK_MZ[3] + P[20][18]*SK_MZ[1] + P[20][16]*SK_MZ[5] - P[20][17]*SK_MZ[4]);
+                Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][0]*SH_MAG[1] + P[21][3]*SH_MAG[0] - P[21][1]*SK_MZ[2] + P[21][2]*SK_MZ[3] + P[21][18]*SK_MZ[1] + P[21][16]*SK_MZ[5] - P[21][17]*SK_MZ[4]);
+            } else {
+                Kfusion[16] = 0;
+                Kfusion[17] = 0;
+                Kfusion[18] = 0;
+                Kfusion[19] = 0;
+                Kfusion[20] = 0;
+                Kfusion[21] = 0;
+            }
+            if (!inhibitGndHgtState) {
+                Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]);
+            } else {
+                Kfusion[22] = 0;
+            }
+            varInnovMag[2] = 1.0f/SK_MZ[0];
+            innovMag[2] = MagPred[2] - magData.z;
+
+        }
+
+        // Check the innovation for consistency and don't fuse if > 5Sigma
+        if ((innovMag[obsIndex]*innovMag[obsIndex]/varInnovMag[obsIndex]) < 25.0f)
+        {
+            // correct the state vector
+            for (uint8_t j= 0; j < n_states; j++)
+            {
+                states[j] = states[j] - Kfusion[j] * innovMag[obsIndex];
+            }
+            // normalise the quaternion states
+            float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+            if (quatMag > 1e-12f)
+            {
+                for (uint8_t j= 0; j<=3; j++)
+                {
+                    float quatMagInv = 1.0f/quatMag;
+                    states[j] = states[j] * quatMagInv;
+                }
+            }
+            // correct the covariance P = (I - K*H)*P
+            // take advantage of the empty columns in KH to reduce the
+            // number of operations
+            for (uint8_t i = 0; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j <= 3; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_MAG[j];
+                }
+                for (uint8_t j = 4; j <= 15; j++) KH[i][j] = 0.0f;
+                if (!onGround)
+                {
+                    for (uint8_t j = 16; j <= 21; j++)
+                    {
+                        KH[i][j] = Kfusion[i] * H_MAG[j];
+                    }
+                }
+                else
+                {
+                    for (uint8_t j = 16; j <= 21; j++)
+                    {
+                        KH[i][j] = 0.0f;
+                    }
+                }
+            }
+            for (uint8_t i = 0; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j < n_states; j++)
+                {
+                    KHP[i][j] = 0.0f;
+                    for (uint8_t k = 0; k <= 3; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                    if (!onGround)
+                    {
+                        for (uint8_t k = 16; k<=21; k++)
+                        {
+                            KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                        }
+                    }
+                }
+            }
+        }
+        for (uint8_t i = 0; i < n_states; i++)
+        {
+            for (uint8_t j = 0; j < n_states; j++)
+            {
+                P[i][j] = P[i][j] - KHP[i][j];
+            }
+        }
+    }
+    obsIndex = obsIndex + 1;
+
+    ForceSymmetry();
+    ConstrainVariances();
+}
+
+void AttPosEKF::FuseAirspeed()
+{
+    float vn;
+    float ve;
+    float vd;
+    float vwn;
+    float vwe;
+    float R_TAS = sq(airspeedMeasurementSigma);
+    float SH_TAS[3];
+    float SK_TAS;
+    float VtasPred;
+
+    // Copy required states to local variable names
+    vn = statesAtVtasMeasTime[4];
+    ve = statesAtVtasMeasTime[5];
+    vd = statesAtVtasMeasTime[6];
+    vwn = statesAtVtasMeasTime[14];
+    vwe = statesAtVtasMeasTime[15];
+
+    // Need to check that it is flying before fusing airspeed data
+    // Calculate the predicted airspeed
+    VtasPred = sqrtf((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd);
+    // Perform fusion of True Airspeed measurement
+    if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
+    {
+        // Calculate observation jacobians
+        SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
+        SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
+        SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f;
+
+        float H_TAS[n_states];
+        for (uint8_t i = 0; i < n_states; i++) H_TAS[i] = 0.0f;
+        H_TAS[4] = SH_TAS[2];
+        H_TAS[5] = SH_TAS[1];
+        H_TAS[6] = vd*SH_TAS[0];
+        H_TAS[14] = -SH_TAS[2];
+        H_TAS[15] = -SH_TAS[1];
+
+        // Calculate Kalman gains
+        float temp = (R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[14][4]*SH_TAS[2] - P[15][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[14][5]*SH_TAS[2] - P[15][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][14]*SH_TAS[2] + P[5][14]*SH_TAS[1] - P[14][14]*SH_TAS[2] - P[15][14]*SH_TAS[1] + P[6][14]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][15]*SH_TAS[2] + P[5][15]*SH_TAS[1] - P[14][15]*SH_TAS[2] - P[15][15]*SH_TAS[1] + P[6][15]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[14][6]*SH_TAS[2] - P[15][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]));
+        if (temp >= R_TAS) {
+            SK_TAS = 1.0f / temp;
+        } else {
+            // the calculation is badly conditioned, so we cannot perform fusion on this step
+            // we increase the wind state variances and try again next time
+            P[14][14] += 0.05f*R_TAS;
+            P[15][15] += 0.05f*R_TAS;
+            return;
+        }
+        Kfusion[0] = SK_TAS*(P[0][4]*SH_TAS[2] - P[0][14]*SH_TAS[2] + P[0][5]*SH_TAS[1] - P[0][15]*SH_TAS[1] + P[0][6]*vd*SH_TAS[0]);
+        Kfusion[1] = SK_TAS*(P[1][4]*SH_TAS[2] - P[1][14]*SH_TAS[2] + P[1][5]*SH_TAS[1] - P[1][15]*SH_TAS[1] + P[1][6]*vd*SH_TAS[0]);
+        Kfusion[2] = SK_TAS*(P[2][4]*SH_TAS[2] - P[2][14]*SH_TAS[2] + P[2][5]*SH_TAS[1] - P[2][15]*SH_TAS[1] + P[2][6]*vd*SH_TAS[0]);
+        Kfusion[3] = SK_TAS*(P[3][4]*SH_TAS[2] - P[3][14]*SH_TAS[2] + P[3][5]*SH_TAS[1] - P[3][15]*SH_TAS[1] + P[3][6]*vd*SH_TAS[0]);
+        Kfusion[4] = SK_TAS*(P[4][4]*SH_TAS[2] - P[4][14]*SH_TAS[2] + P[4][5]*SH_TAS[1] - P[4][15]*SH_TAS[1] + P[4][6]*vd*SH_TAS[0]);
+        Kfusion[5] = SK_TAS*(P[5][4]*SH_TAS[2] - P[5][14]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[5][15]*SH_TAS[1] + P[5][6]*vd*SH_TAS[0]);
+        Kfusion[6] = SK_TAS*(P[6][4]*SH_TAS[2] - P[6][14]*SH_TAS[2] + P[6][5]*SH_TAS[1] - P[6][15]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]);
+        Kfusion[7] = SK_TAS*(P[7][4]*SH_TAS[2] - P[7][14]*SH_TAS[2] + P[7][5]*SH_TAS[1] - P[7][15]*SH_TAS[1] + P[7][6]*vd*SH_TAS[0]);
+        Kfusion[8] = SK_TAS*(P[8][4]*SH_TAS[2] - P[8][14]*SH_TAS[2] + P[8][5]*SH_TAS[1] - P[8][15]*SH_TAS[1] + P[8][6]*vd*SH_TAS[0]);
+        Kfusion[9] = SK_TAS*(P[9][4]*SH_TAS[2] - P[9][14]*SH_TAS[2] + P[9][5]*SH_TAS[1] - P[9][15]*SH_TAS[1] + P[9][6]*vd*SH_TAS[0]);
+        Kfusion[10] = SK_TAS*(P[10][4]*SH_TAS[2] - P[10][14]*SH_TAS[2] + P[10][5]*SH_TAS[1] - P[10][15]*SH_TAS[1] + P[10][6]*vd*SH_TAS[0]);
+        Kfusion[11] = SK_TAS*(P[11][4]*SH_TAS[2] - P[11][14]*SH_TAS[2] + P[11][5]*SH_TAS[1] - P[11][15]*SH_TAS[1] + P[11][6]*vd*SH_TAS[0]);
+        Kfusion[12] = SK_TAS*(P[12][4]*SH_TAS[2] - P[12][14]*SH_TAS[2] + P[12][5]*SH_TAS[1] - P[12][15]*SH_TAS[1] + P[12][6]*vd*SH_TAS[0]);
+        // Only height measurements are allowed to modify the Z delta velocity bias state. This improves the stability of the estimate
+        Kfusion[13] = 0.0f;//SK_TAS*(P[13][4]*SH_TAS[2] - P[13][14]*SH_TAS[2] + P[13][5]*SH_TAS[1] - P[13][15]*SH_TAS[1] + P[13][6]*vd*SH_TAS[0]);
+        // Estimation of selected states is inhibited by setting their Kalman gains to zero
+        if (!inhibitWindStates) {
+            Kfusion[14] = SK_TAS*(P[14][4]*SH_TAS[2] - P[14][14]*SH_TAS[2] + P[14][5]*SH_TAS[1] - P[14][15]*SH_TAS[1] + P[14][6]*vd*SH_TAS[0]);
+            Kfusion[15] = SK_TAS*(P[15][4]*SH_TAS[2] - P[15][14]*SH_TAS[2] + P[15][5]*SH_TAS[1] - P[15][15]*SH_TAS[1] + P[15][6]*vd*SH_TAS[0]);
+        } else {
+            Kfusion[14] = 0;
+            Kfusion[15] = 0;
+        }
+        if (!inhibitMagStates) {
+            Kfusion[16] = SK_TAS*(P[16][4]*SH_TAS[2] - P[16][14]*SH_TAS[2] + P[16][5]*SH_TAS[1] - P[16][15]*SH_TAS[1] + P[16][6]*vd*SH_TAS[0]);
+            Kfusion[17] = SK_TAS*(P[17][4]*SH_TAS[2] - P[17][14]*SH_TAS[2] + P[17][5]*SH_TAS[1] - P[17][15]*SH_TAS[1] + P[17][6]*vd*SH_TAS[0]);
+            Kfusion[18] = SK_TAS*(P[18][4]*SH_TAS[2] - P[18][14]*SH_TAS[2] + P[18][5]*SH_TAS[1] - P[18][15]*SH_TAS[1] + P[18][6]*vd*SH_TAS[0]);
+            Kfusion[19] = SK_TAS*(P[19][4]*SH_TAS[2] - P[19][14]*SH_TAS[2] + P[19][5]*SH_TAS[1] - P[19][15]*SH_TAS[1] + P[19][6]*vd*SH_TAS[0]);
+            Kfusion[20] = SK_TAS*(P[20][4]*SH_TAS[2] - P[20][14]*SH_TAS[2] + P[20][5]*SH_TAS[1] - P[20][15]*SH_TAS[1] + P[20][6]*vd*SH_TAS[0]);
+            Kfusion[21] = SK_TAS*(P[21][4]*SH_TAS[2] - P[21][14]*SH_TAS[2] + P[21][5]*SH_TAS[1] - P[21][15]*SH_TAS[1] + P[21][6]*vd*SH_TAS[0]);
+        } else {
+            for (uint8_t i=16; i <= 21; i++) {
+                Kfusion[i] = 0;
+            }
+        }
+        if (!inhibitGndHgtState) {
+            Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]);
+        } else {
+            Kfusion[22] = 0;
+        }
+        varInnovVtas = 1.0f/SK_TAS;
+
+        // Calculate the measurement innovation
+        innovVtas = VtasPred - VtasMeas;
+        // Check the innovation for consistency and don't fuse if > 5Sigma
+        if ((innovVtas*innovVtas*SK_TAS) < 25.0f)
+        {
+            // correct the state vector
+            for (uint8_t j=0; j <= 22; j++)
+            {
+                states[j] = states[j] - Kfusion[j] * innovVtas;
+            }
+            // normalise the quaternion states
+            float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+            if (quatMag > 1e-12f)
+            {
+                for (uint8_t j= 0; j <= 3; j++)
+                {
+                    float quatMagInv = 1.0f/quatMag;
+                    states[j] = states[j] * quatMagInv;
+                }
+            }
+            // correct the covariance P = (I - K*H)*P
+            // take advantage of the empty columns in H to reduce the
+            // number of operations
+            for (uint8_t i = 0; i <= 22; i++)
+            {
+                for (uint8_t j = 0; j <= 3; j++) KH[i][j] = 0.0;
+                for (uint8_t j = 4; j <= 6; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_TAS[j];
+                }
+                for (uint8_t j = 7; j <= 13; j++) KH[i][j] = 0.0;
+                for (uint8_t j = 14; j <= 15; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_TAS[j];
+                }
+                for (uint8_t j = 16; j <= 22; j++) KH[i][j] = 0.0;
+            }
+            for (uint8_t i = 0; i <= 22; i++)
+            {
+                for (uint8_t j = 0; j <= 22; j++)
+                {
+                    KHP[i][j] = 0.0;
+                    for (uint8_t k = 4; k <= 6; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                    for (uint8_t k = 14; k <= 15; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                }
+            }
+            for (uint8_t i = 0; i <= 22; i++)
+            {
+                for (uint8_t j = 0; j <= 22; j++)
+                {
+                    P[i][j] = P[i][j] - KHP[i][j];
+                }
+            }
+        }
+    }
+
+    ForceSymmetry();
+    ConstrainVariances();
+}
+
+void AttPosEKF::zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
+{
+    uint8_t row;
+    uint8_t col;
+    for (row=first; row<=last; row++)
+    {
+        for (col=0; col<n_states; col++)
+        {
+            covMat[row][col] = 0.0;
+        }
+    }
+}
+
+void AttPosEKF::FuseRangeFinder()
+{
+
+    // Local variables
+    float rngPred;
+    float SH_RNG[5];
+    float H_RNG[23];
+    float SK_RNG[6];
+    float cosRngTilt;
+    const float R_RNG = 0.25f; // 0.5 m2 rangefinder measurement variance
+
+    // Copy required states to local variable names
+    float q0 = statesAtRngTime[0];
+    float q1 = statesAtRngTime[1];
+    float q2 = statesAtRngTime[2];
+    float q3 = statesAtRngTime[3];
+    float pd = statesAtRngTime[9];
+    float ptd = statesAtRngTime[22];
+
+    // Need to check that our range finder tilt angle is less than 30 degrees and we are using range finder data
+    SH_RNG[4] = sinf(rngFinderPitch);
+    cosRngTilt = - Tbn.z.x * SH_RNG[4] + Tbn.z.z * cosf(rngFinderPitch);
+    if (useRangeFinder && fuseRngData && cosRngTilt > 0.87f)
+    {
+        // Calculate observation jacobian and Kalman gain ignoring all states other than the terrain offset
+        // This prevents the range finder measurement modifying any of the other filter states and significantly reduces computations
+        SH_RNG[0] = SH_RNG[4]*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3);
+        SH_RNG[1] = pd - ptd;
+        SH_RNG[2] = 1/sq(SH_RNG[0]);
+        SH_RNG[3] = 1/SH_RNG[0];
+        for (uint8_t i = 0; i < n_states; i++) {
+            H_RNG[i] = 0.0f;
+            Kfusion[i] = 0.0f;
+        }
+        H_RNG[22] = -SH_RNG[3];
+        SK_RNG[0] = 1/(R_RNG + SH_RNG[3]*(P[9][9]*SH_RNG[3] - P[22][9]*SH_RNG[3] + P[0][9]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][9]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][9]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][9]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[3]*(P[9][22]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[0][22]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][22]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][22]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][22]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) + SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4])*(P[9][0]*SH_RNG[3] - P[22][0]*SH_RNG[3] + P[0][0]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][0]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][0]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][0]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4])*(P[9][1]*SH_RNG[3] - P[22][1]*SH_RNG[3] + P[0][1]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][1]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][1]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][1]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) - SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4])*(P[9][2]*SH_RNG[3] - P[22][2]*SH_RNG[3] + P[0][2]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][2]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][2]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][2]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])) + SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])*(P[9][3]*SH_RNG[3] - P[22][3]*SH_RNG[3] + P[0][3]*SH_RNG[1]*SH_RNG[2]*(2*q0 - 2*q2*SH_RNG[4]) - P[1][3]*SH_RNG[1]*SH_RNG[2]*(2*q1 - 2*q3*SH_RNG[4]) - P[2][3]*SH_RNG[1]*SH_RNG[2]*(2*q2 + 2*q0*SH_RNG[4]) + P[3][3]*SH_RNG[1]*SH_RNG[2]*(2*q3 + 2*q1*SH_RNG[4])));
+        SK_RNG[1] = 2*q1 - 2*q3*SH_RNG[4];
+        SK_RNG[2] = 2*q0 - 2*q2*SH_RNG[4];
+        SK_RNG[3] = 2*q3 + 2*q1*SH_RNG[4];
+        SK_RNG[4] = 2*q2 + 2*q0*SH_RNG[4];
+        SK_RNG[5] = SH_RNG[2];
+        Kfusion[22] = SK_RNG[0]*(P[22][9]*SH_RNG[3] - P[22][22]*SH_RNG[3] + P[22][0]*SH_RNG[1]*SK_RNG[2]*SK_RNG[5] - P[22][1]*SH_RNG[1]*SK_RNG[1]*SK_RNG[5] - P[22][2]*SH_RNG[1]*SK_RNG[4]*SK_RNG[5] + P[22][3]*SH_RNG[1]*SK_RNG[3]*SK_RNG[5]);
+
+        // Calculate the innovation variance for data logging
+        varInnovRng = 1.0f/SK_RNG[0];
+
+        // Calculate the measurement innovation
+        rngPred = (ptd - pd)/cosRngTilt;
+        innovRng = rngPred - rngMea;
+
+        // Check the innovation for consistency and don't fuse if > 5Sigma
+        if ((innovRng*innovRng*SK_RNG[0]) < 25)
+        {
+            // correct the state vector
+            states[22] = states[22] - Kfusion[22] * innovRng;
+
+            // correct the covariance P = (I - K*H)*P
+            P[22][22] = P[22][22] - Kfusion[22] * H_RNG[22] * P[22][22];
+            P[22][22] = ConstrainFloat(P[22][22], 0.0f, 10000.0f);
+        }
+    }
+
+}
+
+void AttPosEKF::FuseOptFlow()
+{
+    static uint8_t obsIndex;
+    static float SH_LOS[13];
+    static float SKK_LOS[15];
+    static float SK_LOS[2];
+    static float q0 = 0.0f;
+    static float q1 = 0.0f;
+    static float q2 = 0.0f;
+    static float q3 = 1.0f;
+    static float vn = 0.0f;
+    static float ve = 0.0f;
+    static float vd = 0.0f;
+    static float pd = 0.0f;
+    static float ptd = 0.0f;
+    static float R_LOS = 0.01f;
+    static float losPred[2];
+
+    // Transformation matrix from nav to body axes
+    Mat3f Tnb_local;
+    // Transformation matrix from body to sensor axes
+    // assume camera is aligned with Z body axis plus a misalignment
+    // defined by 3 small angles about X, Y and Z body axis
+    Mat3f Tbs;
+    Tbs.x.y =  a3;
+    Tbs.y.x = -a3;
+    Tbs.x.z = -a2;
+    Tbs.z.x =  a2;
+    Tbs.y.z =  a1;
+    Tbs.z.y = -a1;
+    // Transformation matrix from navigation to sensor axes
+    Mat3f Tns;
+    float H_LOS[n_states];
+    for (uint8_t i = 0; i < n_states; i++) {
+        H_LOS[i] = 0.0f;
+    }
+    Vector3f velNED_local;
+    Vector3f relVelSensor;
+
+// Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg.
+    if (useOpticalFlow && (fuseOptFlowData || obsIndex == 1) && !onGround && Tbs.z.z > 0.866f && rngMea > 5.0f && rngMea < 39.0f)
+    {
+        // Sequential fusion of XY components to spread processing load across
+        // two prediction time steps.
+
+        // Calculate observation jacobians and Kalman gains
+        if (fuseOptFlowData)
+        {
+            // Copy required states to local variable names
+            q0       = statesAtOptFlowTime[0];
+            q1       = statesAtOptFlowTime[1];
+            q2       = statesAtOptFlowTime[2];
+            q3       = statesAtOptFlowTime[3];
+            vn       = statesAtOptFlowTime[4];
+            ve       = statesAtOptFlowTime[5];
+            vd       = statesAtOptFlowTime[6];
+            pd       = statesAtOptFlowTime[9];
+            ptd      = statesAtOptFlowTime[22];
+            velNED_local.x = vn;
+            velNED_local.y = ve;
+            velNED_local.z = vd;
+
+            // calculate rotation from NED to body axes
+            float q00 = sq(q0);
+            float q11 = sq(q1);
+            float q22 = sq(q2);
+            float q33 = sq(q3);
+            float q01 = q0 * q1;
+            float q02 = q0 * q2;
+            float q03 = q0 * q3;
+            float q12 = q1 * q2;
+            float q13 = q1 * q3;
+            float q23 = q2 * q3;
+            Tnb_local.x.x = q00 + q11 - q22 - q33;
+            Tnb_local.y.y = q00 - q11 + q22 - q33;
+            Tnb_local.z.z = q00 - q11 - q22 + q33;
+            Tnb_local.y.x = 2*(q12 - q03);
+            Tnb_local.z.x = 2*(q13 + q02);
+            Tnb_local.x.y = 2*(q12 + q03);
+            Tnb_local.z.y = 2*(q23 - q01);
+            Tnb_local.x.z = 2*(q13 - q02);
+            Tnb_local.y.z = 2*(q23 + q01);
+
+            // calculate transformation from NED to sensor axes
+            Tns = Tbs*Tnb_local;
+
+            // calculate range from ground plain to centre of sensor fov assuming flat earth
+            float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f);
+
+            // calculate relative velocity in sensor frame
+            relVelSensor = Tns*velNED_local;
+
+            // divide velocity by range  and include angular rate effects to get predicted angular LOS rates relative to X and Y axes
+            losPred[0] =  relVelSensor.y/range;
+            losPred[1] = -relVelSensor.x/range;
+
+            //printf("relVelSensor.x=%5.1f, relVelSensor.y=%5.1f\n", relVelSensor.x, relVelSensor.y);
+            //printf("Xpred=%5.2f, Xmea=%5.2f, Ypred=%5.2f, Ymea=%5.2f, delAng.x=%4.4f, delAng.y=%4.4f\n", losPred[0], losData[0], losPred[1], losData[1], delAng.x, delAng.y);
+            //printf("omegaX=%5.2f, omegaY=%5.2f, velY=%5.1f velX=%5.1f\n, range=%5.1f\n", delAngRel.x/dt, delAngRel.y/dt, relVelSensor.y, relVelSensor.x, range);
+
+            // Calculate observation jacobians
+            SH_LOS[0] = a1*(2*q0*q1 + 2*q2*q3) + a2*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3);
+            SH_LOS[1] = vd*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)) - ve*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)) + vn*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
+            SH_LOS[2] = ve*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)) - vd*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)) + vn*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
+            SH_LOS[3] = 1/(pd - ptd);
+            SH_LOS[4] = 2*q1 - 2*a2*q3 + 2*a3*q2;
+            SH_LOS[5] = 2*a2*q2 - 2*q0 + 2*a3*q3;
+            SH_LOS[6] = 2*q2 + 2*a2*q0 - 2*a3*q1;
+            SH_LOS[7] = 1/sq(pd - ptd);
+            SH_LOS[8] = 2*q2 + 2*a1*q3 - 2*a3*q1;
+            SH_LOS[9] = 2*q3 - 2*a1*q2 + 2*a3*q0;
+            SH_LOS[10] = 2*a1*q1 - 2*q0 + 2*a3*q3;
+            SH_LOS[11] = 2*q3 + 2*a2*q1 + 2*a3*q0;
+            SH_LOS[12] = 2*q1 + 2*a1*q0 + 2*a3*q2;
+
+            for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
+            H_LOS[0] = - SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
+            H_LOS[1] = - SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
+            H_LOS[2] = SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]) - SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3);
+            H_LOS[3] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
+            H_LOS[4] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
+            H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3));
+            H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3));
+            H_LOS[9] = SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
+            H_LOS[22] = -SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
+
+            // Calculate Kalman gain
+            SKK_LOS[0] = a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3);
+            SKK_LOS[1] = a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3);
+            SKK_LOS[2] = a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3);
+            SKK_LOS[3] = a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3);
+            SKK_LOS[4] = a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3);
+            SKK_LOS[5] = a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3);
+            SKK_LOS[6] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
+            SKK_LOS[7] = SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
+            SKK_LOS[8] = SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
+            SKK_LOS[9] = SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]);
+            SKK_LOS[10] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
+            SKK_LOS[11] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
+            SKK_LOS[12] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
+            SKK_LOS[13] = SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]);
+            SKK_LOS[14] = SH_LOS[0];
+
+            SK_LOS[0] = 1/(R_LOS + SKK_LOS[8]*(P[0][0]*SKK_LOS[8] + P[1][0]*SKK_LOS[7] + P[2][0]*SKK_LOS[9] - P[3][0]*SKK_LOS[6] - P[9][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][0]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][0]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[7]*(P[0][1]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] + P[2][1]*SKK_LOS[9] - P[3][1]*SKK_LOS[6] - P[9][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][1]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][1]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[9]*(P[0][2]*SKK_LOS[8] + P[1][2]*SKK_LOS[7] + P[2][2]*SKK_LOS[9] - P[3][2]*SKK_LOS[6] - P[9][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][2]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][2]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SKK_LOS[6]*(P[0][3]*SKK_LOS[8] + P[1][3]*SKK_LOS[7] + P[2][3]*SKK_LOS[9] - P[3][3]*SKK_LOS[6] - P[9][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][3]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][3]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[8] + P[1][9]*SKK_LOS[7] + P[2][9]*SKK_LOS[9] - P[3][9]*SKK_LOS[6] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][9]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][9]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[8] + P[1][22]*SKK_LOS[7] + P[2][22]*SKK_LOS[9] - P[3][22]*SKK_LOS[6] - P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][22]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][22]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14]*(P[0][4]*SKK_LOS[8] + P[1][4]*SKK_LOS[7] + P[2][4]*SKK_LOS[9] - P[3][4]*SKK_LOS[6] - P[9][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][4]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14]*(P[0][5]*SKK_LOS[8] + P[1][5]*SKK_LOS[7] + P[2][5]*SKK_LOS[9] - P[3][5]*SKK_LOS[6] - P[9][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]*(P[0][6]*SKK_LOS[8] + P[1][6]*SKK_LOS[7] + P[2][6]*SKK_LOS[9] - P[3][6]*SKK_LOS[6] - P[9][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]));
+            Kfusion[0] = -SK_LOS[0]*(P[0][0]*SKK_LOS[8] + P[0][1]*SKK_LOS[7] - P[0][3]*SKK_LOS[6] + P[0][2]*SKK_LOS[9] - P[0][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[0][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[0][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[1] = -SK_LOS[0]*(P[1][0]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] - P[1][3]*SKK_LOS[6] + P[1][2]*SKK_LOS[9] - P[1][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[1][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[1][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[2] = -SK_LOS[0]*(P[2][0]*SKK_LOS[8] + P[2][1]*SKK_LOS[7] - P[2][3]*SKK_LOS[6] + P[2][2]*SKK_LOS[9] - P[2][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[2][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[2][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[3] = -SK_LOS[0]*(P[3][0]*SKK_LOS[8] + P[3][1]*SKK_LOS[7] - P[3][3]*SKK_LOS[6] + P[3][2]*SKK_LOS[9] - P[3][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[3][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[3][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[4] = -SK_LOS[0]*(P[4][0]*SKK_LOS[8] + P[4][1]*SKK_LOS[7] - P[4][3]*SKK_LOS[6] + P[4][2]*SKK_LOS[9] - P[4][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[4][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[5] = -SK_LOS[0]*(P[5][0]*SKK_LOS[8] + P[5][1]*SKK_LOS[7] - P[5][3]*SKK_LOS[6] + P[5][2]*SKK_LOS[9] - P[5][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[6] = -SK_LOS[0]*(P[6][0]*SKK_LOS[8] + P[6][1]*SKK_LOS[7] - P[6][3]*SKK_LOS[6] + P[6][2]*SKK_LOS[9] - P[6][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[7] = -SK_LOS[0]*(P[7][0]*SKK_LOS[8] + P[7][1]*SKK_LOS[7] - P[7][3]*SKK_LOS[6] + P[7][2]*SKK_LOS[9] - P[7][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[7][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[7][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[8] = -SK_LOS[0]*(P[8][0]*SKK_LOS[8] + P[8][1]*SKK_LOS[7] - P[8][3]*SKK_LOS[6] + P[8][2]*SKK_LOS[9] - P[8][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[8][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[8][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[9] = -SK_LOS[0]*(P[9][0]*SKK_LOS[8] + P[9][1]*SKK_LOS[7] - P[9][3]*SKK_LOS[6] + P[9][2]*SKK_LOS[9] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[9][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[9][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[10] = -SK_LOS[0]*(P[10][0]*SKK_LOS[8] + P[10][1]*SKK_LOS[7] - P[10][3]*SKK_LOS[6] + P[10][2]*SKK_LOS[9] - P[10][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[10][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[10][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[11] = -SK_LOS[0]*(P[11][0]*SKK_LOS[8] + P[11][1]*SKK_LOS[7] - P[11][3]*SKK_LOS[6] + P[11][2]*SKK_LOS[9] - P[11][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[11][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[11][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[12] = -SK_LOS[0]*(P[12][0]*SKK_LOS[8] + P[12][1]*SKK_LOS[7] - P[12][3]*SKK_LOS[6] + P[12][2]*SKK_LOS[9] - P[12][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[12][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[12][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[13] = 0.0f;//-SK_LOS[0]*(P[13][0]*SKK_LOS[8] + P[13][1]*SKK_LOS[7] - P[13][3]*SKK_LOS[6] + P[13][2]*SKK_LOS[9] - P[13][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[13][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[13][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[14] = -SK_LOS[0]*(P[14][0]*SKK_LOS[8] + P[14][1]*SKK_LOS[7] - P[14][3]*SKK_LOS[6] + P[14][2]*SKK_LOS[9] - P[14][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[14][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[14][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[15] = -SK_LOS[0]*(P[15][0]*SKK_LOS[8] + P[15][1]*SKK_LOS[7] - P[15][3]*SKK_LOS[6] + P[15][2]*SKK_LOS[9] - P[15][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[15][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[15][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[16] = -SK_LOS[0]*(P[16][0]*SKK_LOS[8] + P[16][1]*SKK_LOS[7] - P[16][3]*SKK_LOS[6] + P[16][2]*SKK_LOS[9] - P[16][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[16][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[16][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[17] = -SK_LOS[0]*(P[17][0]*SKK_LOS[8] + P[17][1]*SKK_LOS[7] - P[17][3]*SKK_LOS[6] + P[17][2]*SKK_LOS[9] - P[17][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[17][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[17][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[18] = -SK_LOS[0]*(P[18][0]*SKK_LOS[8] + P[18][1]*SKK_LOS[7] - P[18][3]*SKK_LOS[6] + P[18][2]*SKK_LOS[9] - P[18][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[18][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[18][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[19] = -SK_LOS[0]*(P[19][0]*SKK_LOS[8] + P[19][1]*SKK_LOS[7] - P[19][3]*SKK_LOS[6] + P[19][2]*SKK_LOS[9] - P[19][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[19][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[19][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[20] = -SK_LOS[0]*(P[20][0]*SKK_LOS[8] + P[20][1]*SKK_LOS[7] - P[20][3]*SKK_LOS[6] + P[20][2]*SKK_LOS[9] - P[20][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[20][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[20][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[21] = -SK_LOS[0]*(P[21][0]*SKK_LOS[8] + P[21][1]*SKK_LOS[7] - P[21][3]*SKK_LOS[6] + P[21][2]*SKK_LOS[9] - P[21][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[21][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[21][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            Kfusion[22] = -SK_LOS[0]*(P[22][0]*SKK_LOS[8] + P[22][1]*SKK_LOS[7] - P[22][3]*SKK_LOS[6] + P[22][2]*SKK_LOS[9] - P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[22][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[22][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
+            varInnovOptFlow[0] = 1.0f/SK_LOS[0];
+            innovOptFlow[0] = losPred[0] - losData[0];
+
+            // reset the observation index to 0 (we start by fusing the X
+            // measurement)
+            obsIndex = 0;
+            fuseOptFlowData = false;
+        }
+        else if (obsIndex == 1) // we are now fusing the Y measurement
+        {
+            // Calculate observation jacobians
+            for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
+            H_LOS[0] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
+            H_LOS[1] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
+            H_LOS[2] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
+            H_LOS[3] = SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]) - SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1);
+            H_LOS[4] = SH_LOS[0]*SH_LOS[3]*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
+            H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3));
+            H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3));
+            H_LOS[9] = -SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
+            H_LOS[22] = SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
+
+            // Calculate Kalman gains
+            SK_LOS[1] = 1/(R_LOS + SKK_LOS[12]*(P[0][2]*SKK_LOS[10] + P[1][2]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[3][2]*SKK_LOS[13] - P[9][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][2]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][2]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SKK_LOS[13]*(P[0][3]*SKK_LOS[10] + P[1][3]*SKK_LOS[11] + P[2][3]*SKK_LOS[12] - P[3][3]*SKK_LOS[13] - P[9][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][3]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][3]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[10]*(P[0][0]*SKK_LOS[10] + P[1][0]*SKK_LOS[11] + P[2][0]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][0]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][0]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][0]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[11]*(P[0][1]*SKK_LOS[10] + P[1][1]*SKK_LOS[11] + P[2][1]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][1]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][1]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][1]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[10] + P[1][9]*SKK_LOS[11] + P[2][9]*SKK_LOS[12] - P[3][9]*SKK_LOS[13] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][9]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][9]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[10] + P[1][22]*SKK_LOS[11] + P[2][22]*SKK_LOS[12] - P[3][22]*SKK_LOS[13] - P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][22]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][22]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14]*(P[0][4]*SKK_LOS[10] + P[1][4]*SKK_LOS[11] + P[2][4]*SKK_LOS[12] - P[3][4]*SKK_LOS[13] - P[9][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][4]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]*(P[0][5]*SKK_LOS[10] + P[1][5]*SKK_LOS[11] + P[2][5]*SKK_LOS[12] - P[3][5]*SKK_LOS[13] - P[9][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]*(P[0][6]*SKK_LOS[10] + P[1][6]*SKK_LOS[11] + P[2][6]*SKK_LOS[12] - P[3][6]*SKK_LOS[13] - P[9][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]));
+            Kfusion[0] = SK_LOS[1]*(P[0][0]*SKK_LOS[10] - P[0][3]*SKK_LOS[13] + P[0][1]*SKK_LOS[11] + P[0][2]*SKK_LOS[12] - P[0][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[0][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[1] = SK_LOS[1]*(P[1][0]*SKK_LOS[10] - P[1][3]*SKK_LOS[13] + P[1][1]*SKK_LOS[11] + P[1][2]*SKK_LOS[12] - P[1][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[1][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[2] = SK_LOS[1]*(P[2][0]*SKK_LOS[10] - P[2][3]*SKK_LOS[13] + P[2][1]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[2][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[2][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[3] = SK_LOS[1]*(P[3][0]*SKK_LOS[10] - P[3][3]*SKK_LOS[13] + P[3][1]*SKK_LOS[11] + P[3][2]*SKK_LOS[12] - P[3][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[3][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[4] = SK_LOS[1]*(P[4][0]*SKK_LOS[10] - P[4][3]*SKK_LOS[13] + P[4][1]*SKK_LOS[11] + P[4][2]*SKK_LOS[12] - P[4][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[4][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[5] = SK_LOS[1]*(P[5][0]*SKK_LOS[10] - P[5][3]*SKK_LOS[13] + P[5][1]*SKK_LOS[11] + P[5][2]*SKK_LOS[12] - P[5][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[6] = SK_LOS[1]*(P[6][0]*SKK_LOS[10] - P[6][3]*SKK_LOS[13] + P[6][1]*SKK_LOS[11] + P[6][2]*SKK_LOS[12] - P[6][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[7] = SK_LOS[1]*(P[7][0]*SKK_LOS[10] - P[7][3]*SKK_LOS[13] + P[7][1]*SKK_LOS[11] + P[7][2]*SKK_LOS[12] - P[7][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[7][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[8] = SK_LOS[1]*(P[8][0]*SKK_LOS[10] - P[8][3]*SKK_LOS[13] + P[8][1]*SKK_LOS[11] + P[8][2]*SKK_LOS[12] - P[8][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[8][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[9] = SK_LOS[1]*(P[9][0]*SKK_LOS[10] - P[9][3]*SKK_LOS[13] + P[9][1]*SKK_LOS[11] + P[9][2]*SKK_LOS[12] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[9][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[10] = SK_LOS[1]*(P[10][0]*SKK_LOS[10] - P[10][3]*SKK_LOS[13] + P[10][1]*SKK_LOS[11] + P[10][2]*SKK_LOS[12] - P[10][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[10][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[11] = SK_LOS[1]*(P[11][0]*SKK_LOS[10] - P[11][3]*SKK_LOS[13] + P[11][1]*SKK_LOS[11] + P[11][2]*SKK_LOS[12] - P[11][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[11][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[12] = SK_LOS[1]*(P[12][0]*SKK_LOS[10] - P[12][3]*SKK_LOS[13] + P[12][1]*SKK_LOS[11] + P[12][2]*SKK_LOS[12] - P[12][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[12][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[13] = 0.0f;//SK_LOS[1]*(P[13][0]*SKK_LOS[10] - P[13][3]*SKK_LOS[13] + P[13][1]*SKK_LOS[11] + P[13][2]*SKK_LOS[12] - P[13][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[13][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[14] = SK_LOS[1]*(P[14][0]*SKK_LOS[10] - P[14][3]*SKK_LOS[13] + P[14][1]*SKK_LOS[11] + P[14][2]*SKK_LOS[12] - P[14][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[14][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[15] = SK_LOS[1]*(P[15][0]*SKK_LOS[10] - P[15][3]*SKK_LOS[13] + P[15][1]*SKK_LOS[11] + P[15][2]*SKK_LOS[12] - P[15][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[15][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[16] = SK_LOS[1]*(P[16][0]*SKK_LOS[10] - P[16][3]*SKK_LOS[13] + P[16][1]*SKK_LOS[11] + P[16][2]*SKK_LOS[12] - P[16][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[16][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[17] = SK_LOS[1]*(P[17][0]*SKK_LOS[10] - P[17][3]*SKK_LOS[13] + P[17][1]*SKK_LOS[11] + P[17][2]*SKK_LOS[12] - P[17][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[17][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[18] = SK_LOS[1]*(P[18][0]*SKK_LOS[10] - P[18][3]*SKK_LOS[13] + P[18][1]*SKK_LOS[11] + P[18][2]*SKK_LOS[12] - P[18][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[18][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[19] = SK_LOS[1]*(P[19][0]*SKK_LOS[10] - P[19][3]*SKK_LOS[13] + P[19][1]*SKK_LOS[11] + P[19][2]*SKK_LOS[12] - P[19][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[19][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[20] = SK_LOS[1]*(P[20][0]*SKK_LOS[10] - P[20][3]*SKK_LOS[13] + P[20][1]*SKK_LOS[11] + P[20][2]*SKK_LOS[12] - P[20][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[20][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[21] = SK_LOS[1]*(P[21][0]*SKK_LOS[10] - P[21][3]*SKK_LOS[13] + P[21][1]*SKK_LOS[11] + P[21][2]*SKK_LOS[12] - P[21][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[21][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            Kfusion[22] = SK_LOS[1]*(P[22][0]*SKK_LOS[10] - P[22][3]*SKK_LOS[13] + P[22][1]*SKK_LOS[11] + P[22][2]*SKK_LOS[12] - P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[22][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
+            varInnovOptFlow[1] = 1.0f/SK_LOS[1];
+            innovOptFlow[1] = losPred[1] - losData[1];
+        }
+
+        // Check the innovation for consistency and don't fuse if > 3Sigma
+        if ((innovOptFlow[obsIndex]*innovOptFlow[obsIndex]/varInnovOptFlow[obsIndex]) < 9.0f)
+        {
+            // correct the state vector
+            for (uint8_t j = 0; j < n_states; j++)
+            {
+                states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex];
+            }
+            // normalise the quaternion states
+            float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
+            if (quatMag > 1e-12f)
+            {
+                for (uint8_t j= 0; j<=3; j++)
+                {
+                    float quatMagInv = 1.0f/quatMag;
+                    states[j] = states[j] * quatMagInv;
+                }
+            }
+            // correct the covariance P = (I - K*H)*P
+            // take advantage of the empty columns in KH to reduce the
+            // number of operations
+            for (uint8_t i = 0; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j <= 6; j++)
+                {
+                    KH[i][j] = Kfusion[i] * H_LOS[j];
+                }
+                for (uint8_t j = 7; j <= 8; j++)
+                {
+                    KH[i][j] = 0.0f;
+                }
+                KH[i][9] = Kfusion[i] * H_LOS[9];
+                for (uint8_t j = 10; j <= 21; j++)
+                {
+                    KH[i][j] = 0.0f;
+                }
+                KH[i][22] = Kfusion[i] * H_LOS[22];
+            }
+            for (uint8_t i = 0; i < n_states; i++)
+            {
+                for (uint8_t j = 0; j < n_states; j++)
+                {
+                    KHP[i][j] = 0.0f;
+                    for (uint8_t k = 0; k <= 6; k++)
+                    {
+                        KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
+                    }
+                    KHP[i][j] = KHP[i][j] + KH[i][9] * P[9][j];
+                    KHP[i][j] = KHP[i][j] + KH[i][22] * P[2][j];
+                }
+            }
+        }
+        for (uint8_t i = 0; i <  n_states; i++)
+        {
+            for (uint8_t j = 0; j <  n_states; j++)
+            {
+                P[i][j] = P[i][j] - KHP[i][j];
+            }
+        }
+    }
+    obsIndex = obsIndex + 1;
+    ForceSymmetry();
+    ConstrainVariances();
+}
+
+void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
+{
+    uint8_t row;
+    uint8_t col;
+    for (col=first; col<=last; col++)
+    {
+        for (row=0; row < n_states; row++)
+        {
+            covMat[row][col] = 0.0;
+        }
+    }
+}
+
+float AttPosEKF::sq(float valIn)
+{
+    return valIn*valIn;
+}
+
+// Store states in a history array along with time stamp
+void AttPosEKF::StoreStates(uint64_t timestamp_ms)
+{
+    for (unsigned i=0; i<n_states; i++)
+        storedStates[i][storeIndex] = states[i];
+    statetimeStamp[storeIndex] = timestamp_ms;
+    storeIndex++;
+    if (storeIndex == data_buffer_size)
+        storeIndex = 0;
+}
+
+void AttPosEKF::ResetStoredStates()
+{
+    // reset all stored states
+    memset(&storedStates[0][0], 0, sizeof(storedStates));
+    memset(&statetimeStamp[0], 0, sizeof(statetimeStamp));
+
+    // reset store index to first
+    storeIndex = 0;
+
+    // overwrite all existing states
+    for (unsigned i = 0; i < n_states; i++) {
+        storedStates[i][storeIndex] = states[i];
+    }
+
+    statetimeStamp[storeIndex] = millis();
+
+    // increment to next storage index
+    storeIndex++;
+}
+
+// Output the state vector stored at the time that best matches that specified by msec
+int AttPosEKF::RecallStates(float* statesForFusion, uint64_t msec)
+{
+    int ret = 0;
+
+    int64_t bestTimeDelta = 200;
+    unsigned bestStoreIndex = 0;
+    for (unsigned storeIndexLocal = 0; storeIndexLocal < data_buffer_size; storeIndexLocal++)
+    {
+        // Work around a GCC compiler bug - we know 64bit support on ARM is
+        // sketchy in GCC.
+        uint64_t timeDelta;
+
+        if (msec > statetimeStamp[storeIndexLocal]) {
+            timeDelta = msec - statetimeStamp[storeIndexLocal];
+        } else {
+            timeDelta = statetimeStamp[storeIndexLocal] - msec;
+        }
+
+        if (timeDelta < (uint64_t)bestTimeDelta)
+        {
+            bestStoreIndex = storeIndexLocal;
+            bestTimeDelta = timeDelta;
+        }
+    }
+    if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error
+    {
+        for (unsigned i=0; i < n_states; i++) {
+            if (isfinite(storedStates[i][bestStoreIndex])) {
+                statesForFusion[i] = storedStates[i][bestStoreIndex];
+            } else if (isfinite(states[i])) {
+                statesForFusion[i] = states[i];
+            } else {
+                // There is not much we can do here, except reporting the error we just
+                // found.
+                ret++;
+            }
+        }
+    }
+    else // otherwise output current state
+    {
+        for (unsigned i = 0; i < n_states; i++) {
+            if (isfinite(states[i])) {
+                statesForFusion[i] = states[i];
+            } else {
+                ret++;
+            }
+        }
+    }
+
+    return ret;
+}
+
+void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
+{
+    // Calculate the nav to body cosine matrix
+    float q00 = sq(quat[0]);
+    float q11 = sq(quat[1]);
+    float q22 = sq(quat[2]);
+    float q33 = sq(quat[3]);
+    float q01 =  quat[0]*quat[1];
+    float q02 =  quat[0]*quat[2];
+    float q03 =  quat[0]*quat[3];
+    float q12 =  quat[1]*quat[2];
+    float q13 =  quat[1]*quat[3];
+    float q23 =  quat[2]*quat[3];
+
+    Tnb.x.x = q00 + q11 - q22 - q33;
+    Tnb.y.y = q00 - q11 + q22 - q33;
+    Tnb.z.z = q00 - q11 - q22 + q33;
+    Tnb.y.x = 2*(q12 - q03);
+    Tnb.z.x = 2*(q13 + q02);
+    Tnb.x.y = 2*(q12 + q03);
+    Tnb.z.y = 2*(q23 - q01);
+    Tnb.x.z = 2*(q13 - q02);
+    Tnb.y.z = 2*(q23 + q01);
+}
+
+void AttPosEKF::quat2Tbn(Mat3f &Tbn_ret, const float (&quat)[4])
+{
+    // Calculate the body to nav cosine matrix
+    float q00 = sq(quat[0]);
+    float q11 = sq(quat[1]);
+    float q22 = sq(quat[2]);
+    float q33 = sq(quat[3]);
+    float q01 =  quat[0]*quat[1];
+    float q02 =  quat[0]*quat[2];
+    float q03 =  quat[0]*quat[3];
+    float q12 =  quat[1]*quat[2];
+    float q13 =  quat[1]*quat[3];
+    float q23 =  quat[2]*quat[3];
+
+    Tbn_ret.x.x = q00 + q11 - q22 - q33;
+    Tbn_ret.y.y = q00 - q11 + q22 - q33;
+    Tbn_ret.z.z = q00 - q11 - q22 + q33;
+    Tbn_ret.x.y = 2*(q12 - q03);
+    Tbn_ret.x.z = 2*(q13 + q02);
+    Tbn_ret.y.x = 2*(q12 + q03);
+    Tbn_ret.y.z = 2*(q23 - q01);
+    Tbn_ret.z.x = 2*(q13 - q02);
+    Tbn_ret.z.y = 2*(q23 + q01);
+}
+
+void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3])
+{
+    float u1 = cos(0.5f*eul[0]);
+    float u2 = cos(0.5f*eul[1]);
+    float u3 = cos(0.5f*eul[2]);
+    float u4 = sin(0.5f*eul[0]);
+    float u5 = sin(0.5f*eul[1]);
+    float u6 = sin(0.5f*eul[2]);
+    quat[0] = u1*u2*u3+u4*u5*u6;
+    quat[1] = u4*u2*u3-u1*u5*u6;
+    quat[2] = u1*u5*u3+u4*u2*u6;
+    quat[3] = u1*u2*u6-u4*u5*u3;
+}
+
+void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4])
+{
+    y[0] = atan2f((2.0f*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3]));
+    y[1] = -asinf(2.0f*(u[1]*u[3]-u[0]*u[2]));
+    y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
+}
+
+void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
+{
+    velNED[0] = gpsGndSpd*cosf(gpsCourse);
+    velNED[1] = gpsGndSpd*sinf(gpsCourse);
+    velNED[2] = gpsVelD;
+}
+
+void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latReference, double lonReference, float hgtReference)
+{
+    posNED[0] = earthRadius * (lat - latReference);
+    posNED[1] = earthRadius * cos(latReference) * (lon - lonReference);
+    posNED[2] = -(hgt - hgtReference);
+}
+
+void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef)
+{
+    lat = latRef + (double)posNED[0] * earthRadiusInv;
+    lon = lonRef + (double)posNED[1] * earthRadiusInv / cos(latRef);
+    hgt = hgtRef - posNED[2];
+}
+
+void AttPosEKF::OnGroundCheck()
+{
+    onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
+    if (staticMode) {
+        staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
+    }
+    // don't update wind states if there is no airspeed measurement
+    if (onGround || !useAirspeed) {
+        inhibitWindStates = true;
+    } else {
+        inhibitWindStates =false;
+    }
+    // don't update magnetic field states if on ground or not using compass
+    if (onGround || !useCompass) {
+        inhibitMagStates = true;
+    } else {
+        inhibitMagStates = false;
+    }
+    // don't update terrain offset state if on ground
+    if (onGround) {
+        inhibitGndHgtState = true;
+    } else {
+        inhibitGndHgtState = false;
+    }
+}
+
+void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude)
+{
+    //Define Earth rotation vector in the NED navigation frame
+    omega.x  = earthRate*cosf(latitude);
+    omega.y  = 0.0f;
+    omega.z  = -earthRate*sinf(latitude);
+}
+
+void AttPosEKF::CovarianceInit()
+{
+    // Calculate the initial covariance matrix P
+    P[0][0]   = 0.25f * sq(1.0f*deg2rad);
+    P[1][1]   = 0.25f * sq(1.0f*deg2rad);
+    P[2][2]   = 0.25f * sq(1.0f*deg2rad);
+    P[3][3]   = 0.25f * sq(10.0f*deg2rad);
+    P[4][4]   = sq(0.7f);
+    P[5][5]   = P[4][4];
+    P[6][6]   = sq(0.7f);
+    P[7][7]   = sq(15.0f);
+    P[8][8]   = P[7][7];
+    P[9][9]   = sq(5.0f);
+    P[10][10] = sq(0.1f*deg2rad*dtIMU);
+    P[11][11] = P[10][10];
+    P[12][12] = P[10][10];
+    P[13][13] = sq(0.2f*dtIMU);
+    P[14][14] = sq(0.0f);
+    P[15][15]  = P[14][14];
+    P[16][16] = sq(0.02f);
+    P[17][17] = P[16][16];
+    P[18][18] = P[16][16];
+    P[19][19] = sq(0.02f);
+    P[20][20] = P[19][19];
+    P[21][21] = P[19][19];
+    P[22][22] = sq(0.5f);
+}
+
+float AttPosEKF::ConstrainFloat(float val, float min, float max)
+{
+    float ret;
+    if (val > max) {
+        ret = max;
+        ekf_debug("> max: %8.4f, val: %8.4f", (double)max, (double)val);
+    } else if (val < min) {
+        ret = min;
+        ekf_debug("< min: %8.4f, val: %8.4f", (double)min, (double)val);
+    } else {
+        ret = val;
+    }
+
+    if (!isfinite(val)) {
+        //ekf_debug("constrain: non-finite!");
+    }
+
+    return ret;
+}
+
+void AttPosEKF::ConstrainVariances()
+{
+    if (!numericalProtection) {
+        return;
+    }
+
+    // State vector:
+    // 0-3: quaternions (q0, q1, q2, q3)
+    // 4-6: Velocity - m/sec (North, East, Down)
+    // 7-9: Position - m (North, East, Down)
+    // 10-12: Delta Angle bias - rad (X,Y,Z)
+    // 13: Delta Velocity bias - m/s (Z)
+    // 14-15: Wind Vector  - m/sec (North,East)
+    // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
+    // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
+    // 22: Terrain  offset - m
+
+    // Constrain quaternion variances
+    for (unsigned i = 0; i <= 3; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f);
+    }
+
+    // Constrain velocity variances
+    for (unsigned i = 4; i <= 6; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f);
+    }
+
+    // Constrain position variances
+    for (unsigned i = 7; i <= 9; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e6f);
+    }
+
+    // Constrain delta angle bias variances
+    for (unsigned i = 10; i <= 12; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, sq(0.12f * dtIMU));
+    }
+
+    // Constrain delta velocity bias variance
+    P[13][13] = ConstrainFloat(P[13][13], 0.0f, sq(1.0f * dtIMU));
+
+    // Wind velocity variances
+    for (unsigned i = 14; i <= 15; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0e3f);
+    }
+
+    // Earth magnetic field variances
+    for (unsigned i = 16; i <= 18; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f);
+    }
+
+    // Body magnetic field variances
+    for (unsigned i = 19; i <= 21; i++) {
+        P[i][i] = ConstrainFloat(P[i][i], 0.0f, 1.0f);
+    }
+
+    // Constrain terrain offset variance
+    P[22][22] = ConstrainFloat(P[22][22], 0.0f, 10000.0f);
+}
+
+void AttPosEKF::ConstrainStates()
+{
+    if (!numericalProtection) {
+        return;
+    }
+
+    // State vector:
+    // 0-3: quaternions (q0, q1, q2, q3)
+    // 4-6: Velocity - m/sec (North, East, Down)
+    // 7-9: Position - m (North, East, Down)
+    // 10-12: Delta Angle bias - rad (X,Y,Z)
+    // 13: Delta Velocity bias - m/s (Z)
+    // 14-15: Wind Vector  - m/sec (North,East)
+    // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
+    // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
+    // 22: Terrain  offset - m
+
+    // Constrain quaternion
+    for (unsigned i = 0; i <= 3; i++) {
+        states[i] = ConstrainFloat(states[i], -1.0f, 1.0f);
+    }
+
+    // Constrain velocities to what GPS can do for us
+    for (unsigned i = 4; i <= 6; i++) {
+        states[i] = ConstrainFloat(states[i], -5.0e2f, 5.0e2f);
+    }
+
+    // Constrain position to a reasonable vehicle range (in meters)
+    for (unsigned i = 7; i <= 8; i++) {
+        states[i] = ConstrainFloat(states[i], -1.0e6f, 1.0e6f);
+    }
+
+    // Constrain altitude
+    states[9] = ConstrainFloat(states[9], -4.0e4f, 1.0e4f);
+
+    // Angle bias limit - set to 8 degrees / sec
+    for (unsigned i = 10; i <= 12; i++) {
+        states[i] = ConstrainFloat(states[i], -0.12f * dtIMU, 0.12f * dtIMU);
+    }
+
+    // Constrain delta velocity bias
+    states[13] = ConstrainFloat(states[13], -1.0f * dtIMU, 1.0f * dtIMU);
+
+    // Wind velocity limits - assume 120 m/s max velocity
+    for (unsigned i = 14; i <= 15; i++) {
+        states[i] = ConstrainFloat(states[i], -120.0f, 120.0f);
+    }
+
+    // Earth magnetic field limits (in Gauss)
+    for (unsigned i = 16; i <= 18; i++) {
+        states[i] = ConstrainFloat(states[i], -1.0f, 1.0f);
+    }
+
+    // Body magnetic field variances (in Gauss).
+    // the max offset should be in this range.
+    for (unsigned i = 19; i <= 21; i++) {
+        states[i] = ConstrainFloat(states[i], -0.5f, 0.5f);
+    }
+
+    // Constrain terrain offset
+    states[22] = ConstrainFloat(states[22], -1000.0f, 1000.0f);
+
+}
+
+void AttPosEKF::ForceSymmetry()
+{
+    if (!numericalProtection) {
+        return;
+    }
+
+    // Force symmetry on the covariance matrix to prevent ill-conditioning
+    // of the matrix which would cause the filter to blow-up
+    for (unsigned i = 1; i < n_states; i++)
+    {
+        for (uint8_t j = 0; j < i; j++)
+        {
+            P[i][j] = 0.5f * (P[i][j] + P[j][i]);
+            P[j][i] = P[i][j];
+
+            if ((fabsf(P[i][j]) > EKF_COVARIANCE_DIVERGED) ||
+                (fabsf(P[j][i]) > EKF_COVARIANCE_DIVERGED)) {
+                current_ekf_state.covariancesExcessive = true;
+                current_ekf_state.error |= true;
+                InitializeDynamic(velNED, magDeclination);
+                return;
+            }
+
+            float symmetric = 0.5f * (P[i][j] + P[j][i]);
+            P[i][j] = symmetric;
+            P[j][i] = symmetric;
+        }
+    }
+}
+
+bool AttPosEKF::GyroOffsetsDiverged()
+{
+    // Detect divergence by looking for rapid changes of the gyro offset
+    Vector3f current_bias;
+    current_bias.x = states[10];
+    current_bias.y = states[11];
+    current_bias.z = states[12];
+
+    Vector3f delta = current_bias - lastGyroOffset;
+    float delta_len = delta.length();
+    float delta_len_scaled = 0.0f;
+
+    // Protect against division by zero
+    if (delta_len > 0.0f) {
+        float cov_mag = ConstrainFloat((P[10][10] + P[11][11] + P[12][12]), 1e-12f, 1e-8f);
+        delta_len_scaled = (5e-7 / (double)cov_mag) * (double)delta_len / (double)dtIMU;
+    }
+
+    bool diverged = (delta_len_scaled > 1.0f);
+    lastGyroOffset = current_bias;
+    current_ekf_state.error |= diverged;
+    current_ekf_state.gyroOffsetsExcessive = diverged;
+
+    return diverged;
+}
+
+bool AttPosEKF::VelNEDDiverged()
+{
+    Vector3f current_vel;
+    current_vel.x = states[4];
+    current_vel.y = states[5];
+    current_vel.z = states[6];
+
+    Vector3f gps_vel;
+    gps_vel.x = velNED[0];
+    gps_vel.y = velNED[1];
+    gps_vel.z = velNED[2];
+
+    Vector3f delta = current_vel - gps_vel;
+    float delta_len = delta.length();
+
+    bool excessive = (delta_len > 20.0f);
+
+    current_ekf_state.error |= excessive;
+    current_ekf_state.velOffsetExcessive = excessive;
+
+    return excessive;
+}
+
+bool AttPosEKF::FilterHealthy()
+{
+    if (!statesInitialised) {
+        return false;
+    }
+
+    // XXX Check state vector for NaNs and ill-conditioning
+
+    // Check if any of the major inputs timed out
+    if (current_ekf_state.posTimeout || current_ekf_state.velTimeout || current_ekf_state.hgtTimeout) {
+        return false;
+    }
+
+    // Nothing fired, return ok.
+    return true;
+}
+
+/**
+ * Reset the filter position states
+ *
+ * This resets the position to the last GPS measurement
+ * or to zero in case of static position.
+ */
+void AttPosEKF::ResetPosition(void)
+{
+    if (staticMode) {
+        states[7] = 0;
+        states[8] = 0;
+    } else if (GPSstatus >= GPS_FIX_3D) {
+
+        // reset the states from the GPS measurements
+        states[7] = posNE[0];
+        states[8] = posNE[1];
+    }
+}
+
+/**
+ * Reset the height state.
+ *
+ * This resets the height state with the last altitude measurements
+ */
+void AttPosEKF::ResetHeight(void)
+{
+    // write to the state vector
+    states[9]   = -hgtMea;
+}
+
+/**
+ * Reset the velocity state.
+ */
+void AttPosEKF::ResetVelocity(void)
+{
+    if (staticMode) {
+        states[4] = 0.0f;
+        states[5] = 0.0f;
+        states[6] = 0.0f;
+    } else if (GPSstatus >= GPS_FIX_3D) {
+
+        states[4]  = velNED[0]; // north velocity from last reading
+        states[5]  = velNED[1]; // east velocity from last reading
+        states[6]  = velNED[2]; // down velocity from last reading
+    }
+}
+
+bool AttPosEKF::StatesNaN() {
+    bool err = false;
+
+    // check all integrators
+    if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) {
+        current_ekf_state.angNaN = true;
+        ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z);
+        err = true;
+        goto out;
+    } // delta angles
+
+    if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) {
+        current_ekf_state.angNaN = true;
+        ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
+        err = true;
+        goto out;
+    } // delta angles
+
+    if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) {
+        current_ekf_state.summedDelVelNaN = true;
+        ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z);
+        err = true;
+        goto out;
+    } // delta velocities
+
+    // check all states and covariance matrices
+    for (unsigned i = 0; i < n_states; i++) {
+        for (unsigned j = 0; j < n_states; j++) {
+            if (!isfinite(KH[i][j])) {
+
+                current_ekf_state.KHNaN = true;
+                err = true;
+                ekf_debug("KH NaN");
+                goto out;
+            } //  intermediate result used for covariance updates
+
+            if (!isfinite(KHP[i][j])) {
+
+                current_ekf_state.KHPNaN = true;
+                err = true;
+                ekf_debug("KHP NaN");
+                goto out;
+            } // intermediate result used for covariance updates
+
+            if (!isfinite(P[i][j])) {
+
+                current_ekf_state.covarianceNaN = true;
+                err = true;
+                ekf_debug("P NaN");
+            } // covariance matrix
+        }
+
+        if (!isfinite(Kfusion[i])) {
+
+            current_ekf_state.kalmanGainsNaN = true;
+            ekf_debug("Kfusion NaN");
+            err = true;
+            goto out;
+        } // Kalman gains
+
+        if (!isfinite(states[i])) {
+
+            current_ekf_state.statesNaN = true;
+            ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]);
+            err = true;
+            goto out;
+        } // state matrix
+    }
+
+out:
+    if (err) {
+        current_ekf_state.error |= true;
+    }
+
+    return err;
+
+}
+
+/**
+ * Check the filter inputs and bound its operational state
+ *
+ * This check will reset the filter states if required
+ * due to a failure of consistency or timeout checks.
+ * it should be run after the measurement data has been
+ * updated, but before any of the fusion steps are
+ * executed.
+ */
+int AttPosEKF::CheckAndBound(struct ekf_status_report *last_error)
+{
+
+    // Store the old filter state
+    bool currStaticMode = staticMode;
+
+    // Limit reset rate to 5 Hz to allow the filter
+    // to settle
+    if (millis() - lastReset < 200) {
+        return 0;
+    }
+
+    if (ekfDiverged) {
+        ekfDiverged = false;
+    }
+
+    int ret = 0;
+
+    // Check if we're on ground - this also sets static mode.
+    OnGroundCheck();
+
+    // Reset the filter if the states went NaN
+    if (StatesNaN()) {
+        ekf_debug("re-initializing dynamic");
+
+        // Reset and fill error report
+	    InitializeDynamic(velNED, magDeclination);
+
+        ret = 1;
+    }
+
+    // Reset the filter if the IMU data is too old
+    if (dtIMU > 0.3f) {
+
+        current_ekf_state.imuTimeout = true;
+
+        // Fill error report
+        GetFilterState(&last_ekf_error);
+
+        ResetVelocity();
+        ResetPosition();
+        ResetHeight();
+        ResetStoredStates();
+
+        // Timeout cleared with this reset
+        current_ekf_state.imuTimeout = false;
+
+        // that's all we can do here, return
+        ret = 2;
+    }
+
+    // Check if we switched between states
+    if (currStaticMode != staticMode) {
+        // Fill error report, but not setting error flag
+        GetFilterState(&last_ekf_error);
+
+        ResetVelocity();
+        ResetPosition();
+        ResetHeight();
+        ResetStoredStates();
+
+        ret = 0;
+    }
+
+    // Reset the filter if gyro offsets are excessive
+    if (GyroOffsetsDiverged()) {
+
+        // Reset and fill error report
+        InitializeDynamic(velNED, magDeclination);
+
+        // that's all we can do here, return
+        ret = 4;
+    }
+
+    // Reset the filter if it diverges too far from GPS
+    if (VelNEDDiverged()) {
+
+        // Reset and fill error report
+        InitializeDynamic(velNED, magDeclination);
+
+        // that's all we can do here, return
+        ret = 5;
+    }
+
+    // The excessive covariance detection already
+    // reset the filter. Just need to report here.
+    if (last_ekf_error.covariancesExcessive) {
+        ret = 6;
+    }
+
+    if (ret) {
+        ekfDiverged = true;
+        lastReset = millis();
+
+        // This reads the last error and clears it
+        GetLastErrorState(last_error);
+    }
+
+    return ret;
+}
+
+void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat)
+{
+    float initialRoll, initialPitch;
+    float cosRoll, sinRoll, cosPitch, sinPitch;
+    float magX, magY;
+    float initialHdg, cosHeading, sinHeading;
+
+    initialRoll = atan2f(-ay, -az);
+    initialPitch = atan2f(ax, -az);
+
+    cosRoll = cosf(initialRoll);
+    sinRoll = sinf(initialRoll);
+    cosPitch = cosf(initialPitch);
+    sinPitch = sinf(initialPitch);
+
+    magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;
+
+    magY = my * cosRoll - mz * sinRoll;
+
+    initialHdg = atan2f(-magY, magX);
+    /* true heading is the mag heading minus declination */
+    initialHdg += declination;
+
+    cosRoll = cosf(initialRoll * 0.5f);
+    sinRoll = sinf(initialRoll * 0.5f);
+
+    cosPitch = cosf(initialPitch * 0.5f);
+    sinPitch = sinf(initialPitch * 0.5f);
+
+    cosHeading = cosf(initialHdg * 0.5f);
+    sinHeading = sinf(initialHdg * 0.5f);
+
+    initQuat[0] = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
+    initQuat[1] = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
+    initQuat[2] = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
+    initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
+
+    /* normalize */
+    float norm = sqrtf(initQuat[0]*initQuat[0] + initQuat[1]*initQuat[1] + initQuat[2]*initQuat[2] + initQuat[3]*initQuat[3]);
+
+    initQuat[0] /= norm;
+    initQuat[1] /= norm;
+    initQuat[2] /= norm;
+    initQuat[3] /= norm;
+}
+
+void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
+{
+    if (current_ekf_state.error) {
+        GetFilterState(&last_ekf_error);
+    }
+
+    ZeroVariables();
+
+    // Reset error states
+    current_ekf_state.error = false;
+    current_ekf_state.angNaN = false;
+    current_ekf_state.summedDelVelNaN = false;
+    current_ekf_state.KHNaN = false;
+    current_ekf_state.KHPNaN = false;
+    current_ekf_state.PNaN = false;
+    current_ekf_state.covarianceNaN = false;
+    current_ekf_state.kalmanGainsNaN = false;
+    current_ekf_state.statesNaN = false;
+
+    current_ekf_state.velHealth = true;
+    current_ekf_state.posHealth = true;
+    current_ekf_state.hgtHealth = true;
+    
+    current_ekf_state.velTimeout = false;
+    current_ekf_state.posTimeout = false;
+    current_ekf_state.hgtTimeout = false;
+
+    fuseVelData = false;
+    fusePosData = false;
+    fuseHgtData = false;
+    fuseMagData = false;
+    fuseVtasData = false;
+
+    // Fill variables with valid data
+    velNED[0] = initvelNED[0];
+    velNED[1] = initvelNED[1];
+    velNED[2] = initvelNED[2];
+    magDeclination = declination;
+
+    // Calculate initial filter quaternion states from raw measurements
+    float initQuat[4];
+    Vector3f initMagXYZ;
+    initMagXYZ   = magData - magBias;
+    AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, declination, initQuat);
+
+    // Calculate initial Tbn matrix and rotate Mag measurements into NED
+    // to set initial NED magnetic field states
+    quat2Tbn(Tbn, initQuat);
+    Tnb = Tbn.transpose();
+    Vector3f initMagNED;
+    initMagNED.x = Tbn.x.x*initMagXYZ.x + Tbn.x.y*initMagXYZ.y + Tbn.x.z*initMagXYZ.z;
+    initMagNED.y = Tbn.y.x*initMagXYZ.x + Tbn.y.y*initMagXYZ.y + Tbn.y.z*initMagXYZ.z;
+    initMagNED.z = Tbn.z.x*initMagXYZ.x + Tbn.z.y*initMagXYZ.y + Tbn.z.z*initMagXYZ.z;
+
+    magstate.q0 = initQuat[0];
+    magstate.q1 = initQuat[1];
+    magstate.q2 = initQuat[2];
+    magstate.q3 = initQuat[3];
+    magstate.magN = initMagNED.x;
+    magstate.magE = initMagNED.y;
+    magstate.magD = initMagNED.z;
+    magstate.magXbias = magBias.x;
+    magstate.magYbias = magBias.y;
+    magstate.magZbias = magBias.z;
+    magstate.R_MAG = sq(magMeasurementSigma);
+    magstate.DCM = Tbn;
+
+    // write to state vector
+    for (uint8_t j=0; j<=3; j++) states[j] = initQuat[j]; // quaternions
+    for (uint8_t j=4; j<=6; j++) states[j] = initvelNED[j-4]; // velocities
+    // positions:
+    states[7] = posNE[0];
+    states[8] = posNE[1];
+    states[9] = -hgtMea;
+    for (uint8_t j=10; j<=15; j++) states[j] = 0.0f; // dAngBias, dVelBias, windVel
+    states[16] = initMagNED.x; // Magnetic Field North
+    states[17] = initMagNED.y; // Magnetic Field East
+    states[18] = initMagNED.z; // Magnetic Field Down
+    states[19] = magBias.x; // Magnetic Field Bias X
+    states[20] = magBias.y; // Magnetic Field Bias Y
+    states[21] = magBias.z; // Magnetic Field Bias Z
+    states[22] = 0.0f; // terrain height
+
+    ResetVelocity();
+    ResetPosition();
+    ResetHeight();
+
+    statesInitialised = true;
+
+    // initialise the covariance matrix
+    CovarianceInit();
+
+    //Define Earth rotation vector in the NED navigation frame
+    calcEarthRateNED(earthRateNED, latRef);
+
+}
+
+void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination)
+{
+    // store initial lat,long and height
+    latRef = referenceLat;
+    lonRef = referenceLon;
+    hgtRef = referenceHgt;
+    refSet = true;
+
+    // we are at reference position, so measurement must be zero
+    posNE[0] = 0.0f;
+    posNE[1] = 0.0f;
+
+    // we are at an unknown, possibly non-zero altitude - so altitude
+    // is not reset (hgtMea)
+
+    // the baro offset must be this difference now
+    baroHgtOffset = baroHgt - referenceHgt;
+
+    InitializeDynamic(initvelNED, declination);
+}
+
+void AttPosEKF::ZeroVariables()
+{
+
+    // Initialize on-init initialized variables
+
+    storeIndex = 0;
+
+    // Do the data structure init
+    for (unsigned i = 0; i < n_states; i++) {
+        for (unsigned j = 0; j < n_states; j++) {
+            KH[i][j] = 0.0f; //  intermediate result used for covariance updates
+            KHP[i][j] = 0.0f; // intermediate result used for covariance updates
+            P[i][j] = 0.0f; // covariance matrix
+        }
+
+        Kfusion[i] = 0.0f; // Kalman gains
+        states[i] = 0.0f; // state matrix
+    }
+
+    correctedDelAng.zero();
+    summedDelAng.zero();
+    summedDelVel.zero();
+    dAngIMU.zero();
+    dVelIMU.zero();
+    lastGyroOffset.zero();
+
+    for (unsigned i = 0; i < data_buffer_size; i++) {
+
+        for (unsigned j = 0; j < n_states; j++) {
+            storedStates[j][i] = 0.0f;
+        }
+
+        statetimeStamp[i] = 0;
+    }
+
+    memset(&magstate, 0, sizeof(magstate));
+    magstate.q0 = 1.0f;
+    magstate.DCM.identity();
+
+    memset(&current_ekf_state, 0, sizeof(current_ekf_state));
+
+}
+
+void AttPosEKF::GetFilterState(struct ekf_status_report *err)
+{
+
+    // Copy states
+    for (unsigned i = 0; i < n_states; i++) {
+        current_ekf_state.states[i] = states[i];
+    }
+    current_ekf_state.n_states = n_states;
+    current_ekf_state.onGround = onGround;
+    current_ekf_state.staticMode = staticMode;
+    current_ekf_state.useCompass = useCompass;
+    current_ekf_state.useAirspeed = useAirspeed;
+
+    memcpy(err, &current_ekf_state, sizeof(*err));
+
+    // err->velHealth = current_ekf_state.velHealth;
+    // err->posHealth = current_ekf_state.posHealth;
+    // err->hgtHealth = current_ekf_state.hgtHealth;
+    // err->velTimeout = current_ekf_state.velTimeout;
+    // err->posTimeout = current_ekf_state.posTimeout;
+    // err->hgtTimeout = current_ekf_state.hgtTimeout;
+}
+
+void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error)
+{
+    memcpy(last_error, &last_ekf_error, sizeof(*last_error));
+    memset(&last_ekf_error, 0, sizeof(last_ekf_error));
+}
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
new file mode 100644
index 000000000..faa6735ca
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -0,0 +1,316 @@
+#pragma once
+
+#include "estimator_utilities.h"
+
+const unsigned int n_states = 23;
+const unsigned int data_buffer_size = 50;
+
+class AttPosEKF {
+
+public:
+
+    AttPosEKF();
+    ~AttPosEKF();
+
+
+
+    /* ##############################################
+     *
+     *   M A I N    F I L T E R    P A R A M E T E R S
+     *
+     * ########################################### */
+
+    /*
+     * parameters are defined here and initialised in
+     * the InitialiseParameters() (which is just 20 lines down)
+     */
+
+    float covTimeStepMax; // maximum time allowed between covariance predictions
+    float covDelAngMax; // maximum delta angle between covariance predictions
+    float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
+
+    float a1; // optical flow sensor misalgnment angle about X axis (rad)
+    float a2; // optical flow sensor misalgnment angle about Y axis (rad)
+    float a3; // optical flow sensor misalgnment angle about Z axis (rad)
+
+    float yawVarScale;
+    float windVelSigma;
+    float dAngBiasSigma;
+    float dVelBiasSigma;
+    float magEarthSigma;
+    float magBodySigma;
+    float gndHgtSigma;
+
+    float vneSigma;
+    float vdSigma;
+    float posNeSigma;
+    float posDSigma;
+    float magMeasurementSigma;
+    float airspeedMeasurementSigma;
+
+    float gyroProcessNoise;
+    float accelProcessNoise;
+
+    float EAS2TAS; // ratio f true to equivalent airspeed
+
+    void InitialiseParameters()
+    {
+        covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
+        covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
+        rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
+        EAS2TAS = 1.0f;
+        a1 = 0.0f; // optical flow sensor misalgnment angle about X axis (rad)
+        a2 = 0.0f; // optical flow sensor misalgnment angle about Y axis (rad)
+        a3 = 0.0f; // optical flow sensor misalgnment angle about Z axis (rad)
+
+        yawVarScale = 1.0f;
+        windVelSigma = 0.1f;
+        dAngBiasSigma = 5.0e-7f;
+        dVelBiasSigma = 1e-4f;
+        magEarthSigma = 3.0e-4f;
+        magBodySigma  = 3.0e-4f;
+        gndHgtSigma  = 0.02f; // assume 2% terrain gradient 1-sigma
+
+        vneSigma = 0.2f;
+        vdSigma = 0.3f;
+        posNeSigma = 2.0f;
+        posDSigma = 2.0f;
+
+        magMeasurementSigma = 0.05;
+        airspeedMeasurementSigma = 1.4f;
+        gyroProcessNoise = 1.4544411e-2f;
+        accelProcessNoise = 0.5f;
+    }
+
+    struct mag_state_struct {
+        unsigned obsIndex;
+        float MagPred[3];
+        float SH_MAG[9];
+        float q0;
+        float q1;
+        float q2;
+        float q3;
+        float magN;
+        float magE;
+        float magD;
+        float magXbias;
+        float magYbias;
+        float magZbias;
+        float R_MAG;
+        Mat3f DCM;
+    };
+
+    struct mag_state_struct magstate;
+    struct mag_state_struct resetMagState;
+
+
+
+
+    // Global variables
+    float KH[n_states][n_states]; //  intermediate result used for covariance updates
+    float KHP[n_states][n_states]; // intermediate result used for covariance updates
+    float P[n_states][n_states]; // covariance matrix
+    float Kfusion[n_states]; // Kalman gains
+    float states[n_states]; // state matrix
+    float resetStates[n_states];
+    float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
+    uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
+
+    float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+    float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+    float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
+    float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
+    float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
+    float statesAtRngTime[n_states]; // filter states at the effective measurement time
+    float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time
+
+    Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
+    Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
+    Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
+    Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
+    float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
+    Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
+    Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
+    Vector3f lastGyroOffset;    // Last gyro offset
+    Vector3f delAngTotal;
+
+    Mat3f Tbn; // transformation matrix from body to NED coordinates
+    Mat3f Tnb; // transformation amtrix from NED to body coordinates
+
+    Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
+    Vector3f dVelIMU;
+    Vector3f dAngIMU;
+    float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
+    uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
+    float innovVelPos[6]; // innovation output
+    float varInnovVelPos[6]; // innovation variance output
+
+    float velNED[3]; // North, East, Down velocity obs (m/s)
+    float accelGPSNED[3];   // Acceleration predicted by GPS in earth frame
+    float posNE[2]; // North, East position obs (m)
+    float hgtMea; //  measured height (m)
+    float baroHgtOffset;        ///< the baro (weather) offset from normalized altitude
+    float rngMea; // Ground distance
+
+    float innovMag[3]; // innovation output
+    float varInnovMag[3]; // innovation variance output
+    Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
+    float losData[2]; // optical flow LOS rate measurements (rad/sec)
+    float innovVtas; // innovation output
+    float innovRng; ///< Range finder innovation
+    float innovOptFlow[2]; // optical flow LOS innovations (rad/sec)
+    float varInnovOptFlow[2]; // optical flow innovations variances (rad/sec)^2
+    float varInnovVtas; // innovation variance output
+    float varInnovRng; // range finder innovation variance
+    float VtasMeas; // true airspeed measurement (m/s)
+    float magDeclination;       ///< magnetic declination
+    double latRef; // WGS-84 latitude of reference point (rad)
+    double lonRef; // WGS-84 longitude of reference point (rad)
+    float hgtRef; // WGS-84 height of reference point (m)
+    bool refSet;                ///< flag to indicate if the reference position has been set
+    Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
+    unsigned covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
+
+    // GPS input data variables
+    double gpsLat;
+    double gpsLon;
+    float gpsHgt;
+    uint8_t GPSstatus;
+
+    // Baro input
+    float baroHgt;
+
+    bool statesInitialised;
+
+    bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
+    bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
+    bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
+    bool fuseMagData; // boolean true when magnetometer data is to be fused
+    bool fuseVtasData; // boolean true when airspeed data is to be fused
+    bool fuseRngData;   ///< true when range data is fused
+    bool fuseOptFlowData; // true when optical flow data is fused
+
+    bool inhibitWindStates; // true when wind states and covariances are to remain constant
+    bool inhibitMagStates;  // true when magnetic field states and covariances are to remain constant
+    bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant
+
+    bool onGround;    ///< boolean true when the flight vehicle is on the ground (not flying)
+    bool staticMode;    ///< boolean true if no position feedback is fused
+    bool useAirspeed;    ///< boolean true if airspeed data is being used
+    bool useCompass;    ///< boolean true if magnetometer data is being used
+    bool useRangeFinder;     ///< true when rangefinder is being used
+    bool useOpticalFlow; // true when optical flow data is being used
+
+    bool ekfDiverged;
+    uint64_t lastReset;
+
+    struct ekf_status_report current_ekf_state;
+    struct ekf_status_report last_ekf_error;
+
+    bool numericalProtection;
+
+    unsigned storeIndex;
+
+
+void  UpdateStrapdownEquationsNED();
+
+void CovariancePrediction(float dt);
+
+void FuseVelposNED();
+
+void FuseMagnetometer();
+
+void FuseAirspeed();
+
+void FuseRangeFinder();
+
+void FuseOptFlow();
+
+void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void quatNorm(float (&quatOut)[4], const float quatIn[4]);
+
+// store staes along with system time stamp in msces
+void StoreStates(uint64_t timestamp_ms);
+
+/**
+ * Recall the state vector.
+ *
+ * Recalls the vector stored at closest time to the one specified by msec
+ *
+ * @return zero on success, integer indicating the number of invalid states on failure.
+ *         Does only copy valid states, if the statesForFusion vector was initialized
+ *         correctly by the caller, the result can be safely used, but is a mixture
+ *         time-wise where valid states were updated and invalid remained at the old
+ *         value.
+ */
+int RecallStates(float *statesForFusion, uint64_t msec);
+
+void ResetStoredStates();
+
+void quat2Tbn(Mat3f &TBodyNed, const float (&quat)[4]);
+
+void calcEarthRateNED(Vector3f &omega, float latitude);
+
+static void eul2quat(float (&quat)[4], const float (&eul)[3]);
+
+static void quat2eul(float (&eul)[3], const float (&quat)[4]);
+
+static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
+
+void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
+
+static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef);
+
+static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
+
+static float sq(float valIn);
+
+void OnGroundCheck();
+
+void CovarianceInit();
+
+void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination);
+
+float ConstrainFloat(float val, float min, float max);
+
+void ConstrainVariances();
+
+void ConstrainStates();
+
+void ForceSymmetry();
+
+int CheckAndBound(struct ekf_status_report *last_error);
+
+void ResetPosition();
+
+void ResetVelocity();
+
+void ZeroVariables();
+
+void GetFilterState(struct ekf_status_report *state);
+
+void GetLastErrorState(struct ekf_status_report *last_error);
+
+bool StatesNaN();
+
+void InitializeDynamic(float (&initvelNED)[3], float declination);
+
+protected:
+
+bool FilterHealthy();
+
+bool GyroOffsetsDiverged();
+
+bool VelNEDDiverged();
+
+void ResetHeight(void);
+
+void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
+
+};
+
+uint32_t millis();
+
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
new file mode 100644
index 000000000..77cc1eeeb
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
@@ -0,0 +1,162 @@
+
+#include "estimator_utilities.h"
+
+// Define EKF_DEBUG here to enable the debug print calls
+// if the macro is not set, these will be completely
+// optimized out by the compiler.
+//#define EKF_DEBUG
+
+#ifdef EKF_DEBUG
+#include <stdio.h>
+#include <stdarg.h>
+
+static void
+ekf_debug_print(const char *fmt, va_list args)
+{
+    fprintf(stderr, "%s: ", "[ekf]");
+    vfprintf(stderr, fmt, args);
+
+    fprintf(stderr, "\n");
+}
+
+void
+ekf_debug(const char *fmt, ...)
+{
+    va_list args;
+
+    va_start(args, fmt);
+    ekf_debug_print(fmt, args);
+}
+
+#else
+
+void ekf_debug(const char *fmt, ...) { while(0){} }
+#endif
+
+float Vector3f::length(void) const
+{
+    return sqrt(x*x + y*y + z*z);
+}
+
+void Vector3f::zero(void)
+{
+    x = 0.0f;
+    y = 0.0f;
+    z = 0.0f;
+}
+
+Mat3f::Mat3f() :
+    x{1.0f, 0.0f, 0.0f},
+    y{0.0f, 1.0f, 0.0f},
+    z{0.0f, 0.0f, 1.0f}
+{
+}
+
+void Mat3f::identity() {
+    x.x = 1.0f;
+    x.y = 0.0f;
+    x.z = 0.0f;
+
+    y.x = 0.0f;
+    y.y = 1.0f;
+    y.z = 0.0f;
+
+    z.x = 0.0f;
+    z.y = 0.0f;
+    z.z = 1.0f;
+}
+
+Mat3f Mat3f::transpose(void) const
+{
+    Mat3f ret = *this;
+    swap_var(ret.x.y, ret.y.x);
+    swap_var(ret.x.z, ret.z.x);
+    swap_var(ret.y.z, ret.z.y);
+    return ret;
+}
+
+// overload + operator to provide a vector addition
+Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x + vecIn2.x;
+    vecOut.y = vecIn1.y + vecIn2.y;
+    vecOut.z = vecIn1.z + vecIn2.z;
+    return vecOut;
+}
+
+// overload - operator to provide a vector subtraction
+Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x - vecIn2.x;
+    vecOut.y = vecIn1.y - vecIn2.y;
+    vecOut.z = vecIn1.z - vecIn2.z;
+    return vecOut;
+}
+
+// overload * operator to provide a matrix vector product
+Vector3f operator*( Mat3f matIn, Vector3f vecIn)
+{
+    Vector3f vecOut;
+    vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
+    vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
+    vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
+    return vecOut;
+}
+
+// overload * operator to provide a matrix product
+Mat3f operator*( Mat3f matIn1, Mat3f matIn2)
+{
+    Mat3f matOut;
+    matOut.x.x = matIn1.x.x*matIn2.x.x + matIn1.x.y*matIn2.y.x + matIn1.x.z*matIn2.z.x;
+    matOut.x.y = matIn1.x.x*matIn2.x.y + matIn1.x.y*matIn2.y.y + matIn1.x.z*matIn2.z.y;
+    matOut.x.z = matIn1.x.x*matIn2.x.z + matIn1.x.y*matIn2.y.z + matIn1.x.z*matIn2.z.z;
+
+    matOut.y.x = matIn1.y.x*matIn2.x.x + matIn1.y.y*matIn2.y.x + matIn1.y.z*matIn2.z.x;
+    matOut.y.y = matIn1.y.x*matIn2.x.y + matIn1.y.y*matIn2.y.y + matIn1.y.z*matIn2.z.y;
+    matOut.y.z = matIn1.y.x*matIn2.x.z + matIn1.y.y*matIn2.y.z + matIn1.y.z*matIn2.z.z;
+
+    matOut.z.x = matIn1.z.x*matIn2.x.x + matIn1.z.y*matIn2.y.x + matIn1.z.z*matIn2.z.x;
+    matOut.z.y = matIn1.z.x*matIn2.x.y + matIn1.z.y*matIn2.y.y + matIn1.z.z*matIn2.z.y;
+    matOut.z.z = matIn1.z.x*matIn2.x.z + matIn1.z.y*matIn2.y.z + matIn1.z.z*matIn2.z.z;
+
+    return matOut;
+}
+
+// overload % operator to provide a vector cross product
+Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
+    vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
+    vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
+    return vecOut;
+}
+
+// overload * operator to provide a vector scaler product
+Vector3f operator*(Vector3f vecIn1, float sclIn1)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x * sclIn1;
+    vecOut.y = vecIn1.y * sclIn1;
+    vecOut.z = vecIn1.z * sclIn1;
+    return vecOut;
+}
+
+// overload * operator to provide a vector scaler product
+Vector3f operator*(float sclIn1, Vector3f vecIn1)
+{
+    Vector3f vecOut;
+    vecOut.x = vecIn1.x * sclIn1;
+    vecOut.y = vecIn1.y * sclIn1;
+    vecOut.z = vecIn1.z * sclIn1;
+    return vecOut;
+}
+
+void swap_var(float &d1, float &d2)
+{
+    float tmp = d1;
+    d1 = d2;
+    d2 = tmp;
+}
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
new file mode 100644
index 000000000..a6b670c4d
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -0,0 +1,93 @@
+#include <math.h>
+#include <stdint.h>
+
+#pragma once
+
+#define GRAVITY_MSS 9.80665f
+#define deg2rad 0.017453292f
+#define rad2deg 57.295780f
+#define pi 3.141592657f
+#define earthRate 0.000072921f
+#define earthRadius 6378145.0
+#define earthRadiusInv  1.5678540e-7
+
+class Vector3f
+{
+private:
+public:
+    float x;
+    float y;
+    float z;
+
+    Vector3f(float a=0.0f, float b=0.0f, float c=0.0f) :
+    x(a),
+    y(b),
+    z(c)
+    {}
+
+    float length(void) const;
+    void zero(void);
+};
+
+class Mat3f
+{
+private:
+public:
+    Vector3f x;
+    Vector3f y;
+    Vector3f z;
+
+    Mat3f();
+
+    void identity();
+    Mat3f transpose(void) const;
+};
+
+Vector3f operator*(float sclIn1, Vector3f vecIn1);
+Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*( Mat3f matIn, Vector3f vecIn);
+Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
+Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*(Vector3f vecIn1, float sclIn1);
+
+void swap_var(float &d1, float &d2);
+
+enum GPS_FIX {
+    GPS_FIX_NOFIX = 0,
+    GPS_FIX_2D = 2,
+    GPS_FIX_3D = 3
+};
+
+struct ekf_status_report {
+    bool error;
+    bool velHealth;
+    bool posHealth;
+    bool hgtHealth;
+    bool velTimeout;
+    bool posTimeout;
+    bool hgtTimeout;
+    bool imuTimeout;
+    bool onGround;
+    bool staticMode;
+    bool useCompass;
+    bool useAirspeed;
+    uint32_t velFailTime;
+    uint32_t posFailTime;
+    uint32_t hgtFailTime;
+    float states[32];
+    unsigned n_states;
+    bool angNaN;
+    bool summedDelVelNaN;
+    bool KHNaN;
+    bool KHPNaN;
+    bool PNaN;
+    bool covarianceNaN;
+    bool kalmanGainsNaN;
+    bool statesNaN;
+    bool gyroOffsetsExcessive;
+    bool covariancesExcessive;
+    bool velOffsetExcessive;
+};
+
+void ekf_debug(const char *fmt, ...);
diff --git a/src/modules/fw_att_pos_estimator/module.mk b/src/modules/ekf_att_pos_estimator/module.mk
index c992959e0..36d854ddd 100644
--- a/src/modules/fw_att_pos_estimator/module.mk
+++ b/src/modules/ekf_att_pos_estimator/module.mk
@@ -32,11 +32,14 @@
 ############################################################################
 
 #
-# Main Attitude and Position Estimator for Fixed Wing Aircraft
+# Main EKF Attitude and Position Estimator
 #
 
-MODULE_COMMAND	= fw_att_pos_estimator
+MODULE_COMMAND	= ekf_att_pos_estimator
 
-SRCS		= fw_att_pos_estimator_main.cpp \
-		  fw_att_pos_estimator_params.c \
-		  estimator.cpp
+SRCS		= ekf_att_pos_estimator_main.cpp \
+		  ekf_att_pos_estimator_params.c \
+		  estimator_23states.cpp \
+		  estimator_utilities.cpp
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c b/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
deleted file mode 100644
index 2aeca3a98..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_att.c
+++ /dev/null
@@ -1,169 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_att_control_rate.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_att.h"
-
-
-struct fw_att_control_params {
-	float roll_p;
-	float rollrate_lim;
-	float pitch_p;
-	float pitchrate_lim;
-	float yawrate_lim;
-	float pitch_roll_compensation_p;
-};
-
-struct fw_pos_control_param_handles {
-	param_t roll_p;
-	param_t rollrate_lim;
-	param_t pitch_p;
-	param_t pitchrate_lim;
-	param_t yawrate_lim;
-	param_t pitch_roll_compensation_p;
-};
-
-
-
-/* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_param_handles *h);
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p);
-
-static int parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->roll_p 		=	param_find("FW_ROLL_P");
-	h->rollrate_lim =	param_find("FW_ROLLR_LIM");
-	h->pitch_p 		=	param_find("FW_PITCH_P");
-	h->pitchrate_lim =	param_find("FW_PITCHR_LIM");
-	h->yawrate_lim =	param_find("FW_YAWR_LIM");
-	h->pitch_roll_compensation_p = param_find("FW_PITCH_RCOMP");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_att_control_params *p)
-{
-	param_get(h->roll_p, &(p->roll_p));
-	param_get(h->rollrate_lim, &(p->rollrate_lim));
-	param_get(h->pitch_p, &(p->pitch_p));
-	param_get(h->pitchrate_lim, &(p->pitchrate_lim));
-	param_get(h->yawrate_lim, &(p->yawrate_lim));
-	param_get(h->pitch_roll_compensation_p, &(p->pitch_roll_compensation_p));
-
-	return OK;
-}
-
-int fixedwing_att_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-				   const struct vehicle_attitude_s *att,
-				   const float speed_body[],
-				   struct vehicle_rates_setpoint_s *rates_sp)
-{
-	static int counter = 0;
-	static bool initialized = false;
-
-	static struct fw_att_control_params p;
-	static struct fw_pos_control_param_handles h;
-
-	static PID_t roll_controller;
-	static PID_t pitch_controller;
-
-
-	if (!initialized) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller
-		pid_init(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim, PID_MODE_DERIVATIV_NONE, 0.0f); //P Controller
-		initialized = true;
-	}
-
-	/* load new parameters with lower rate */
-	if (counter % 100 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&roll_controller, p.roll_p, 0, 0, 0, p.rollrate_lim);
-		pid_set_parameters(&pitch_controller, p.pitch_p, 0, 0, 0, p.pitchrate_lim);
-	}
-
-	/* Roll (P) */
-	rates_sp->roll = pid_calculate(&roll_controller, att_sp->roll_body, att->roll, 0, 0);
-
-
-	/* Pitch (P) */
-
-	/* compensate feedforward for loss of lift due to non-horizontal angle of wing */
-	float pitch_sp_rollcompensation = p.pitch_roll_compensation_p * fabsf(sinf(att_sp->roll_body));
-	/* set pitch plus feedforward roll compensation */
-	rates_sp->pitch = pid_calculate(&pitch_controller,
-					att_sp->pitch_body + pitch_sp_rollcompensation,
-					att->pitch, 0, 0);
-
-	/* Yaw (from coordinated turn constraint or lateral force) */
-	rates_sp->yaw = (att->rollspeed * rates_sp->roll + 9.81f * sinf(att->roll) * cosf(att->pitch) + speed_body[0] * rates_sp->pitch * sinf(att->roll))
-			/ (speed_body[0] * cosf(att->roll) * cosf(att->pitch) + speed_body[2] * sinf(att->pitch));
-
-//	printf("rates_sp->yaw %.4f \n", (double)rates_sp->yaw);
-
-	counter++;
-
-	return 0;
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c b/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
deleted file mode 100644
index b6b4546c2..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_main.c
+++ /dev/null
@@ -1,367 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
- *   			@author Doug Weibel <douglas.weibel@colorado.edu>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_att_control.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/debug_key_value.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_rate.h"
-#include "fixedwing_att_control_att.h"
-
-/* Prototypes */
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_att_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_att_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/* Variables */
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-/* Main Thread */
-int fixedwing_att_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing att control] started\n");
-
-	/* declare and safely initialize all structs */
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_attitude_setpoint_s att_sp;
-	memset(&att_sp, 0, sizeof(att_sp));
-	struct vehicle_rates_setpoint_s rates_sp;
-	memset(&rates_sp, 0, sizeof(rates_sp));
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct manual_control_setpoint_s manual_sp;
-	memset(&manual_sp, 0, sizeof(manual_sp));
-	struct vehicle_control_mode_s control_mode;
-	memset(&control_mode, 0, sizeof(control_mode));
-	struct vehicle_status_s vstatus;
-	memset(&vstatus, 0, sizeof(vstatus));
-
-	/* output structs */
-	struct actuator_controls_s actuators;
-	memset(&actuators, 0, sizeof(actuators));
-
-
-	/* publish actuator controls */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
-		actuators.control[i] = 0.0f;
-	}
-
-	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
-	orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp);
-
-	/* subscribe */
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* Setup of loop */
-	float gyro[3] = {0.0f, 0.0f, 0.0f};
-	float speed_body[3] = {0.0f, 0.0f, 0.0f};
-	struct pollfd fds = { .fd = att_sub, .events = POLLIN };
-
-	while (!thread_should_exit) {
-		/* wait for a sensor update, check for exit condition every 500 ms */
-		poll(&fds, 1, 500);
-
-		/* Check if there is a new position measurement or  attitude setpoint */
-		bool pos_updated;
-		orb_check(global_pos_sub, &pos_updated);
-		bool att_sp_updated;
-		orb_check(att_sp_sub, &att_sp_updated);
-
-		/* get a local copy of attitude */
-		orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-
-		if (att_sp_updated)
-			orb_copy(ORB_ID(vehicle_attitude_setpoint), att_sp_sub, &att_sp);
-
-		if (pos_updated) {
-			orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-
-			if (att.R_valid) {
-				speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz;
-				speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz;
-				speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz;
-
-			} else {
-				speed_body[0] = 0;
-				speed_body[1] = 0;
-				speed_body[2] = 0;
-
-				printf("FW ATT CONTROL: Did not get a valid R\n");
-			}
-		}
-
-		orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
-		orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
-		orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
-
-		gyro[0] = att.rollspeed;
-		gyro[1] = att.pitchspeed;
-		gyro[2] = att.yawspeed;
-
-		/* set manual setpoints if required */
-		if (control_mode.flag_control_manual_enabled) {
-			if (control_mode.flag_control_attitude_enabled) {
-
-				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-				if (vstatus.rc_signal_lost) {
-
-					/* put plane into loiter */
-					att_sp.roll_body = 0.3f;
-					att_sp.pitch_body = 0.0f;
-
-					/* limit throttle to 60 % of last value if sane */
-					if (isfinite(manual_sp.throttle) &&
-					    (manual_sp.throttle >= 0.0f) &&
-					    (manual_sp.throttle <= 1.0f)) {
-						att_sp.thrust = 0.6f * manual_sp.throttle;
-
-					} else {
-						att_sp.thrust = 0.0f;
-					}
-
-					att_sp.yaw_body = 0;
-
-					// XXX disable yaw control, loiter
-
-				} else {
-
-					att_sp.roll_body = manual_sp.roll;
-					att_sp.pitch_body = manual_sp.pitch;
-					att_sp.yaw_body = 0;
-					att_sp.thrust = manual_sp.throttle;
-				}
-
-				att_sp.timestamp = hrt_absolute_time();
-
-				/* pass through flaps */
-				if (isfinite(manual_sp.flaps)) {
-					actuators.control[4] = manual_sp.flaps;
-
-				} else {
-					actuators.control[4] = 0.0f;
-				}
-
-			} else {
-				/* directly pass through values */
-				actuators.control[0] = manual_sp.roll;
-				/* positive pitch means negative actuator -> pull up */
-				actuators.control[1] = manual_sp.pitch;
-				actuators.control[2] = manual_sp.yaw;
-				actuators.control[3] = manual_sp.throttle;
-
-				if (isfinite(manual_sp.flaps)) {
-					actuators.control[4] = manual_sp.flaps;
-
-				} else {
-					actuators.control[4] = 0.0f;
-				}
-			}
-		}
-		
-		/* execute attitude control if requested */
-		if (control_mode.flag_control_attitude_enabled) {
-			/* attitude control */
-			fixedwing_att_control_attitude(&att_sp, &att, speed_body, &rates_sp);
-
-			/* angular rate control */
-			fixedwing_att_control_rates(&rates_sp, gyro, &actuators);
-
-			/* pass through throttle */
-			actuators.control[3] = att_sp.thrust;
-
-			/* set flaps to zero */
-			actuators.control[4] = 0.0f;
-
-		}
-
-		/* publish rates */
-		orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp);
-
-		/* sanity check and publish actuator outputs */
-		if (isfinite(actuators.control[0]) &&
-		    isfinite(actuators.control[1]) &&
-		    isfinite(actuators.control[2]) &&
-		    isfinite(actuators.control[3])) {
-			orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-		}
-	}
-
-	printf("[fixedwing_att_control] exiting, stopping all motors.\n");
-	thread_running = false;
-
-	/* kill all outputs */
-	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
-		actuators.control[i] = 0.0f;
-
-	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
-
-
-
-	close(att_sub);
-	close(actuator_pub);
-	close(rates_pub);
-
-	fflush(stdout);
-	exit(0);
-
-	return 0;
-
-}
-
-/* Startup Functions */
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: fixedwing_att_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_att_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_att_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("fixedwing_att_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_att_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_att_control is running\n");
-
-		} else {
-			printf("\tfixedwing_att_control not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-
-
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c b/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
deleted file mode 100644
index cdab39edc..000000000
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.c
+++ /dev/null
@@ -1,211 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_att_control_rate.c
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *
- * Implementation of a fixed wing attitude controller.
- *
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/systemlib.h>
-
-#include "fixedwing_att_control_rate.h"
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-// Roll control parameters
-PARAM_DEFINE_FLOAT(FW_ROLLR_P, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_AWU, 0.9f);
-PARAM_DEFINE_FLOAT(FW_ROLLR_LIM, 0.7f);   // Roll rate limit in radians/sec, applies to the roll controller
-PARAM_DEFINE_FLOAT(FW_ROLL_P, 4.0f);
-PARAM_DEFINE_FLOAT(FW_PITCH_RCOMP, 0.1f);
-
-//Pitch control parameters
-PARAM_DEFINE_FLOAT(FW_PITCHR_P, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_I, 0.2f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_AWU, 0.8f);
-PARAM_DEFINE_FLOAT(FW_PITCHR_LIM, 0.35f);   // Pitch rate limit in radians/sec, applies to the pitch controller
-PARAM_DEFINE_FLOAT(FW_PITCH_P, 8.0f);
-
-//Yaw control parameters					//XXX TODO this is copy paste, asign correct values
-PARAM_DEFINE_FLOAT(FW_YAWR_P, 0.3f);
-PARAM_DEFINE_FLOAT(FW_YAWR_I, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_AWU, 0.0f);
-PARAM_DEFINE_FLOAT(FW_YAWR_LIM, 0.35f);   // Yaw rate limit in radians/sec
-
-/* feedforward compensation */
-PARAM_DEFINE_FLOAT(FW_PITCH_THR_P, 0.1f);	/**< throttle to pitch coupling feedforward */
-
-struct fw_rate_control_params {
-	float rollrate_p;
-	float rollrate_i;
-	float rollrate_awu;
-	float pitchrate_p;
-	float pitchrate_i;
-	float pitchrate_awu;
-	float yawrate_p;
-	float yawrate_i;
-	float yawrate_awu;
-	float pitch_thr_ff;
-};
-
-struct fw_rate_control_param_handles {
-	param_t rollrate_p;
-	param_t rollrate_i;
-	param_t rollrate_awu;
-	param_t pitchrate_p;
-	param_t pitchrate_i;
-	param_t pitchrate_awu;
-	param_t yawrate_p;
-	param_t yawrate_i;
-	param_t yawrate_awu;
-	param_t pitch_thr_ff;
-};
-
-
-
-/* Internal Prototypes */
-static int parameters_init(struct fw_rate_control_param_handles *h);
-static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p);
-
-static int parameters_init(struct fw_rate_control_param_handles *h)
-{
-	/* PID parameters */
-	h->rollrate_p 	 =	param_find("FW_ROLLR_P");   //TODO define rate params for fixed wing
-	h->rollrate_i 	 =	param_find("FW_ROLLR_I");
-	h->rollrate_awu  =	param_find("FW_ROLLR_AWU");
-
-	h->pitchrate_p 	 =	param_find("FW_PITCHR_P");
-	h->pitchrate_i 	 =	param_find("FW_PITCHR_I");
-	h->pitchrate_awu =	param_find("FW_PITCHR_AWU");
-
-	h->yawrate_p 	 =	param_find("FW_YAWR_P");
-	h->yawrate_i 	 =	param_find("FW_YAWR_I");
-	h->yawrate_awu   =	param_find("FW_YAWR_AWU");
-	h->pitch_thr_ff  =	param_find("FW_PITCH_THR_P");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_rate_control_param_handles *h, struct fw_rate_control_params *p)
-{
-	param_get(h->rollrate_p, &(p->rollrate_p));
-	param_get(h->rollrate_i, &(p->rollrate_i));
-	param_get(h->rollrate_awu, &(p->rollrate_awu));
-	param_get(h->pitchrate_p, &(p->pitchrate_p));
-	param_get(h->pitchrate_i, &(p->pitchrate_i));
-	param_get(h->pitchrate_awu, &(p->pitchrate_awu));
-	param_get(h->yawrate_p, &(p->yawrate_p));
-	param_get(h->yawrate_i, &(p->yawrate_i));
-	param_get(h->yawrate_awu, &(p->yawrate_awu));
-	param_get(h->pitch_thr_ff, &(p->pitch_thr_ff));
-
-	return OK;
-}
-
-int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-				const float rates[],
-				struct actuator_controls_s *actuators)
-{
-	static int counter = 0;
-	static bool initialized = false;
-
-	static struct fw_rate_control_params p;
-	static struct fw_rate_control_param_handles h;
-
-	static PID_t roll_rate_controller;
-	static PID_t pitch_rate_controller;
-	static PID_t yaw_rate_controller;
-
-	static uint64_t last_run = 0;
-	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-	last_run = hrt_absolute_time();
-
-	if (!initialized) {
-		parameters_init(&h);
-		parameters_update(&h, &p);
-		pid_init(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the controller layout is with a PI rate controller
-		pid_init(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1, PID_MODE_DERIVATIV_NONE, 0.0f); // set D part to 0 because the contpitcher layout is with a PI rate contpitcher
-		initialized = true;
-	}
-
-	/* load new parameters with lower rate */
-	if (counter % 100 == 0) {
-		/* update parameters from storage */
-		parameters_update(&h, &p);
-		pid_set_parameters(&roll_rate_controller, p.rollrate_p, p.rollrate_i, 0, p.rollrate_awu, 1);
-		pid_set_parameters(&pitch_rate_controller, p.pitchrate_p, p.pitchrate_i, 0, p.pitchrate_awu, 1);
-		pid_set_parameters(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, 0, p.yawrate_awu, 1);
-	}
-
-
-	/* roll rate (PI) */
-	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
-	/* pitch rate (PI) */
-	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
-	/* yaw rate (PI) */
-	actuators->control[2] = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
-
-	counter++;
-
-	return 0;
-}
-
-
-
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index cfae07275..bbb39f20f 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update()
 		_actuators.control[CH_RDR] = _manual.yaw;
 		_actuators.control[CH_THR] = _manual.throttle;
 
-	} else if (_status.main_state == MAIN_STATE_SEATBELT ||
-		_status.main_state == MAIN_STATE_EASY /* TODO, implement easy */) {
+	} else if (_status.main_state == MAIN_STATE_ALTCTL ||
+		_status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) {
 
 		// calculate velocity, XXX should be airspeed, but using ground speed for now
 		// for the purpose of control we will limit the velocity feedback between
diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
deleted file mode 100644
index 888dd0942..000000000
--- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ /dev/null
@@ -1,479 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	@author Thomas Gubler <thomasgubler@student.ethz.ch>
- *   			@author Doug Weibel <douglas.weibel@colorado.edu>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file fixedwing_pos_control.c
- * Implementation of a fixed wing attitude controller.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/parameter_update.h>
-#include <systemlib/param/param.h>
-#include <systemlib/pid/pid.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-
-/*
- * Controller parameters, accessible via MAVLink
- *
- */
-PARAM_DEFINE_FLOAT(FW_HEAD_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADR_I, 0.1f);
-PARAM_DEFINE_FLOAT(FW_HEADR_LIM, 1.5f); //TODO: think about reasonable value
-PARAM_DEFINE_FLOAT(FW_XTRACK_P, 0.01745f);		// Radians per meter off track
-PARAM_DEFINE_FLOAT(FW_ALT_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_ROLL_LIM, 0.7f);	// Roll angle limit in radians
-PARAM_DEFINE_FLOAT(FW_HEADR_P, 0.1f);
-PARAM_DEFINE_FLOAT(FW_PITCH_LIM, 0.35f);	/**< Pitch angle limit in radians per second */
-
-struct fw_pos_control_params {
-	float heading_p;
-	float headingr_p;
-	float headingr_i;
-	float headingr_lim;
-	float xtrack_p;
-	float altitude_p;
-	float roll_lim;
-	float pitch_lim;
-};
-
-struct fw_pos_control_param_handles {
-	param_t heading_p;
-	param_t headingr_p;
-	param_t headingr_i;
-	param_t headingr_lim;
-	param_t xtrack_p;
-	param_t altitude_p;
-	param_t roll_lim;
-	param_t pitch_lim;
-};
-
-
-struct planned_path_segments_s {
-	bool segment_type;
-	double start_lat;			// Start of line or center of arc
-	double start_lon;
-	double end_lat;
-	double end_lon;
-	float radius;				// Radius of arc
-	float arc_start_bearing;		// Bearing from center to start of arc
-	float arc_sweep;				// Angle (radians) swept out by arc around center.
-	// Positive for clockwise, negative for counter-clockwise
-};
-
-
-/* Prototypes */
-/* Internal Prototypes */
-static int parameters_init(struct fw_pos_control_param_handles *h);
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p);
-
-/**
- * Deamon management function.
- */
-__EXPORT int fixedwing_pos_control_main(int argc, char *argv[]);
-
-/**
- * Mainloop of deamon.
- */
-int fixedwing_pos_control_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-/* Variables */
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-
-
-/**
- * Parameter management
- */
-static int parameters_init(struct fw_pos_control_param_handles *h)
-{
-	/* PID parameters */
-	h->heading_p 		=	param_find("FW_HEAD_P");
-	h->headingr_p 		=	param_find("FW_HEADR_P");
-	h->headingr_i 		=	param_find("FW_HEADR_I");
-	h->headingr_lim 	=	param_find("FW_HEADR_LIM");
-	h->xtrack_p 		=	param_find("FW_XTRACK_P");
-	h->altitude_p 		=	param_find("FW_ALT_P");
-	h->roll_lim 		=	param_find("FW_ROLL_LIM");
-	h->pitch_lim 		=	param_find("FW_PITCH_LIM");
-
-	return OK;
-}
-
-static int parameters_update(const struct fw_pos_control_param_handles *h, struct fw_pos_control_params *p)
-{
-	param_get(h->heading_p, &(p->heading_p));
-	param_get(h->headingr_p, &(p->headingr_p));
-	param_get(h->headingr_i, &(p->headingr_i));
-	param_get(h->headingr_lim, &(p->headingr_lim));
-	param_get(h->xtrack_p, &(p->xtrack_p));
-	param_get(h->altitude_p, &(p->altitude_p));
-	param_get(h->roll_lim, &(p->roll_lim));
-	param_get(h->pitch_lim, &(p->pitch_lim));
-
-	return OK;
-}
-
-
-/* Main Thread */
-int fixedwing_pos_control_thread_main(int argc, char *argv[])
-{
-	/* read arguments */
-	bool verbose = false;
-
-	for (int i = 1; i < argc; i++) {
-		if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) {
-			verbose = true;
-		}
-	}
-
-	/* welcome user */
-	printf("[fixedwing pos control] started\n");
-
-	/* declare and safely initialize all structs */
-	struct vehicle_global_position_s global_pos;
-	memset(&global_pos, 0, sizeof(global_pos));
-	struct vehicle_global_position_s start_pos;		// Temporary variable, replace with
-	memset(&start_pos, 0, sizeof(start_pos));		// previous waypoint when available
-	struct vehicle_global_position_setpoint_s global_setpoint;
-	memset(&global_setpoint, 0, sizeof(global_setpoint));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct crosstrack_error_s xtrack_err;
-	memset(&xtrack_err, 0, sizeof(xtrack_err));
-	struct parameter_update_s param_update;
-	memset(&param_update, 0, sizeof(param_update));
-
-	/* output structs */
-	struct vehicle_attitude_setpoint_s attitude_setpoint;
-	memset(&attitude_setpoint, 0, sizeof(attitude_setpoint));
-
-	/* publish attitude setpoint */
-	attitude_setpoint.roll_body = 0.0f;
-	attitude_setpoint.pitch_body = 0.0f;
-	attitude_setpoint.yaw_body = 0.0f;
-	attitude_setpoint.thrust = 0.0f;
-	orb_advert_t attitude_setpoint_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &attitude_setpoint);
-
-	/* subscribe */
-	int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	int global_setpoint_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int param_sub = orb_subscribe(ORB_ID(parameter_update));
-
-	/* Setup of loop */
-	struct pollfd fds[2] = {
-		{ .fd = param_sub, .events = POLLIN },
-		{ .fd = att_sub, .events = POLLIN }
-	};
-	bool global_sp_updated_set_once = false;
-
-	float psi_track = 0.0f;
-
-	int counter = 0;
-
-	struct fw_pos_control_params p;
-	struct fw_pos_control_param_handles h;
-
-	PID_t heading_controller;
-	PID_t heading_rate_controller;
-	PID_t offtrack_controller;
-	PID_t altitude_controller;
-
-	parameters_init(&h);
-	parameters_update(&h, &p);
-	pid_init(&heading_controller, p.heading_p, 0.0f, 0.0f, 0.0f, 10000.0f, PID_MODE_DERIVATIV_NONE, 0.0f); //arbitrary high limit
-	pid_init(&heading_rate_controller, p.headingr_p, p.headingr_i, 0.0f, 0.0f, p.roll_lim, PID_MODE_DERIVATIV_NONE, 0.0f);
-	pid_init(&altitude_controller, p.altitude_p, 0.0f, 0.0f, 0.0f, p.pitch_lim, PID_MODE_DERIVATIV_NONE, 0.0f);
-	pid_init(&offtrack_controller, p.xtrack_p, 0.0f, 0.0f, 0.0f , 60.0f * M_DEG_TO_RAD, PID_MODE_DERIVATIV_NONE, 0.0f); //TODO: remove hardcoded value
-
-	/* error and performance monitoring */
-	perf_counter_t fw_interval_perf = perf_alloc(PC_INTERVAL, "fixedwing_pos_control_interval");
-	perf_counter_t fw_err_perf = perf_alloc(PC_COUNT, "fixedwing_pos_control_err");
-
-	while (!thread_should_exit) {
-		/* wait for a sensor update, check for exit condition every 500 ms */
-		int ret = poll(fds, 2, 500);
-
-		if (ret < 0) {
-			/* poll error, count it in perf */
-			perf_count(fw_err_perf);
-
-		} else if (ret == 0) {
-			/* no return value, ignore */
-		} else {
-
-			/* only update parameters if they changed */
-			if (fds[0].revents & POLLIN) {
-				/* read from param to clear updated flag */
-				struct parameter_update_s update;
-				orb_copy(ORB_ID(parameter_update), param_sub, &update);
-
-				/* update parameters from storage */
-				parameters_update(&h, &p);
-				pid_set_parameters(&heading_controller, p.heading_p, 0, 0, 0, 10000.0f); //arbitrary high limit
-				pid_set_parameters(&heading_rate_controller, p.headingr_p, p.headingr_i, 0, 0, p.roll_lim);
-				pid_set_parameters(&altitude_controller, p.altitude_p, 0, 0, 0, p.pitch_lim);
-				pid_set_parameters(&offtrack_controller, p.xtrack_p, 0, 0, 0, 60.0f * M_DEG_TO_RAD); //TODO: remove hardcoded value
-			}
-
-			/* only run controller if attitude changed */
-			if (fds[1].revents & POLLIN) {
-
-
-				static uint64_t last_run = 0;
-				const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-				last_run = hrt_absolute_time();
-
-				/* check if there is a new position or setpoint */
-				bool pos_updated;
-				orb_check(global_pos_sub, &pos_updated);
-				bool global_sp_updated;
-				orb_check(global_setpoint_sub, &global_sp_updated);
-
-				/* load local copies */
-				orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
-
-				if (pos_updated) {
-					orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos);
-				}
-
-				if (global_sp_updated) {
-					orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
-					start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
-					global_sp_updated_set_once = true;
-					psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon,
-							(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-					printf("next wp direction: %0.4f\n", (double)psi_track);
-				}
-
-				/* Simple Horizontal Control */
-				if (global_sp_updated_set_once) {
-					//				if (counter % 100 == 0)
-					//					printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon);
-
-					/* calculate crosstrack error */
-					// Only the case of a straight line track following handled so far
-					int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
-										(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
-										(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
-
-					// XXX what is xtrack_err.past_end?
-					if (distance_res == OK /*&& !xtrack_err.past_end*/) {
-
-						float delta_psi_c = pid_calculate(&offtrack_controller, 0, xtrack_err.distance, 0.0f, 0.0f); //p.xtrack_p * xtrack_err.distance
-
-						float psi_c = psi_track + delta_psi_c;
-						float psi_e = psi_c - att.yaw;
-
-						/* wrap difference back onto -pi..pi range */
-						psi_e = _wrap_pi(psi_e);
-
-						if (verbose) {
-							printf("xtrack_err.distance %.4f ", (double)xtrack_err.distance);
-							printf("delta_psi_c %.4f ", (double)delta_psi_c);
-							printf("psi_c %.4f ", (double)psi_c);
-							printf("att.yaw %.4f ", (double)att.yaw);
-							printf("psi_e %.4f ", (double)psi_e);
-						}
-
-						/* calculate roll setpoint, do this artificially around zero */
-						float delta_psi_rate_c = pid_calculate(&heading_controller, psi_e, 0.0f, 0.0f, 0.0f);
-						float psi_rate_track = 0; //=V_gr/r_track , this will be needed for implementation of arc following
-						float psi_rate_c = delta_psi_rate_c + psi_rate_track;
-
-						/* limit turn rate */
-						if (psi_rate_c > p.headingr_lim) {
-							psi_rate_c = p.headingr_lim;
-
-						} else if (psi_rate_c < -p.headingr_lim) {
-							psi_rate_c = -p.headingr_lim;
-						}
-
-						float psi_rate_e = psi_rate_c - att.yawspeed;
-
-						// XXX sanity check: Assume 10 m/s stall speed and no stall condition
-						float ground_speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
-
-						if (ground_speed < 10.0f) {
-							ground_speed = 10.0f;
-						}
-
-						float psi_rate_e_scaled = psi_rate_e * ground_speed / 9.81f; //* V_gr / g
-
-						attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);
-
-						if (verbose) {
-							printf("psi_rate_c %.4f ", (double)psi_rate_c);
-							printf("psi_rate_e_scaled %.4f ", (double)psi_rate_e_scaled);
-							printf("rollbody %.4f\n", (double)attitude_setpoint.roll_body);
-						}
-
-						if (verbose && counter % 100 == 0)
-							printf("xtrack_err.distance: %0.4f, delta_psi_c: %0.4f\n", xtrack_err.distance, delta_psi_c);
-
-					} else {
-						if (verbose && counter % 100 == 0)
-							printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
-					}
-
-					/* Very simple Altitude Control */
-					if (pos_updated) {
-
-						//TODO: take care of relative vs. ab. altitude
-						attitude_setpoint.pitch_body = pid_calculate(&altitude_controller, global_setpoint.altitude, global_pos.alt, 0.0f, 0.0f);
-
-					}
-
-					// XXX need speed control
-					attitude_setpoint.thrust = 0.7f;
-
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_attitude_setpoint), attitude_setpoint_pub, &attitude_setpoint);
-
-					/* measure in what intervals the controller runs */
-					perf_count(fw_interval_perf);
-
-					counter++;
-
-				} else {
-					// XXX no setpoint, decent default needed (loiter?)
-				}
-			}
-		}
-	}
-
-	printf("[fixedwing_pos_control] exiting.\n");
-	thread_running = false;
-
-
-	close(attitude_setpoint_pub);
-
-	fflush(stdout);
-	exit(0);
-
-	return 0;
-
-}
-
-/* Startup Functions */
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	fprintf(stderr, "usage: fixedwing_pos_control {start|stop|status}\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int fixedwing_pos_control_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("fixedwing_pos_control already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("fixedwing_pos_control",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 20,
-					 2048,
-					 fixedwing_pos_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		thread_running = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tfixedwing_pos_control is running\n");
-
-		} else {
-			printf("\tfixedwing_pos_control not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 111f56a90..e9480336a 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Lorenz Meier
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -99,13 +98,21 @@ public:
 	/**
 	 * Start the sensors task.
 	 *
-	 * @return		OK on success.
+	 * @return	OK on success.
 	 */
 	int		start();
 
+	/**
+	 * Task status
+	 *
+	 * @return	true if the mainloop is running
+	 */
+	bool		task_running() { return _task_running; }
+
 private:
 
 	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	bool		_task_running;			/**< if true, task is running in its mainloop */
 	int		_control_task;			/**< task handle for sensor task */
 
 	int		_att_sub;			/**< vehicle attitude subscription */
@@ -134,6 +141,8 @@ private:
 	struct vehicle_global_position_s		_global_pos;		/**< global position */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
+	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
 
 	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
 
@@ -173,6 +182,8 @@ private:
 		float pitchsp_offset_deg;			/**< Pitch Setpoint Offset in deg */
 		float rollsp_offset_rad;			/**< Roll Setpoint Offset in rad */
 		float pitchsp_offset_rad;			/**< Pitch Setpoint Offset in rad */
+		float man_roll_max;						/**< Max Roll in rad */
+		float man_pitch_max;					/**< Max Pitch in rad */
 
 	}		_parameters;			/**< local copies of interesting parameters */
 
@@ -211,6 +222,8 @@ private:
 		param_t trim_yaw;
 		param_t rollsp_offset_deg;
 		param_t pitchsp_offset_deg;
+		param_t man_roll_max;
+		param_t man_pitch_max;
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -269,7 +282,8 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
+
 };
 
 namespace att_control
@@ -281,12 +295,13 @@ namespace att_control
 #endif
 static const int ERROR = -1;
 
-FixedwingAttitudeControl	*g_control;
+FixedwingAttitudeControl	*g_control = nullptr;
 }
 
 FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 	_task_should_exit(false),
+	_task_running(false),
 	_control_task(-1),
 
 /* subscriptions */
@@ -300,12 +315,14 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 /* publications */
 	_rate_sp_pub(-1),
-	_actuators_0_pub(-1),
 	_attitude_sp_pub(-1),
+	_actuators_0_pub(-1),
 	_actuators_1_pub(-1),
 
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw att control")),
+	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")),
+	_nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")),
 /* states */
 	_setpoint_valid(false)
 {
@@ -354,6 +371,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.rollsp_offset_deg = param_find("FW_RSP_OFF");
 	_parameter_handles.pitchsp_offset_deg = param_find("FW_PSP_OFF");
 
+	_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
+	_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
+
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -380,6 +400,10 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
 		} while (_control_task != -1);
 	}
 
+	perf_free(_loop_perf);
+	perf_free(_nonfinite_input_perf);
+	perf_free(_nonfinite_output_perf);
+
 	att_control::g_control = nullptr;
 }
 
@@ -421,6 +445,10 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.pitchsp_offset_deg, &(_parameters.pitchsp_offset_deg));
 	_parameters.rollsp_offset_rad = math::radians(_parameters.rollsp_offset_deg);
 	_parameters.pitchsp_offset_rad = math::radians(_parameters.pitchsp_offset_deg);
+	param_get(_parameter_handles.man_roll_max, &(_parameters.man_roll_max));
+	param_get(_parameter_handles.man_pitch_max, &(_parameters.man_pitch_max));
+	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
+	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
 
 
 	/* pitch control parameters */
@@ -501,7 +529,7 @@ FixedwingAttitudeControl::vehicle_accel_poll()
 	orb_check(_accel_sub, &accel_updated);
 
 	if (accel_updated) {
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
+		orb_copy(ORB_ID(sensor_accel0), _accel_sub, &_accel);
 	}
 }
 
@@ -549,7 +577,7 @@ FixedwingAttitudeControl::task_main()
 	 */
 	_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -579,8 +607,12 @@ FixedwingAttitudeControl::task_main()
 	fds[1].fd = _att_sub;
 	fds[1].events = POLLIN;
 
+	_task_running = true;
+
 	while (!_task_should_exit) {
 
+		static int loop_counter = 0;
+
 		/* wait for up to 500ms for data */
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
@@ -660,49 +692,65 @@ FixedwingAttitudeControl::task_main()
 
 				float airspeed;
 
-				/* if airspeed is smaller than min, the sensor is not giving good readings */
-				if ((_airspeed.indicated_airspeed_m_s < 0.5f * _parameters.airspeed_min) ||
-				    !isfinite(_airspeed.indicated_airspeed_m_s) ||
+				/* if airspeed is not updating, we assume the normal average speed */
+				if (bool nonfinite = !isfinite(_airspeed.true_airspeed_m_s) ||
 				    hrt_elapsed_time(&_airspeed.timestamp) > 1e6) {
 					airspeed = _parameters.airspeed_trim;
-
+					if (nonfinite) {
+						perf_count(_nonfinite_input_perf);
+					}
 				} else {
-					airspeed = _airspeed.indicated_airspeed_m_s;
+					airspeed = _airspeed.true_airspeed_m_s;
 				}
 
-				float airspeed_scaling = _parameters.airspeed_trim / airspeed;
-				//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);
+				/*
+				 * For scaling our actuators using anything less than the min (close to stall)
+				 * speed doesn't make any sense - its the strongest reasonable deflection we
+				 * want to do in flight and its the baseline a human pilot would choose.
+				 *
+				 * Forcing the scaling to this value allows reasonable handheld tests.
+				 */
+
+				float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);
 
 				float roll_sp = _parameters.rollsp_offset_rad;
 				float pitch_sp = _parameters.pitchsp_offset_rad;
 				float throttle_sp = 0.0f;
 
 				if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
+					/* read in attitude setpoint from attitude setpoint uorb topic */
 					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
 					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
 					throttle_sp = _att_sp.thrust;
 
 					/* reset integrals where needed */
-					if (_att_sp.roll_reset_integral)
+					if (_att_sp.roll_reset_integral) {
 						_roll_ctrl.reset_integrator();
-
+					}
+					if (_att_sp.pitch_reset_integral) {
+						_pitch_ctrl.reset_integrator();
+					}
+					if (_att_sp.yaw_reset_integral) {
+						_yaw_ctrl.reset_integrator();
+					}
 				} else {
 					/*
 					 * Scale down roll and pitch as the setpoints are radians
-					 * and a typical remote can only do 45 degrees, the mapping is
-					 * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
+					 * and a typical remote can only do around 45 degrees, the mapping is
+					 * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
 					 *
 					 * With this mapping the stick angle is a 1:1 representation of
-					 * the commanded attitude. If more than 45 degrees are desired,
-					 * a scaling parameter can be applied to the remote.
+					 * the commanded attitude.
 					 *
 					 * The trim gets subtracted here from the manual setpoint to get
 					 * the intended attitude setpoint. Later, after the rate control step the
 					 * trim is added again to the control signal.
 					 */
-					roll_sp = (_manual.roll - _parameters.trim_roll) * 0.75f + _parameters.rollsp_offset_rad;
-					pitch_sp = (_manual.pitch - _parameters.trim_pitch) * 0.75f + _parameters.pitchsp_offset_rad;
-					throttle_sp = _manual.throttle;
+					roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+						+ _parameters.rollsp_offset_rad;
+					pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+						+ _parameters.pitchsp_offset_rad;
+					throttle_sp = _manual.z;
 					_actuators.control[4] = _manual.flaps;
 
 					/*
@@ -737,7 +785,9 @@ FixedwingAttitudeControl::task_main()
 					speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
 					speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
 				} else	{
-					warnx("Did not get a valid R\n");
+					if (loop_counter % 10 == 0) {
+						warnx("Did not get a valid R\n");
+					}
 				}
 
 				/* Run attitude controllers */
@@ -755,7 +805,12 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
 					if (!isfinite(roll_u)) {
-						warnx("roll_u %.4f", roll_u);
+						_roll_ctrl.reset_integrator();
+						perf_count(_nonfinite_output_perf);
+
+						if (loop_counter % 10 == 0) {
+							warnx("roll_u %.4f", (double)roll_u);
+						}
 					}
 
 					float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -764,8 +819,22 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[1] = (isfinite(pitch_u)) ? pitch_u + _parameters.trim_pitch : _parameters.trim_pitch;
 					if (!isfinite(pitch_u)) {
-						warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f, airspeed %.4f, airspeed_scaling %.4f, roll_sp %.4f, pitch_sp %.4f, _roll_ctrl.get_desired_rate() %.4f, _pitch_ctrl.get_desired_rate() %.4f att_sp.roll_body %.4f",
-								pitch_u, _yaw_ctrl.get_desired_rate(), airspeed, airspeed_scaling, roll_sp, pitch_sp, _roll_ctrl.get_desired_rate(), _pitch_ctrl.get_desired_rate(), _att_sp.roll_body);
+						_pitch_ctrl.reset_integrator();
+						perf_count(_nonfinite_output_perf);
+						if (loop_counter % 10 == 0) {
+							warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
+								" airspeed %.4f, airspeed_scaling %.4f,"
+								" roll_sp %.4f, pitch_sp %.4f,"
+								" _roll_ctrl.get_desired_rate() %.4f,"
+								" _pitch_ctrl.get_desired_rate() %.4f"
+								" att_sp.roll_body %.4f",
+								(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
+								(double)airspeed, (double)airspeed_scaling,
+								(double)roll_sp, (double)pitch_sp,
+								(double)_roll_ctrl.get_desired_rate(),
+								(double)_pitch_ctrl.get_desired_rate(),
+								(double)_att_sp.roll_body);
+						}
 					}
 
 					float yaw_u = _yaw_ctrl.control_bodyrate(_att.roll, _att.pitch,
@@ -774,16 +843,25 @@ FixedwingAttitudeControl::task_main()
 							_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
 					_actuators.control[2] = (isfinite(yaw_u)) ? yaw_u + _parameters.trim_yaw : _parameters.trim_yaw;
 					if (!isfinite(yaw_u)) {
-						warnx("yaw_u %.4f", yaw_u);
+						_yaw_ctrl.reset_integrator();
+						perf_count(_nonfinite_output_perf);
+						if (loop_counter % 10 == 0) {
+							warnx("yaw_u %.4f", (double)yaw_u);
+						}
 					}
 
 					/* throttle passed through */
 					_actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f;
 					if (!isfinite(throttle_sp)) {
-						warnx("throttle_sp %.4f", throttle_sp);
+						if (loop_counter % 10 == 0) {
+							warnx("throttle_sp %.4f", (double)throttle_sp);
+						}
 					}
 				} else {
-					warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", roll_sp, pitch_sp);
+					perf_count(_nonfinite_input_perf);
+					if (loop_counter % 10 == 0) {
+						warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
+					}
 				}
 
 				/*
@@ -808,10 +886,10 @@ FixedwingAttitudeControl::task_main()
 
 			} else {
 				/* manual/direct control */
-				_actuators.control[0] = _manual.roll;
-				_actuators.control[1] = _manual.pitch;
-				_actuators.control[2] = _manual.yaw;
-				_actuators.control[3] = _manual.throttle;
+				_actuators.control[0] = _manual.y;
+				_actuators.control[1] = -_manual.x;
+				_actuators.control[2] = _manual.r;
+				_actuators.control[3] = _manual.z;
 				_actuators.control[4] = _manual.flaps;
 			}
 
@@ -847,12 +925,14 @@ FixedwingAttitudeControl::task_main()
 
 		}
 
+		loop_counter++;
 		perf_end(_loop_perf);
 	}
 
 	warnx("exiting.\n");
 
 	_control_task = -1;
+	_task_running = false;
 	_exit(0);
 }
 
@@ -898,6 +978,14 @@ int fw_att_control_main(int argc, char *argv[])
 			err(1, "start failed");
 		}
 
+		/* avoid memory fragmentation by not exiting start handler until the task has fully started */
+		while (att_control::g_control == nullptr || !att_control::g_control->task_running()) {
+			usleep(50000);
+			printf(".");
+			fflush(stdout);
+		}
+		printf("\n");
+
 		exit(0);
 	}
 
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index c80a44f2a..7cae84678 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -50,139 +50,322 @@ f *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  * Controller parameters, accessible via MAVLink
  *
  */
-// @DisplayName		Attitude Time Constant
-// @Description		This defines the latency between a step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed.
-// @Range		0.4 to 1.0 seconds, in tens of seconds
+
+/**
+ * Attitude Time Constant
+ *
+ * This defines the latency between a step input and the achieved setpoint
+ * (inverse to a P gain). Half a second is a good start value and fits for
+ * most average systems. Smaller systems may require smaller values, but as
+ * this will wear out servos faster, the value should only be decreased as
+ * needed.
+ *
+ * @unit seconds
+ * @min 0.4
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
 
-// @DisplayName		Pitch rate proportional gain.
-// @Description		This defines how much the elevator input will be commanded depending on the current body angular rate error.
-// @Range		10 to 200, 1 increments
+/**
+ * Pitch rate proportional gain.
+ *
+ * This defines how much the elevator input will be commanded depending on the
+ * current body angular rate error.
+ *
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
 
-// @DisplayName		Pitch rate integrator gain.
-// @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
-// @Range		0 to 50.0
+/**
+ * Pitch rate integrator gain.
+ *
+ * This gain defines how much control response will result out of a steady
+ * state error. It trims any constant error.
+ *
+ * @min 0.0
+ * @max 50.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f);
 
-// @DisplayName		Maximum positive / up pitch rate.
-// @Description		This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds, in 1 increments
+/**
+ * Maximum positive / up pitch rate.
+ *
+ * This limits the maximum pitch up angular rate the controller will output (in
+ * degrees per second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
 
-// @DisplayName		Maximum negative / down pitch rate.
-// @Description		This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds, in 1 increments
+/**
+ * Maximum negative / down pitch rate.
+ *
+ * This limits the maximum pitch down up angular rate the controller will
+ * output (in degrees per second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
 
-// @DisplayName		Pitch rate integrator limit
-// @Description		The portion of the integrator part in the control surface deflection is limited to this value
-// @Range		0.0 to 1
-// @Increment		0.1
+/**
+ * Pitch rate integrator limit
+ *
+ * The portion of the integrator part in the control surface deflection is
+ * limited to this value
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
 
-// @DisplayName		Roll to Pitch feedforward gain.
-// @Description		This compensates during turns and ensures the nose stays level.
-// @Range		0.5 2.0
-// @Increment		0.05
-// @User		User
+/**
+ * Roll to Pitch feedforward gain.
+ *
+ * This compensates during turns and ensures the nose stays level.
+ *
+ * @min 0.0
+ * @max 2.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
 
-// @DisplayName		Roll rate proportional Gain.
-// @Description		This defines how much the aileron input will be commanded depending on the current body angular rate error.
-// @Range		10.0 200.0
-// @Increment		10.0
-// @User		User
+/**
+ * Roll rate proportional Gain
+ *
+ * This defines how much the aileron input will be commanded depending on the
+ * current body angular rate error.
+ *
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
 
-// @DisplayName		Roll rate integrator Gain
-// @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
-// @Range		0.0 100.0
-// @Increment		5.0
-// @User		User
+/**
+ * Roll rate integrator Gain
+ *
+ * This gain defines how much control response will result out of a steady
+ * state error. It trims any constant error.
+ *
+ * @min 0.0
+ * @max 100.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f);
 
-// @DisplayName		Roll Integrator Anti-Windup
-// @Description		The portion of the integrator part in the control surface deflection is limited to this value.
-// @Range		0.0 to 1.0
-// @Increment		0.1
+/**
+ * Roll Integrator Anti-Windup
+ *
+ * The portion of the integrator part in the control surface deflection is limited to this value.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
 
-// @DisplayName		Maximum Roll Rate
-// @Description		This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds
-// @Increment		1.0
-PARAM_DEFINE_FLOAT(FW_R_RMAX, 0);
+/**
+ * Maximum Roll Rate
+ *
+ * This limits the maximum roll rate the controller will output (in degrees per
+ * second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f);
 
-// @DisplayName		Yaw rate proportional gain.
-// @Description		This defines how much the rudder input will be commanded depending on the current body angular rate error.
-// @Range		10 to 200, 1 increments
-PARAM_DEFINE_FLOAT(FW_YR_P, 0.05);
+/**
+ * Yaw rate proportional gain
+ *
+ * This defines how much the rudder input will be commanded depending on the
+ * current body angular rate error.
+ *
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
 
-// @DisplayName		Yaw rate integrator gain.
-// @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
-// @Range		0 to 50.0
+/**
+ * Yaw rate integrator gain
+ *
+ * This gain defines how much control response will result out of a steady
+ * state error. It trims any constant error.
+ *
+ * @min 0.0
+ * @max 50.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
 
-// @DisplayName		Yaw rate integrator limit
-// @Description		The portion of the integrator part in the control surface deflection is limited to this value
-// @Range		0.0 to 1
-// @Increment		0.1
+/**
+ * Yaw rate integrator limit
+ *
+ * The portion of the integrator part in the control surface deflection is
+ * limited to this value
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
 
-// @DisplayName		Maximum Yaw Rate
-// @Description		This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
-// @Range		0 to 90.0 degrees per seconds
-// @Increment		1.0
-PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0);
+/**
+ * Maximum Yaw Rate
+ *
+ * This limits the maximum yaw rate the controller will output (in degrees per
+ * second). Setting a value of zero disables the limit.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
 
-// @DisplayName		Roll rate feed forward
-// @Description		Direct feed forward from rate setpoint to control surface output
-// @Range		0 to 10
-// @Increment		0.1
+/**
+ * Roll rate feed forward
+ *
+ * Direct feed forward from rate setpoint to control surface output
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f);
 
-// @DisplayName		Pitch rate feed forward
-// @Description		Direct feed forward from rate setpoint to control surface output
-// @Range		0 to 10
-// @Increment		0.1
+/**
+ * Pitch rate feed forward
+ *
+ * Direct feed forward from rate setpoint to control surface output
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f);
 
-// @DisplayName		Yaw rate feed forward
-// @Description		Direct feed forward from rate setpoint to control surface output
-// @Range		0 to 10
-// @Increment		0.1
+/**
+ * Yaw rate feed forward
+ *
+ * Direct feed forward from rate setpoint to control surface output
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
 
-// @DisplayName		Minimal speed for yaw coordination
-// @Description		For airspeeds above this value the yaw rate is calculated for a coordinated turn. Set to a very high value to disable.
-// @Range		0 to 90.0 degrees per seconds
-// @Increment		1.0
+/**
+ * Minimal speed for yaw coordination
+ *
+ * For airspeeds above this value, the yaw rate is calculated for a coordinated
+ * turn. Set to a very high value to disable.
+ *
+ * @unit m/s
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
 
-/* Airspeed parameters: the following parameters about airspeed are used by the attitude and the positon controller */
+/* Airspeed parameters:
+ * The following parameters about airspeed are used by the attitude and the
+ * position controller.
+ * */
 
-// @DisplayName		Minimum Airspeed
-// @Description		If the airspeed falls below this value the TECS controller will try to increase airspeed more aggressively
-// @Range		0.0 to 30
+/**
+ * Minimum Airspeed
+ *
+ * If the airspeed falls below this value, the TECS controller will try to
+ * increase airspeed more aggressively.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 30.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f);
 
-// @DisplayName		Trim Airspeed
-// @Description		The TECS controller tries to fly at this airspeed
-// @Range		0.0 to 30
+/**
+ * Trim Airspeed
+ *
+ * The TECS controller tries to fly at this airspeed.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 30.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f);
 
-// @DisplayName		Maximum Airspeed
-// @Description		If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively
-// @Range		0.0 to 30
+/**
+ * Maximum Airspeed
+ *
+ * If the airspeed is above this value, the TECS controller will try to decrease
+ * airspeed more aggressively.
+ *
+ * @unit m/s
+ * @min 0.0
+ * @max 30.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f);
 
-// @DisplayName		Roll Setpoint Offset
-// @Description		An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe
-// @Range		-90.0 to 90.0
+/**
+ * Roll Setpoint Offset
+ *
+ * An airframe specific offset of the roll setpoint in degrees, the value is
+ * added to the roll setpoint and should correspond to the typical cruise speed
+ * of the airframe.
+ *
+ * @unit deg
+ * @min -90.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
 
-// @DisplayName		Pitch Setpoint Offset
-// @Description		An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe
-// @Range		-90.0 to 90.0
+/**
+ * Pitch Setpoint Offset
+ *
+ * An airframe specific offset of the pitch setpoint in degrees, the value is
+ * added to the pitch setpoint and should correspond to the typical cruise
+ * speed of the airframe.
+ *
+ * @unit deg
+ * @min -90.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
 PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
+
+/**
+ * Max Manual Roll
+ *
+ * Max roll for manual control in attitude stabilized mode
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
+
+/**
+ * Max Manual Pitch
+ *
+ * Max pitch for manual control in attitude stabilized mode
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
diff --git a/src/modules/fw_att_control/module.mk b/src/modules/fw_att_control/module.mk
index 1e600757e..89c6494c5 100644
--- a/src/modules/fw_att_control/module.mk
+++ b/src/modules/fw_att_control/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	= fw_att_control
 
 SRCS		= fw_att_control_main.cpp \
 		  fw_att_control_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h
deleted file mode 100644
index c5a5e9d8d..000000000
--- a/src/modules/fw_att_pos_estimator/estimator.h
+++ /dev/null
@@ -1,235 +0,0 @@
-#include <math.h>
-#include <stdint.h>
-
-#pragma once
-
-#define GRAVITY_MSS 9.80665f
-#define deg2rad 0.017453292f
-#define rad2deg 57.295780f
-#define pi 3.141592657f
-#define earthRate 0.000072921f
-#define earthRadius 6378145.0f
-#define earthRadiusInv  1.5678540e-7f
-
-class Vector3f
-{
-private:
-public:
-    float x;
-    float y;
-    float z;
-
-    float length(void) const;
-    Vector3f zero(void) const;
-};
-
-class Mat3f
-{
-private:
-public:
-    Vector3f x;
-    Vector3f y;
-    Vector3f z;
-
-    Mat3f();
-
-    Mat3f transpose(void) const;
-};
-
-Vector3f operator*(float sclIn1, Vector3f vecIn1);
-Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
-Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
-Vector3f operator*( Mat3f matIn, Vector3f vecIn);
-Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
-Vector3f operator*(Vector3f vecIn1, float sclIn1);
-
-void swap_var(float &d1, float &d2);
-
-const unsigned int n_states = 21;
-const unsigned int data_buffer_size = 50;
-
-extern uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
-extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
-extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
-extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
-extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
-extern float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
-extern Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
-extern Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
-extern Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
-extern Vector3f dVelIMU;
-extern Vector3f dAngIMU;
-
-extern float P[n_states][n_states]; // covariance matrix
-extern float Kfusion[n_states]; // Kalman gains
-extern float states[n_states]; // state matrix
-extern float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
-
-extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
-extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
-extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
-extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
-
-extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
-
-extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
-extern bool useAirspeed; // boolean true if airspeed data is being used
-extern bool useCompass; // boolean true if magnetometer data is being used
-extern uint8_t fusionModeGPS ; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
-extern float innovVelPos[6]; // innovation output
-extern float varInnovVelPos[6]; // innovation variance output
-
-extern bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
-extern bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
-extern bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
-extern bool fuseMagData; // boolean true when magnetometer data is to be fused
-
-extern float velNED[3]; // North, East, Down velocity obs (m/s)
-extern float posNE[2]; // North, East position obs (m)
-extern float hgtMea; //  measured height (m)
-extern float posNED[3]; // North, East Down position (m)
-
-extern float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
-extern float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
-extern float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
-
-extern float innovMag[3]; // innovation output
-extern float varInnovMag[3]; // innovation variance output
-extern Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
-extern float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
-extern float innovVtas; // innovation output
-extern float varInnovVtas; // innovation variance output
-extern bool fuseVtasData; // boolean true when airspeed data is to be fused
-extern float VtasMeas; // true airspeed measurement (m/s)
-extern float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
-extern float latRef; // WGS-84 latitude of reference point (rad)
-extern float lonRef; // WGS-84 longitude of reference point (rad)
-extern float hgtRef; // WGS-84 height of reference point (m)
-extern Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
-extern uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
-extern float EAS2TAS; // ratio f true to equivalent airspeed
-
-// GPS input data variables
-extern float gpsCourse;
-extern float gpsVelD;
-extern float gpsLat;
-extern float gpsLon;
-extern float gpsHgt;
-extern uint8_t GPSstatus;
-
-// Baro input
-extern float baroHgt;
-
-extern bool statesInitialised;
-extern bool numericalProtection;
-
-const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
-const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
-
-extern bool staticMode;
-
-enum GPS_FIX {
-    GPS_FIX_NOFIX = 0,
-    GPS_FIX_2D = 2,
-    GPS_FIX_3D = 3
-};
-
-struct ekf_status_report {
-    bool velHealth;
-    bool posHealth;
-    bool hgtHealth;
-    bool velTimeout;
-    bool posTimeout;
-    bool hgtTimeout;
-    uint32_t velFailTime;
-    uint32_t posFailTime;
-    uint32_t hgtFailTime;
-    float states[n_states];
-    bool statesNaN;
-    bool covarianceNaN;
-    bool kalmanGainsNaN;
-};
-
-void  UpdateStrapdownEquationsNED();
-
-void CovariancePrediction(float dt);
-
-void FuseVelposNED();
-
-void FuseMagnetometer();
-
-void FuseAirspeed();
-
-void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
-
-void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
-
-float sq(float valIn);
-
-void quatNorm(float (&quatOut)[4], const float quatIn[4]);
-
-// store staes along with system time stamp in msces
-void StoreStates(uint64_t timestamp_ms);
-
-/**
- * Recall the state vector.
- *
- * Recalls the vector stored at closest time to the one specified by msec
- *
- * @return zero on success, integer indicating the number of invalid states on failure.
- *         Does only copy valid states, if the statesForFusion vector was initialized
- *         correctly by the caller, the result can be safely used, but is a mixture
- *         time-wise where valid states were updated and invalid remained at the old
- *         value.
- */
-int RecallStates(float statesForFusion[n_states], uint64_t msec);
-
-void ResetStoredStates();
-
-void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
-
-void calcEarthRateNED(Vector3f &omega, float latitude);
-
-void eul2quat(float (&quat)[4], const float (&eul)[3]);
-
-void quat2eul(float (&eul)[3], const float (&quat)[4]);
-
-void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
-
-void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
-
-void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
-
-void OnGroundCheck();
-
-void CovarianceInit();
-
-void InitialiseFilter(float (&initvelNED)[3]);
-
-float ConstrainFloat(float val, float min, float max);
-
-void ConstrainVariances();
-
-void ConstrainStates();
-
-void ForceSymmetry();
-
-int CheckAndBound();
-
-void ResetPosition();
-
-void ResetVelocity();
-
-void ZeroVariables();
-
-void GetFilterState(struct ekf_status_report *state);
-
-void GetLastErrorState(struct ekf_status_report *last_error);
-
-bool StatesNaN(struct ekf_status_report *err_report);
-void FillErrorReport(struct ekf_status_report *err);
-
-void InitializeDynamic(float (&initvelNED)[3]);
-
-uint32_t millis();
-
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
deleted file mode 100644
index c9d75bce4..000000000
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ /dev/null
@@ -1,1259 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file fw_att_pos_estimator_main.cpp
- * Implementation of the attitude and position estimator.
- *
- * @author Paul Riseborough <p_riseborough@live.com.au>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <math.h>
-#include <poll.h>
-#include <time.h>
-#include <drivers/drv_hrt.h>
-
-#define SENSOR_COMBINED_SUB
-
-
-#include <drivers/drv_gyro.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_mag.h>
-#include <drivers/drv_baro.h>
-#ifdef SENSOR_COMBINED_SUB
-#include <uORB/topics/sensor_combined.h>
-#endif
-#include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/airspeed.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/estimator_status.h>
-#include <uORB/topics/actuator_armed.h>
-#include <systemlib/param/param.h>
-#include <systemlib/err.h>
-#include <geo/geo.h>
-#include <systemlib/perf_counter.h>
-#include <systemlib/systemlib.h>
-#include <mathlib/mathlib.h>
-#include <mavlink/mavlink_log.h>
-
-#include "estimator.h"
-
-
-
-/**
- * estimator app start / stop handling function
- *
- * @ingroup apps
- */
-extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]);
-
-__EXPORT uint32_t millis();
-
-static uint64_t last_run = 0;
-static uint64_t IMUmsec = 0;
-
-uint32_t millis()
-{
-	return IMUmsec;
-}
-
-static void print_status();
-
-class FixedwingEstimator
-{
-public:
-	/**
-	 * Constructor
-	 */
-	FixedwingEstimator();
-
-	/**
-	 * Destructor, also kills the sensors task.
-	 */
-	~FixedwingEstimator();
-
-	/**
-	 * Start the sensors task.
-	 *
-	 * @return		OK on success.
-	 */
-	int		start();
-
-private:
-
-	bool		_task_should_exit;		/**< if true, sensor task should exit */
-	int		_estimator_task;			/**< task handle for sensor task */
-#ifndef SENSOR_COMBINED_SUB
-	int		_gyro_sub;			/**< gyro sensor subscription */
-	int		_accel_sub;			/**< accel sensor subscription */
-	int		_mag_sub;			/**< mag sensor subscription */
-#else
-	int		_sensor_combined_sub;
-#endif
-	int		_airspeed_sub;			/**< airspeed subscription */
-	int		_baro_sub;			/**< barometer subscription */
-	int		_gps_sub;			/**< GPS subscription */
-	int		_vstatus_sub;			/**< vehicle status subscription */
-	int 		_params_sub;			/**< notification of parameter updates */
-	int 		_manual_control_sub;		/**< notification of manual control updates */
-	int		_mission_sub;
-
-	orb_advert_t	_att_pub;			/**< vehicle attitude */
-	orb_advert_t	_global_pos_pub;		/**< global position */
-	orb_advert_t	_local_pos_pub;			/**< position in local frame */
-	orb_advert_t	_estimator_status_pub;		/**< status of the estimator */
-
-	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
-	struct gyro_report				_gyro;
-	struct accel_report				_accel;
-	struct mag_report				_mag;
-	struct airspeed_s				_airspeed;		/**< airspeed */
-	struct baro_report				_baro;			/**< baro readings */
-	struct vehicle_status_s				_vstatus;		/**< vehicle status */
-	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
-	struct vehicle_local_position_s			_local_pos;		/**< local vehicle position */
-	struct vehicle_gps_position_s			_gps;			/**< GPS position */
-
-	struct gyro_scale				_gyro_offsets;
-	struct accel_scale				_accel_offsets;
-	struct mag_scale				_mag_offsets;
-
-#ifdef SENSOR_COMBINED_SUB
-	struct sensor_combined_s			_sensor_combined;
-#endif
-
-	float						_baro_ref;		/**< barometer reference altitude */
-	float						_baro_gps_offset;	/**< offset between GPS and baro */
-
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-	perf_counter_t	_perf_gyro;			///<local performance counter for gyro updates
-	perf_counter_t	_perf_accel;			///<local performance counter for accel updates
-	perf_counter_t	_perf_mag;			///<local performance counter for mag updates
-	perf_counter_t	_perf_gps;			///<local performance counter for gps updates
-	perf_counter_t	_perf_baro;			///<local performance counter for baro updates
-	perf_counter_t	_perf_airspeed;			///<local performance counter for airspeed updates
-
-	bool						_initialized;
-	bool						_gps_initialized;
-
-	int						_mavlink_fd;
-
-	struct {
-		int32_t	vel_delay_ms;
-		int32_t	pos_delay_ms;
-		int32_t	height_delay_ms;
-		int32_t	mag_delay_ms;
-		int32_t	tas_delay_ms;
-	}		_parameters;			/**< local copies of interesting parameters */
-
-	struct {
-		param_t vel_delay_ms;
-		param_t	pos_delay_ms;
-		param_t	height_delay_ms;
-		param_t	mag_delay_ms;
-		param_t	tas_delay_ms;
-	}		_parameter_handles;		/**< handles for interesting parameters */
-
-
-	/**
-	 * Update our local parameter cache.
-	 */
-	int		parameters_update();
-
-	/**
-	 * Update control outputs
-	 *
-	 */
-	void		control_update();
-
-	/**
-	 * Check for changes in vehicle status.
-	 */
-	void		vehicle_status_poll();
-
-	/**
-	 * Shim for calling task_main from task_create.
-	 */
-	static void	task_main_trampoline(int argc, char *argv[]);
-
-	/**
-	 * Main sensor collection task.
-	 */
-	void		task_main() __attribute__((noreturn));
-};
-
-namespace estimator
-{
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-FixedwingEstimator	*g_estimator;
-}
-
-FixedwingEstimator::FixedwingEstimator() :
-
-	_task_should_exit(false),
-	_estimator_task(-1),
-
-/* subscriptions */
-#ifndef SENSOR_COMBINED_SUB
-	_gyro_sub(-1),
-	_accel_sub(-1),
-	_mag_sub(-1),
-#else
-	_sensor_combined_sub(-1),
-#endif
-	_airspeed_sub(-1),
-	_baro_sub(-1),
-	_gps_sub(-1),
-	_vstatus_sub(-1),
-	_params_sub(-1),
-	_manual_control_sub(-1),
-
-/* publications */
-	_att_pub(-1),
-	_global_pos_pub(-1),
-	_local_pos_pub(-1),
-	_estimator_status_pub(-1),
-
-	_baro_ref(0.0f),
-	_baro_gps_offset(0.0f),
-
-/* performance counters */
-	_loop_perf(perf_alloc(PC_COUNT, "fw_att_pos_estimator")),
-	_perf_gyro(perf_alloc(PC_COUNT, "fw_ekf_gyro_upd")),
-	_perf_accel(perf_alloc(PC_COUNT, "fw_ekf_accel_upd")),
-	_perf_mag(perf_alloc(PC_COUNT, "fw_ekf_mag_upd")),
-	_perf_gps(perf_alloc(PC_COUNT, "fw_ekf_gps_upd")),
-	_perf_baro(perf_alloc(PC_COUNT, "fw_ekf_baro_upd")),
-	_perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")),
-
-/* states */
-	_initialized(false),
-	_gps_initialized(false),
-	_mavlink_fd(-1)
-{
-
-	_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	_parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS");
-	_parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS");
-	_parameter_handles.height_delay_ms = param_find("PE_HGT_DELAY_MS");
-	_parameter_handles.mag_delay_ms = param_find("PE_MAG_DELAY_MS");
-	_parameter_handles.tas_delay_ms = param_find("PE_TAS_DELAY_MS");
-
-	/* fetch initial parameter values */
-	parameters_update();
-
-	/* get offsets */
-
-	int fd, res;
-
-	fd = open(GYRO_DEVICE_PATH, O_RDONLY);
-
-	if (fd > 0) {
-		res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets);
-		close(fd);
-	}
-
-	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
-
-	if (fd > 0) {
-		res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets);
-		close(fd);
-	}
-
-	fd = open(MAG_DEVICE_PATH, O_RDONLY);
-
-	if (fd > 0) {
-		res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets);
-		close(fd);
-	}
-}
-
-FixedwingEstimator::~FixedwingEstimator()
-{
-	if (_estimator_task != -1) {
-
-		/* task wakes up every 100ms or so at the longest */
-		_task_should_exit = true;
-
-		/* wait for a second for the task to quit at our request */
-		unsigned i = 0;
-
-		do {
-			/* wait 20ms */
-			usleep(20000);
-
-			/* if we have given up, kill it */
-			if (++i > 50) {
-				task_delete(_estimator_task);
-				break;
-			}
-		} while (_estimator_task != -1);
-	}
-
-	estimator::g_estimator = nullptr;
-}
-
-int
-FixedwingEstimator::parameters_update()
-{
-
-	param_get(_parameter_handles.vel_delay_ms, &(_parameters.vel_delay_ms));
-	param_get(_parameter_handles.pos_delay_ms, &(_parameters.pos_delay_ms));
-	param_get(_parameter_handles.height_delay_ms, &(_parameters.height_delay_ms));
-	param_get(_parameter_handles.mag_delay_ms, &(_parameters.mag_delay_ms));
-	param_get(_parameter_handles.tas_delay_ms, &(_parameters.tas_delay_ms));
-
-	return OK;
-}
-
-void
-FixedwingEstimator::vehicle_status_poll()
-{
-	bool vstatus_updated;
-
-	/* Check HIL state if vehicle status has changed */
-	orb_check(_vstatus_sub, &vstatus_updated);
-
-	if (vstatus_updated) {
-
-		orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
-	}
-}
-
-void
-FixedwingEstimator::task_main_trampoline(int argc, char *argv[])
-{
-	estimator::g_estimator->task_main();
-}
-
-float dt = 0.0f; // time lapsed since last covariance prediction
-
-void
-FixedwingEstimator::task_main()
-{
-
-	/*
-	 * do subscriptions
-	 */
-	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
-	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
-	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
-	_params_sub = orb_subscribe(ORB_ID(parameter_update));
-
-	/* rate limit vehicle status updates to 5Hz */
-	orb_set_interval(_vstatus_sub, 200);
-
-#ifndef SENSOR_COMBINED_SUB
-
-	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
-	_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
-
-	/* rate limit gyro updates to 50 Hz */
-	/* XXX remove this!, BUT increase the data buffer size! */
-	orb_set_interval(_gyro_sub, 4);
-#else
-	_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
-	/* XXX remove this!, BUT increase the data buffer size! */
-	orb_set_interval(_sensor_combined_sub, 4);
-#endif
-
-	parameters_update();
-
-	/* set initial filter state */
-	fuseVelData = false;
-	fusePosData = false;
-	fuseHgtData = false;
-	fuseMagData = false;
-	fuseVtasData = false;
-	statesInitialised = false;
-
-	/* initialize measurement data */
-	VtasMeas = 0.0f;
-	Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
-	Vector3f lastAccel = {0.0f, 0.0f, -9.81f};
-	dVelIMU.x = 0.0f;
-	dVelIMU.y = 0.0f;
-	dVelIMU.z = 0.0f;
-	dAngIMU.x = 0.0f;
-	dAngIMU.y = 0.0f;
-	dAngIMU.z = 0.0f;
-
-	/* wakeup source(s) */
-	struct pollfd fds[2];
-
-	/* Setup of loop */
-	fds[0].fd = _params_sub;
-	fds[0].events = POLLIN;
-#ifndef SENSOR_COMBINED_SUB
-	fds[1].fd = _gyro_sub;
-	fds[1].events = POLLIN;
-#else
-	fds[1].fd = _sensor_combined_sub;
-	fds[1].events = POLLIN;
-#endif
-
-	hrt_abstime start_time = hrt_absolute_time();
-
-	bool newDataGps = false;
-	bool newAdsData = false;
-	bool newDataMag = false;
-
-	while (!_task_should_exit) {
-
-		/* wait for up to 500ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
-
-		/* timed out - periodic check for _task_should_exit, etc. */
-		if (pret == 0)
-			continue;
-
-		/* this is undesirable but not much we can do - might want to flag unhappy status */
-		if (pret < 0) {
-			warn("poll error %d, %d", pret, errno);
-			continue;
-		}
-
-		perf_begin(_loop_perf);
-
-		/* only update parameters if they changed */
-		if (fds[0].revents & POLLIN) {
-			/* read from param to clear updated flag */
-			struct parameter_update_s update;
-			orb_copy(ORB_ID(parameter_update), _params_sub, &update);
-
-			/* update parameters from storage */
-			parameters_update();
-		}
-
-		/* only run estimator if gyro updated */
-		if (fds[1].revents & POLLIN) {
-
-			/* check vehicle status for changes to publication state */
-			vehicle_status_poll();
-
-			bool accel_updated;
-			bool mag_updated;
-
-			perf_count(_perf_gyro);
-
-			/**
-			 *    PART ONE: COLLECT ALL DATA
-			 **/
-
-			hrt_abstime last_sensor_timestamp;
-
-			/* load local copies */
-#ifndef SENSOR_COMBINED_SUB
-			orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
-
-
-			orb_check(_accel_sub, &accel_updated);
-
-			if (accel_updated) {
-				perf_count(_perf_accel);
-				orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
-			}
-
-			last_sensor_timestamp = _gyro.timestamp;
-			IMUmsec = _gyro.timestamp / 1e3f;
-
-			float deltaT = (_gyro.timestamp - last_run) / 1e6f;
-			last_run = _gyro.timestamp;
-
-			/* guard against too large deltaT's */
-			if (deltaT > 1.0f)
-				deltaT = 0.01f;
-
-
-			// Always store data, independent of init status
-			/* fill in last data set */
-			dtIMU = deltaT;
-
-			angRate.x = _gyro.x;
-			angRate.y = _gyro.y;
-			angRate.z = _gyro.z;
-
-			accel.x = _accel.x;
-			accel.y = _accel.y;
-			accel.z = _accel.z;
-
-			dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
-			lastAngRate = angRate;
-			dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
-			lastAccel = accel;
-
-
-#else
-			orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
-
-			static hrt_abstime last_accel = 0;
-			static hrt_abstime last_mag = 0;
-
-			if (last_accel != _sensor_combined.accelerometer_timestamp) {
-				accel_updated = true;
-			}
-
-			last_accel = _sensor_combined.accelerometer_timestamp;
-
-
-			// Copy gyro and accel
-			last_sensor_timestamp = _sensor_combined.timestamp;
-			IMUmsec = _sensor_combined.timestamp / 1e3f;
-
-			float deltaT = (_sensor_combined.timestamp - last_run) / 1e6f;
-			last_run = _sensor_combined.timestamp;
-
-			/* guard against too large deltaT's */
-			if (deltaT > 1.0f || deltaT < 0.000001f)
-				deltaT = 0.01f;
-
-			// Always store data, independent of init status
-			/* fill in last data set */
-			dtIMU = deltaT;
-
-			angRate.x = _sensor_combined.gyro_rad_s[0];
-			angRate.y = _sensor_combined.gyro_rad_s[1];
-			angRate.z = _sensor_combined.gyro_rad_s[2];
-
-			accel.x = _sensor_combined.accelerometer_m_s2[0];
-			accel.y = _sensor_combined.accelerometer_m_s2[1];
-			accel.z = _sensor_combined.accelerometer_m_s2[2];
-
-			dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
-			lastAngRate = angRate;
-			dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
-			lastAccel = accel;
-
-			if (last_mag != _sensor_combined.magnetometer_timestamp) {
-				mag_updated = true;
-				newDataMag = true;
-
-			} else {
-				newDataMag = false;
-			}
-
-			last_mag = _sensor_combined.magnetometer_timestamp;
-
-#endif
-
-			bool airspeed_updated;
-			orb_check(_airspeed_sub, &airspeed_updated);
-
-			if (airspeed_updated) {
-				orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
-				perf_count(_perf_airspeed);
-
-				VtasMeas = _airspeed.true_airspeed_m_s;
-				newAdsData = true;
-
-			} else {
-				newAdsData = false;
-			}
-
-			bool gps_updated;
-			orb_check(_gps_sub, &gps_updated);
-
-			if (gps_updated) {
-
-				uint64_t last_gps = _gps.timestamp_position;
-
-				orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
-				perf_count(_perf_gps);
-
-				if (_gps.fix_type < 3) {
-					gps_updated = false;
-					newDataGps = false;
-
-				} else {
-
-					/* check if we had a GPS outage for a long time */
-					if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
-						ResetPosition();
-						ResetVelocity();
-						ResetStoredStates();
-					}
-
-					/* fuse GPS updates */
-
-					//_gps.timestamp / 1e3;
-					GPSstatus = _gps.fix_type;
-					velNED[0] = _gps.vel_n_m_s;
-					velNED[1] = _gps.vel_e_m_s;
-					velNED[2] = _gps.vel_d_m_s;
-
-					// warnx("GPS updated: status: %d, vel: %8.4f %8.4f %8.4f", (int)GPSstatus, velNED[0], velNED[1], velNED[2]);
-
-					gpsLat = math::radians(_gps.lat / (double)1e7);
-					gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
-					gpsHgt = _gps.alt / 1e3f;
-					newDataGps = true;
-
-				}
-
-			}
-
-			bool baro_updated;
-			orb_check(_baro_sub, &baro_updated);
-
-			if (baro_updated) {
-				orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
-
-				baroHgt = _baro.altitude - _baro_ref;
-
-				// Could use a blend of GPS and baro alt data if desired
-				hgtMea = 1.0f * baroHgt + 0.0f * gpsHgt;
-			}
-
-#ifndef SENSOR_COMBINED_SUB
-			orb_check(_mag_sub, &mag_updated);
-#endif
-
-			if (mag_updated) {
-
-				perf_count(_perf_mag);
-
-#ifndef SENSOR_COMBINED_SUB
-				orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
-
-				// XXX we compensate the offsets upfront - should be close to zero.
-				// 0.001f
-				magData.x = _mag.x;
-				magBias.x = 0.000001f; // _mag_offsets.x_offset
-
-				magData.y = _mag.y;
-				magBias.y = 0.000001f; // _mag_offsets.y_offset
-
-				magData.z = _mag.z;
-				magBias.z = 0.000001f; // _mag_offsets.y_offset
-
-#else
-
-				// XXX we compensate the offsets upfront - should be close to zero.
-				// 0.001f
-				magData.x = _sensor_combined.magnetometer_ga[0];
-				magBias.x = 0.000001f; // _mag_offsets.x_offset
-
-				magData.y = _sensor_combined.magnetometer_ga[1];
-				magBias.y = 0.000001f; // _mag_offsets.y_offset
-
-				magData.z = _sensor_combined.magnetometer_ga[2];
-				magBias.z = 0.000001f; // _mag_offsets.y_offset
-
-#endif
-
-				newDataMag = true;
-
-			} else {
-				newDataMag = false;
-			}
-
-
-			/**
-			 *    CHECK IF THE INPUT DATA IS SANE
-			 */
-			int check = CheckAndBound();
-
-			switch (check) {
-				case 0:
-					/* all ok */
-					break;
-				case 1:
-				{
-					const char* str = "NaN in states, resetting";
-					warnx(str);
-					mavlink_log_critical(_mavlink_fd, str);
-					break;
-				}
-				case 2:
-				{
-					const char* str = "stale IMU data, resetting";
-					warnx(str);
-					mavlink_log_critical(_mavlink_fd, str);
-					break;
-				}
-				case 3:
-				{
-					const char* str = "switching dynamic / static state";
-					warnx(str);
-					mavlink_log_critical(_mavlink_fd, str);
-					break;
-				}
-			}
-
-			// If non-zero, we got a problem
-			if (check) {
-
-				struct ekf_status_report ekf_report;
-
-				GetLastErrorState(&ekf_report);
-
-				struct estimator_status_report rep;
-				memset(&rep, 0, sizeof(rep));
-				rep.timestamp = hrt_absolute_time();
-
-				rep.states_nan = ekf_report.statesNaN;
-				rep.covariance_nan = ekf_report.covarianceNaN;
-				rep.kalman_gain_nan = ekf_report.kalmanGainsNaN;
-
-				// Copy all states or at least all that we can fit
-				int i = 0;
-				unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0]));
-				unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0]));
-				rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states;
-
-				while ((i < ekf_n_states) && (i < max_states)) {
-
-					rep.states[i] = ekf_report.states[i];
-					i++;
-				}
-
-				if (_estimator_status_pub > 0) {
-					orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
-				} else {
-					_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep);
-				}
-			}
-
-
-			/**
-			 *    PART TWO: EXECUTE THE FILTER
-			 **/
-
-			// Wait long enough to ensure all sensors updated once
-			// XXX we rather want to check all updated
-
-
-			if (hrt_elapsed_time(&start_time) > 100000) {
-
-				if (!_gps_initialized && (GPSstatus == 3)) {
-					velNED[0] = _gps.vel_n_m_s;
-					velNED[1] = _gps.vel_e_m_s;
-					velNED[2] = _gps.vel_d_m_s;
-
-					double lat = _gps.lat * 1e-7;
-					double lon = _gps.lon * 1e-7;
-					float alt = _gps.alt * 1e-3;
-
-					InitialiseFilter(velNED);
-
-					// Initialize projection
-					_local_pos.ref_lat = _gps.lat;
-					_local_pos.ref_lon = _gps.lon;
-					_local_pos.ref_alt = alt;
-					_local_pos.ref_timestamp = _gps.timestamp_position;
-
-					// Store 
-					orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
-					_baro_ref = _baro.altitude;
-					baroHgt = _baro.altitude - _baro_ref;
-					_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
-
-					// XXX this is not multithreading safe
-					map_projection_init(lat, lon);
-					mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
-
-					_gps_initialized = true;
-
-				} else if (!statesInitialised) {
-					velNED[0] = 0.0f;
-					velNED[1] = 0.0f;
-					velNED[2] = 0.0f;
-					posNED[0] = 0.0f;
-					posNED[1] = 0.0f;
-					posNED[2] = 0.0f;
-
-					posNE[0] = posNED[0];
-					posNE[1] = posNED[1];
-					InitialiseFilter(velNED);
-				}
-			}
-
-			// If valid IMU data and states initialised, predict states and covariances
-			if (statesInitialised) {
-				// Run the strapdown INS equations every IMU update
-				UpdateStrapdownEquationsNED();
-#if 0
-				// debug code - could be tunred into a filter mnitoring/watchdog function
-				float tempQuat[4];
-
-				for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
-
-				quat2eul(eulerEst, tempQuat);
-
-				for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
-
-				if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
-
-				if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
-
-#endif
-				// store the predicted states for subsequent use by measurement fusion
-				StoreStates(IMUmsec);
-				// Check if on ground - status is used by covariance prediction
-				OnGroundCheck();
-				// sum delta angles and time used by covariance prediction
-				summedDelAng = summedDelAng + correctedDelAng;
-				summedDelVel = summedDelVel + dVelIMU;
-				dt += dtIMU;
-
-				// perform a covariance prediction if the total delta angle has exceeded the limit
-				// or the time limit will be exceeded at the next IMU update
-				if ((dt >= (covTimeStepMax - dtIMU)) || (summedDelAng.length() > covDelAngMax)) {
-					CovariancePrediction(dt);
-					summedDelAng = summedDelAng.zero();
-					summedDelVel = summedDelVel.zero();
-					dt = 0.0f;
-				}
-
-				_initialized = true;
-			}
-
-			// Fuse GPS Measurements
-			if (newDataGps && _gps_initialized) {
-				// Convert GPS measurements to Pos NE, hgt and Vel NED
-				velNED[0] = _gps.vel_n_m_s;
-				velNED[1] = _gps.vel_e_m_s;
-				velNED[2] = _gps.vel_d_m_s;
-				calcposNED(posNED, gpsLat, gpsLon, gpsHgt, latRef, lonRef, hgtRef);
-
-				posNE[0] = posNED[0];
-				posNE[1] = posNED[1];
-				// set fusion flags
-				fuseVelData = true;
-				fusePosData = true;
-				// recall states stored at time of measurement after adjusting for delays
-				RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
-				RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
-				// run the fusion step
-				FuseVelposNED();
-
-			} else if (statesInitialised) {
-				// Convert GPS measurements to Pos NE, hgt and Vel NED
-				velNED[0] = 0.0f;
-				velNED[1] = 0.0f;
-				velNED[2] = 0.0f;
-				posNED[0] = 0.0f;
-				posNED[1] = 0.0f;
-				posNED[2] = 0.0f;
-
-				posNE[0] = posNED[0];
-				posNE[1] = posNED[1];
-				// set fusion flags
-				fuseVelData = true;
-				fusePosData = true;
-				// recall states stored at time of measurement after adjusting for delays
-				RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
-				RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
-				// run the fusion step
-				FuseVelposNED();
-
-			} else {
-				fuseVelData = false;
-				fusePosData = false;
-			}
-
-			if (newAdsData && statesInitialised) {
-				// Could use a blend of GPS and baro alt data if desired
-				hgtMea = 1.0f * baroHgt + 0.0f * gpsHgt;
-				fuseHgtData = true;
-				// recall states stored at time of measurement after adjusting for delays
-				RecallStates(statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
-				// run the fusion step
-				FuseVelposNED();
-
-			} else {
-				fuseHgtData = false;
-			}
-
-			// Fuse Magnetometer Measurements
-			if (newDataMag && statesInitialised) {
-				fuseMagData = true;
-				RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
-
-			} else {
-				fuseMagData = false;
-			}
-
-			if (statesInitialised) FuseMagnetometer();
-
-			// Fuse Airspeed Measurements
-			if (newAdsData && statesInitialised && VtasMeas > 8.0f) {
-				fuseVtasData = true;
-				RecallStates(statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
-				FuseAirspeed();
-
-			} else {
-				fuseVtasData = false;
-			}
-
-			// Publish results
-			if (_initialized) {
-
-
-
-				// State vector:
-				// 0-3: quaternions (q0, q1, q2, q3)
-				// 4-6: Velocity - m/sec (North, East, Down)
-				// 7-9: Position - m (North, East, Down)
-				// 10-12: Delta Angle bias - rad (X,Y,Z)
-				// 13-14: Wind Vector  - m/sec (North,East)
-				// 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down)
-				// 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z)
-
-				math::Quaternion q(states[0], states[1], states[2], states[3]);
-				math::Matrix<3, 3> R = q.to_dcm();
-				math::Vector<3> euler = R.to_euler();
-
-				for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
-						_att.R[i][j] = R(i, j);
-
-				_att.timestamp = last_sensor_timestamp;
-				_att.q[0] = states[0];
-				_att.q[1] = states[1];
-				_att.q[2] = states[2];
-				_att.q[3] = states[3];
-				_att.q_valid = true;
-				_att.R_valid = true;
-
-				_att.timestamp = last_sensor_timestamp;
-				_att.roll = euler(0);
-				_att.pitch = euler(1);
-				_att.yaw = euler(2);
-
-				_att.rollspeed = angRate.x - states[10];
-				_att.pitchspeed = angRate.y - states[11];
-				_att.yawspeed = angRate.z - states[12];
-				// gyro offsets
-				_att.rate_offsets[0] = states[10];
-				_att.rate_offsets[1] = states[11];
-				_att.rate_offsets[2] = states[12];
-
-				/* lazily publish the attitude only once available */
-				if (_att_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
-
-				} else {
-					/* advertise and publish */
-					_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
-				}
-			}
-
-			if (!isfinite(states[0])) {
-				print_status();
-				_exit(0);
-			}
-
-			if (_gps_initialized) {
-				_local_pos.timestamp = last_sensor_timestamp;
-				_local_pos.x = states[7];
-				_local_pos.y = states[8];
-				_local_pos.z = states[9];
-
-				_local_pos.vx = states[4];
-				_local_pos.vy = states[5];
-				_local_pos.vz = states[6];
-
-				_local_pos.xy_valid = _gps_initialized;
-				_local_pos.z_valid = true;
-				_local_pos.v_xy_valid = _gps_initialized;
-				_local_pos.v_z_valid = true;
-				_local_pos.xy_global = true;
-
-				_local_pos.z_global = false;
-				_local_pos.yaw = _att.yaw;
-
-				/* lazily publish the local position only once available */
-				if (_local_pos_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
-
-				} else {
-					/* advertise and publish */
-					_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
-				}
-
-				_global_pos.timestamp = _local_pos.timestamp;
-
-				_global_pos.baro_valid = true;
-				_global_pos.global_valid = true;
-
-				if (_local_pos.xy_global) {
-					double est_lat, est_lon;
-					map_projection_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon);
-					_global_pos.lat = est_lat;
-					_global_pos.lon = est_lon;
-					_global_pos.time_gps_usec = _gps.time_gps_usec;
-				}
-
-				/* set valid values even if position is not valid */
-				if (_local_pos.v_xy_valid) {
-					_global_pos.vel_n = _local_pos.vx;
-					_global_pos.vel_e = _local_pos.vy;
-				} else {
-					_global_pos.vel_n = 0.0f;
-					_global_pos.vel_e = 0.0f;
-				}
-
-				/* local pos alt is negative, change sign and add alt offset */
-				_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
-
-				if (_local_pos.z_valid) {
-					_global_pos.baro_alt = _local_pos.ref_alt - _baro_gps_offset - _local_pos.z;
-				}
-
-				if (_local_pos.v_z_valid) {
-					_global_pos.vel_d = _local_pos.vz;
-				}
-
-				_global_pos.yaw = _local_pos.yaw;
-
-				_global_pos.timestamp = _local_pos.timestamp;
-
-				/* lazily publish the global position only once available */
-				if (_global_pos_pub > 0) {
-					/* publish the attitude setpoint */
-					orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
-
-				} else {
-					/* advertise and publish */
-					_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
-				}
-			}
-
-		}
-
-		perf_end(_loop_perf);
-	}
-
-	warnx("exiting.\n");
-
-	_estimator_task = -1;
-	_exit(0);
-}
-
-int
-FixedwingEstimator::start()
-{
-	ASSERT(_estimator_task == -1);
-
-	/* start the task */
-	_estimator_task = task_spawn_cmd("fw_att_pos_estimator",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 40,
-					 6000,
-					 (main_t)&FixedwingEstimator::task_main_trampoline,
-					 nullptr);
-
-	if (_estimator_task < 0) {
-		warn("task start failed");
-		return -errno;
-	}
-
-	return OK;
-}
-
-void print_status()
-{
-	math::Quaternion q(states[0], states[1], states[2], states[3]);
-	math::Matrix<3, 3> R = q.to_dcm();
-	math::Vector<3> euler = R.to_euler();
-
-	printf("attitude: roll: %8.4f, pitch %8.4f, yaw: %8.4f degrees\n",
-	       (double)math::degrees(euler(0)), (double)math::degrees(euler(1)), (double)math::degrees(euler(2)));
-
-	// State vector:
-	// 0-3: quaternions (q0, q1, q2, q3)
-	// 4-6: Velocity - m/sec (North, East, Down)
-	// 7-9: Position - m (North, East, Down)
-	// 10-12: Delta Angle bias - rad (X,Y,Z)
-	// 13-14: Wind Vector  - m/sec (North,East)
-	// 15-17: Earth Magnetic Field Vector - gauss (North, East, Down)
-	// 18-20: Body Magnetic Field Vector - gauss (X,Y,Z)
-
-	printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", dtIMU, dt, (int)IMUmsec);
-	printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)dVelIMU.x, (double)dVelIMU.y, (double)dVelIMU.z, (double)accel.x, (double)accel.y, (double)accel.z);
-	printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)dAngIMU.x, (double)dAngIMU.y, (double)dAngIMU.z, (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
-	printf("states (quat)        [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)states[0], (double)states[1], (double)states[2], (double)states[3]);
-	printf("states (vel m/s)     [5-7]: %8.4f, %8.4f, %8.4f\n", (double)states[4], (double)states[5], (double)states[6]);
-	printf("states (pos m)      [8-10]: %8.4f, %8.4f, %8.4f\n", (double)states[7], (double)states[8], (double)states[9]);
-	printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)states[10], (double)states[11], (double)states[12]);
-	printf("states (wind)      [14-15]: %8.4f, %8.4f\n", (double)states[13], (double)states[14]);
-	printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)states[15], (double)states[16], (double)states[17]);
-	printf("states (body mag)  [19-21]: %8.4f, %8.4f, %8.4f\n", (double)states[18], (double)states[19], (double)states[20]);
-	printf("states: %s %s %s %s %s %s %s %s %s %s\n",
-	       (statesInitialised) ? "INITIALIZED" : "NON_INIT",
-	       (onGround) ? "ON_GROUND" : "AIRBORNE",
-	       (fuseVelData) ? "FUSE_VEL" : "INH_VEL",
-	       (fusePosData) ? "FUSE_POS" : "INH_POS",
-	       (fuseHgtData) ? "FUSE_HGT" : "INH_HGT",
-	       (fuseMagData) ? "FUSE_MAG" : "INH_MAG",
-	       (fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS",
-	       (useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD",
-	       (useCompass) ? "USE_COMPASS" : "IGN_COMPASS",
-	       (staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE");
-}
-
-int trip_nan() {
-
-	int ret = 0;
-
-	// If system is not armed, inject a NaN value into the filter
-	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-
-	struct actuator_armed_s armed;
-	orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-
-	if (armed.armed) {
-		warnx("ACTUATORS ARMED! NOT TRIPPING SYSTEM");
-		ret = 1;
-	} else {
-
-		float nan_val = 0.0f / 0.0f;
-
-		warnx("system not armed, tripping state vector with NaN values");
-		states[5] = nan_val;
-		usleep(100000);
-
-		// warnx("tripping covariance #1 with NaN values");
-		// KH[2][2] = nan_val; //  intermediate result used for covariance updates
-		// usleep(100000);
-
-		// warnx("tripping covariance #2 with NaN values");
-		// KHP[5][5] = nan_val; // intermediate result used for covariance updates
-		// usleep(100000);
-
-		warnx("tripping covariance #3 with NaN values");
-		P[3][3] = nan_val; // covariance matrix
-		usleep(100000);
-
-		warnx("tripping Kalman gains with NaN values");
-		Kfusion[0] = nan_val; // Kalman gains
-		usleep(100000);
-
-		warnx("tripping stored states[0] with NaN values");
-		storedStates[0][0] = nan_val;
-		usleep(100000);
-
-		warnx("\nDONE - FILTER STATE:");
-		print_status();
-	}
-
-	close(armed_sub);
-	return ret;
-}
-
-int fw_att_pos_estimator_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		errx(1, "usage: fw_att_pos_estimator {start|stop|status}");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (estimator::g_estimator != nullptr)
-			errx(1, "already running");
-
-		estimator::g_estimator = new FixedwingEstimator;
-
-		if (estimator::g_estimator == nullptr)
-			errx(1, "alloc failed");
-
-		if (OK != estimator::g_estimator->start()) {
-			delete estimator::g_estimator;
-			estimator::g_estimator = nullptr;
-			err(1, "start failed");
-		}
-
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (estimator::g_estimator == nullptr)
-			errx(1, "not running");
-
-		delete estimator::g_estimator;
-		estimator::g_estimator = nullptr;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (estimator::g_estimator) {
-			warnx("running");
-
-			print_status();
-
-			exit(0);
-
-		} else {
-			errx(1, "not running");
-		}
-	}
-
-	if (!strcmp(argv[1], "trip")) {
-		if (estimator::g_estimator) {
-			int ret = trip_nan();
-
-			exit(ret);
-
-		} else {
-			errx(1, "not running");
-		}
-	}
-
-	warnx("unrecognized command");
-	return 1;
-}
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 7f13df785..350ce6dec 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Lorenz Meier
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -89,7 +88,11 @@
 #include <launchdetection/LaunchDetector.h>
 #include <ecl/l1/ecl_l1_pos_controller.h>
 #include <external_lgpl/tecs/tecs.h>
+#include <drivers/drv_range_finder.h>
 #include "landingslope.h"
+#include "mtecs/mTecs.h"
+
+static int	_control_task = -1;			/**< task handle for sensor task */
 
 
 /**
@@ -115,27 +118,35 @@ public:
 	/**
 	 * Start the sensors task.
 	 *
-	 * @return		OK on success.
+	 * @return	OK on success.
+	 */
+	static int	start();
+
+	/**
+	 * Task status
+	 *
+	 * @return	true if the mainloop is running
 	 */
-	int		start();
+	bool		task_running() { return _task_running; }
 
 private:
 	int		_mavlink_fd;
 
 	bool		_task_should_exit;		/**< if true, sensor task should exit */
-	int		_control_task;			/**< task handle for sensor task */
+	bool		_task_running;			/**< if true, task is running in its mainloop */
 
 	int		_global_pos_sub;
 	int		_pos_sp_triplet_sub;
 	int		_att_sub;			/**< vehicle attitude subscription */
-	int		_attitude_sub;			/**< raw rc channels data subscription */
 	int		_airspeed_sub;			/**< airspeed subscription */
 	int		_control_mode_sub;		/**< vehicle status subscription */
 	int 		_params_sub;			/**< notification of parameter updates */
 	int 		_manual_control_sub;		/**< notification of manual control updates */
 	int		_sensor_combined_sub;		/**< for body frame accelerations */
+	int		_range_finder_sub;		/**< range finder subscription */
 
 	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint */
+	orb_advert_t	_tecs_status_pub;		/**< TECS status publication */
 	orb_advert_t	_nav_capabilities_pub;		/**< navigation capabilities publication */
 
 	struct vehicle_attitude_s			_att;				/**< vehicle attitude */
@@ -147,23 +158,10 @@ private:
 	struct vehicle_global_position_s		_global_pos;			/**< global vehicle position */
 	struct position_setpoint_triplet_s		_pos_sp_triplet;		/**< triplet of mission items */
 	struct sensor_combined_s			_sensor_combined;		/**< for body frame accelerations */
+	struct range_finder_report 			_range_finder;			/**< range finder report */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
-	bool		_setpoint_valid;		/**< flag if the position control setpoint is valid */
-
-	/** manual control states */
-	float		_seatbelt_hold_heading;		/**< heading the system should hold in seatbelt mode */
-	double		_loiter_hold_lat;
-	double		_loiter_hold_lon;
-	float		_loiter_hold_alt;
-	bool		_loiter_hold;
-
-	double		_launch_lat;
-	double		_launch_lon;
-	float		_launch_alt;
-	bool		_launch_valid;
-
 	/* land states */
 	/* not in non-abort mode for landing yet */
 	bool land_noreturn_horizontal;
@@ -180,8 +178,8 @@ private:
 
 	/* Landingslope object */
 	Landingslope landingslope;
+	float flare_curve_alt_rel_last;
 
-	float flare_curve_alt_last;
 	/* heading hold */
 	float target_bearing;
 
@@ -198,15 +196,21 @@ private:
 
 	ECL_L1_Pos_Controller				_l1_control;
 	TECS						_tecs;
+	fwPosctrl::mTecs				_mTecs;
+	bool						_was_pos_control_mode;
 
 	struct {
 		float l1_period;
 		float l1_damping;
 
 		float time_const;
+		float time_const_throt;
 		float min_sink_rate;
 		float max_sink_rate;
 		float max_climb_rate;
+		float climbout_diff;
+		float heightrate_p;
+		float speedrate_p;
 		float throttle_damp;
 		float integrator_gain;
 		float vertical_accel_limit;
@@ -226,19 +230,16 @@ private:
 		float throttle_min;
 		float throttle_max;
 		float throttle_cruise;
+		float throttle_slew_max;
 
 		float throttle_land_max;
 
-		float loiter_hold_radius;
-
-		float heightrate_p;
-		float speedrate_p;
-
 		float land_slope_angle;
 		float land_H1_virt;
 		float land_flare_alt_relative;
 		float land_thrust_lim_alt_relative;
 		float land_heading_hold_horizontal_distance;
+		float range_finder_rel_alt;
 
 	}		_parameters;			/**< local copies of interesting parameters */
 
@@ -248,9 +249,13 @@ private:
 		param_t l1_damping;
 
 		param_t time_const;
+		param_t time_const_throt;
 		param_t min_sink_rate;
 		param_t max_sink_rate;
 		param_t max_climb_rate;
+		param_t climbout_diff;
+		param_t heightrate_p;
+		param_t speedrate_p;
 		param_t throttle_damp;
 		param_t integrator_gain;
 		param_t vertical_accel_limit;
@@ -270,19 +275,16 @@ private:
 		param_t throttle_min;
 		param_t throttle_max;
 		param_t throttle_cruise;
+		param_t throttle_slew_max;
 
 		param_t throttle_land_max;
 
-		param_t loiter_hold_radius;
-
-		param_t heightrate_p;
-		param_t speedrate_p;
-
 		param_t land_slope_angle;
 		param_t land_H1_virt;
 		param_t land_flare_alt_relative;
 		param_t land_thrust_lim_alt_relative;
 		param_t land_heading_hold_horizontal_distance;
+		param_t range_finder_rel_alt;
 
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
@@ -309,6 +311,12 @@ private:
 	bool		vehicle_airspeed_poll();
 
 	/**
+	 * Check for range finder updates.
+	 */
+	bool		range_finder_poll();
+
+
+	/**
 	 * Check for position updates.
 	 */
 	void		vehicle_attitude_poll();
@@ -329,13 +337,18 @@ private:
 	void navigation_capabilities_publish();
 
 	/**
+	 * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder
+	 */
+	float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt);
+
+	/**
 	 * Control position.
 	 */
-	bool		control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed,
+	bool		control_position(const math::Vector<2> &global_pos, const math::Vector<3> &ground_speed,
 					 const struct position_setpoint_triplet_s &_pos_sp_triplet);
 
 	float calculate_target_airspeed(float airspeed_demand);
-	void calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet);
+	void calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet);
 
 	/**
 	 * Shim for calling task_main from task_create.
@@ -345,7 +358,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 
 	/*
 	 * Reset takeoff state
@@ -356,6 +369,19 @@ private:
 	 * Reset landing state
 	 */
 	void reset_landing_state();
+
+	/*
+	 * Call TECS : a wrapper function to call one of the TECS implementations (mTECS is called only if enabled via parameter)
+	 * XXX need to clean up/remove this function once mtecs fully replaces TECS
+	 */
+	void tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,
+			float pitch_min_rad, float pitch_max_rad,
+			float throttle_min, float throttle_max, float throttle_cruise,
+			bool climbout_mode, float climbout_pitch_min_rad,
+			float altitude,
+			const math::Vector<3> &ground_speed,
+			tecs_mode mode = TECS_MODE_NORMAL);
+
 };
 
 namespace l1_control
@@ -367,14 +393,14 @@ namespace l1_control
 #endif
 static const int ERROR = -1;
 
-FixedwingPositionControl	*g_control;
+FixedwingPositionControl	*g_control = nullptr;
 }
 
 FixedwingPositionControl::FixedwingPositionControl() :
 
 	_mavlink_fd(-1),
 	_task_should_exit(false),
-	_control_task(-1),
+	_task_running(false),
 
 /* subscriptions */
 	_global_pos_sub(-1),
@@ -384,46 +410,54 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_control_mode_sub(-1),
 	_params_sub(-1),
 	_manual_control_sub(-1),
+	_sensor_combined_sub(-1),
+	_range_finder_sub(-1),
 
 /* publications */
 	_attitude_sp_pub(-1),
+	_tecs_status_pub(-1),
 	_nav_capabilities_pub(-1),
 
+/* states */
+	_att(),
+	_att_sp(),
+	_nav_capabilities(),
+	_manual(),
+	_airspeed(),
+	_control_mode(),
+	_global_pos(),
+	_pos_sp_triplet(),
+	_sensor_combined(),
+	_range_finder(),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
-/* states */
-	_setpoint_valid(false),
-	_loiter_hold(false),
 	land_noreturn_horizontal(false),
 	land_noreturn_vertical(false),
 	land_stayonground(false),
 	land_motor_lim(false),
 	land_onslope(false),
 	launch_detected(false),
-	last_manual(false),
 	usePreTakeoffThrust(false),
-	flare_curve_alt_last(0.0f),
+	last_manual(false),
+	landingslope(),
+	flare_curve_alt_rel_last(0.0f),
+	target_bearing(0.0f),
 	launchDetector(),
 	_airspeed_error(0.0f),
 	_airspeed_valid(false),
+	_airspeed_last_valid(0),
 	_groundspeed_undershoot(0.0f),
 	_global_pos_valid(false),
-	_att(),
-	_att_sp(),
-	_nav_capabilities(),
-	_manual(),
-	_airspeed(),
-	_control_mode(),
-	_global_pos(),
-	_pos_sp_triplet(),
-	_sensor_combined()
+	_l1_control(),
+	_mTecs(),
+	_was_pos_control_mode(false)
 {
 	_nav_capabilities.turn_distance = 0.0f;
 
 	_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
 	_parameter_handles.l1_damping = param_find("FW_L1_DAMPING");
-	_parameter_handles.loiter_hold_radius = param_find("FW_LOITER_R");
 
 	_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
 	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
@@ -434,6 +468,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.roll_limit = param_find("FW_R_LIM");
 	_parameter_handles.throttle_min = param_find("FW_THR_MIN");
 	_parameter_handles.throttle_max = param_find("FW_THR_MAX");
+	_parameter_handles.throttle_slew_max = param_find("FW_THR_SLEW_MAX");
 	_parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE");
 	_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
 
@@ -442,11 +477,14 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
 	_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
 	_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
+	_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
 
 	_parameter_handles.time_const = 			param_find("FW_T_TIME_CONST");
+	_parameter_handles.time_const_throt = 			param_find("FW_T_THRO_CONST");
 	_parameter_handles.min_sink_rate = 			param_find("FW_T_SINK_MIN");
 	_parameter_handles.max_sink_rate =			param_find("FW_T_SINK_MAX");
 	_parameter_handles.max_climb_rate =			param_find("FW_T_CLMB_MAX");
+	_parameter_handles.climbout_diff =			param_find("FW_CLMBOUT_DIFF");
 	_parameter_handles.throttle_damp = 			param_find("FW_T_THR_DAMP");
 	_parameter_handles.integrator_gain =			param_find("FW_T_INTEG_GAIN");
 	_parameter_handles.vertical_accel_limit =		param_find("FW_T_VERT_ACC");
@@ -494,7 +532,6 @@ FixedwingPositionControl::parameters_update()
 	/* L1 control parameters */
 	param_get(_parameter_handles.l1_damping, &(_parameters.l1_damping));
 	param_get(_parameter_handles.l1_period, &(_parameters.l1_period));
-	param_get(_parameter_handles.loiter_hold_radius, &(_parameters.loiter_hold_radius));
 
 	param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
 	param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
@@ -506,10 +543,12 @@ FixedwingPositionControl::parameters_update()
 	param_get(_parameter_handles.throttle_min, &(_parameters.throttle_min));
 	param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max));
 	param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
+	param_get(_parameter_handles.throttle_slew_max, &(_parameters.throttle_slew_max));
 
 	param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
 
 	param_get(_parameter_handles.time_const, &(_parameters.time_const));
+	param_get(_parameter_handles.time_const_throt, &(_parameters.time_const_throt));
 	param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate));
 	param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate));
 	param_get(_parameter_handles.throttle_damp, &(_parameters.throttle_damp));
@@ -521,6 +560,7 @@ FixedwingPositionControl::parameters_update()
 	param_get(_parameter_handles.speed_weight, &(_parameters.speed_weight));
 	param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
 	param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
+	param_get(_parameter_handles.climbout_diff, &(_parameters.climbout_diff));
 
 	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
 	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
@@ -531,14 +571,18 @@ FixedwingPositionControl::parameters_update()
 	param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
 	param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance));
 
+	param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt));
+
 	_l1_control.set_l1_damping(_parameters.l1_damping);
 	_l1_control.set_l1_period(_parameters.l1_period);
 	_l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit));
 
 	_tecs.set_time_const(_parameters.time_const);
+	_tecs.set_time_const_throt(_parameters.time_const_throt);
 	_tecs.set_min_sink_rate(_parameters.min_sink_rate);
 	_tecs.set_max_sink_rate(_parameters.max_sink_rate);
 	_tecs.set_throttle_damp(_parameters.throttle_damp);
+	_tecs.set_throttle_slewrate(_parameters.throttle_slew_max);
 	_tecs.set_integrator_gain(_parameters.integrator_gain);
 	_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
 	_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);
@@ -574,6 +618,9 @@ FixedwingPositionControl::parameters_update()
 	/* Update Launch Detector Parameters */
 	launchDetector.updateParams();
 
+	/* Update the mTecs */
+	_mTecs.updateParams();
+
 	return OK;
 }
 
@@ -586,17 +633,7 @@ FixedwingPositionControl::vehicle_control_mode_poll()
 	orb_check(_control_mode_sub, &vstatus_updated);
 
 	if (vstatus_updated) {
-
-		bool was_armed = _control_mode.flag_armed;
-
 		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
-
-		if (!was_armed && _control_mode.flag_armed) {
-			_launch_lat = _global_pos.lat;
-			_launch_lon = _global_pos.lon;
-			_launch_alt = _global_pos.alt;
-			_launch_valid = true;
-		}
 	}
 }
 
@@ -626,6 +663,20 @@ FixedwingPositionControl::vehicle_airspeed_poll()
 	return airspeed_updated;
 }
 
+bool
+FixedwingPositionControl::range_finder_poll()
+{
+	/* check if there is a range finder measurement */
+	bool range_finder_updated;
+	orb_check(_range_finder_sub, &range_finder_updated);
+
+	if (range_finder_updated) {
+		orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder);
+	}
+
+	return range_finder_updated;
+}
+
 void
 FixedwingPositionControl::vehicle_attitude_poll()
 {
@@ -663,14 +714,23 @@ FixedwingPositionControl::vehicle_setpoint_poll()
 
 	if (pos_sp_triplet_updated) {
 		orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
-		_setpoint_valid = true;
 	}
 }
 
 void
 FixedwingPositionControl::task_main_trampoline(int argc, char *argv[])
 {
+	l1_control::g_control = new FixedwingPositionControl();
+
+	if (l1_control::g_control == nullptr) {
+		warnx("OUT OF MEM");
+		return;
+	}
+
+	/* only returns on exit */
 	l1_control::g_control->task_main();
+	delete l1_control::g_control;
+	l1_control::g_control = nullptr;
 }
 
 float
@@ -705,15 +765,15 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand)
 }
 
 void
-FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet)
+FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet)
 {
 
-	if (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) {
+	if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) {
 
 		/* rotate ground speed vector with current attitude */
 		math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
 		yaw_vector.normalize();
-		float ground_speed_body = yaw_vector * ground_speed;
+		float ground_speed_body = yaw_vector * ground_speed_2d;
 
 		/* The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available*/
 		float distance = 0.0f;
@@ -754,24 +814,43 @@ void FixedwingPositionControl::navigation_capabilities_publish()
 	}
 }
 
+float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt)
+{
+	float rel_alt_estimated = current_alt - land_setpoint_alt;
+
+	/* only use range finder if:
+	 * parameter (range_finder_use_relative_alt) > 0
+	 * the measurement is valid
+	 * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt
+	 */
+	if (range_finder_use_relative_alt < 0 || !range_finder.valid || rel_alt_estimated > range_finder_use_relative_alt ) {
+		return rel_alt_estimated;
+	}
+
+	return range_finder.distance;
+
+}
+
 bool
-FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
+FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<3> &ground_speed,
 		const struct position_setpoint_triplet_s &pos_sp_triplet)
 {
 	bool setpoint = true;
 
-	calculate_gndspeed_undershoot(current_position, ground_speed, pos_sp_triplet);
+	math::Vector<2> ground_speed_2d = {ground_speed(0), ground_speed(1)};
+	calculate_gndspeed_undershoot(current_position, ground_speed_2d, pos_sp_triplet);
 
 	float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
 
-	// XXX re-visit
-	float baro_altitude = _global_pos.alt;
-
 	/* filter speed and altitude for controller */
 	math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
 	math::Vector<3> accel_earth = _R_nb * accel_body;
 
-	_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
+	if (!_mTecs.getEnabled()) {
+		_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
+	}
+
+	/* define altitude error */
 	float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
 
 	/* no throttle limit as default */
@@ -781,7 +860,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	// XXX this should only execute if auto AND safety off (actuators active),
 	// else integrators should be constantly reset.
-	if (_control_mode.flag_control_position_enabled) {
+	if (pos_sp_triplet.current.valid) {
+
+		if (!_was_pos_control_mode) {
+			/* reset integrators */
+			if (_mTecs.getEnabled()) {
+				_mTecs.resetIntegrators();
+				_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
+			}
+		}
+
+		_was_pos_control_mode = true;
 
 		/* get circle mode */
 		bool was_circle_mode = _l1_control.circle_mode();
@@ -795,6 +884,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		/* current waypoint (the one currently heading for) */
 		math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
 
+		/* Initialize attitude controller integrator reset flags to 0 */
+		_att_sp.roll_reset_integral = false;
+		_att_sp.pitch_reset_integral = false;
+		_att_sp.yaw_reset_integral = false;
 
 		/* previous waypoint */
 		math::Vector<2> prev_wp;
@@ -813,31 +906,29 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 		}
 
-		if (pos_sp_triplet.current.type == SETPOINT_TYPE_NORMAL) {
+		if (pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION) {
 			/* waypoint is a plain navigation waypoint */
-			_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+			_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
 			_att_sp.roll_body = _l1_control.nav_roll();
 			_att_sp.yaw_body = _l1_control.nav_bearing();
 
-			_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
-						    _airspeed.indicated_airspeed_m_s, eas2tas,
-						    false, math::radians(_parameters.pitch_limit_min),
-						    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-						    math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+			tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas,
+						math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
+						_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+						false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
 
 		} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) {
 
 			/* waypoint is a loiter waypoint */
 			_l1_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius,
-						  pos_sp_triplet.current.loiter_direction, ground_speed);
+						  pos_sp_triplet.current.loiter_direction, ground_speed_2d);
 			_att_sp.roll_body = _l1_control.nav_roll();
 			_att_sp.yaw_body = _l1_control.nav_bearing();
 
-			_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
-						    _airspeed.indicated_airspeed_m_s, eas2tas,
-						    false, math::radians(_parameters.pitch_limit_min),
-						    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-						    math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+			tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim), eas2tas,
+						math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
+						_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+						false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
 
 		} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
 
@@ -862,7 +953,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 //					warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw));
 
-				_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
+				_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed_2d);
 
 				/* limit roll motion to prevent wings from touching the ground first */
 				_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
@@ -872,7 +963,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			} else {
 
 				/* normal navigation */
-				_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+				_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
 			}
 
 			_att_sp.roll_body = _l1_control.nav_roll();
@@ -895,13 +986,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			float airspeed_approach = 1.3f * _parameters.airspeed_min;
 
 			/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
-			float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
-			float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
+			float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f;
 
 			float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
-			float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
+			float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
 
-			if ( (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) {  //checking for land_noreturn to avoid unwanted climb out
+			float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt);
+
+			if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) {  //checking for land_noreturn to avoid unwanted climb out
 
 				/* land with minimal speed */
 
@@ -911,7 +1003,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				/* kill the throttle if param requests it */
 				throttle_max = _parameters.throttle_max;
 
-				 if (_global_pos.alt < _pos_sp_triplet.current.alt + landingslope.motor_lim_relative_alt() || land_motor_lim) {
+				 if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) {
 					throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
 					if (!land_motor_lim) {
 						land_motor_lim  = true;
@@ -920,20 +1012,22 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 				 }
 
-				float flare_curve_alt = landingslope.getFlareCurveAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);
+				float flare_curve_alt_rel = landingslope.getFlareCurveRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
 
 				/* avoid climbout */
-				if ((flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical) || land_stayonground)
+				if ((flare_curve_alt_rel_last < flare_curve_alt_rel && land_noreturn_vertical) || land_stayonground)
 				{
-					flare_curve_alt = pos_sp_triplet.current.alt;
+					flare_curve_alt_rel = 0.0f; // stay on ground
 					land_stayonground = true;
 				}
 
-				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land),
-												    _airspeed.indicated_airspeed_m_s, eas2tas,
-												    false, flare_pitch_angle_rad,
-												    0.0f, throttle_max, throttle_land,
-												    flare_pitch_angle_rad,  math::radians(15.0f));
+				tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel,
+						calculate_target_airspeed(airspeed_land), eas2tas,
+						flare_pitch_angle_rad, math::radians(15.0f),
+						0.0f, throttle_max, throttle_land,
+						false, flare_pitch_angle_rad,
+						_pos_sp_triplet.current.alt + relative_alt, ground_speed,
+						land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
 
 				if (!land_noreturn_vertical) {
 					mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
@@ -941,46 +1035,62 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				}
 				//warnx("Landing:  flare, _global_pos.alt  %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
 
-				flare_curve_alt_last = flare_curve_alt;
+				flare_curve_alt_rel_last = flare_curve_alt_rel;
 			} else {
 
 				 /* intersect glide slope:
 				  * minimize speed to approach speed
-				  * if current position is higher or within 10m of slope follow the glide slope
-				  * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
+				  * if current position is higher than the slope follow the glide slope (sink to the
+				  * glide slope)
+				  * also if the system captures the slope it should stay
+				  * on the slope (bool land_onslope)
+				  * if current position is below the slope continue at previous wp altitude
+				  * until the intersection with slope
 				  * */
-				float altitude_desired = _global_pos.alt;
-				if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
+				float altitude_desired_rel = relative_alt;
+				if (relative_alt > landing_slope_alt_rel_desired || land_onslope) {
 					/* stay on slope */
-					altitude_desired = landing_slope_alt_desired;
+					altitude_desired_rel = landing_slope_alt_rel_desired;
 					if (!land_onslope) {
 						mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
 						land_onslope = true;
 					}
 				} else {
 					/* continue horizontally */
-					altitude_desired =  math::max(_global_pos.alt, L_altitude);
+					altitude_desired_rel =  _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt;
 				}
 
-				_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),
-							    _airspeed.indicated_airspeed_m_s, eas2tas,
-							    false, math::radians(_parameters.pitch_limit_min),
-							    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-							    math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+				tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel,
+						calculate_target_airspeed(airspeed_approach), eas2tas,
+						math::radians(_parameters.pitch_limit_min),
+						math::radians(_parameters.pitch_limit_max),
+						_parameters.throttle_min,
+						_parameters.throttle_max,
+						_parameters.throttle_cruise,
+						false,
+						math::radians(_parameters.pitch_limit_min),
+						_pos_sp_triplet.current.alt + relative_alt,
+						ground_speed);
 			}
 
 		} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) {
 
 			/* Perform launch detection */
-//			warnx("Launch detection running");
 			if(!launch_detected) { //do not do further checks once a launch was detected
 				if (launchDetector.launchDetectionEnabled()) {
 					static hrt_abstime last_sent = 0;
 					if(hrt_absolute_time() - last_sent > 4e6) {
-//						warnx("Launch detection running");
 						mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
 						last_sent = hrt_absolute_time();
 					}
+
+					/* Tell the attitude controller to stop integrating while we are waiting
+					 * for the launch */
+					_att_sp.roll_reset_integral = true;
+					_att_sp.pitch_reset_integral = true;
+					_att_sp.yaw_reset_integral = true;
+
+					/* Detect launch */
 					launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
 					if (launchDetector.getLaunchDetected()) {
 						launch_detected = true;
@@ -993,7 +1103,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				}
 			}
 
-			_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+			_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
 			_att_sp.roll_body = _l1_control.nav_roll();
 			_att_sp.yaw_body = _l1_control.nav_bearing();
 
@@ -1001,25 +1111,39 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				usePreTakeoffThrust = false;
 
 				/* apply minimum pitch and limit roll if target altitude is not within 10 meters */
-				if (altitude_error > 15.0f) {
+				if (_parameters.climbout_diff > 0.001f && altitude_error > _parameters.climbout_diff) {
 
 					/* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
-					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(1.3f * _parameters.airspeed_min),
-									_airspeed.indicated_airspeed_m_s, eas2tas,
-									true, math::max(math::radians(pos_sp_triplet.current.pitch_min), math::radians(10.0f)),
-									_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-									math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+					tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
+							calculate_target_airspeed(1.3f * _parameters.airspeed_min),
+							eas2tas,
+							math::radians(_parameters.pitch_limit_min),
+							math::radians(_parameters.pitch_limit_max),
+							_parameters.throttle_min, _parameters.throttle_max,
+							_parameters.throttle_cruise,
+							true,
+							math::max(math::radians(pos_sp_triplet.current.pitch_min),
+							math::radians(10.0f)),
+							_global_pos.alt,
+							ground_speed,
+							TECS_MODE_TAKEOFF);
 
 					/* limit roll motion to ensure enough lift */
 					_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
 
 				} else {
-
-					_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _pos_sp_triplet.current.alt, calculate_target_airspeed(_parameters.airspeed_trim),
-									_airspeed.indicated_airspeed_m_s, eas2tas,
-									false, math::radians(_parameters.pitch_limit_min),
-									_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-									math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+					tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
+							calculate_target_airspeed(_parameters.airspeed_trim),
+							eas2tas,
+								math::radians(_parameters.pitch_limit_min),
+								math::radians(_parameters.pitch_limit_max),
+								_parameters.throttle_min,
+								_parameters.throttle_max,
+								_parameters.throttle_cruise,
+								false,
+								math::radians(_parameters.pitch_limit_min),
+								_global_pos.alt,
+								ground_speed);
 				}
 
 			} else {
@@ -1027,15 +1151,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			}
 		}
 
-		// warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
-		//       (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
-		// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1),
-		//       (double)next_wp(0), (double)next_wp(1), (pos_sp_triplet.previous_valid) ? "valid" : "invalid");
-
-		// XXX at this point we always want no loiter hold if a
-		// mission is active
-		_loiter_hold = false;
-
 		/* reset landing state */
 		if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
 			reset_landing_state();
@@ -1051,91 +1166,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* easy mode enabled */) {
-
-		/** EASY FLIGHT **/
-
-		if (0/* switched from another mode to easy */) {
-			_seatbelt_hold_heading = _att.yaw;
-		}
-
-		if (0/* easy on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.yaw;
-		}
-
-		//XXX not used
-
-		/* climb out control */
-//		bool climb_out = false;
-//
-//		/* user wants to climb out */
-//		if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
-//			climb_out = true;
-//		}
-
-		/* if in seatbelt mode, set airspeed based on manual control */
-
-		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
-					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.throttle;
-
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
-		_att_sp.roll_body = _l1_control.nav_roll();
-		_att_sp.yaw_body = _l1_control.nav_bearing();
-		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    seatbelt_airspeed,
-					    _airspeed.indicated_airspeed_m_s, eas2tas,
-					    false, _parameters.pitch_limit_min,
-					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-					    _parameters.pitch_limit_min, _parameters.pitch_limit_max);
-
-	} else if (0/* seatbelt mode enabled */) {
-
-		/** SEATBELT FLIGHT **/
-
-		if (0/* switched from another mode to seatbelt */) {
-			_seatbelt_hold_heading = _att.yaw;
-		}
-
-		if (0/* seatbelt on and manual control yaw non-zero */) {
-			_seatbelt_hold_heading = _att.yaw + _manual.yaw;
-		}
-
-		/* if in seatbelt mode, set airspeed based on manual control */
-
-		// XXX check if ground speed undershoot should be applied here
-		float seatbelt_airspeed = _parameters.airspeed_min +
-					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.throttle;
-
-		/* user switched off throttle */
-		if (_manual.throttle < 0.1f) {
-			throttle_max = 0.0f;
-			/* switch to pure pitch based altitude control, give up speed */
-			_tecs.set_speed_weight(0.0f);
-		}
-
-		/* climb out control */
-		bool climb_out = false;
-
-		/* user wants to climb out */
-		if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
-			climb_out = true;
-		}
-
-		_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
-		_att_sp.roll_body =	_manual.roll;
-		_att_sp.yaw_body =	_manual.yaw;
-		_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
-					    seatbelt_airspeed,
-					    _airspeed.indicated_airspeed_m_s, eas2tas,
-					    climb_out, _parameters.pitch_limit_min,
-					    _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-					    _parameters.pitch_limit_min, _parameters.pitch_limit_max);
-
 	} else {
 
+		_was_pos_control_mode = false;
+
 		/** MANUAL FLIGHT **/
 
 		/* no flight mode applies, do not publish an attitude setpoint */
@@ -1152,9 +1186,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
 	}
 	else {
-		_att_sp.thrust = math::min(_tecs.get_throttle_demand(), throttle_max);
+		_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max);
 	}
-	_att_sp.pitch_body = _tecs.get_pitch_demand();
+	_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
 
 	if (_control_mode.flag_control_position_enabled) {
 		last_manual = false;
@@ -1170,10 +1204,6 @@ void
 FixedwingPositionControl::task_main()
 {
 
-	/* inform about start */
-	warnx("Initializing..");
-	fflush(stdout);
-
 	/*
 	 * do subscriptions
 	 */
@@ -1185,6 +1215,7 @@ FixedwingPositionControl::task_main()
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+	_range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_control_mode_sub, 200);
@@ -1207,6 +1238,8 @@ FixedwingPositionControl::task_main()
 	fds[1].fd = _global_pos_sub;
 	fds[1].events = POLLIN;
 
+	_task_running = true;
+
 	while (!_task_should_exit) {
 
 		/* wait for up to 500ms for data */
@@ -1246,14 +1279,6 @@ FixedwingPositionControl::task_main()
 				_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 			}
 
-			static uint64_t last_run = 0;
-			float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
-			last_run = hrt_absolute_time();
-
-			/* guard against too large deltaT's */
-			if (deltaT > 1.0f)
-				deltaT = 0.01f;
-
 			/* load local copies */
 			orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
 
@@ -1264,9 +1289,10 @@ FixedwingPositionControl::task_main()
 			vehicle_setpoint_poll();
 			vehicle_sensor_combined_poll();
 			vehicle_airspeed_poll();
+			range_finder_poll();
 			// vehicle_baro_poll();
 
-			math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);
+			math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e,  _global_pos.vel_d);
 			math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon);
 
 			/*
@@ -1306,6 +1332,8 @@ FixedwingPositionControl::task_main()
 		perf_end(_loop_perf);
 	}
 
+	_task_running = false;
+
 	warnx("exiting.\n");
 
 	_control_task = -1;
@@ -1328,6 +1356,84 @@ void FixedwingPositionControl::reset_landing_state()
 	land_onslope = false;
 }
 
+void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,
+		float pitch_min_rad, float pitch_max_rad,
+		float throttle_min, float throttle_max, float throttle_cruise,
+		bool climbout_mode, float climbout_pitch_min_rad,
+		float altitude,
+		const math::Vector<3> &ground_speed,
+		tecs_mode mode)
+{
+	if (_mTecs.getEnabled()) {
+		/* Using mtecs library: prepare arguments for mtecs call */
+		float flightPathAngle = 0.0f;
+		float ground_speed_length = ground_speed.length();
+		if (ground_speed_length > FLT_EPSILON) {
+			flightPathAngle = -asinf(ground_speed(2)/ground_speed_length);
+		}
+		fwPosctrl::LimitOverride limitOverride;
+		if (climbout_mode) {
+			limitOverride.enablePitchMinOverride(M_RAD_TO_DEG_F * climbout_pitch_min_rad);
+		} else {
+			limitOverride.disablePitchMinOverride();
+		}
+		_mTecs.updateAltitudeSpeed(flightPathAngle, altitude, alt_sp, _airspeed.true_airspeed_m_s, v_sp, mode,
+				limitOverride);
+	} else {
+		/* Using tecs library */
+		_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
+					    _airspeed.indicated_airspeed_m_s, eas2tas,
+					    climbout_mode, climbout_pitch_min_rad,
+					    throttle_min, throttle_max, throttle_cruise,
+					    pitch_min_rad, pitch_max_rad);
+
+		struct TECS::tecs_state s;
+		_tecs.get_tecs_state(s);
+
+		struct tecs_status_s t;
+
+		t.timestamp = s.timestamp;
+
+		switch (s.mode) {
+			case TECS::ECL_TECS_MODE_NORMAL:
+				t.mode = TECS_MODE_NORMAL;
+				break;
+			case TECS::ECL_TECS_MODE_UNDERSPEED:
+				t.mode = TECS_MODE_UNDERSPEED;
+				break;
+			case TECS::ECL_TECS_MODE_BAD_DESCENT:
+				t.mode = TECS_MODE_BAD_DESCENT;
+				break;
+			case TECS::ECL_TECS_MODE_CLIMBOUT:
+				t.mode = TECS_MODE_CLIMBOUT;
+				break;
+		}
+
+		t.altitudeSp			= s.hgt_dem;
+		t.altitude_filtered		= s.hgt;
+		t.airspeedSp			= s.spd_dem;
+		t.airspeed_filtered		= s.spd;
+
+		t.flightPathAngleSp		= s.dhgt_dem;
+		t.flightPathAngle		= s.dhgt;
+		t.flightPathAngleFiltered	= s.dhgt;
+
+		t.airspeedDerivativeSp		= s.dspd_dem;
+		t.airspeedDerivative		= s.dspd;
+
+		t.totalEnergyRateSp		= s.thr;
+		t.totalEnergyRate		= s.ithr;
+		t.energyDistributionRateSp	= s.ptch;
+		t.energyDistributionRate	= s.iptch;
+
+		if (_tecs_status_pub > 0) {
+			orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
+		} else {
+			_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
+		}
+	}
+}
+
 int
 FixedwingPositionControl::start()
 {
@@ -1337,7 +1443,7 @@ FixedwingPositionControl::start()
 	_control_task = task_spawn_cmd("fw_pos_control_l1",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       4048,
+				       2000,
 				       (main_t)&FixedwingPositionControl::task_main_trampoline,
 				       nullptr);
 
@@ -1359,17 +1465,18 @@ int fw_pos_control_l1_main(int argc, char *argv[])
 		if (l1_control::g_control != nullptr)
 			errx(1, "already running");
 
-		l1_control::g_control = new FixedwingPositionControl;
-
-		if (l1_control::g_control == nullptr)
-			errx(1, "alloc failed");
-
-		if (OK != l1_control::g_control->start()) {
-			delete l1_control::g_control;
-			l1_control::g_control = nullptr;
+		if (OK != FixedwingPositionControl::start()) {
 			err(1, "start failed");
 		}
 
+		/* avoid memory fragmentation by not exiting start handler until the task has fully started */
+		while (l1_control::g_control == nullptr || !l1_control::g_control->task_running()) {
+			usleep(50000);
+			printf(".");
+			fflush(stdout);
+		}
+		printf("\n");
+
 		exit(0);
 	}
 
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 37f06dbe5..41c374407 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -72,26 +72,26 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
 PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
 
 /**
- * Default Loiter Radius
+ * Cruise throttle
  *
- * This radius is used when no other loiter radius is set.
+ * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
  *
- * @min 10.0
- * @max 100.0
+ * @min 0.0
+ * @max 1.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
+PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
 
 /**
- * Cruise throttle
+ * Throttle max slew rate
  *
- * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
+ * Maximum slew rate for the commanded throttle
  *
  * @min 0.0
  * @max 1.0
  * @group L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
+PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
 
 /**
  * Negative pitch limit
@@ -166,6 +166,18 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
 /**
+ * Climbout Altitude difference
+ *
+ * If the altitude error exceeds this parameter, the system will climb out
+ * with maximum throttle and minimum airspeed until it is closer than this
+ * distance to the desired altitude. Mostly used for takeoff waypoints / modes.
+ * Set to zero to disable climbout mode (not recommended).
+ *
+ * @group L1 Control
+ */
+PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
+
+/**
  * Maximum climb rate
  *
  * This is the best climb rate that the aircraft can achieve with 
@@ -192,7 +204,7 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
  * set to THR_MIN and flown at the same airspeed as used 
  * to measure FW_T_CLMB_MAX.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
 
@@ -205,7 +217,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
  * exceeding the lower pitch angle limit and without over-speeding 
  * the aircraft.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 
@@ -216,17 +228,28 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
  * Smaller values make it faster to respond, larger values make it slower
  * to respond.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
 
 /**
+ * TECS Throttle time constant
+ *
+ * This is the time constant of the TECS throttle control algorithm (in seconds). 
+ * Smaller values make it faster to respond, larger values make it slower
+ * to respond.
+ *
+ * @group Fixed Wing TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
+
+/**
  * Throttle damping factor
  *
  * This is the damping gain for the throttle demand loop. 
  * Increase to add damping to correct for oscillations in speed and height.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
 
@@ -238,7 +261,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
  * and height offsets are trimmed out, but reduces damping and 
  * increases overshoot.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
 
@@ -251,7 +274,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
  * allows for reasonably aggressive pitch changes if required to recover 
  * from under-speed conditions.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 
@@ -264,7 +287,7 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
  * the solution more towards use of the barometer, whilst reducing it weights 
  * the solution more towards use of the accelerometer data.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
 
@@ -277,7 +300,7 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
  * more towards use of the arispeed sensor, whilst reducing it weights the 
  * solution more towards use of the accelerometer data.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
 
@@ -293,7 +316,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
  * aircraft (eg powered sailplanes) can use a lower value, whereas 
  * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
 
@@ -311,7 +334,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
  * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
  * adjust its pitch angle to maintain airspeed, ignoring changes in height).
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
 
@@ -323,21 +346,21 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
  * will work well provided the pitch to servo controller has been tuned 
  * properly.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
 
 /**
  * Height rate P factor
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
 
 /**
  * Speed rate P factor
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
 
@@ -375,3 +398,14 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
  * @group L1 Control
  */
 PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
+
+/**
+ * Relative altitude threshold for range finder measurements for use during landing
+ *
+ * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
+ * set to < 0 to disable
+ * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
+ *
+ * @group L1 Control
+ */
+PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp
index e5f7023ae..42e00da05 100644
--- a/src/modules/fw_pos_control_l1/landingslope.cpp
+++ b/src/modules/fw_pos_control_l1/landingslope.cpp
@@ -46,16 +46,16 @@
 #include <unistd.h>
 #include <mathlib/mathlib.h>
 
-void Landingslope::update(float landing_slope_angle_rad,
-		float flare_relative_alt,
-		float motor_lim_relative_alt,
-		float H1_virt)
+void Landingslope::update(float landing_slope_angle_rad_new,
+		float flare_relative_alt_new,
+		float motor_lim_relative_alt_new,
+		float H1_virt_new)
 {
 
-	_landing_slope_angle_rad = landing_slope_angle_rad;
-	_flare_relative_alt = flare_relative_alt;
-	_motor_lim_relative_alt = motor_lim_relative_alt;
-	_H1_virt = H1_virt;
+	_landing_slope_angle_rad = landing_slope_angle_rad_new;
+	_flare_relative_alt = flare_relative_alt_new;
+	_motor_lim_relative_alt = motor_lim_relative_alt_new;
+	_H1_virt = H1_virt_new;
 
 	calculateSlopeValues();
 }
@@ -69,26 +69,46 @@ void Landingslope::calculateSlopeValues()
 	_horizontal_slope_displacement = (_flare_length - _d1);
 }
 
-float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude)
+float  Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
 {
-	return Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
+	return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement, _landing_slope_angle_rad);
 }
 
-float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
+float Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)
 {
 	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
 	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
-		return getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude);
+		return getLandingSlopeRelativeAltitude(wp_landing_distance);
+	else
+		return 0.0f;
+}
+
+float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude)
+{
+	return Landingslope::getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
+}
+
+float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude)
+{
+	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
+	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
+		return getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude);
 	else
 		return wp_altitude;
 }
 
-float Landingslope::getFlareCurveAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
+float Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp)
 {
 	/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
 	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f))
-		return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
+		return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
 	else
-		return wp_landing_altitude;
+		return 0.0f;
+}
+
+float Landingslope::getFlareCurveAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_landing_altitude)
+{
+
+	return wp_landing_altitude + getFlareCurveRelativeAltitudeSave(wp_landing_distance, bearing_lastwp_currwp, bearing_airplane_currwp);
 }
 
diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h
index 76d65a55f..a5975ad43 100644
--- a/src/modules/fw_pos_control_l1/landingslope.h
+++ b/src/modules/fw_pos_control_l1/landingslope.h
@@ -63,11 +63,26 @@ public:
 	Landingslope() {}
 	~Landingslope() {}
 
+
+	/**
+	 *
+	 * @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+	 */
+	float getLandingSlopeRelativeAltitude(float wp_landing_distance);
+
+	/**
+	 *
+	 * @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+	 * Performs check if aircraft is in front of waypoint to avoid climbout
+	 */
+	float getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
+
+
 	/**
 	 *
 	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
 	 */
-	float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
+	float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude);
 
 	/**
 	 *
@@ -78,11 +93,20 @@ public:
 
 	/**
 	 *
+	 * @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+	 */
+	__EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement, float landing_slope_angle_rad)
+	{
+		return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad); //flare_relative_alt is negative
+	}
+
+	/**
+	 *
 	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
 	 */
 	__EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)
 	{
-		return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad) + wp_landing_altitude; //flare_relative_alt is negative
+		return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement, landing_slope_angle_rad) + wp_landing_altitude;
 	}
 
 	/**
@@ -95,13 +119,14 @@ public:
 
 	}
 
+	float getFlareCurveRelativeAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
 
-	float getFlareCurveAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
+	float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
 
-	void update(float landing_slope_angle_rad,
-			float flare_relative_alt,
-			float motor_lim_relative_alt,
-			float H1_virt);
+	void update(float landing_slope_angle_rad_new,
+			float flare_relative_alt_new,
+			float motor_lim_relative_alt_new,
+			float H1_virt_new);
 
 
 	inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk
index cf419ec7e..15b575b50 100644
--- a/src/modules/fw_pos_control_l1/module.mk
+++ b/src/modules/fw_pos_control_l1/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -39,4 +39,9 @@ MODULE_COMMAND	= fw_pos_control_l1
 
 SRCS		= fw_pos_control_l1_main.cpp \
 		  fw_pos_control_l1_params.c \
-		  landingslope.cpp
+		  landingslope.cpp \
+		  mtecs/mTecs.cpp \
+		  mtecs/limitoverride.cpp \
+		  mtecs/mTecs_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp b/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp
new file mode 100644
index 000000000..58795edb6
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file limitoverride.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "limitoverride.h"
+
+namespace fwPosctrl {
+
+bool LimitOverride::applyOverride(BlockOutputLimiter &outputLimiterThrottle,
+		BlockOutputLimiter &outputLimiterPitch)
+{
+	bool ret = false;
+
+	if (overrideThrottleMinEnabled)	{
+		outputLimiterThrottle.setMin(overrideThrottleMin);
+		ret = true;
+	}
+	if (overrideThrottleMaxEnabled)	{
+		outputLimiterThrottle.setMax(overrideThrottleMax);
+		ret = true;
+	}
+	if (overridePitchMinEnabled)	{
+		outputLimiterPitch.setMin(overridePitchMin);
+		ret = true;
+	}
+	if (overridePitchMaxEnabled)	{
+		outputLimiterPitch.setMax(overridePitchMax);
+		ret = true;
+	}
+
+	return ret;
+}
+
+} /* namespace fwPosctrl */
diff --git a/src/modules/fw_pos_control_l1/mtecs/limitoverride.h b/src/modules/fw_pos_control_l1/mtecs/limitoverride.h
new file mode 100644
index 000000000..64c2e7bbd
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/limitoverride.h
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file limitoverride.h
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+
+#ifndef LIMITOVERRIDE_H_
+#define LIMITOVERRIDE_H_
+
+#include "mTecs_blocks.h"
+
+namespace fwPosctrl
+{
+
+/* A small class which provides helper functions to override control output limits which are usually set by
+* parameters in special cases
+*/
+class LimitOverride
+{
+public:
+	LimitOverride() :
+		overrideThrottleMinEnabled(false),
+		overrideThrottleMaxEnabled(false),
+		overridePitchMinEnabled(false),
+		overridePitchMaxEnabled(false)
+	{};
+
+	~LimitOverride() {};
+
+	/*
+	* Override the limits of the outputlimiter instances given by the arguments with the limits saved in
+	* this class (if enabled)
+	* @return true if the limit was applied
+	*/
+	bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
+			BlockOutputLimiter &outputLimiterPitch);
+
+	/* Functions to enable or disable the override */
+	void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
+			&overrideThrottleMin, value); }
+	void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
+	void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
+			&overrideThrottleMax, value); }
+	void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
+	void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
+			&overridePitchMin, value); }
+	void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
+	void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
+			&overridePitchMax, value); }
+	void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
+
+protected:
+	bool overrideThrottleMinEnabled;
+	float overrideThrottleMin;
+	bool overrideThrottleMaxEnabled;
+	float overrideThrottleMax;
+	bool overridePitchMinEnabled;
+	float overridePitchMin; //in degrees (replaces param values)
+	bool overridePitchMaxEnabled;
+	float overridePitchMax; //in degrees (replaces param values)
+
+	/* Enable a specific limit override */
+	void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value; };
+
+	/* Disable a specific limit override */
+	void disable(bool *flag) { *flag = false; };
+};
+
+} /* namespace fwPosctrl */
+
+#endif /* LIMITOVERRIDE_H_ */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
new file mode 100644
index 000000000..bffeefc1f
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
@@ -0,0 +1,317 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file mTecs.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include "mTecs.h"
+
+#include <lib/geo/geo.h>
+#include <stdio.h>
+
+namespace fwPosctrl {
+
+mTecs::mTecs() :
+	SuperBlock(NULL, "MT"),
+	/* Parameters */
+	_mTecsEnabled(this, "ENABLED"),
+	_airspeedMin(this, "FW_AIRSPD_MIN", false),
+	/* Publications */
+	_status(&getPublications(), ORB_ID(tecs_status)),
+	/* control blocks */
+	_controlTotalEnergy(this, "THR"),
+	_controlEnergyDistribution(this, "PIT", true),
+	_controlAltitude(this, "FPA", true),
+	_controlAirSpeed(this, "ACC"),
+	_flightPathAngleLowpass(this, "FPA_LP"),
+	_altitudeLowpass(this, "ALT_LP"),
+	_airspeedLowpass(this, "A_LP"),
+	_airspeedDerivative(this, "AD"),
+	_throttleSp(0.0f),
+	_pitchSp(0.0f),
+	_BlockOutputLimiterTakeoffThrottle(this, "TKF_THR"),
+	_BlockOutputLimiterTakeoffPitch(this, "TKF_PIT", true),
+	_BlockOutputLimiterUnderspeedThrottle(this, "USP_THR"),
+	_BlockOutputLimiterUnderspeedPitch(this, "USP_PIT", true),
+	_BlockOutputLimiterLandThrottle(this, "LND_THR"),
+	_BlockOutputLimiterLandPitch(this, "LND_PIT", true),
+	timestampLastIteration(hrt_absolute_time()),
+	_firstIterationAfterReset(true),
+	_dtCalculated(false),
+	_counter(0),
+	_debug(false)
+{
+}
+
+mTecs::~mTecs()
+{
+}
+
+int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
+		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+{
+	/* check if all input arguments are numbers and abort if not so */
+	if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
+			!isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
+		return -1;
+	}
+
+	/* time measurement */
+	updateTimeMeasurement();
+
+	/* Filter altitude */
+	float altitudeFiltered = _altitudeLowpass.update(altitude);
+
+
+	/* calculate flight path angle setpoint from altitude setpoint */
+	float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitudeFiltered);
+
+	/* Debug output */
+	if (_counter % 10 == 0) {
+		debug("***");
+		debug("updateAltitudeSpeed: altitudeSp %.4f, altitude %.4f, altitude filtered %.4f, flightPathAngleSp %.4f", (double)altitudeSp, (double)altitude, (double)altitudeFiltered, (double)flightPathAngleSp);
+	}
+
+	/* Write part of the status message */
+	_status.altitudeSp = altitudeSp;
+	_status.altitude_filtered = altitudeFiltered;
+
+
+	/* use flightpath angle setpoint for total energy control */
+	return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed,
+			airspeedSp, mode, limitOverride);
+}
+
+int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
+		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+{
+	/* check if all input arguments are numbers and abort if not so */
+	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
+			!isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
+		return -1;
+	}
+
+	/* time measurement */
+	updateTimeMeasurement();
+
+	/* Filter airspeed */
+	float airspeedFiltered = _airspeedLowpass.update(airspeed);
+
+	/* calculate longitudinal acceleration setpoint from airspeed setpoint*/
+	float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeedFiltered);
+
+	/* Debug output */
+	if (_counter % 10 == 0) {
+		debug("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f airspeedFiltered %.4f,"
+				"accelerationLongitudinalSp%.4f",
+				(double)airspeedSp, (double)airspeed,
+				(double)airspeedFiltered, (double)accelerationLongitudinalSp);
+	}
+
+	/* Write part of the status message */
+	_status.airspeedSp = airspeedSp;
+	_status.airspeed_filtered = airspeedFiltered;
+
+
+	/* use longitudinal acceleration setpoint for total energy control */
+	return updateFlightPathAngleAcceleration(flightPathAngle, flightPathAngleSp, airspeedFiltered,
+			accelerationLongitudinalSp, mode, limitOverride);
+}
+
+int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
+		float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride)
+{
+	/* check if all input arguments are numbers and abort if not so */
+	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
+			!isfinite(airspeedFiltered) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) {
+		return -1;
+	}
+	/* time measurement */
+	updateTimeMeasurement();
+
+	/* update parameters first */
+	updateParams();
+
+	/* Filter flightpathangle */
+	float flightPathAngleFiltered = _flightPathAngleLowpass.update(flightPathAngle);
+
+	/* calculate values (energies) */
+	float flightPathAngleError = flightPathAngleSp - flightPathAngleFiltered;
+	float airspeedDerivative = 0.0f;
+	if(_airspeedDerivative.getDt() > 0.0f) {
+		airspeedDerivative = _airspeedDerivative.update(airspeedFiltered);
+	}
+	float airspeedDerivativeNorm = airspeedDerivative / CONSTANTS_ONE_G;
+	float airspeedDerivativeSp = accelerationLongitudinalSp;
+	float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G;
+	float airspeedDerivativeNormError = airspeedDerivativeNormSp - airspeedDerivativeNorm;
+
+	float totalEnergyRate = flightPathAngleFiltered + airspeedDerivativeNorm;
+	float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormError;
+	float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp;
+	float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate;
+
+	float energyDistributionRate = flightPathAngleFiltered - airspeedDerivativeNorm;
+	float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormError;
+	float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp;
+	float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate;
+
+	/* Debug output */
+	if (_counter % 10 == 0) {
+		debug("totalEnergyRateSp %.2f, totalEnergyRate %.2f, totalEnergyRateError %.2f totalEnergyRateError2 %.2f airspeedDerivativeNorm %.4f",
+				(double)totalEnergyRateSp, (double)totalEnergyRate, (double)totalEnergyRateError, (double)totalEnergyRateError2, (double)airspeedDerivativeNorm);
+		debug("energyDistributionRateSp %.2f, energyDistributionRate %.2f, energyDistributionRateError %.2f energyDistributionRateError2 %.2f",
+				(double)energyDistributionRateSp, (double)energyDistributionRate, (double)energyDistributionRateError, (double)energyDistributionRateError2);
+	}
+
+	/* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
+	if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
+		mode = TECS_MODE_UNDERSPEED;
+	}
+
+	/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
+	BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
+	BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
+	if (mode == TECS_MODE_TAKEOFF) {
+		outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
+		outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
+	} else if (mode == TECS_MODE_LAND) {
+		// only limit pitch but do not limit throttle
+		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
+	} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
+		outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
+		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
+	} else if (mode == TECS_MODE_UNDERSPEED) {
+		outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
+		outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
+	}
+
+	/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
+	 * parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
+	 * is running) */
+	limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
+
+	/* Write part of the status message */
+	_status.flightPathAngleSp = flightPathAngleSp;
+	_status.flightPathAngle = flightPathAngle;
+	_status.flightPathAngleFiltered = flightPathAngleFiltered;
+	_status.airspeedDerivativeSp = airspeedDerivativeSp;
+	_status.airspeedDerivative = airspeedDerivative;
+	_status.totalEnergyRateSp = totalEnergyRateSp;
+	_status.totalEnergyRate = totalEnergyRate;
+	_status.energyDistributionRateSp = energyDistributionRateSp;
+	_status.energyDistributionRate = energyDistributionRate;
+	_status.mode = mode;
+
+	/** update control blocks **/
+	/* update total energy rate control block */
+	_throttleSp = _controlTotalEnergy.update(totalEnergyRateSp, totalEnergyRateError, outputLimiterThrottle);
+
+	/* update energy distribution rate control block */
+	_pitchSp = _controlEnergyDistribution.update(energyDistributionRateSp, energyDistributionRateError, outputLimiterPitch);
+
+
+	if (_counter % 10 == 0) {
+		debug("_throttleSp %.1f, _pitchSp %.1f, flightPathAngleSp %.1f, flightPathAngle %.1f accelerationLongitudinalSp %.1f, airspeedDerivative %.1f",
+				(double)_throttleSp, (double)_pitchSp,
+				(double)flightPathAngleSp, (double)flightPathAngle,
+				(double)accelerationLongitudinalSp, (double)airspeedDerivative);
+	}
+
+	/* publish status messge */
+	_status.update();
+
+	/* clean up */
+	_firstIterationAfterReset = false;
+	_dtCalculated = false;
+
+	_counter++;
+
+	return 0;
+}
+
+void mTecs::resetIntegrators()
+{
+	_controlTotalEnergy.getIntegral().setY(0.0f);
+	_controlEnergyDistribution.getIntegral().setY(0.0f);
+	timestampLastIteration = hrt_absolute_time();
+	_firstIterationAfterReset = true;
+}
+
+void mTecs::resetDerivatives(float airspeed)
+{
+	_airspeedDerivative.setU(airspeed);
+}
+
+
+void mTecs::updateTimeMeasurement()
+{
+	if (!_dtCalculated) {
+		float deltaTSeconds = 0.0f;
+		if (!_firstIterationAfterReset) {
+			hrt_abstime timestampNow = hrt_absolute_time();
+			deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f;
+			timestampLastIteration = timestampNow;
+		}
+		setDt(deltaTSeconds);
+
+		_dtCalculated = true;
+	}
+}
+
+void mTecs::debug_print(const char *fmt, va_list args)
+{
+	fprintf(stderr, "%s: ", "[mtecs]");
+	vfprintf(stderr, fmt, args);
+
+	fprintf(stderr, "\n");
+}
+
+void mTecs::debug(const char *fmt, ...) {
+
+	if (!_debug) {
+		return;
+	}
+
+	va_list args;
+
+	va_start(args, fmt);
+	debug_print(fmt, args);
+}
+
+} /* namespace fwPosctrl */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
new file mode 100644
index 000000000..ae6867d38
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -0,0 +1,156 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file mTecs.h
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+
+#ifndef MTECS_H_
+#define MTECS_H_
+
+#include "mTecs_blocks.h"
+#include "limitoverride.h"
+
+#include <controllib/block/BlockParam.hpp>
+#include <drivers/drv_hrt.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/tecs_status.h>
+
+namespace fwPosctrl
+{
+
+/* Main class of the mTecs */
+class mTecs : public control::SuperBlock
+{
+public:
+	mTecs();
+	virtual ~mTecs();
+
+	/*
+	 * Control in altitude setpoint and speed mode
+	 */
+	int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
+			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+
+	/*
+	 * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
+	 */
+	int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
+			float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+
+	/*
+	 * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
+	 */
+	int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
+			float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
+
+	/*
+	 * Reset all integrators
+	 */
+	void resetIntegrators();
+
+	/*
+	 * Reset all derivative calculations
+	 */
+	void resetDerivatives(float airspeed);
+
+	/* Accessors */
+	bool getEnabled() { return _mTecsEnabled.get() > 0; }
+	float getThrottleSetpoint() { return _throttleSp; }
+	float getPitchSetpoint() { return _pitchSp; }
+	float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); }
+
+protected:
+	/* parameters */
+	control::BlockParamInt _mTecsEnabled;		/**< 1 if mTecs is enabled */
+	control::BlockParamFloat _airspeedMin;		/**< minimal airspeed */
+
+	/* Publications */
+	uORB::Publication<tecs_status_s> _status;	/**< publish internal values for logging */
+
+	/* control blocks */
+	BlockFFPILimitedCustom _controlTotalEnergy;		/**< FFPI controller for total energy control: output
+								  is throttle */
+	BlockFFPILimitedCustom _controlEnergyDistribution;	/**< FFPI controller for energy distribution control:
+								  output is pitch */
+	BlockPDLimited	_controlAltitude;			/**< PD controller for altitude: output is the flight
+								  path angle setpoint */
+	BlockPDLimited	_controlAirSpeed;			/**< PD controller for airspeed: output is acceleration
+								  setpoint */
+
+	/* Other calculation Blocks */
+	control::BlockLowPass _flightPathAngleLowpass;	/**< low pass filter for the flight path angle */
+	control::BlockLowPass _altitudeLowpass;	/**< low pass filter for altitude */
+	control::BlockLowPass _airspeedLowpass;		/**< low pass filter for airspeed */
+	control::BlockDerivative _airspeedDerivative;	/**< airspeed derivative calulation */
+
+	/* Output setpoints */
+	float _throttleSp;				/**< Throttle Setpoint from 0 to 1 */
+	float _pitchSp;					/**< Pitch Setpoint from -pi to pi */
+
+	/* Output Limits in special modes */
+	BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle;	    /**< Throttle Limits during takeoff */
+	BlockOutputLimiter _BlockOutputLimiterTakeoffPitch;	    /**< Pitch Limit during takeoff */
+	BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle;   /**< Throttle Limits when underspeed is detected */
+	BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch;	    /**< Pitch Limit when underspeed is detected */
+	BlockOutputLimiter _BlockOutputLimiterLandThrottle;	    /**< Throttle Limits during landing (only in
+								      last phase)*/
+	BlockOutputLimiter _BlockOutputLimiterLandPitch;	    /**< Pitch Limit during landing */
+
+	/* Time measurements */
+	hrt_abstime timestampLastIteration;	/**< Saves the result of hrt_absolute_time() of the last iteration */
+
+	bool _firstIterationAfterReset;		/**< True during the first iteration after a reset */
+	bool _dtCalculated;			/**< True if dt has been calculated in this iteration */
+
+	int _counter;
+	bool _debug;				///< Set true to enable debug output
+
+
+	static void	debug_print(const char *fmt, va_list args);
+	void		debug(const char *fmt, ...);
+
+	/*
+	 * Measure and update the time step dt if this was not already done in the current iteration
+	 */
+	void updateTimeMeasurement();
+};
+
+} /* namespace fwPosctrl */
+
+#endif /* MTECS_H_ */
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
new file mode 100644
index 000000000..bb2065472
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
@@ -0,0 +1,220 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file mTecs_blocks.h
+ *
+ * Custom blocks for the mTecs
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#pragma once
+
+#include <controllib/blocks.hpp>
+#include <systemlib/err.h>
+
+namespace fwPosctrl
+{
+
+using namespace control;
+
+/* An block which can be used to limit the output */
+class BlockOutputLimiter: public SuperBlock
+{
+public:
+// methods
+	BlockOutputLimiter(SuperBlock *parent, const char *name, bool fAngularLimit = false) :
+		SuperBlock(parent, name),
+		_isAngularLimit(fAngularLimit),
+		_min(this, "MIN"),
+		_max(this, "MAX")
+	{};
+	virtual ~BlockOutputLimiter() {};
+	/*
+	 * Imposes the limits given by _min and _max on value
+	 *
+	 * @param value is changed to be on the interval _min to _max
+	 * @param difference if the value is changed this corresponds to the change of value * (-1)
+     * otherwise unchanged
+	 * @return: true if the limit is applied, false otherwise
+	 */
+	bool limit(float& value, float& difference) {
+		float minimum = getIsAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin();
+		float maximum = getIsAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax();
+		if (value < minimum) {
+			difference = value - minimum;
+			value = minimum;
+			return true;
+		} else if (value > maximum) {
+			difference = value - maximum;
+			value = maximum;
+			return true;
+		}
+		return false;
+	}
+//accessor:
+	bool getIsAngularLimit() {return _isAngularLimit ;}
+	float getMin() { return _min.get(); }
+	float getMax() { return _max.get(); }
+	void setMin(float value) { _min.set(value); }
+	void setMax(float value) { _max.set(value); }
+protected:
+//attributes
+	bool _isAngularLimit;
+	control::BlockParamFloat _min;
+	control::BlockParamFloat _max;
+};
+
+
+/* A combination of feed forward, P and I gain using the output limiter*/
+class BlockFFPILimited: public SuperBlock
+{
+public:
+// methods
+	BlockFFPILimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+		SuperBlock(parent, name),
+		_outputLimiter(this, "", isAngularLimit),
+		_integral(this, "I"),
+		_kFF(this, "FF"),
+		_kP(this, "P"),
+		_kI(this, "I"),
+		_offset(this, "OFF")
+	{};
+	virtual ~BlockFFPILimited() {};
+	float update(float inputValue, float inputError) { return calcLimitedOutput(inputValue, inputError, _outputLimiter); }
+// accessors
+	BlockIntegral &getIntegral() { return _integral; }
+	float getKFF() { return _kFF.get(); }
+	float getKP() { return _kP.get(); }
+	float getKI() { return _kI.get(); }
+	float getOffset() { return _offset.get(); }
+	BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; };
+protected:
+	BlockOutputLimiter _outputLimiter;
+
+	float calcUnlimitedOutput(float inputValue, float inputError) {return getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError);}
+	float calcLimitedOutput(float inputValue, float inputError, BlockOutputLimiter &outputLimiter) {
+		float difference = 0.0f;
+		float integralYPrevious = _integral.getY();
+		float output = calcUnlimitedOutput(inputValue, inputError);
+		if(outputLimiter.limit(output, difference) &&
+			(((difference < 0) && (getKI() * getIntegral().getY() < 0)) ||
+			((difference > 0) && (getKI() * getIntegral().getY() > 0)))) {
+				getIntegral().setY(integralYPrevious);
+		}
+		return output;
+	}
+private:
+	BlockIntegral _integral;
+	BlockParamFloat _kFF;
+	BlockParamFloat _kP;
+	BlockParamFloat _kI;
+	BlockParamFloat _offset;
+};
+
+/* A combination of feed forward, P and I gain using the output limiter with the option to provide a special output limiter (for example for takeoff)*/
+class BlockFFPILimitedCustom: public BlockFFPILimited
+{
+public:
+// methods
+	BlockFFPILimitedCustom(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+		BlockFFPILimited(parent, name, isAngularLimit)
+		{};
+	virtual ~BlockFFPILimitedCustom() {};
+	float update(float inputValue, float inputError, BlockOutputLimiter *outputLimiter = NULL) {
+		return calcLimitedOutput(inputValue, inputError, outputLimiter == NULL ? _outputLimiter : *outputLimiter);
+	}
+};
+
+/* A combination of P gain and output limiter */
+class BlockPLimited: public SuperBlock
+{
+public:
+// methods
+	BlockPLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+		SuperBlock(parent, name),
+		_kP(this, "P"),
+		_outputLimiter(this, "", isAngularLimit)
+	{};
+	virtual ~BlockPLimited() {};
+	float update(float input) {
+		float difference = 0.0f;
+		float output = getKP() * input;
+		getOutputLimiter().limit(output, difference);
+		return output;
+	}
+// accessors
+	BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; };
+	float getKP() { return _kP.get(); }
+private:
+	control::BlockParamFloat _kP;
+	BlockOutputLimiter _outputLimiter;
+};
+
+/* A combination of P, D gains and output limiter */
+class BlockPDLimited: public SuperBlock
+{
+public:
+// methods
+	BlockPDLimited(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+		SuperBlock(parent, name),
+		_kP(this, "P"),
+		_kD(this, "D"),
+		_derivative(this, "D"),
+		_outputLimiter(this, "", isAngularLimit)
+	{};
+	virtual ~BlockPDLimited() {};
+	float update(float input) {
+		float difference = 0.0f;
+		float output = getKP() * input + (getDerivative().getDt() > 0.0f ? getKD() * getDerivative().update(input) : 0.0f);
+		getOutputLimiter().limit(output, difference);
+
+		return output;
+	}
+// accessors
+	float getKP() { return _kP.get(); }
+	float getKD() { return _kD.get(); }
+	BlockDerivative &getDerivative() { return _derivative; }
+	BlockOutputLimiter &getOutputLimiter() { return _outputLimiter; };
+private:
+	control::BlockParamFloat _kP;
+	control::BlockParamFloat _kD;
+	BlockDerivative _derivative;
+	BlockOutputLimiter _outputLimiter;
+};
+
+}
+
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
new file mode 100644
index 000000000..58a1e9f6b
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -0,0 +1,426 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	@author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file mTecs_params.c
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/*
+ * Controller parameters, accessible via MAVLink
+ */
+
+/**
+ * mTECS enabled
+ *
+ * Set to 1 to enable mTECS
+ *
+ * @min 0
+ * @max 1
+ * @group mTECS
+ */
+PARAM_DEFINE_INT32(MT_ENABLED, 0);
+
+/**
+ * Total Energy Rate Control Feedforward
+ * Maps the total energy rate setpoint to the throttle setpoint
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f);
+
+/**
+ * Total Energy Rate Control P
+ * Maps the total energy rate error to the throttle setpoint
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
+
+/**
+ * Total Energy Rate Control I
+ * Maps the integrated total energy rate to the throttle setpoint
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f);
+
+/**
+ * Total Energy Rate Control Offset (Cruise throttle sp)
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
+
+/**
+ * Energy Distribution Rate Control Feedforward
+ * Maps the energy distribution rate setpoint to the pitch setpoint
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f);
+
+/**
+ * Energy Distribution Rate Control P
+ * Maps the energy distribution rate error to the pitch setpoint
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f);
+
+/**
+ * Energy Distribution Rate Control I
+ * Maps the integrated energy distribution rate error to the pitch setpoint
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f);
+
+
+/**
+ * Total Energy Distribution Offset (Cruise pitch sp)
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_OFF, 0.0f);
+
+/**
+ * Minimal Throttle Setpoint
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_MIN, 0.0f);
+
+/**
+ * Maximal Throttle Setpoint
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_MAX, 1.0f);
+
+/**
+ * Minimal Pitch Setpoint in Degrees
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
+
+/**
+ * Maximal Pitch Setpoint in Degrees
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
+
+/**
+ * Lowpass (cutoff freq.) for altitude
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ALT_LP, 1.0f);
+
+/**
+ * Lowpass (cutoff freq.) for the flight path angle
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_FPA_LP, 1.0f);
+
+/**
+ * P gain for the altitude control
+ * Maps the altitude error to the flight path angle setpoint
+ *
+ * @min 0.0f
+ * @max 10.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
+
+/**
+ * D gain for the altitude control
+ * Maps the change of altitude error to the flight path angle setpoint
+ *
+ * @min 0.0f
+ * @max 10.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f);
+
+/**
+ * Lowpass for FPA error derivative calculation (see MT_FPA_D)
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
+
+
+/**
+ * Minimal flight path angle setpoint
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_FPA_MIN, -20.0f);
+
+/**
+ * Maximal flight path angle setpoint
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
+
+/**
+ * Lowpass (cutoff freq.) for airspeed
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f);
+
+/**
+ * Airspeed derivative calculation lowpass
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f);
+
+/**
+ * P gain for the airspeed control
+ * Maps the airspeed error to the acceleration setpoint
+ *
+ * @min 0.0f
+ * @max 10.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
+
+/**
+ * D gain for the airspeed control
+ * Maps the change of airspeed error to the acceleration setpoint
+ *
+ * @min 0.0f
+ * @max 10.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f);
+
+/**
+ * Lowpass for ACC error derivative calculation (see MT_ACC_D)
+ *
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f);
+
+/**
+ * Minimal acceleration (air)
+ *
+ * @unit m/s^2
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
+
+/**
+ * Maximal acceleration (air)
+ *
+* @unit m/s^2
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
+
+/**
+ * Minimal throttle during takeoff
+ *
+ * @min 0.0f
+ * @max 1.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_TKF_THR_MIN, 1.0f);
+
+/**
+ * Maximal throttle during takeoff
+ *
+ * @min 0.0f
+ * @max 1.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_TKF_THR_MAX, 1.0f);
+
+/**
+ * Minimal pitch during takeoff
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_TKF_PIT_MIN, 0.0f);
+
+/**
+ * Maximal pitch during takeoff
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_TKF_PIT_MAX, 45.0f);
+
+/**
+ * Minimal throttle in underspeed mode
+ *
+ * @min 0.0f
+ * @max 1.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_USP_THR_MIN, 1.0f);
+
+/**
+ * Maximal throttle in underspeed mode
+ *
+ * @min 0.0f
+ * @max 1.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_USP_THR_MAX, 1.0f);
+
+/**
+ * Minimal pitch in underspeed mode
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_USP_PIT_MIN, -45.0f);
+
+/**
+ * Maximal pitch in underspeed mode
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_USP_PIT_MAX, 0.0f);
+
+/**
+ * Minimal throttle in landing mode (only last phase of landing)
+ *
+ * @min 0.0f
+ * @max 1.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_LND_THR_MIN, 0.0f);
+
+/**
+ * Maximal throttle in landing mode (only last phase of landing)
+ *
+ * @min 0.0f
+ * @max 1.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_LND_THR_MAX, 0.0f);
+
+/**
+ * Minimal pitch in landing mode
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_LND_PIT_MIN, -5.0f);
+
+/**
+ * Maximal pitch in landing mode
+ *
+ * @min -90.0f
+ * @max 90.0f
+ * @unit deg
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_LND_PIT_MAX, 15.0f);
+
+/**
+ * Integrator Limit for Total Energy Rate Control
+ *
+ * @min 0.0f
+ * @max 10.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_THR_I_MAX, 10.0f);
+
+/**
+ * Integrator Limit for Energy Distribution Rate Control
+ *
+ * @min 0.0f
+ * @max 10.0f
+ * @group mTECS
+ */
+PARAM_DEFINE_FLOAT(MT_PIT_I_MAX, 10.0f);
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 6dfd22fdf..7758faed7 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -181,16 +181,13 @@ int gpio_led_main(int argc, char *argv[])
 			} else {
 				gpio_led_started = true;
 				warnx("start, using pin: %s", pin_name);
+				exit(0);
 			}
-
-			exit(0);
-
-
 		} else if (!strcmp(argv[1], "stop")) {
 			if (gpio_led_started) {
 				gpio_led_started = false;
 				warnx("stop");
-
+				exit(0);
 			} else {
 				errx(1, "not running");
 			}
@@ -264,7 +261,7 @@ void gpio_led_cycle(FAR void *arg)
 		pattern = 0x2A;	// *_*_*_ fast blink (armed, error)
 
 	} else if (priv->status.arming_state == ARMING_STATE_ARMED) {
-		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && priv->status.failsafe_state == FAILSAFE_STATE_NORMAL) {
+		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && !priv->status.failsafe) {
 			pattern = 0x3f;	// ****** solid (armed)
 
 		} else {
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index ad435b251..e49288a74 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -62,6 +62,12 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
  * @group MAVLink
  */
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
+/**
+ * Use/Accept HIL GPS message (even if not in HIL mode)
+ * If set to 1 incomming HIL GPS messages are parsed.
+ * @group MAVLink
+ */
+PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
 
 mavlink_system_t mavlink_system = {
 	100,
diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h
index 374d1511c..0cd08769e 100644
--- a/src/modules/mavlink/mavlink_bridge_header.h
+++ b/src/modules/mavlink/mavlink_bridge_header.h
@@ -44,7 +44,12 @@
 
 __BEGIN_DECLS
 
-#define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+/*
+ * We are NOT using convenience functions,
+ * but instead send messages with a custom function.
+ * So we do NOT do this:
+ * #define MAVLINK_USE_CONVENIENCE_FUNCTIONS
+ */
 
 /* use efficient approach, see mavlink_helpers.h */
 #define MAVLINK_SEND_UART_BYTES mavlink_send_uart_bytes
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
new file mode 100644
index 000000000..6a2c900af
--- /dev/null
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -0,0 +1,427 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <crc32.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <fcntl.h>
+
+#include "mavlink_ftp.h"
+
+MavlinkFTP *MavlinkFTP::_server;
+
+MavlinkFTP *
+MavlinkFTP::getServer()
+{
+	// XXX this really cries out for some locking...
+	if (_server == nullptr) {
+		_server = new MavlinkFTP;
+	}
+	return _server;
+}
+
+MavlinkFTP::MavlinkFTP() :
+	_session_fds{},
+	_workBufs{},
+	_workFree{},
+	_lock{}
+{
+	// initialise the request freelist
+	dq_init(&_workFree);
+	sem_init(&_lock, 0, 1);
+
+	// initialize session list
+	for (size_t i=0; i<kMaxSession; i++) {
+		_session_fds[i] = -1;
+	}
+
+	// drop work entries onto the free list
+	for (unsigned i = 0; i < kRequestQueueSize; i++) {
+		_qFree(&_workBufs[i]);
+	}
+
+}
+
+void
+MavlinkFTP::handle_message(Mavlink* mavlink, mavlink_message_t *msg)
+{
+	// get a free request
+	auto req = _dqFree();
+
+	// if we couldn't get a request slot, just drop it
+	if (req != nullptr) {
+
+		// decode the request
+		if (req->decode(mavlink, msg)) {
+
+			// and queue it for the worker
+			work_queue(LPWORK, &req->work, &MavlinkFTP::_workerTrampoline, req, 0);
+		} else {
+			_qFree(req);
+		}
+	}
+}
+
+void
+MavlinkFTP::_workerTrampoline(void *arg)
+{
+	auto req = reinterpret_cast<Request *>(arg);
+	auto server = MavlinkFTP::getServer();
+
+	// call the server worker with the work item
+	server->_worker(req);
+}
+
+void
+MavlinkFTP::_worker(Request *req)
+{
+	auto hdr = req->header();
+	ErrorCode errorCode = kErrNone;
+	uint32_t messageCRC;
+
+	// basic sanity checks; must validate length before use
+	if ((hdr->magic != kProtocolMagic) || (hdr->size > kMaxDataLength)) {
+		errorCode = kErrNoRequest;
+		goto out;
+	}
+
+	// check request CRC to make sure this is one of ours
+	messageCRC = hdr->crc32;
+	hdr->crc32 = 0;
+	if (crc32(req->rawData(), req->dataSize()) != messageCRC) {
+		errorCode = kErrNoRequest;
+		goto out;
+		warnx("ftp: bad crc");
+	}
+
+	//printf("ftp: channel %u opc %u size %u offset %u\n", req->channel(), hdr->opcode, hdr->size, hdr->offset);
+
+	switch (hdr->opcode) {
+	case kCmdNone:
+		break;
+
+	case kCmdTerminate:
+		errorCode = _workTerminate(req);
+		break;
+
+	case kCmdReset:
+		errorCode = _workReset();
+		break;
+
+	case kCmdList:
+		errorCode = _workList(req);
+		break;
+
+	case kCmdOpen:
+		errorCode = _workOpen(req, false);
+		break;
+
+	case kCmdCreate:
+		errorCode = _workOpen(req, true);
+		break;
+
+	case kCmdRead:
+		errorCode = _workRead(req);
+		break;
+
+	case kCmdWrite:
+		errorCode = _workWrite(req);
+		break;
+
+	case kCmdRemove:
+		errorCode = _workRemove(req);
+		break;
+
+	default:
+		errorCode = kErrNoRequest;
+		break;	
+	}
+
+out:
+	// handle success vs. error
+	if (errorCode == kErrNone) {
+		hdr->opcode = kRspAck;
+		//warnx("FTP: ack\n");
+	} else {
+		warnx("FTP: nak %u", errorCode);
+		hdr->opcode = kRspNak;
+		hdr->size = 1;
+		hdr->data[0] = errorCode;
+	}
+
+	// respond to the request
+	_reply(req);
+
+	// free the request buffer back to the freelist
+	_qFree(req);
+}
+
+void
+MavlinkFTP::_reply(Request *req)
+{
+	auto hdr = req->header();
+
+	// message is assumed to be already constructed in the request buffer, so generate the CRC
+	hdr->crc32 = 0;
+	hdr->crc32 = crc32(req->rawData(), req->dataSize());
+
+	// then pack and send the reply back to the request source
+	req->reply();
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workList(Request *req)
+{
+	auto hdr = req->header();
+    
+    char dirPath[kMaxDataLength];
+    strncpy(dirPath, req->dataAsCString(), kMaxDataLength);
+    
+	DIR *dp = opendir(dirPath);
+
+	if (dp == nullptr) {
+		warnx("FTP: can't open path '%s'", dirPath);
+		return kErrNotDir;
+	}
+    
+	//warnx("FTP: list %s offset %d", dirPath, hdr->offset);
+
+	ErrorCode errorCode = kErrNone;
+	struct dirent entry, *result = nullptr;
+	unsigned offset = 0;
+
+	// move to the requested offset
+	seekdir(dp, hdr->offset);
+
+	for (;;) {
+		// read the directory entry
+		if (readdir_r(dp, &entry, &result)) {
+			warnx("FTP: list %s readdir_r failure\n", dirPath);
+			errorCode = kErrIO;
+			break;
+		}
+
+		// no more entries?
+		if (result == nullptr) {
+			if (hdr->offset != 0 && offset == 0) {
+				// User is requesting subsequent dir entries but there were none. This means the user asked
+				// to seek past EOF.
+				errorCode = kErrEOF;
+			}
+			// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
+			break;
+		}
+
+		// name too big to fit?
+		if ((strlen(entry.d_name) + offset + 2) > kMaxDataLength) {
+			break;
+		}
+
+		// store the type marker
+		switch (entry.d_type) {
+		case DTYPE_FILE:
+			hdr->data[offset++] = kDirentFile;
+			break;
+		case DTYPE_DIRECTORY:
+			hdr->data[offset++] = kDirentDir;
+			break;
+		default:
+			hdr->data[offset++] = kDirentUnknown;
+			break;
+		}
+
+		// copy the name, which we know will fit
+		strcpy((char *)&hdr->data[offset], entry.d_name);
+		//printf("FTP: list %s %s\n", dirPath, (char *)&hdr->data[offset-1]);
+		offset += strlen(entry.d_name) + 1;
+	}
+
+	closedir(dp);
+	hdr->size = offset;
+
+	return errorCode;
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workOpen(Request *req, bool create)
+{
+	auto hdr = req->header();
+    
+	int session_index = _findUnusedSession();
+	if (session_index < 0) {
+		return kErrNoSession;
+	}
+
+	int oflag = create ? (O_CREAT | O_EXCL | O_APPEND) : O_RDONLY;
+    
+	int fd = ::open(req->dataAsCString(), oflag);
+	if (fd < 0) {
+		return create ? kErrPerm : kErrNotFile;
+	}
+	_session_fds[session_index] = fd;
+
+	hdr->session = session_index;
+	hdr->size = 0;
+
+	return kErrNone;
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workRead(Request *req)
+{
+	auto hdr = req->header();
+
+	int session_index = hdr->session;
+
+	if (!_validSession(session_index)) {
+		return kErrNoSession;
+	}
+
+	// Seek to the specified position
+	//warnx("seek %d", hdr->offset);
+	if (lseek(_session_fds[session_index], hdr->offset, SEEK_SET) < 0) {
+		// Unable to see to the specified location
+		warnx("seek fail");
+		return kErrEOF;
+	}
+
+	int bytes_read = ::read(_session_fds[session_index], &hdr->data[0], kMaxDataLength);
+	if (bytes_read < 0) {
+		// Negative return indicates error other than eof
+		warnx("read fail %d", bytes_read);
+		return kErrIO;
+	}
+
+	hdr->size = bytes_read;
+
+	return kErrNone;
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workWrite(Request *req)
+{
+#if 0
+    // NYI: Coming soon
+	auto hdr = req->header();
+
+	// look up session
+	auto session = getSession(hdr->session);
+	if (session == nullptr) {
+		return kErrNoSession;
+	}
+
+	// append to file
+	int result = session->append(hdr->offset, &hdr->data[0], hdr->size);
+
+	if (result < 0) {
+		// XXX might also be no space, I/O, etc.
+		return kErrNotAppend;
+	}
+
+	hdr->size = result;
+	return kErrNone;
+#else
+	return kErrPerm;
+#endif
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workRemove(Request *req)
+{
+	//auto hdr = req->header();
+
+	// for now, send error reply
+	return kErrPerm;
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workTerminate(Request *req)
+{
+	auto hdr = req->header();
+    
+	if (!_validSession(hdr->session)) {
+		return kErrNoSession;
+	}
+    
+	::close(_session_fds[hdr->session]);
+
+	return kErrNone;
+}
+
+MavlinkFTP::ErrorCode
+MavlinkFTP::_workReset(void)
+{
+	for (size_t i=0; i<kMaxSession; i++) {
+		if (_session_fds[i] != -1) {
+			::close(_session_fds[i]);
+			_session_fds[i] = -1;
+		}
+	}
+
+	return kErrNone;
+}
+
+bool
+MavlinkFTP::_validSession(unsigned index)
+{
+	if ((index >= kMaxSession) || (_session_fds[index] < 0)) {
+		return false;
+	}
+	return true;
+}
+
+int
+MavlinkFTP::_findUnusedSession(void)
+{
+	for (size_t i=0; i<kMaxSession; i++) {
+		if (_session_fds[i] == -1) {
+			return i;
+		}
+	}
+
+	return -1;
+}
+
+char *
+MavlinkFTP::Request::dataAsCString()
+{
+	// guarantee nul termination
+	if (header()->size < kMaxDataLength) {
+		requestData()[header()->size] = '\0';
+	} else {
+		requestData()[kMaxDataLength - 1] = '\0';
+	}
+
+	// and return data
+	return (char *)&(header()->data[0]);
+}
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
new file mode 100644
index 000000000..1bd1158fb
--- /dev/null
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -0,0 +1,228 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/**
+ * @file mavlink_ftp.h
+ *
+ * MAVLink remote file server.
+ *
+ * Messages are wrapped in ENCAPSULATED_DATA messages. Every message includes
+ * a session ID and sequence number.
+ *
+ * A limited number of requests (currently 2) may be outstanding at a time.
+ * Additional messages will be discarded.
+ *
+ * Messages consist of a fixed header, followed by a data area.
+ *
+ */
+ 
+#include <dirent.h>
+#include <queue.h>
+
+#include <nuttx/wqueue.h>
+#include <systemlib/err.h>
+
+#include "mavlink_messages.h"
+#include "mavlink_main.h"
+
+class MavlinkFTP
+{
+public:
+	MavlinkFTP();
+
+	static MavlinkFTP	*getServer();
+
+	// static interface
+	void			handle_message(Mavlink* mavlink,
+					mavlink_message_t *msg);
+
+private:
+
+	static const unsigned	kRequestQueueSize = 2;
+
+	static MavlinkFTP	*_server;
+
+	struct RequestHeader
+	{
+		uint8_t		magic;
+		uint8_t		session;
+		uint8_t		opcode;
+		uint8_t		size;
+		uint32_t	crc32;
+		uint32_t	offset;
+		uint8_t		data[];
+	};
+
+	enum Opcode : uint8_t
+	{
+		kCmdNone,	// ignored, always acked
+		kCmdTerminate,	// releases sessionID, closes file
+		kCmdReset,	// terminates all sessions
+		kCmdList,	// list files in <path> from <offset>
+		kCmdOpen,	// opens <path> for reading, returns <session>
+		kCmdRead,	// reads <size> bytes from <offset> in <session>
+		kCmdCreate,	// creates <path> for writing, returns <session>
+		kCmdWrite,	// appends <size> bytes at <offset> in <session>
+		kCmdRemove,	// remove file (only if created by server?)
+
+		kRspAck,
+		kRspNak
+	};
+
+	enum ErrorCode : uint8_t
+	{
+		kErrNone,
+		kErrNoRequest,
+		kErrNoSession,
+		kErrSequence,
+		kErrNotDir,
+		kErrNotFile,
+		kErrEOF,
+		kErrNotAppend,
+		kErrTooBig,
+		kErrIO,
+		kErrPerm
+	};
+
+    int _findUnusedSession(void);
+    bool _validSession(unsigned index);
+
+    static const unsigned kMaxSession = 2;
+    int	_session_fds[kMaxSession];
+
+	class Request
+	{
+	public:
+		union {
+			dq_entry_t	entry;
+			work_s		work;
+		};
+
+		bool		decode(Mavlink *mavlink, mavlink_message_t *fromMessage) {
+			if (fromMessage->msgid == MAVLINK_MSG_ID_ENCAPSULATED_DATA) {
+				_mavlink = mavlink;
+				mavlink_msg_encapsulated_data_decode(fromMessage, &_message);
+				return true;
+			}
+			return false;
+		}
+
+		void		reply() {
+
+			// XXX the proper way would be an IOCTL / uORB call, rather than exploiting the
+			// flat memory architecture, as we're operating between threads here.
+			mavlink_message_t msg;
+			msg.checksum = 0;
+			unsigned len = mavlink_msg_encapsulated_data_pack_chan(_mavlink->get_system_id(), _mavlink->get_component_id(),
+				_mavlink->get_channel(), &msg, sequence(), rawData());
+
+			_mavlink->lockMessageBufferMutex();
+			bool success = _mavlink->message_buffer_write(&msg, len);
+			_mavlink->unlockMessageBufferMutex();
+
+			if (!success) {
+				warnx("FTP TX ERR");
+			} 
+			// else {
+				// warnx("wrote: sys: %d, comp: %d, chan: %d, len: %d, checksum: %d",
+				// 	_mavlink->get_system_id(),
+				// 	_mavlink->get_component_id(),
+				// 	_mavlink->get_channel(),
+				// 	len,
+				// 	msg.checksum);
+			// }
+		}
+
+		uint8_t		*rawData() { return &_message.data[0]; }
+		RequestHeader 	*header()  { return reinterpret_cast<RequestHeader *>(&_message.data[0]); }
+		uint8_t         *requestData() { return &(header()->data[0]); }
+		unsigned	dataSize() { return header()->size + sizeof(RequestHeader); }
+		uint16_t	sequence() const { return _message.seqnr; }
+		mavlink_channel_t channel() { return _mavlink->get_channel(); }
+
+		char		*dataAsCString();
+
+	private:
+		Mavlink			*_mavlink;
+		mavlink_encapsulated_data_t _message;
+
+	};
+
+	static const uint8_t	kProtocolMagic = 'f';
+	static const char	kDirentFile = 'F';
+	static const char	kDirentDir = 'D';
+	static const char	kDirentUnknown = 'U';
+	static const uint8_t	kMaxDataLength = MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN - sizeof(RequestHeader);
+
+	/// Request worker; runs on the low-priority work queue to service
+	/// remote requests.
+	///
+	static void		_workerTrampoline(void *arg);
+	void			_worker(Request *req);
+
+	/// Reply to a request (XXX should be a Request method)
+	///
+	void			_reply(Request *req);
+
+	ErrorCode		_workList(Request *req);
+	ErrorCode		_workOpen(Request *req, bool create);
+	ErrorCode		_workRead(Request *req);
+	ErrorCode		_workWrite(Request *req);
+	ErrorCode		_workRemove(Request *req);
+	ErrorCode		_workTerminate(Request *req);
+	ErrorCode		_workReset();
+
+	// work freelist
+	Request			_workBufs[kRequestQueueSize];
+	dq_queue_t		_workFree;
+	sem_t			_lock;
+
+	void			_qLock() { do {} while (sem_wait(&_lock) != 0); }
+	void			_qUnlock() { sem_post(&_lock); }
+
+	void			_qFree(Request *req) {
+		_qLock();
+		dq_addlast(&req->entry, &_workFree);
+		_qUnlock();
+	}
+
+	Request			*_dqFree() {
+		_qLock();
+		auto req = reinterpret_cast<Request *>(dq_remfirst(&_workFree));
+		_qUnlock();
+		return req;
+	}
+    
+};
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 18df577fe..9a39d3bed 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -18,7 +18,6 @@
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
@@ -73,8 +72,6 @@
 #include <mavlink/mavlink_log.h>
 
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/mission.h>
-#include <uORB/topics/mission_result.h>
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_main.h"
@@ -82,6 +79,10 @@
 #include "mavlink_receiver.h"
 #include "mavlink_rate_limiter.h"
 
+#ifndef MAVLINK_CRC_EXTRA
+#error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
+#endif
+
 /* oddly, ERROR is not defined for c++ */
 #ifdef ERROR
 # undef ERROR
@@ -89,14 +90,19 @@
 static const int ERROR = -1;
 
 #define DEFAULT_DEVICE_NAME	"/dev/ttyS1"
-#define MAX_DATA_RATE	10000	// max data rate in bytes/s
+#define MAX_DATA_RATE	20000	// max data rate in bytes/s
 #define MAIN_LOOP_DELAY 10000	// 100 Hz @ 1000 bytes/s data rate
 
+#define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN
+
 static Mavlink *_mavlink_instances = nullptr;
 
 /* TODO: if this is a class member it crashes */
 static struct file_operations fops;
 
+static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
+static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+
 /**
  * mavlink app start / stop handling function
  *
@@ -104,119 +110,69 @@ static struct file_operations fops;
  */
 extern "C" __EXPORT int mavlink_main(int argc, char *argv[]);
 
-static uint64_t last_write_times[6] = {0};
-
-/*
- * Internal function to send the bytes through the right serial port
- */
-void
-mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length)
-{
-	Mavlink *instance;
-
-	switch (channel) {
-	case MAVLINK_COMM_0:
-		instance = Mavlink::get_instance(0);
-		break;
-
-	case MAVLINK_COMM_1:
-		instance = Mavlink::get_instance(1);
-		break;
-
-	case MAVLINK_COMM_2:
-		instance = Mavlink::get_instance(2);
-		break;
-
-	case MAVLINK_COMM_3:
-		instance = Mavlink::get_instance(3);
-		break;
-#ifdef MAVLINK_COMM_4
-
-	case MAVLINK_COMM_4:
-		instance = Mavlink::get_instance(4);
-		break;
-#endif
-#ifdef MAVLINK_COMM_5
-
-	case MAVLINK_COMM_5:
-		instance = Mavlink::get_instance(5);
-		break;
-#endif
-#ifdef MAVLINK_COMM_6
-
-	case MAVLINK_COMM_6:
-		instance = Mavlink::get_instance(6);
-		break;
-#endif
-	}
-
-	/* no valid instance, bail */
-	if (!instance) {
-		return;
-	}
-
-	int uart = instance->get_uart_fd();
-
-	ssize_t desired = (sizeof(uint8_t) * length);
-
-	/*
-	 * Check if the OS buffer is full and disable HW
-	 * flow control if it continues to be full
-	 */
-	int buf_free = 0;
-
-	if (instance->get_flow_control_enabled()
-	    && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
-
-		if (buf_free == 0) {
-
-			if (last_write_times[(unsigned)channel] != 0 &&
-			    hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
-
-				warnx("DISABLING HARDWARE FLOW CONTROL");
-				instance->enable_flow_control(false);
-			}
-
-		} else {
-
-			/* apparently there is space left, although we might be
-			 * partially overflooding the buffer already */
-			last_write_times[(unsigned)channel] = hrt_absolute_time();
-		}
-	}
-
-	ssize_t ret = write(uart, ch, desired);
-
-	if (ret != desired) {
-		// XXX do something here, but change to using FIONWRITE and OS buf size for detection
-	}
-
-}
+extern mavlink_system_t mavlink_system;
 
 static void usage(void);
 
 Mavlink::Mavlink() :
-	next(nullptr),
 	_device_name(DEFAULT_DEVICE_NAME),
 	_task_should_exit(false),
+	next(nullptr),
+	_instance_id(0),
 	_mavlink_fd(-1),
 	_task_running(false),
 	_hil_enabled(false),
+	_use_hil_gps(false),
 	_is_usb_uart(false),
+	_wait_to_transmit(false),
+	_received_messages(false),
 	_main_loop_delay(1000),
 	_subscriptions(nullptr),
 	_streams(nullptr),
-	_mission_pub(-1),
-	_mavlink_param_queue_index(0),
-	_subscribe_to_stream(nullptr),
-	_subscribe_to_stream_rate(0.0f),
-	_flow_control_enabled(true),
-
-/* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
+	_mission_manager(nullptr),
+	_parameters_manager(nullptr),
+	_mode(MAVLINK_MODE_NORMAL),
+	_channel(MAVLINK_COMM_0),
+	_logbuffer {},
+	   _total_counter(0),
+	   _receive_thread {},
+	   _verbose(false),
+	   _forwarding_on(false),
+	   _passing_on(false),
+	   _ftp_on(false),
+	   _uart_fd(-1),
+	   _baudrate(57600),
+	   _datarate(1000),
+	   _datarate_events(500),
+	   _rate_mult(1.0f),
+	   _mavlink_param_queue_index(0),
+	   mavlink_link_termination_allowed(false),
+	   _subscribe_to_stream(nullptr),
+	   _subscribe_to_stream_rate(0.0f),
+	   _flow_control_enabled(true),
+	   _last_write_success_time(0),
+	   _last_write_try_time(0),
+	   _bytes_tx(0),
+	   _bytes_txerr(0),
+	   _bytes_rx(0),
+	   _bytes_timestamp(0),
+	   _rate_tx(0.0f),
+	   _rate_txerr(0.0f),
+	   _rate_rx(0.0f),
+	   _rstatus {},
+	   _message_buffer {},
+	   _message_buffer_mutex {},
+	   _send_mutex {},
+	   _param_initialized(false),
+	   _param_system_id(0),
+	   _param_component_id(0),
+	   _param_system_type(0),
+	   _param_use_hil_gps(0),
+
+	   /* performance counters */
+	   _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
+	   _txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
 {
-	_wpm = &_wpm_s;
-	mission.count = 0;
 	fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
 
 	_instance_id = Mavlink::instance_count();
@@ -261,12 +217,12 @@ Mavlink::Mavlink() :
 		errx(1, "instance ID is out of range");
 		break;
 	}
-
 }
 
 Mavlink::~Mavlink()
 {
 	perf_free(_loop_perf);
+	perf_free(_txerr_perf);
 
 	if (_task_running) {
 		/* task wakes up every 10ms or so at the longest */
@@ -292,6 +248,12 @@ Mavlink::~Mavlink()
 }
 
 void
+Mavlink::count_txerr()
+{
+	perf_count(_txerr_perf);
+}
+
+void
 Mavlink::set_mode(enum MAVLINK_MODE mode)
 {
 	_mode = mode;
@@ -376,6 +338,27 @@ Mavlink::destroy_all_instances()
 	return OK;
 }
 
+int
+Mavlink::get_status_all_instances()
+{
+	Mavlink *inst = ::_mavlink_instances;
+
+	unsigned iterations = 0;
+
+	while (inst != nullptr) {
+
+		printf("\ninstance #%u:\n", iterations);
+		inst->display_status();
+
+		/* move on */
+		inst = inst->next;
+		iterations++;
+	}
+
+	/* return an error if there are no instances */
+	return (iterations == 0);
+}
+
 bool
 Mavlink::instance_exists(const char *device_name, Mavlink *self)
 {
@@ -394,6 +377,23 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
 	return false;
 }
 
+void
+Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
+{
+
+	Mavlink *inst;
+	LL_FOREACH(_mavlink_instances, inst) {
+		if (inst != self) {
+
+			/* if not in normal mode, we are an onboard link
+			 * onboard links should only pass on messages from the same system ID */
+			if (!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) {
+				inst->pass_message(msg);
+			}
+		}
+	}
+}
+
 int
 Mavlink::get_uart_fd(unsigned index)
 {
@@ -437,10 +437,27 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
 	case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: {
 
 			const char *txt = (const char *)arg;
-//		printf("logmsg: %s\n", txt);
 			struct mavlink_logmessage msg;
 			strncpy(msg.text, txt, sizeof(msg.text));
 
+			switch (cmd) {
+			case MAVLINK_IOC_SEND_TEXT_INFO:
+				msg.severity = MAV_SEVERITY_INFO;
+				break;
+
+			case MAVLINK_IOC_SEND_TEXT_CRITICAL:
+				msg.severity = MAV_SEVERITY_CRITICAL;
+				break;
+
+			case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
+				msg.severity = MAV_SEVERITY_EMERGENCY;
+				break;
+
+			default:
+				msg.severity = MAV_SEVERITY_INFO;
+				break;
+			}
+
 			Mavlink *inst;
 			LL_FOREACH(_mavlink_instances, inst) {
 				if (!inst->_task_should_exit) {
@@ -459,39 +476,67 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
 
 void Mavlink::mavlink_update_system(void)
 {
-	static bool initialized = false;
-	static param_t param_system_id;
-	static param_t param_component_id;
-	static param_t param_system_type;
-
-	if (!initialized) {
-		param_system_id = param_find("MAV_SYS_ID");
-		param_component_id = param_find("MAV_COMP_ID");
-		param_system_type = param_find("MAV_TYPE");
-		initialized = true;
+	if (!_param_initialized) {
+		_param_system_id = param_find("MAV_SYS_ID");
+		_param_component_id = param_find("MAV_COMP_ID");
+		_param_system_type = param_find("MAV_TYPE");
+		_param_use_hil_gps = param_find("MAV_USEHILGPS");
 	}
 
 	/* update system and component id */
 	int32_t system_id;
-	param_get(param_system_id, &system_id);
+	param_get(_param_system_id, &system_id);
 
-	if (system_id > 0 && system_id < 255) {
-		mavlink_system.sysid = system_id;
+	int32_t component_id;
+	param_get(_param_component_id, &component_id);
+
+
+	/* only allow system ID and component ID updates
+	 * after reboot - not during operation */
+	if (!_param_initialized) {
+		if (system_id > 0 && system_id < 255) {
+			mavlink_system.sysid = system_id;
+		}
+
+		if (component_id > 0 && component_id < 255) {
+			mavlink_system.compid = component_id;
+		}
+
+		_param_initialized = true;
 	}
 
-	int32_t component_id;
-	param_get(param_component_id, &component_id);
+	/* warn users that they need to reboot to take this
+	 * into effect
+	 */
+	if (system_id != mavlink_system.sysid) {
+		send_statustext_critical("Save params and reboot to change SYSID");
+	}
 
-	if (component_id > 0 && component_id < 255) {
-		mavlink_system.compid = component_id;
+	if (component_id != mavlink_system.compid) {
+		send_statustext_critical("Save params and reboot to change COMPID");
 	}
 
 	int32_t system_type;
-	param_get(param_system_type, &system_type);
+	param_get(_param_system_type, &system_type);
 
 	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
 		mavlink_system.type = system_type;
 	}
+
+	int32_t use_hil_gps;
+	param_get(_param_use_hil_gps, &use_hil_gps);
+
+	_use_hil_gps = (bool)use_hil_gps;
+}
+
+int Mavlink::get_system_id()
+{
+	return mavlink_system.sysid;
+}
+
+int Mavlink::get_component_id()
+{
+	return mavlink_system.compid;
 }
 
 int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
@@ -543,13 +588,19 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 	case 921600: speed = B921600; break;
 
 	default:
-		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", baud);
+		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n",
+		      baud);
 		return -EINVAL;
 	}
 
 	/* open uart */
 	_uart_fd = open(uart_name, O_RDWR | O_NOCTTY);
 
+	if (_uart_fd < 0) {
+		return _uart_fd;
+	}
+
+
 	/* Try to set baud rate */
 	struct termios uart_config;
 	int termios_state;
@@ -599,6 +650,9 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 		if (enable_flow_control(true)) {
 			warnx("hardware flow control not supported");
 		}
+
+	} else {
+		_flow_control_enabled = false;
 	}
 
 	return _uart_fd;
@@ -640,8 +694,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 	/* enable HIL */
 	if (hil_enabled && !_hil_enabled) {
 		_hil_enabled = true;
-		float rate_mult = _datarate / 1000.0f;
-		configure_stream("HIL_CONTROLS", 15.0f * rate_mult);
+		configure_stream("HIL_CONTROLS", 200.0f);
 	}
 
 	/* disable HIL */
@@ -656,870 +709,188 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 	return ret;
 }
 
-extern mavlink_system_t mavlink_system;
-
-int Mavlink::mavlink_pm_queued_send()
-{
-	if (_mavlink_param_queue_index < param_count()) {
-		mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index));
-		_mavlink_param_queue_index++;
-		return 0;
-
-	} else {
-		return 1;
-	}
-}
-
-void Mavlink::mavlink_pm_start_queued_send()
-{
-	_mavlink_param_queue_index = 0;
-}
-
-int Mavlink::mavlink_pm_send_param_for_index(uint16_t index)
+unsigned
+Mavlink::get_free_tx_buf()
 {
-	return mavlink_pm_send_param(param_for_index(index));
-}
-
-int Mavlink::mavlink_pm_send_param_for_name(const char *name)
-{
-	return mavlink_pm_send_param(param_find(name));
-}
-
-int Mavlink::mavlink_pm_send_param(param_t param)
-{
-	if (param == PARAM_INVALID) { return 1; }
-
-	/* buffers for param transmission */
-	static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN];
-	float val_buf;
-	static mavlink_message_t tx_msg;
-
-	/* query parameter type */
-	param_type_t type = param_type(param);
-	/* copy parameter name */
-	strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-
 	/*
-	 * Map onboard parameter type to MAVLink type,
-	 * endianess matches (both little endian)
-	 */
-	uint8_t mavlink_type;
-
-	if (type == PARAM_TYPE_INT32) {
-		mavlink_type = MAVLINK_TYPE_INT32_T;
-
-	} else if (type == PARAM_TYPE_FLOAT) {
-		mavlink_type = MAVLINK_TYPE_FLOAT;
-
-	} else {
-		mavlink_type = MAVLINK_TYPE_FLOAT;
-	}
-
-	/*
-	 * get param value, since MAVLink encodes float and int params in the same
-	 * space during transmission, copy param onto float val_buf
+	 * Check if the OS buffer is full and disable HW
+	 * flow control if it continues to be full
 	 */
+	int buf_free = 0;
+	(void) ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free);
 
-	int ret;
-
-	if ((ret = param_get(param, &val_buf)) != OK) {
-		return ret;
+	if (get_flow_control_enabled() && buf_free < TX_BUFFER_GAP) {
+		/* Disable hardware flow control:
+		 * if no successful write since a defined time
+		 * and if the last try was not the last successful write
+		 */
+		if (_last_write_try_time != 0 &&
+		    hrt_elapsed_time(&_last_write_success_time) > 500 * 1000UL &&
+		    _last_write_success_time != _last_write_try_time) {
+			warnx("DISABLING HARDWARE FLOW CONTROL");
+			enable_flow_control(false);
+		}
 	}
 
-	mavlink_msg_param_value_pack_chan(mavlink_system.sysid,
-					  mavlink_system.compid,
-					  _channel,
-					  &tx_msg,
-					  name_buf,
-					  val_buf,
-					  mavlink_type,
-					  param_count(),
-					  param_get_index(param));
-	mavlink_missionlib_send_message(&tx_msg);
-	return OK;
+	return buf_free;
 }
 
-void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg)
+void
+Mavlink::send_message(const uint8_t msgid, const void *msg)
 {
-	switch (msg->msgid) {
-	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
-			/* Start sending parameters */
-			mavlink_pm_start_queued_send();
-			mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
-		} break;
-
-	case MAVLINK_MSG_ID_PARAM_SET: {
-
-			/* Handle parameter setting */
-
-			if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
-				mavlink_param_set_t mavlink_param_set;
-				mavlink_msg_param_set_decode(msg, &mavlink_param_set);
-
-				if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
-					/* local name buffer to enforce null-terminated string */
-					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
-					strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-					/* enforce null termination */
-					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
-					/* attempt to find parameter, set and send it */
-					param_t param = param_find(name);
-
-					if (param == PARAM_INVALID) {
-						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
-						sprintf(buf, "[mavlink pm] unknown: %s", name);
-						mavlink_missionlib_send_gcs_string(buf);
-
-					} else {
-						/* set and send parameter */
-						param_set(param, &(mavlink_param_set.param_value));
-						mavlink_pm_send_param(param);
-					}
-				}
-			}
-		} break;
-
-	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
-			mavlink_param_request_read_t mavlink_param_request_read;
-			mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
-
-			if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
-				/* when no index is given, loop through string ids and compare them */
-				if (mavlink_param_request_read.param_index == -1) {
-					/* local name buffer to enforce null-terminated string */
-					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
-					strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
-					/* enforce null termination */
-					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
-					/* attempt to find parameter and send it */
-					mavlink_pm_send_param_for_name(name);
-
-				} else {
-					/* when index is >= 0, send this parameter again */
-					mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index);
-				}
-			}
-
-		} break;
+	/* If the wait until transmit flag is on, only transmit after we've received messages.
+	   Otherwise, transmit all the time. */
+	if (!should_transmit()) {
+		return;
 	}
-}
-
-void Mavlink::publish_mission()
-{
-	/* Initialize mission publication if necessary */
-	if (_mission_pub < 0) {
-		_mission_pub = orb_advertise(ORB_ID(mission), &mission);
 
-	} else {
-		orb_publish(ORB_ID(mission), _mission_pub, &mission);
-	}
-}
+	pthread_mutex_lock(&_send_mutex);
 
-int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
-{
-	/* only support global waypoints for now */
-	switch (mavlink_mission_item->frame) {
-	case MAV_FRAME_GLOBAL:
-		mission_item->lat = (double)mavlink_mission_item->x;
-		mission_item->lon = (double)mavlink_mission_item->y;
-		mission_item->altitude = mavlink_mission_item->z;
-		mission_item->altitude_is_relative = false;
-		break;
+	int buf_free = get_free_tx_buf();
 
-	case MAV_FRAME_GLOBAL_RELATIVE_ALT:
-		mission_item->lat = (double)mavlink_mission_item->x;
-		mission_item->lon = (double)mavlink_mission_item->y;
-		mission_item->altitude = mavlink_mission_item->z;
-		mission_item->altitude_is_relative = true;
-		break;
+	uint8_t payload_len = mavlink_message_lengths[msgid];
+	unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 
-	case MAV_FRAME_LOCAL_NED:
-	case MAV_FRAME_LOCAL_ENU:
-		return MAV_MISSION_UNSUPPORTED_FRAME;
+	_last_write_try_time = hrt_absolute_time();
 
-	case MAV_FRAME_MISSION:
-	default:
-		return MAV_MISSION_ERROR;
+	/* check if there is space in the buffer, let it overflow else */
+	if (buf_free < TX_BUFFER_GAP) {
+		/* no enough space in buffer to send */
+		count_txerr();
+		count_txerrbytes(packet_len);
+		pthread_mutex_unlock(&_send_mutex);
+		return;
 	}
 
-	switch (mavlink_mission_item->command) {
-	case MAV_CMD_NAV_TAKEOFF:
-		mission_item->pitch_min = mavlink_mission_item->param2;
-		break;
+	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 
-	default:
-		mission_item->acceptance_radius = mavlink_mission_item->param2;
-		break;
-	}
+	/* header */
+	buf[0] = MAVLINK_STX;
+	buf[1] = payload_len;
+	/* use mavlink's internal counter for the TX seq */
+	buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++;
+	buf[3] = mavlink_system.sysid;
+	buf[4] = mavlink_system.compid;
+	buf[5] = msgid;
 
-	mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
-	mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
-	mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
-	mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+	/* payload */
+	memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], msg, payload_len);
 
-	mission_item->time_inside = mavlink_mission_item->param1;
-	mission_item->autocontinue = mavlink_mission_item->autocontinue;
-	// mission_item->index = mavlink_mission_item->seq;
-	mission_item->origin = ORIGIN_MAVLINK;
+	/* checksum */
+	uint16_t checksum;
+	crc_init(&checksum);
+	crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
+	crc_accumulate(mavlink_message_crcs[msgid], &checksum);
 
-	return OK;
-}
+	buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
+	buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
 
-int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
-{
-	if (mission_item->altitude_is_relative) {
-		mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
+	/* send message to UART */
+	ssize_t ret = write(_uart_fd, buf, packet_len);
 
-	} else {
-		mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
-	}
+	if (ret != (int) packet_len) {
+		count_txerr();
+		count_txerrbytes(packet_len);
 
-	switch (mission_item->nav_cmd) {
-	case NAV_CMD_TAKEOFF:
-		mavlink_mission_item->param2 = mission_item->pitch_min;
-		break;
-
-	default:
-		mavlink_mission_item->param2 = mission_item->acceptance_radius;
-		break;
+	} else {
+		_last_write_success_time = _last_write_try_time;
+		count_txbytes(packet_len);
 	}
 
-	mavlink_mission_item->x = (float)mission_item->lat;
-	mavlink_mission_item->y = (float)mission_item->lon;
-	mavlink_mission_item->z = mission_item->altitude;
-
-	mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
-	mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
-	mavlink_mission_item->command = mission_item->nav_cmd;
-	mavlink_mission_item->param1 = mission_item->time_inside;
-	mavlink_mission_item->autocontinue = mission_item->autocontinue;
-	// mavlink_mission_item->seq = mission_item->index;
-
-	return OK;
-}
-
-void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
-{
-	state->size = 0;
-	state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
-	state->current_state = MAVLINK_WPM_STATE_IDLE;
-	state->current_partner_sysid = 0;
-	state->current_partner_compid = 0;
-	state->timestamp_lastaction = 0;
-	state->timestamp_last_send_setpoint = 0;
-	state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
-	state->current_dataman_id = 0;
-}
-
-/*
- *  @brief Sends an waypoint ack message
- */
-void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
-{
-	mavlink_message_t msg;
-	mavlink_mission_ack_t wpa;
-
-	wpa.target_system = sysid;
-	wpa.target_component = compid;
-	wpa.type = type;
-
-	mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa);
-	mavlink_missionlib_send_message(&msg);
-
-	if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); }
+	pthread_mutex_unlock(&_send_mutex);
 }
 
-/*
- *  @brief Broadcasts the new target waypoint and directs the MAV to fly there
- *
- *  This function broadcasts its new active waypoint sequence number and
- *  sends a message to the controller, advising it to fly to the coordinates
- *  of the waypoint with a given orientation
- *
- *  @param seq The waypoint sequence number the MAV should fly to.
- */
-void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq)
+void
+Mavlink::resend_message(mavlink_message_t *msg)
 {
-	if (seq < _wpm->size) {
-		mavlink_message_t msg;
-		mavlink_mission_current_t wpc;
-
-		wpc.seq = seq;
+	/* If the wait until transmit flag is on, only transmit after we've received messages.
+	   Otherwise, transmit all the time. */
+	if (!should_transmit()) {
+		return;
+	}
 
-		mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
-		mavlink_missionlib_send_message(&msg);
+	pthread_mutex_lock(&_send_mutex);
 
-	} else if (seq == 0 && _wpm->size == 0) {
+	int buf_free = get_free_tx_buf();
 
-		/* don't broadcast if no WPs */
+	_last_write_try_time = hrt_absolute_time();
 
-	} else {
-		mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
+	unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 
-		if (_verbose) { warnx("ERROR: index out of bounds"); }
+	/* check if there is space in the buffer, let it overflow else */
+	if (buf_free < TX_BUFFER_GAP) {
+		/* no enough space in buffer to send */
+		count_txerr();
+		count_txerrbytes(packet_len);
+		pthread_mutex_unlock(&_send_mutex);
+		return;
 	}
-}
 
-void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
-{
-	mavlink_message_t msg;
-	mavlink_mission_count_t wpc;
+	uint8_t buf[MAVLINK_MAX_PACKET_LEN];
 
-	wpc.target_system = sysid;
-	wpc.target_component = compid;
-	wpc.count = mission.count;
+	/* header and payload */
+	memcpy(&buf[0], &msg->magic, MAVLINK_NUM_HEADER_BYTES + msg->len);
 
-	mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
-	mavlink_missionlib_send_message(&msg);
+	/* checksum */
+	buf[MAVLINK_NUM_HEADER_BYTES + msg->len] = (uint8_t)(msg->checksum & 0xFF);
+	buf[MAVLINK_NUM_HEADER_BYTES + msg->len + 1] = (uint8_t)(msg->checksum >> 8);
 
-	if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); }
-}
-
-void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
-{
-
-	struct mission_item_s mission_item;
-	ssize_t len = sizeof(struct mission_item_s);
-
-	dm_item_t dm_current;
+	/* send message to UART */
+	ssize_t ret = write(_uart_fd, buf, packet_len);
 
-	if (_wpm->current_dataman_id == 0) {
-		dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
+	if (ret != (int) packet_len) {
+		count_txerr();
+		count_txerrbytes(packet_len);
 
 	} else {
-		dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
+		_last_write_success_time = _last_write_try_time;
+		count_txbytes(packet_len);
 	}
 
-	if (dm_read(dm_current, seq, &mission_item, len) == len) {
-
-		/* create mission_item_s from mavlink_mission_item_t */
-		mavlink_mission_item_t wp;
-		map_mission_item_to_mavlink_mission_item(&mission_item, &wp);
-
-		mavlink_message_t msg;
-		wp.target_system = sysid;
-		wp.target_component = compid;
-		wp.seq = seq;
-		mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp);
-		mavlink_missionlib_send_message(&msg);
-
-		if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); }
-
-	} else {
-		mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
-
-		if (_verbose) { warnx("ERROR: could not read WP%u", seq); }
-	}
+	pthread_mutex_unlock(&_send_mutex);
 }
 
-void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
+void
+Mavlink::handle_message(const mavlink_message_t *msg)
 {
-	if (seq < _wpm->max_size) {
-		mavlink_message_t msg;
-		mavlink_mission_request_t wpr;
-		wpr.target_system = sysid;
-		wpr.target_component = compid;
-		wpr.seq = seq;
-		mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
-		mavlink_missionlib_send_message(&msg);
+	/* handle packet with mission manager */
+	_mission_manager->handle_message(msg);
 
-		if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); }
-
-	} else {
-		mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity");
+	/* handle packet with parameter component */
+	_parameters_manager->handle_message(msg);
 
-		if (_verbose) { warnx("ERROR: Waypoint index exceeds list capacity"); }
+	if (get_forwarding_on()) {
+		/* forward any messages to other mavlink instances */
+		Mavlink::forward_message(msg, this);
 	}
 }
 
-/*
- *  @brief emits a message that a waypoint reached
- *
- *  This function broadcasts a message that a waypoint is reached.
- *
- *  @param seq The waypoint sequence number the MAV has reached.
- */
-void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq)
+void
+Mavlink::send_statustext_info(const char *string)
 {
-	mavlink_message_t msg;
-	mavlink_mission_item_reached_t wp_reached;
-
-	wp_reached.seq = seq;
-
-	mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached);
-	mavlink_missionlib_send_message(&msg);
-
-	if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); }
+	send_statustext(MAV_SEVERITY_INFO, string);
 }
 
-void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
+void
+Mavlink::send_statustext_critical(const char *string)
 {
-	/* check for timed-out operations */
-	if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
-
-		mavlink_missionlib_send_gcs_string("Operation timeout");
-
-		if (_verbose) { warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_state); }
-
-		_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-		_wpm->current_partner_sysid = 0;
-		_wpm->current_partner_compid = 0;
-	}
-}
-
-
-void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
-{
-	uint64_t now = hrt_absolute_time();
-
-	switch (msg->msgid) {
-
-	case MAVLINK_MSG_ID_MISSION_ACK: {
-			mavlink_mission_ack_t wpa;
-			mavlink_msg_mission_ack_decode(msg, &wpa);
-
-			if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) {
-				_wpm->timestamp_lastaction = now;
-
-				if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
-					if (_wpm->current_wp_id == _wpm->size - 1) {
-
-						_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-						_wpm->current_wp_id = 0;
-					}
-				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch");
-
-				if (_verbose) { warnx("REJ. WP CMD: curr partner id mismatch"); }
-			}
-
-			break;
-		}
-
-	case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
-			mavlink_mission_set_current_t wpc;
-			mavlink_msg_mission_set_current_decode(msg, &wpc);
-
-			if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
-				_wpm->timestamp_lastaction = now;
-
-				if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
-					if (wpc.seq < _wpm->size) {
-
-						mission.current_index = wpc.seq;
-						publish_mission();
-
-						/* don't answer yet, wait for the navigator to respond, then publish the mission_result */
-//						mavlink_wpm_send_waypoint_current(wpc.seq);
-
-					} else {
-						mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
-
-						if (_verbose) { warnx("IGN WP CURR CMD: Not in list"); }
-					}
-
-				} else {
-					mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
-
-					if (_verbose) { warnx("IGN WP CURR CMD: Busy"); }
-
-				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
-
-				if (_verbose) { warnx("REJ. WP CMD: target id mismatch"); }
-			}
-
-			break;
-		}
-
-	case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
-			mavlink_mission_request_list_t wprl;
-			mavlink_msg_mission_request_list_decode(msg, &wprl);
-
-			if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
-				_wpm->timestamp_lastaction = now;
-
-				if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
-					if (_wpm->size > 0) {
-
-						_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST;
-						_wpm->current_wp_id = 0;
-						_wpm->current_partner_sysid = msg->sysid;
-						_wpm->current_partner_compid = msg->compid;
-
-					} else {
-						if (_verbose) { warnx("No waypoints send"); }
-					}
-
-					_wpm->current_count = _wpm->size;
-					mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count);
-
-				} else {
-					mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy");
-
-					if (_verbose) { warnx("IGN REQUEST LIST: Busy"); }
-				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch");
-
-				if (_verbose) { warnx("REJ. REQUEST LIST: target id mismatch"); }
-			}
-
-			break;
-		}
-
-	case MAVLINK_MSG_ID_MISSION_REQUEST: {
-			mavlink_mission_request_t wpr;
-			mavlink_msg_mission_request_decode(msg, &wpr);
-
-			if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
-				_wpm->timestamp_lastaction = now;
-
-				if (wpr.seq >= _wpm->size) {
-
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
-
-					if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); }
-
-					break;
-				}
-
-				/*
-				 * Ensure that we are in the correct state and that the first request has id 0
-				 * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
-				 */
-				if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
-
-					if (wpr.seq == 0) {
-						if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
-
-						_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
-
-					} else {
-						mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
-
-						if (_verbose) { warnx("REJ. WP CMD: First id != 0"); }
-
-						break;
-					}
-
-				} else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
-
-					if (wpr.seq == _wpm->current_wp_id) {
-
-						if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
-
-					} else if (wpr.seq == _wpm->current_wp_id + 1) {
-
-						if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
-
-					} else {
-						mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
-
-						if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, _wpm->current_wp_id, _wpm->current_wp_id + 1); }
-
-						break;
-					}
-
-				} else {
-
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
-
-					if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", _wpm->current_state); }
-
-					break;
-				}
-
-				_wpm->current_wp_id = wpr.seq;
-				_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
-
-				if (wpr.seq < _wpm->size) {
-
-					mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-
-				} else {
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
-
-					if (_verbose) { warnx("ERROR: Waypoint %u out of bounds", wpr.seq); }
-				}
-
-
-			} else {
-				//we we're target but already communicating with someone else
-				if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) {
-
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
-
-					if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); }
-
-				} else {
-
-					mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
-
-					if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
-				}
-			}
-
-			break;
-		}
-
-	case MAVLINK_MSG_ID_MISSION_COUNT: {
-			mavlink_mission_count_t wpc;
-			mavlink_msg_mission_count_decode(msg, &wpc);
-
-			if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
-				_wpm->timestamp_lastaction = now;
-
-				if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
-
-					if (wpc.count > NUM_MISSIONS_SUPPORTED) {
-						if (_verbose) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); }
-
-						mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE);
-						break;
-					}
-
-					if (wpc.count == 0) {
-						mavlink_missionlib_send_gcs_string("COUNT 0");
-
-						if (_verbose) { warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); }
-
-						break;
-					}
-
-					if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
-
-					_wpm->current_state = MAVLINK_WPM_STATE_GETLIST;
-					_wpm->current_wp_id = 0;
-					_wpm->current_partner_sysid = msg->sysid;
-					_wpm->current_partner_compid = msg->compid;
-					_wpm->current_count = wpc.count;
-
-					mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-
-				} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
-
-					if (_wpm->current_wp_id == 0) {
-						mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
-
-						if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); }
-
-					} else {
-						mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
-
-						if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", _wpm->current_wp_id); }
-					}
-
-				} else {
-					mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy");
-
-					if (_verbose) { warnx("IGN MISSION_COUNT CMD: Busy"); }
-				}
-
-			} else {
-
-				mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch");
-
-				if (_verbose) { warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
-			}
-		}
-		break;
-
-	case MAVLINK_MSG_ID_MISSION_ITEM: {
-			mavlink_mission_item_t wp;
-			mavlink_msg_mission_item_decode(msg, &wp);
-
-			if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) {
-
-				_wpm->timestamp_lastaction = now;
-
-				/*
-				 * ensure that we are in the correct state and that the first waypoint has id 0
-				 * and the following waypoints have the correct ids
-				 */
-
-				if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
-
-					if (wp.seq != 0) {
-						mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0");
-						warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq);
-						break;
-					}
-
-				} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
-
-					if (wp.seq >= _wpm->current_count) {
-						mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds");
-						warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq);
-						break;
-					}
-
-					if (wp.seq != _wpm->current_wp_id) {
-						warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, _wpm->current_wp_id);
-						mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-						break;
-					}
-				}
-
-				_wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
-
-				struct mission_item_s mission_item;
-
-				int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item);
-
-				if (ret != OK) {
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret);
-					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-					break;
-				}
-
-				ssize_t len = sizeof(struct mission_item_s);
-
-				dm_item_t dm_next;
-
-				if (_wpm->current_dataman_id == 0) {
-					dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1;
-					mission.dataman_id = 1;
-
-				} else {
-					dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0;
-					mission.dataman_id = 0;
-				}
-
-				if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) {
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
-					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-					break;
-				}
-
-//				if (wp.current) {
-//					warnx("current is: %d", wp.seq);
-//					mission.current_index = wp.seq;
-//				}
-				// XXX ignore current set
-				mission.current_index = -1;
-
-				_wpm->current_wp_id = wp.seq + 1;
-
-				if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
-
-					if (_verbose) { warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); }
-
-					mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
-
-					mission.count = _wpm->current_count;
-
-					publish_mission();
-
-					_wpm->current_dataman_id = mission.dataman_id;
-					_wpm->size = _wpm->current_count;
-
-					_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
-
-				} else {
-					mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
-				}
-
-			} else {
-				mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch");
-
-				if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
-			}
-
-			break;
-		}
-
-	case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
-			mavlink_mission_clear_all_t wpca;
-			mavlink_msg_mission_clear_all_decode(msg, &wpca);
-
-			if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
-
-				if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
-					_wpm->timestamp_lastaction = now;
-
-					_wpm->size = 0;
-
-					/* prepare mission topic */
-					mission.dataman_id = -1;
-					mission.count = 0;
-					mission.current_index = -1;
-					publish_mission();
-
-					if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) {
-						mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
-
-					} else {
-						mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
-					}
-
-
-				} else {
-					mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy");
-
-					if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); }
-				}
-
-
-			} else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
-
-				mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch");
-
-				if (_verbose) { warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); }
-			}
-
-			break;
-		}
-
-	default: {
-			/* other messages might should get caught by mavlink and others */
-			break;
-		}
-	}
+	send_statustext(MAV_SEVERITY_CRITICAL, string);
 }
 
 void
-Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
+Mavlink::send_statustext_emergency(const char *string)
 {
-	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
-
-	mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len);
+	send_statustext(MAV_SEVERITY_EMERGENCY, string);
 }
 
-
-
-int
-Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
+void
+Mavlink::send_statustext(unsigned char severity, const char *string)
 {
-	const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
-	mavlink_statustext_t statustext;
-	int i = 0;
-
-	while (i < len - 1) {
-		statustext.text[i] = string[i];
-
-		if (string[i] == '\0') {
-			break;
-		}
-
-		i++;
-	}
+	struct mavlink_logmessage logmsg;
+	strncpy(logmsg.text, string, sizeof(logmsg.text));
+	logmsg.severity = severity;
 
-	if (i > 1) {
-		/* Enforce null termination */
-		statustext.text[i] = '\0';
-
-		mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text);
-		return OK;
-
-	} else {
-		return 1;
-	}
+	mavlink_logbuffer_write(&_logbuffer, &logmsg);
 }
 
 MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic)
@@ -1542,11 +913,17 @@ MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic)
 	return sub_new;
 }
 
+unsigned int
+Mavlink::interval_from_rate(float rate)
+{
+	return (rate > 0.0f) ? (1000000.0f / rate) : 0;
+}
+
 int
 Mavlink::configure_stream(const char *stream_name, const float rate)
 {
 	/* calculate interval in us, 0 means disabled stream */
-	unsigned int interval = (rate > 0.0f) ? (1000000.0f / rate) : 0;
+	unsigned int interval = interval_from_rate(rate);
 
 	/* search if stream exists */
 	MavlinkStream *stream;
@@ -1560,35 +937,63 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
 				/* delete stream */
 				LL_DELETE(_streams, stream);
 				delete stream;
+				warnx("deleted stream %s", stream->get_name());
 			}
 
 			return OK;
 		}
 	}
 
-	if (interval > 0) {
-		/* search for stream with specified name in supported streams list */
-		for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
-			if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
-				/* create new instance */
-				stream = streams_list[i]->new_instance();
-				stream->set_channel(get_channel());
-				stream->set_interval(interval);
-				stream->subscribe(this);
-				LL_APPEND(_streams, stream);
-				return OK;
-			}
-		}
-
-	} else {
-		/* stream not found, nothing to disable */
+	if (interval == 0) {
+		/* stream was not active and is requested to be disabled, do nothing */
 		return OK;
 	}
 
+	/* search for stream with specified name in supported streams list */
+	for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
+
+		if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
+			/* create new instance */
+			stream = streams_list[i]->new_instance(this);
+			stream->set_interval(interval);
+			LL_APPEND(_streams, stream);
+
+			return OK;
+		}
+	}
+
+	/* if we reach here, the stream list does not contain the stream */
+	warnx("stream %s not found", stream_name);
+
 	return ERROR;
 }
 
 void
+Mavlink::adjust_stream_rates(const float multiplier)
+{
+	/* do not allow to push us to zero */
+	if (multiplier < 0.01f) {
+		return;
+	}
+
+	/* search if stream exists */
+	MavlinkStream *stream;
+	LL_FOREACH(_streams, stream) {
+		/* set new interval */
+		unsigned interval = stream->get_interval();
+		interval /= multiplier;
+
+		/* allow max ~600 Hz */
+		if (interval < 1600) {
+			interval = 1600;
+		}
+
+		/* set new interval */
+		stream->set_interval(interval * multiplier);
+	}
+}
+
+void
 Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
 {
 	/* orb subscription must be done from the main thread,
@@ -1617,6 +1022,161 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
 }
 
 int
+Mavlink::message_buffer_init(int size)
+{
+
+	_message_buffer.size = size;
+	_message_buffer.write_ptr = 0;
+	_message_buffer.read_ptr = 0;
+	_message_buffer.data = (char *)malloc(_message_buffer.size);
+
+	int ret;
+
+	if (_message_buffer.data == 0) {
+		ret = ERROR;
+		_message_buffer.size = 0;
+
+	} else {
+		ret = OK;
+	}
+
+	return ret;
+}
+
+void
+Mavlink::message_buffer_destroy()
+{
+	_message_buffer.size = 0;
+	_message_buffer.write_ptr = 0;
+	_message_buffer.read_ptr = 0;
+	free(_message_buffer.data);
+}
+
+int
+Mavlink::message_buffer_count()
+{
+	int n = _message_buffer.write_ptr - _message_buffer.read_ptr;
+
+	if (n < 0) {
+		n += _message_buffer.size;
+	}
+
+	return n;
+}
+
+int
+Mavlink::message_buffer_is_empty()
+{
+	return _message_buffer.read_ptr == _message_buffer.write_ptr;
+}
+
+
+bool
+Mavlink::message_buffer_write(const void *ptr, int size)
+{
+	// bytes available to write
+	int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
+
+	if (available < 0) {
+		available += _message_buffer.size;
+	}
+
+	if (size > available) {
+		// buffer overflow
+		return false;
+	}
+
+	char *c = (char *) ptr;
+	int n = _message_buffer.size - _message_buffer.write_ptr;	// bytes to end of the buffer
+
+	if (n < size) {
+		// message goes over end of the buffer
+		memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n);
+		_message_buffer.write_ptr = 0;
+
+	} else {
+		n = 0;
+	}
+
+	// now: n = bytes already written
+	int p = size - n;	// number of bytes to write
+	memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p);
+	_message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size;
+	return true;
+}
+
+int
+Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part)
+{
+	// bytes available to read
+	int available = _message_buffer.write_ptr - _message_buffer.read_ptr;
+
+	if (available == 0) {
+		return 0;	// buffer is empty
+	}
+
+	int n = 0;
+
+	if (available > 0) {
+		// read pointer is before write pointer, all available bytes can be read
+		n = available;
+		*is_part = false;
+
+	} else {
+		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
+		n = _message_buffer.size - _message_buffer.read_ptr;
+		*is_part = _message_buffer.write_ptr > 0;
+	}
+
+	*ptr = &(_message_buffer.data[_message_buffer.read_ptr]);
+	return n;
+}
+
+void
+Mavlink::message_buffer_mark_read(int n)
+{
+	_message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size;
+}
+
+void
+Mavlink::pass_message(const mavlink_message_t *msg)
+{
+	if (_passing_on) {
+		/* size is 8 bytes plus variable payload */
+		int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len;
+		pthread_mutex_lock(&_message_buffer_mutex);
+		message_buffer_write(msg, size);
+		pthread_mutex_unlock(&_message_buffer_mutex);
+	}
+}
+
+float
+Mavlink::get_rate_mult()
+{
+	return _rate_mult;
+}
+
+void
+Mavlink::update_rate_mult()
+{
+	float const_rate = 0.0f;
+	float rate = 0.0f;
+
+	MavlinkStream *stream;
+	LL_FOREACH(_streams, stream) {
+		if (stream->const_rate()) {
+			const_rate += stream->get_size() * 1000000.0f / stream->get_interval();
+
+		} else {
+			rate += stream->get_size() * 1000000.0f / stream->get_interval();
+		}
+	}
+
+	/* don't scale up rates, only scale down if needed */
+	_rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate);
+}
+
+int
 Mavlink::task_main(int argc, char *argv[])
 {
 	int ch;
@@ -1632,7 +1192,7 @@ Mavlink::task_main(int argc, char *argv[])
 	 * set error flag instead */
 	bool err_flag = false;
 
-	while ((ch = getopt(argc, argv, "b:r:d:m:v")) != EOF) {
+	while ((ch = getopt(argc, argv, "b:r:d:m:fpvwx")) != EOF) {
 		switch (ch) {
 		case 'b':
 			_baudrate = strtoul(optarg, NULL, 10);
@@ -1672,10 +1232,26 @@ Mavlink::task_main(int argc, char *argv[])
 
 			break;
 
+		case 'f':
+			_forwarding_on = true;
+			break;
+
+		case 'p':
+			_passing_on = true;
+			break;
+
 		case 'v':
 			_verbose = true;
 			break;
 
+		case 'w':
+			_wait_to_transmit = true;
+			break;
+
+		case 'x':
+			_ftp_on = true;
+			break;
+
 		default:
 			err_flag = true;
 			break;
@@ -1720,8 +1296,6 @@ Mavlink::task_main(int argc, char *argv[])
 		break;
 	}
 
-	_mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
-
 	warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate);
 
 	/* flush stdout in case MAVLink is about to take it over */
@@ -1737,9 +1311,26 @@ Mavlink::task_main(int argc, char *argv[])
 		return ERROR;
 	}
 
+	/* initialize send mutex */
+	pthread_mutex_init(&_send_mutex, NULL);
+
 	/* initialize mavlink text message buffering */
 	mavlink_logbuffer_init(&_logbuffer, 5);
 
+	/* if we are passing on mavlink messages, we need to prepare a buffer for this instance */
+	if (_passing_on || _ftp_on) {
+		/* initialize message buffer if multiplexing is on or its needed for FTP.
+		 * make space for two messages plus off-by-one space as we use the empty element
+		 * marker ring buffer approach.
+		 */
+		if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
+			errx(1, "can't allocate message buffer, exiting");
+		}
+
+		/* initialize message buffer mutex */
+		pthread_mutex_init(&_message_buffer_mutex, NULL);
+	}
+
 	/* create the device node that's used for sending text log messages, etc. */
 	register_driver(MAVLINK_LOG_DEVICE, &fops, 0666, NULL);
 
@@ -1752,43 +1343,60 @@ Mavlink::task_main(int argc, char *argv[])
 	/* start the MAVLink receiver */
 	_receive_thread = MavlinkReceiver::receive_start(this);
 
-	/* initialize waypoint manager */
-	mavlink_wpm_init(_wpm);
-
-	int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
-	struct mission_result_s mission_result;
-	memset(&mission_result, 0, sizeof(mission_result));
-
 	_task_running = true;
 
 	MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
+	uint64_t param_time = 0;
 	MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
+	uint64_t status_time = 0;
 
-	struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data();
+	struct vehicle_status_s status;
+	status_sub->update(&status_time, &status);
 
-	/* add default streams depending on mode and intervals depending on datarate */
-	float rate_mult = _datarate / 1000.0f;
+	/* add default streams depending on mode */
 
+	/* HEARTBEAT is constant rate stream, rate never adjusted */
 	configure_stream("HEARTBEAT", 1.0f);
 
+	/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
+	configure_stream("STATUSTEXT", 20.0f);
+
+	/* COMMAND_LONG stream: use high rate to avoid commands skipping */
+	configure_stream("COMMAND_LONG", 100.0f);
+
+	/* PARAM_VALUE stream */
+	_parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this);
+	_parameters_manager->set_interval(interval_from_rate(30.0f));
+	LL_APPEND(_streams, _parameters_manager);
+
+	/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
+	 * remote requests rate. Rate specified here controls how much bandwidth we will reserve for
+	 * mission messages. */
+	_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
+	_mission_manager->set_interval(interval_from_rate(10.0f));
+	_mission_manager->set_verbose(_verbose);
+	LL_APPEND(_streams, _mission_manager);
+
 	switch (_mode) {
 	case MAVLINK_MODE_NORMAL:
 		configure_stream("SYS_STATUS", 1.0f);
 		configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
-		configure_stream("HIGHRES_IMU", 1.0f * rate_mult);
-		configure_stream("ATTITUDE", 10.0f * rate_mult);
-		configure_stream("VFR_HUD", 10.0f * rate_mult);
-		configure_stream("GPS_RAW_INT", 1.0f * rate_mult);
-		configure_stream("GLOBAL_POSITION_INT", 3.0f * rate_mult);
-		configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult);
-		configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult);
-		configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult);
+		configure_stream("HIGHRES_IMU", 1.0f);
+		configure_stream("ATTITUDE", 10.0f);
+		configure_stream("VFR_HUD", 8.0f);
+		configure_stream("GPS_RAW_INT", 1.0f);
+		configure_stream("GLOBAL_POSITION_INT", 3.0f);
+		configure_stream("LOCAL_POSITION_NED", 3.0f);
+		configure_stream("RC_CHANNELS_RAW", 1.0f);
+		configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f);
+		configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f);
+		configure_stream("DISTANCE_SENSOR", 0.5f);
 		break;
 
 	case MAVLINK_MODE_CAMERA:
 		configure_stream("SYS_STATUS", 1.0f);
-		configure_stream("ATTITUDE", 15.0f * rate_mult);
-		configure_stream("GLOBAL_POSITION_INT", 15.0f * rate_mult);
+		configure_stream("ATTITUDE", 15.0f);
+		configure_stream("GLOBAL_POSITION_INT", 15.0f);
 		configure_stream("CAMERA_CAPTURE", 1.0f);
 		break;
 
@@ -1796,14 +1404,8 @@ Mavlink::task_main(int argc, char *argv[])
 		break;
 	}
 
-	/* don't send parameters on startup without request */
-	_mavlink_param_queue_index = param_count();
-
-	MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
-	MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult);
-
 	/* set main loop delay depending on data rate to minimize CPU overhead */
-	_main_loop_delay = MAIN_LOOP_DELAY / rate_mult;
+	_main_loop_delay = MAIN_LOOP_DELAY * 1000 / _datarate;
 
 	/* now the instance is fully initialized and we can bump the instance count */
 	LL_APPEND(_mavlink_instances, this);
@@ -1816,28 +1418,31 @@ Mavlink::task_main(int argc, char *argv[])
 
 		hrt_abstime t = hrt_absolute_time();
 
-		if (param_sub->update(t)) {
+		update_rate_mult();
+
+		if (param_sub->update(&param_time, nullptr)) {
 			/* parameters updated */
 			mavlink_update_system();
 		}
 
-		if (status_sub->update(t)) {
+		if (status_sub->update(&status_time, &status)) {
 			/* switch HIL mode if required */
-			set_hil_enabled(status->hil_state == HIL_STATE_ON);
+			set_hil_enabled(status.hil_state == HIL_STATE_ON);
 		}
 
 		/* check for requested subscriptions */
 		if (_subscribe_to_stream != nullptr) {
 			if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
 				if (_subscribe_to_stream_rate > 0.0f) {
-					warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, _subscribe_to_stream_rate);
+					warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name,
+					      (double)_subscribe_to_stream_rate);
 
 				} else {
 					warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
 				}
 
 			} else {
-				warnx("stream %s not found", _subscribe_to_stream, _device_name);
+				warnx("stream %s on device %s not found", _subscribe_to_stream, _device_name);
 			}
 
 			delete _subscribe_to_stream;
@@ -1850,40 +1455,69 @@ Mavlink::task_main(int argc, char *argv[])
 			stream->update(t);
 		}
 
-		bool updated;
-		orb_check(mission_result_sub, &updated);
+		/* pass messages from other UARTs or FTP worker */
+		if (_passing_on || _ftp_on) {
 
-		if (updated) {
-			orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result);
+			bool is_part;
+			uint8_t *read_ptr;
+			uint8_t *write_ptr;
 
-			if (_verbose) { warnx("Got mission result: new current: %d", mission_result.index_current_mission); }
+			pthread_mutex_lock(&_message_buffer_mutex);
+			int available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
+			pthread_mutex_unlock(&_message_buffer_mutex);
 
-			if (mission_result.mission_reached) {
-				mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached);
-			}
+			if (available > 0) {
+				// Reconstruct message from buffer
 
-			mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission);
+				mavlink_message_t msg;
+				write_ptr = (uint8_t *)&msg;
 
-		} else {
-			if (slow_rate_limiter.check(t)) {
-				mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission);
-			}
-		}
+				// Pull a single message from the buffer
+				size_t read_count = available;
+
+				if (read_count > sizeof(mavlink_message_t)) {
+					read_count = sizeof(mavlink_message_t);
+				}
 
-		if (fast_rate_limiter.check(t)) {
-			mavlink_pm_queued_send();
-			mavlink_waypoint_eventloop(hrt_absolute_time());
+				memcpy(write_ptr, read_ptr, read_count);
 
-			if (!mavlink_logbuffer_is_empty(&_logbuffer)) {
-				struct mavlink_logmessage msg;
-				int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg);
+				// We hold the mutex until after we complete the second part of the buffer. If we don't
+				// we may end up breaking the empty slot overflow detection semantics when we mark the
+				// possibly partial read below.
+				pthread_mutex_lock(&_message_buffer_mutex);
 
-				if (lb_ret == OK) {
-					mavlink_missionlib_send_gcs_string(msg.text);
+				message_buffer_mark_read(read_count);
+
+				/* write second part of buffer if there is some */
+				if (is_part && read_count < sizeof(mavlink_message_t)) {
+					write_ptr += read_count;
+					available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
+					read_count = sizeof(mavlink_message_t) - read_count;
+					memcpy(write_ptr, read_ptr, read_count);
+					message_buffer_mark_read(available);
 				}
+
+				pthread_mutex_unlock(&_message_buffer_mutex);
+
+				resend_message(&msg);
 			}
 		}
 
+		/* update TX/RX rates*/
+		if (t > _bytes_timestamp + 1000000) {
+			if (_bytes_timestamp != 0) {
+				float dt = (t - _bytes_timestamp) / 1000.0f;
+				_rate_tx = _bytes_tx / dt;
+				_rate_txerr = _bytes_txerr / dt;
+				_rate_rx = _bytes_rx / dt;
+				_bytes_tx = 0;
+				_bytes_txerr = 0;
+				_bytes_rx = 0;
+			}
+
+			_bytes_timestamp = t;
+		}
+
 		perf_end(_loop_perf);
 	}
 
@@ -1928,6 +1562,11 @@ Mavlink::task_main(int argc, char *argv[])
 	/* close mavlink logging device */
 	close(_mavlink_fd);
 
+	if (_passing_on || _ftp_on) {
+		message_buffer_destroy();
+		pthread_mutex_destroy(&_message_buffer_mutex);
+	}
+
 	/* destroy log buffer */
 	mavlink_logbuffer_destroy(&_logbuffer);
 
@@ -1942,11 +1581,21 @@ int Mavlink::start_helper(int argc, char *argv[])
 	/* create the instance in task context */
 	Mavlink *instance = new Mavlink();
 
-	/* this will actually only return once MAVLink exits */
-	int res = instance->task_main(argc, argv);
+	int res;
 
-	/* delete instance on main thread end */
-	delete instance;
+	if (!instance) {
+
+		/* out of memory */
+		res = -ENOMEM;
+		warnx("OUT OF MEM");
+
+	} else {
+		/* this will actually only return once MAVLink exits */
+		res = instance->task_main(argc, argv);
+
+		/* delete instance on main thread end */
+		delete instance;
+	}
 
 	return res;
 }
@@ -1969,7 +1618,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2048,
+		       2700,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 
@@ -1997,18 +1646,52 @@ Mavlink::start(int argc, char *argv[])
 }
 
 void
-Mavlink::status()
+Mavlink::display_status()
 {
-	warnx("running");
+
+	if (_rstatus.heartbeat_time > 0) {
+		printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time));
+	}
+
+	if (_rstatus.timestamp > 0) {
+
+		printf("\ttype:\t\t");
+
+		switch (_rstatus.type) {
+		case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
+			printf("3DR RADIO\n");
+			break;
+
+		default:
+			printf("UNKNOWN RADIO\n");
+			break;
+		}
+
+		printf("\trssi:\t\t%d\n", _rstatus.rssi);
+		printf("\tremote rssi:\t%u\n", _rstatus.remote_rssi);
+		printf("\ttxbuf:\t\t%u\n", _rstatus.txbuf);
+		printf("\tnoise:\t\t%d\n", _rstatus.noise);
+		printf("\tremote noise:\t%u\n", _rstatus.remote_noise);
+		printf("\trx errors:\t%u\n", _rstatus.rxerrors);
+		printf("\tfixed:\t\t%u\n", _rstatus.fixed);
+
+	} else {
+		printf("\tno telem status.\n");
+	}
+
+	printf("\trates:\n");
+	printf("\ttx: %.3f kB/s\n", (double)_rate_tx);
+	printf("\ttxerr: %.3f kB/s\n", (double)_rate_txerr);
+	printf("\trx: %.3f kB/s\n", (double)_rate_rx);
+	printf("\trate mult: %.3f\n", (double)_rate_mult);
 }
 
 int
-Mavlink::stream(int argc, char *argv[])
+Mavlink::stream_command(int argc, char *argv[])
 {
 	const char *device_name = DEFAULT_DEVICE_NAME;
 	float rate = -1.0f;
 	const char *stream_name = nullptr;
-	int ch;
 
 	argc -= 2;
 	argv += 2;
@@ -2045,7 +1728,7 @@ Mavlink::stream(int argc, char *argv[])
 		i++;
 	}
 
-	if (!err_flag && rate >= 0.0 && stream_name != nullptr) {
+	if (!err_flag && rate >= 0.0f && stream_name != nullptr) {
 		Mavlink *inst = get_instance_for_device(device_name);
 
 		if (inst != nullptr) {
@@ -2067,7 +1750,7 @@ Mavlink::stream(int argc, char *argv[])
 
 static void usage()
 {
-	warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-v]");
+	warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate]\n\t[-r rate][-m mode] [-s stream] [-f] [-p] [-v] [-w] [-x]");
 }
 
 int mavlink_main(int argc, char *argv[])
@@ -2088,11 +1771,11 @@ int mavlink_main(int argc, char *argv[])
 	} else if (!strcmp(argv[1], "stop-all")) {
 		return Mavlink::destroy_all_instances();
 
-		// } else if (!strcmp(argv[1], "status")) {
-		// 	mavlink::g_mavlink->status();
+	} else if (!strcmp(argv[1], "status")) {
+		return Mavlink::get_status_all_instances();
 
 	} else if (!strcmp(argv[1], "stream")) {
-		return Mavlink::stream(argc, argv);
+		return Mavlink::stream_command(argc, argv);
 
 	} else {
 		usage();
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 5a118a0ad..1e2e94cef 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -50,53 +50,15 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+#include <uORB/topics/telemetry_status.h>
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_orb_subscription.h"
 #include "mavlink_stream.h"
 #include "mavlink_messages.h"
-
-// FIXME XXX - TO BE MOVED TO XML
-enum MAVLINK_WPM_STATES {
-	MAVLINK_WPM_STATE_IDLE = 0,
-	MAVLINK_WPM_STATE_SENDLIST,
-	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
-	MAVLINK_WPM_STATE_GETLIST,
-	MAVLINK_WPM_STATE_GETLIST_GETWPS,
-	MAVLINK_WPM_STATE_GETLIST_GOTALL,
-	MAVLINK_WPM_STATE_ENUM_END
-};
-
-enum MAVLINK_WPM_CODES {
-	MAVLINK_WPM_CODE_OK = 0,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
-	MAVLINK_WPM_CODE_ENUM_END
-};
-
-
-#define MAVLINK_WPM_MAX_WP_COUNT 255
-#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
-#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
-#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
-
-
-struct mavlink_wpm_storage {
-	uint16_t size;
-	uint16_t max_size;
-	enum MAVLINK_WPM_STATES current_state;
-	int16_t current_wp_id;	///< Waypoint in current transmission
-	uint16_t current_count;
-	uint8_t current_partner_sysid;
-	uint8_t current_partner_compid;
-	uint64_t timestamp_lastaction;
-	uint64_t timestamp_last_send_setpoint;
-	uint32_t timeout;
-	int current_dataman_id;
-};
-
+#include "mavlink_mission.h"
+#include "mavlink_parameters.h"
 
 class Mavlink
 {
@@ -122,25 +84,43 @@ public:
 	/**
 	 * Display the mavlink status.
 	 */
-	void		status();
+	void			display_status();
+
+	static int		stream_command(int argc, char *argv[]);
+
+	static int		instance_count();
+
+	static Mavlink		*new_instance();
+
+	static Mavlink		*get_instance(unsigned instance);
 
-	static int stream(int argc, char *argv[]);
+	static Mavlink		*get_instance_for_device(const char *device_name);
 
-	static int	instance_count();
+	static int		destroy_all_instances();
 
-	static Mavlink *new_instance();
+	static int		get_status_all_instances();
 
-	static Mavlink *get_instance(unsigned instance);
+	static bool		instance_exists(const char *device_name, Mavlink *self);
 
-	static Mavlink *get_instance_for_device(const char *device_name);
+	static void		forward_message(const mavlink_message_t *msg, Mavlink *self);
 
-	static int	destroy_all_instances();
+	static int		get_uart_fd(unsigned index);
 
-	static bool	instance_exists(const char *device_name, Mavlink *self);
+	int			get_uart_fd();
 
-	static int get_uart_fd(unsigned index);
+	/**
+	 * Get the MAVLink system id.
+	 *
+	 * @return		The system ID of this vehicle
+	 */
+	int			get_system_id();
 
-	int get_uart_fd();
+	/**
+	 * Get the MAVLink component id.
+	 *
+	 * @return		The component ID of this vehicle
+	 */
+	int			get_component_id();
 
 	const char *_device_name;
 
@@ -150,26 +130,25 @@ public:
 		MAVLINK_MODE_CAMERA
 	};
 
-	void		set_mode(enum MAVLINK_MODE);
-	enum MAVLINK_MODE		get_mode() { return _mode; }
+	void			set_mode(enum MAVLINK_MODE);
+	enum MAVLINK_MODE	get_mode() { return _mode; }
 
-	bool		get_hil_enabled() { return _hil_enabled; };
+	bool			get_hil_enabled() { return _hil_enabled; }
 
-	bool		get_flow_control_enabled() { return _flow_control_enabled; }
+	bool			get_use_hil_gps() { return _use_hil_gps; }
 
-	/**
-	 * Handle waypoint related messages.
-	 */
-	void mavlink_wpm_message_handler(const mavlink_message_t *msg);
+	bool			get_flow_control_enabled() { return _flow_control_enabled; }
+
+	bool			get_forwarding_on() { return _forwarding_on; }
 
-	static int start_helper(int argc, char *argv[]);
+	static int		start_helper(int argc, char *argv[]);
 
 	/**
 	 * Handle parameter related messages.
 	 */
-	void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
+	void			mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
 
-	void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
+	void			get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
 
 	/**
 	 * Enable / disable Hardware in the Loop simulation mode.
@@ -179,141 +158,241 @@ public:
 	 *			requested change could not be made or was
 	 *			redundant.
 	 */
-	int		set_hil_enabled(bool hil_enabled);
+	int			set_hil_enabled(bool hil_enabled);
+
+	void		send_message(const uint8_t msgid, const void *msg);
+
+	/**
+	 * Resend message as is, don't change sequence number and CRC.
+	 */
+	void		resend_message(mavlink_message_t *msg);
+
+	void			handle_message(const mavlink_message_t *msg);
 
 	MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
 
-	int get_instance_id();
+	int			get_instance_id();
 
 	/**
 	 * Enable / disable hardware flow control.
 	 *
 	 * @param enabled	True if hardware flow control should be enabled
 	 */
-	int enable_flow_control(bool enabled);
+	int			enable_flow_control(bool enabled);
+
+	mavlink_channel_t	get_channel();
+
+	void			configure_stream_threadsafe(const char *stream_name, float rate);
+
+	bool			_task_should_exit;	/**< if true, mavlink task should exit */
+
+	int			get_mavlink_fd() { return _mavlink_fd; }
+
+	/**
+	 * Send a status text with loglevel INFO
+	 *
+	 * @param string the message to send (will be capped by mavlink max string length)
+	 */
+	void			send_statustext_info(const char *string);
+
+	/**
+	 * Send a status text with loglevel CRITICAL
+	 *
+	 * @param string the message to send (will be capped by mavlink max string length)
+	 */
+	void			send_statustext_critical(const char *string);
+
+	/**
+	 * Send a status text with loglevel EMERGENCY
+	 *
+	 * @param string the message to send (will be capped by mavlink max string length)
+	 */
+	void			send_statustext_emergency(const char *string);
+
+	/**
+	 * Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent
+	 * only on this mavlink connection. Useful for reporting communication specific, not system-wide info
+	 * only to client interested in it. Message will be not sent immediately but queued in buffer as
+	 * for mavlink_log_xxx().
+	 *
+	 * @param string the message to send (will be capped by mavlink max string length)
+	 * @param severity the log level
+	 */
+	void			send_statustext(unsigned char severity, const char *string);
+
+	MavlinkStream *		get_streams() const { return _streams; }
+
+	float			get_rate_mult();
+
+	/* Functions for waiting to start transmission until message received. */
+	void			set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
+	bool			get_has_received_messages() { return _received_messages; }
+	void			set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
+	bool			get_wait_to_transmit() { return _wait_to_transmit; }
+	bool			should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
+
+	bool			message_buffer_write(const void *ptr, int size);
+    
+	void			lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
+	void			unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
+
+	/**
+	 * Count a transmision error
+	 */
+	void			count_txerr();
+
+	/**
+	 * Count transmitted bytes
+	 */
+	void			count_txbytes(unsigned n) { _bytes_tx += n; };
+
+	/**
+	 * Count bytes not transmitted because of errors
+	 */
+	void			count_txerrbytes(unsigned n) { _bytes_txerr += n; };
 
-	mavlink_channel_t get_channel();
+	/**
+	 * Count received bytes
+	 */
+	void			count_rxbytes(unsigned n) { _bytes_rx += n; };
+
+	/**
+	 * Get the receive status of this MAVLink link
+	 */
+	struct telemetry_status_s&	get_rx_status() { return _rstatus; }
 
-	bool		_task_should_exit;		/**< if true, mavlink task should exit */
+	struct mavlink_logbuffer	*get_logbuffer() { return &_logbuffer; }
 
 protected:
-	Mavlink	*next;
+	Mavlink			*next;
 
 private:
-	int _instance_id;
-
-	int		_mavlink_fd;
-	bool		_task_running;
+	int			_instance_id;
 
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	int			_mavlink_fd;
+	bool			_task_running;
 
 	/* states */
-	bool		_hil_enabled;		/**< Hardware In the Loop mode */
-	bool		_is_usb_uart;		/**< Port is USB */
+	bool			_hil_enabled;		/**< Hardware In the Loop mode */
+	bool			_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
+	bool			_is_usb_uart;		/**< Port is USB */
+	bool        		_wait_to_transmit;  	/**< Wait to transmit until received messages. */
+	bool        		_received_messages;	/**< Whether we've received valid mavlink messages. */
 
-	unsigned	_main_loop_delay;		/**< mainloop delay, depends on data rate */
+	unsigned		_main_loop_delay;	/**< mainloop delay, depends on data rate */
 
-	MavlinkOrbSubscription *_subscriptions;
-	MavlinkStream *_streams;
+	MavlinkOrbSubscription	*_subscriptions;
+	MavlinkStream		*_streams;
 
-	orb_advert_t	_mission_pub;
-	struct mission_s mission;
-	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
-	MAVLINK_MODE _mode;
+	MavlinkMissionManager	*_mission_manager;
+	MavlinkParametersManager *_parameters_manager;
 
-	uint8_t _mavlink_wpm_comp_id;
-	mavlink_channel_t _channel;
+	MAVLINK_MODE 		_mode;
 
-	struct mavlink_logbuffer _logbuffer;
-	unsigned int _total_counter;
+	mavlink_channel_t	_channel;
 
-	pthread_t _receive_thread;
+	struct mavlink_logbuffer _logbuffer;
+	unsigned int		_total_counter;
 
-	/* Allocate storage space for waypoints */
-	mavlink_wpm_storage _wpm_s;
-	mavlink_wpm_storage *_wpm;
+	pthread_t		_receive_thread;
 
-	bool _verbose;
-	int _uart_fd;
-	int _baudrate;
-	int _datarate;
+	bool			_verbose;
+	bool			_forwarding_on;
+	bool			_passing_on;
+	bool			_ftp_on;
+	int			_uart_fd;
+	int			_baudrate;
+	int			_datarate;		///< data rate for normal streams (attitude, position, etc.)
+	int			_datarate_events;	///< data rate for params, waypoints, text messages
+	float		_rate_mult;
 
 	/**
 	 * If the queue index is not at 0, the queue sending
 	 * logic will send parameters from the current index
 	 * to len - 1, the end of the param list.
 	 */
-	unsigned int _mavlink_param_queue_index;
+	unsigned int		_mavlink_param_queue_index;
 
-	bool mavlink_link_termination_allowed;
+	bool			mavlink_link_termination_allowed;
 
-	char 	*_subscribe_to_stream;
-	float	_subscribe_to_stream_rate;
+	char 			*_subscribe_to_stream;
+	float			_subscribe_to_stream_rate;
 
-	bool		_flow_control_enabled;
+	bool			_flow_control_enabled;
+	uint64_t		_last_write_success_time;
+	uint64_t		_last_write_try_time;
 
-	/**
-	 * Send one parameter.
-	 *
-	 * @param param		The parameter id to send.
-	 * @return		zero on success, nonzero on failure.
-	 */
-	int mavlink_pm_send_param(param_t param);
+	unsigned		_bytes_tx;
+	unsigned		_bytes_txerr;
+	unsigned		_bytes_rx;
+	uint64_t		_bytes_timestamp;
+	float		_rate_tx;
+	float		_rate_txerr;
+	float		_rate_rx;
 
-	/**
-	 * Send one parameter identified by index.
-	 *
-	 * @param index		The index of the parameter to send.
-	 * @return		zero on success, nonzero else.
-	 */
-	int mavlink_pm_send_param_for_index(uint16_t index);
+	struct telemetry_status_s	_rstatus;			///< receive status
 
-	/**
-	 * Send one parameter identified by name.
-	 *
-	 * @param name		The index of the parameter to send.
-	 * @return		zero on success, nonzero else.
-	 */
-	int mavlink_pm_send_param_for_name(const char *name);
+	struct mavlink_message_buffer {
+		int write_ptr;
+		int read_ptr;
+		int size;
+		char *data;
+	};
+
+	mavlink_message_buffer	_message_buffer;
+
+	pthread_mutex_t		_message_buffer_mutex;
+	pthread_mutex_t		_send_mutex;
+
+	bool			_param_initialized;
+	param_t			_param_system_id;
+	param_t			_param_component_id;
+	param_t			_param_system_type;
+	param_t			_param_use_hil_gps;
+
+	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_txerr_perf;			/**< TX error counter */
+
+	void			mavlink_update_system();
+
+	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
 	/**
-	 * Send a queue of parameters, one parameter per function call.
+	 * Get the free space in the transmit buffer
 	 *
-	 * @return		zero on success, nonzero on failure
+	 * @return free space in the UART TX buffer
 	 */
-	int mavlink_pm_queued_send(void);
+	unsigned			get_free_tx_buf();
+
+	static unsigned int interval_from_rate(float rate);
+
+	int configure_stream(const char *stream_name, const float rate);
 
 	/**
-	 * Start sending the parameter queue.
+	 * Adjust the stream rates based on the current rate
 	 *
-	 * This function will not directly send parameters, but instead
-	 * activate the sending of one parameter on each call of
-	 * mavlink_pm_queued_send().
-	 * @see 		mavlink_pm_queued_send()
+	 * @param multiplier if greater than 1, the transmission rate will increase, if smaller than one decrease
 	 */
-	void mavlink_pm_start_queued_send();
+	void adjust_stream_rates(const float multiplier);
 
-	void mavlink_update_system();
+	int message_buffer_init(int size);
 
-	void mavlink_waypoint_eventloop(uint64_t now);
-	void mavlink_wpm_send_waypoint_reached(uint16_t seq);
-	void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
-	void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
-	void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
-	void mavlink_wpm_send_waypoint_current(uint16_t seq);
-	void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
-	void mavlink_wpm_init(mavlink_wpm_storage *state);
-	int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
-	int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
-	void publish_mission();
+	void message_buffer_destroy();
 
-	void mavlink_missionlib_send_message(mavlink_message_t *msg);
-	int mavlink_missionlib_send_gcs_string(const char *string);
+	int message_buffer_count();
 
-	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
+	int message_buffer_is_empty();
 
-	int configure_stream(const char *stream_name, const float rate);
-	void configure_stream_threadsafe(const char *stream_name, const float rate);
+	int message_buffer_get_ptr(void **ptr, bool *is_part);
+
+	void message_buffer_mark_read(int n);
+
+	void pass_message(const mavlink_message_t *msg);
+
+	/**
+	 * Update rate mult so total bitrate will be equal to _datarate.
+	 */
+	void update_rate_mult();
 
 	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
 
@@ -322,4 +401,7 @@ private:
 	 */
 	int		task_main(int argc, char *argv[]);
 
+	/* do not allow copying this class */
+	Mavlink(const Mavlink&);
+	Mavlink operator=(const Mavlink&);
 };
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 4ca3840d4..683f0f1e8 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -40,12 +40,11 @@
  */
 
 #include <stdio.h>
+
 #include <commander/px4_custom_mode.h>
 #include <lib/geo/geo.h>
-
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -72,9 +71,12 @@
 #include <uORB/topics/navigation_capabilities.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_range_finder.h>
+#include <systemlib/err.h>
+#include <mavlink/mavlink_log.h>
 
 #include "mavlink_messages.h"
-
+#include "mavlink_main.h"
 
 static uint16_t cm_uint16_from_m_float(float m);
 static void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet,
@@ -117,46 +119,90 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 	union px4_custom_mode custom_mode;
 	custom_mode.data = 0;
 
-	if (pos_sp_triplet->nav_state == NAV_STATE_NONE) {
-		/* use main state when navigator is not active */
-		if (status->main_state == MAIN_STATE_MANUAL) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
-
-		} else if (status->main_state == MAIN_STATE_SEATBELT) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT;
+	switch (status->nav_state) {
 
-		} else if (status->main_state == MAIN_STATE_EASY) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY;
+		case NAVIGATION_STATE_MANUAL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
+			break;
+
+		case NAVIGATION_STATE_ACRO:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
+			break;
+
+		case NAVIGATION_STATE_ALTCTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
+			break;
+
+		case NAVIGATION_STATE_POSCTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
+			break;
+
+		case NAVIGATION_STATE_AUTO_MISSION:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
+			break;
 
-		} else if (status->main_state == MAIN_STATE_AUTO) {
-			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
+		case NAVIGATION_STATE_AUTO_LOITER:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
 			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
-		}
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
+			break;
 
-	} else {
-		/* use navigation state when navigator is active */
-		*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED;
-		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+		case NAVIGATION_STATE_AUTO_RTL:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
+			break;
+
+		case NAVIGATION_STATE_LAND:
+			/* fallthrough */
+		case NAVIGATION_STATE_DESCEND:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
+			break;
 
-		if (pos_sp_triplet->nav_state == NAV_STATE_READY) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY;
+		case NAVIGATION_STATE_AUTO_RTGS:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_LOITER) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
+		case NAVIGATION_STATE_TERMINATION:
+			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_MISSION) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
+		case NAVIGATION_STATE_OFFBOARD:
+			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
+			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
+					      | MAV_MODE_FLAG_GUIDED_ENABLED;
+			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_RTL) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
+		case NAVIGATION_STATE_MAX:
+			/* this is an unused case, ignore */
+			break;
 
-		} else if (pos_sp_triplet->nav_state == NAV_STATE_LAND) {
-			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
-		}
 	}
 
 	*mavlink_custom_mode = custom_mode.data;
@@ -188,95 +234,262 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set
 class MavlinkStreamHeartbeat : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamHeartbeat::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "HEARTBEAT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_HEARTBEAT;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamHeartbeat(mavlink);
+	}
+
+	unsigned get_size()
 	{
-		return new MavlinkStreamHeartbeat();
+		return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+	bool const_rate() {
+		return true;
 	}
 
 private:
-	MavlinkOrbSubscription *status_sub;
-	struct vehicle_status_s *status;
+	MavlinkOrbSubscription *_status_sub;
+	MavlinkOrbSubscription *_pos_sp_triplet_sub;
 
-	MavlinkOrbSubscription *pos_sp_triplet_sub;
-	struct position_setpoint_triplet_s *pos_sp_triplet;
+	/* do not allow top copying this class */
+	MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &);
+	MavlinkStreamHeartbeat& operator = (const MavlinkStreamHeartbeat &);
 
 protected:
-	void subscribe(Mavlink *mavlink)
+	explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))),
+		_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)))
+	{}
+
+	void send(const hrt_abstime t)
+	{
+		struct vehicle_status_s status;
+		struct position_setpoint_triplet_s pos_sp_triplet;
+
+		/* always send the heartbeat, independent of the update status of the topics */
+		if (!_status_sub->update(&status)) {
+			/* if topic update failed fill it with defaults */
+			memset(&status, 0, sizeof(status));
+		}
+
+		if (!_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
+			/* if topic update failed fill it with defaults */
+			memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
+		}
+
+		mavlink_heartbeat_t msg;
+
+		msg.base_mode = 0;
+		msg.custom_mode = 0;
+		get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
+		msg.type = mavlink_system.type;
+		msg.autopilot = MAV_AUTOPILOT_PX4;
+		msg.mavlink_version = 3;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_HEARTBEAT, &msg);
+	}
+};
+
+class MavlinkStreamStatustext : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkStreamStatustext::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
-		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
-		status = (struct vehicle_status_s *)status_sub->get_data();
+		return "STATUSTEXT";
+	}
 
-		pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
-		pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_STATUSTEXT;
 	}
 
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamStatustext(mavlink);
+	}
+
+	unsigned get_size() {
+		return mavlink_logbuffer_is_empty(_mavlink->get_logbuffer()) ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
+	}
+
+private:
+	/* do not allow top copying this class */
+	MavlinkStreamStatustext(MavlinkStreamStatustext &);
+	MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);
+
+protected:
+	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		(void)status_sub->update(t);
-		(void)pos_sp_triplet_sub->update(t);
+		if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) {
+			struct mavlink_logmessage logmsg;
+			int lb_ret = mavlink_logbuffer_read(_mavlink->get_logbuffer(), &logmsg);
 
-		uint8_t mavlink_state = 0;
-		uint8_t mavlink_base_mode = 0;
-		uint32_t mavlink_custom_mode = 0;
-		get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
+			if (lb_ret == OK) {
+				mavlink_statustext_t msg;
 
-		mavlink_msg_heartbeat_send(_channel,
-					   mavlink_system.type,
-					   MAV_AUTOPILOT_PX4,
-					   mavlink_base_mode,
-					   mavlink_custom_mode,
-					   mavlink_state);
+				msg.severity = logmsg.severity;
+				strncpy(msg.text, logmsg.text, sizeof(msg.text));
 
+				_mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg);
+			}
+		}
 	}
 };
 
+class MavlinkStreamCommandLong : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkStreamCommandLong::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "COMMAND_LONG";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_COMMAND_LONG;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamCommandLong(mavlink);
+	}
+
+	unsigned get_size() {
+		return 0;	// commands stream is not regular and not predictable
+	}
+
+private:
+	MavlinkOrbSubscription *_cmd_sub;
+	uint64_t _cmd_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamCommandLong(MavlinkStreamCommandLong &);
+	MavlinkStreamCommandLong& operator = (const MavlinkStreamCommandLong &);
+
+protected:
+	explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_cmd_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_command))),
+		_cmd_time(0)
+	{}
+
+	void send(const hrt_abstime t)
+	{
+		struct vehicle_command_s cmd;
+
+		if (_cmd_sub->update(&_cmd_time, &cmd)) {
+			/* only send commands for other systems/components */
+			if (cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) {
+				mavlink_command_long_t msg;
+
+				msg.target_system = cmd.target_system;
+				msg.target_component = cmd.target_component;
+				msg.command = cmd.command;
+				msg.confirmation = cmd.confirmation;
+				msg.param1 = cmd.param1;
+				msg.param2 = cmd.param2;
+				msg.param3 = cmd.param3;
+				msg.param4 = cmd.param4;
+				msg.param5 = cmd.param5;
+				msg.param6 = cmd.param6;
+				msg.param7 = cmd.param7;
+
+				_mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &msg);
+			}
+		}
+	}
+};
 
 class MavlinkStreamSysStatus : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamSysStatus::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "SYS_STATUS";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamSysStatus();
+		return MAVLINK_MSG_ID_SYS_STATUS;
 	}
 
-private:
-	MavlinkOrbSubscription *status_sub;
-	struct vehicle_status_s *status;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamSysStatus(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
-		status = (struct vehicle_status_s *)status_sub->get_data();
+		return MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_status_sub;
+
+	/* do not allow top copying this class */
+	MavlinkStreamSysStatus(MavlinkStreamSysStatus &);
+	MavlinkStreamSysStatus& operator = (const MavlinkStreamSysStatus &);
+
+protected:
+	explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status)))
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (status_sub->update(t)) {
-			mavlink_msg_sys_status_send(_channel,
-						    status->onboard_control_sensors_present,
-						    status->onboard_control_sensors_enabled,
-						    status->onboard_control_sensors_health,
-						    status->load * 1000.0f,
-						    status->battery_voltage * 1000.0f,
-						    status->battery_current * 1000.0f,
-						    status->battery_remaining,
-						    status->drop_rate_comm,
-						    status->errors_comm,
-						    status->errors_count1,
-						    status->errors_count2,
-						    status->errors_count3,
-						    status->errors_count4);
+		struct vehicle_status_s status;
+
+		if (_status_sub->update(&status)) {
+			mavlink_sys_status_t msg;
+
+			msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
+			msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
+			msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
+			msg.load = status.load * 1000.0f;
+			msg.voltage_battery = status.battery_voltage * 1000.0f;
+			msg.current_battery = status.battery_current * 100.0f;
+			msg.drop_rate_comm = status.drop_rate_comm;
+			msg.errors_comm = status.errors_comm;
+			msg.errors_count1 = status.errors_count1;
+			msg.errors_count2 = status.errors_count2;
+			msg.errors_count3 = status.errors_count3;
+			msg.errors_count4 = status.errors_count4;
+			msg.battery_remaining = status.battery_remaining * 100.0f;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
 		}
 	}
 };
@@ -285,73 +498,104 @@ protected:
 class MavlinkStreamHighresIMU : public MavlinkStream
 {
 public:
-	MavlinkStreamHighresIMU() : MavlinkStream(), accel_timestamp(0), gyro_timestamp(0), mag_timestamp(0), baro_timestamp(0)
+	const char *get_name() const
 	{
+		return MavlinkStreamHighresIMU::get_name_static();
 	}
 
-	const char *get_name()
+	static const char *get_name_static()
 	{
 		return "HIGHRES_IMU";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamHighresIMU();
+		return MAVLINK_MSG_ID_HIGHRES_IMU;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamHighresIMU(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
 private:
-	MavlinkOrbSubscription *sensor_sub;
-	struct sensor_combined_s *sensor;
+	MavlinkOrbSubscription *_sensor_sub;
+	uint64_t _sensor_time;
 
-	uint64_t accel_timestamp;
-	uint64_t gyro_timestamp;
-	uint64_t mag_timestamp;
-	uint64_t baro_timestamp;
+	uint64_t _accel_timestamp;
+	uint64_t _gyro_timestamp;
+	uint64_t _mag_timestamp;
+	uint64_t _baro_timestamp;
+
+	/* do not allow top copying this class */
+	MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &);
+	MavlinkStreamHighresIMU& operator = (const MavlinkStreamHighresIMU &);
 
 protected:
-	void subscribe(Mavlink *mavlink)
-	{
-		sensor_sub = mavlink->add_orb_subscription(ORB_ID(sensor_combined));
-		sensor = (struct sensor_combined_s *)sensor_sub->get_data();
-	}
+	explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_sensor_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
+		_sensor_time(0),
+		_accel_timestamp(0),
+		_gyro_timestamp(0),
+		_mag_timestamp(0),
+		_baro_timestamp(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		if (sensor_sub->update(t)) {
+		struct sensor_combined_s sensor;
+
+		if (_sensor_sub->update(&_sensor_time, &sensor)) {
 			uint16_t fields_updated = 0;
 
-			if (accel_timestamp != sensor->accelerometer_timestamp) {
+			if (_accel_timestamp != sensor.accelerometer_timestamp) {
 				/* mark first three dimensions as changed */
 				fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
-				accel_timestamp = sensor->accelerometer_timestamp;
+				_accel_timestamp = sensor.accelerometer_timestamp;
 			}
 
-			if (gyro_timestamp != sensor->timestamp) {
+			if (_gyro_timestamp != sensor.timestamp) {
 				/* mark second group dimensions as changed */
 				fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
-				gyro_timestamp = sensor->timestamp;
+				_gyro_timestamp = sensor.timestamp;
 			}
 
-			if (mag_timestamp != sensor->magnetometer_timestamp) {
+			if (_mag_timestamp != sensor.magnetometer_timestamp) {
 				/* mark third group dimensions as changed */
 				fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
-				mag_timestamp = sensor->magnetometer_timestamp;
+				_mag_timestamp = sensor.magnetometer_timestamp;
 			}
 
-			if (baro_timestamp != sensor->baro_timestamp) {
+			if (_baro_timestamp != sensor.baro_timestamp) {
 				/* mark last group dimensions as changed */
 				fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
-				baro_timestamp = sensor->baro_timestamp;
+				_baro_timestamp = sensor.baro_timestamp;
 			}
 
-			mavlink_msg_highres_imu_send(_channel,
-						     sensor->timestamp,
-						     sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2],
-						     sensor->gyro_rad_s[0], sensor->gyro_rad_s[1], sensor->gyro_rad_s[2],
-						     sensor->magnetometer_ga[0], sensor->magnetometer_ga[1], sensor->magnetometer_ga[2],
-						     sensor->baro_pres_mbar, sensor->differential_pressure_pa,
-						     sensor->baro_alt_meter, sensor->baro_temp_celcius,
-						     fields_updated);
+			mavlink_highres_imu_t msg;
+
+			msg.time_usec = sensor.timestamp;
+			msg.xacc = sensor.accelerometer_m_s2[0];
+			msg.yacc = sensor.accelerometer_m_s2[1];
+			msg.zacc = sensor.accelerometer_m_s2[2];
+			msg.xgyro = sensor.gyro_rad_s[0];
+			msg.ygyro = sensor.gyro_rad_s[1];
+			msg.zgyro = sensor.gyro_rad_s[2];
+			msg.xmag = sensor.magnetometer_ga[0];
+			msg.ymag = sensor.magnetometer_ga[1];
+			msg.zmag = sensor.magnetometer_ga[2];
+			msg.abs_pressure = sensor.baro_pres_mbar;
+			msg.diff_pressure = sensor.differential_pressure_pa;
+			msg.pressure_alt = sensor.baro_alt_meter;
+			msg.temperature = sensor.baro_temp_celcius;
+			msg.fields_updated = fields_updated;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_HIGHRES_IMU, &msg);
 		}
 	}
 };
@@ -360,34 +604,62 @@ protected:
 class MavlinkStreamAttitude : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamAttitude::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "ATTITUDE";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamAttitude();
+		return MAVLINK_MSG_ID_ATTITUDE;
 	}
 
-private:
-	MavlinkOrbSubscription *att_sub;
-	struct vehicle_attitude_s *att;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamAttitude(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
-		att = (struct vehicle_attitude_s *)att_sub->get_data();
+		return MAVLINK_MSG_ID_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_att_sub;
+	uint64_t _att_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamAttitude(MavlinkStreamAttitude &);
+	MavlinkStreamAttitude& operator = (const MavlinkStreamAttitude &);
+
+
+protected:
+	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
+		_att_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (att_sub->update(t)) {
-			mavlink_msg_attitude_send(_channel,
-						  att->timestamp / 1000,
-						  att->roll, att->pitch, att->yaw,
-						  att->rollspeed, att->pitchspeed, att->yawspeed);
+		struct vehicle_attitude_s att;
+
+		if (_att_sub->update(&_att_time, &att)) {
+			mavlink_attitude_t msg;
+
+			msg.time_boot_ms = att.timestamp / 1000;
+			msg.roll = att.roll;
+			msg.pitch = att.pitch;
+			msg.yaw = att.yaw;
+			msg.rollspeed = att.rollspeed;
+			msg.pitchspeed = att.pitchspeed;
+			msg.yawspeed = att.yawspeed;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE, &msg);
 		}
 	}
 };
@@ -396,39 +668,62 @@ protected:
 class MavlinkStreamAttitudeQuaternion : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamAttitudeQuaternion::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "ATTITUDE_QUATERNION";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamAttitudeQuaternion();
+		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
 	}
 
-private:
-	MavlinkOrbSubscription *att_sub;
-	struct vehicle_attitude_s *att;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamAttitudeQuaternion(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
-		att = (struct vehicle_attitude_s *)att_sub->get_data();
+		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_att_sub;
+	uint64_t _att_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &);
+	MavlinkStreamAttitudeQuaternion& operator = (const MavlinkStreamAttitudeQuaternion &);
+
+protected:
+	explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
+		_att_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (att_sub->update(t)) {
-			mavlink_msg_attitude_quaternion_send(_channel,
-							     att->timestamp / 1000,
-							     att->q[0],
-							     att->q[1],
-							     att->q[2],
-							     att->q[3],
-							     att->rollspeed,
-							     att->pitchspeed,
-							     att->yawspeed);
+		struct vehicle_attitude_s att;
+
+		if (_att_sub->update(&_att_time, &att)) {
+			mavlink_attitude_quaternion_t msg;
+
+			msg.time_boot_ms = att.timestamp / 1000;
+			msg.q1 = att.q[0];
+			msg.q2 = att.q[1];
+			msg.q3 = att.q[2];
+			msg.q4 = att.q[3];
+			msg.rollspeed = att.rollspeed;
+			msg.pitchspeed = att.pitchspeed;
+			msg.yawspeed = att.yawspeed;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE_QUATERNION, &msg);
 		}
 	}
 };
@@ -437,71 +732,91 @@ protected:
 class MavlinkStreamVFRHUD : public MavlinkStream
 {
 public:
-	const char *get_name()
+
+	const char *get_name() const
 	{
-		return "VFR_HUD";
+		return MavlinkStreamVFRHUD::get_name_static();
 	}
 
-	MavlinkStream *new_instance()
+	static const char *get_name_static()
 	{
-		return new MavlinkStreamVFRHUD();
+		return "VFR_HUD";
 	}
 
-private:
-	MavlinkOrbSubscription *att_sub;
-	struct vehicle_attitude_s *att;
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_VFR_HUD;
+	}
 
-	MavlinkOrbSubscription *pos_sub;
-	struct vehicle_global_position_s *pos;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamVFRHUD(mavlink);
+	}
 
-	MavlinkOrbSubscription *armed_sub;
-	struct actuator_armed_s *armed;
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
 
-	MavlinkOrbSubscription *act_sub;
-	struct actuator_controls_s *act;
+private:
+	MavlinkOrbSubscription *_att_sub;
+	uint64_t _att_time;
 
-	MavlinkOrbSubscription *airspeed_sub;
-	struct airspeed_s *airspeed;
+	MavlinkOrbSubscription *_pos_sub;
+	uint64_t _pos_time;
 
-protected:
-	void subscribe(Mavlink *mavlink)
-	{
-		att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
-		att = (struct vehicle_attitude_s *)att_sub->get_data();
+	MavlinkOrbSubscription *_armed_sub;
+	uint64_t _armed_time;
 
-		pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
-		pos = (struct vehicle_global_position_s *)pos_sub->get_data();
+	MavlinkOrbSubscription *_act_sub;
+	uint64_t _act_time;
 
-		armed_sub = mavlink->add_orb_subscription(ORB_ID(actuator_armed));
-		armed = (struct actuator_armed_s *)armed_sub->get_data();
+	MavlinkOrbSubscription *_airspeed_sub;
+	uint64_t _airspeed_time;
 
-		act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_controls_0));
-		act = (struct actuator_controls_s *)act_sub->get_data();
+	/* do not allow top copying this class */
+	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
+	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
 
-		airspeed_sub = mavlink->add_orb_subscription(ORB_ID(airspeed));
-		airspeed = (struct airspeed_s *)airspeed_sub->get_data();
-	}
+protected:
+	explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
+		_att_time(0),
+		_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_global_position))),
+		_pos_time(0),
+		_armed_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_armed))),
+		_armed_time(0),
+		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
+		_act_time(0),
+		_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
+		_airspeed_time(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		bool updated = att_sub->update(t);
-		updated |= pos_sub->update(t);
-		updated |= armed_sub->update(t);
-		updated |= act_sub->update(t);
-		updated |= airspeed_sub->update(t);
+		struct vehicle_attitude_s att;
+		struct vehicle_global_position_s pos;
+		struct actuator_armed_s armed;
+		struct actuator_controls_s act;
+		struct airspeed_s airspeed;
+
+		bool updated = _att_sub->update(&_att_time, &att);
+		updated |= _pos_sub->update(&_pos_time, &pos);
+		updated |= _armed_sub->update(&_armed_time, &armed);
+		updated |= _act_sub->update(&_act_time, &act);
+		updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
 
 		if (updated) {
-			float groundspeed = sqrtf(pos->vel_n * pos->vel_n + pos->vel_e * pos->vel_e);
-			uint16_t heading = _wrap_2pi(att->yaw) * M_RAD_TO_DEG_F;
-			float throttle = armed->armed ? act->control[3] * 100.0f : 0.0f;
-
-			mavlink_msg_vfr_hud_send(_channel,
-						 airspeed->true_airspeed_m_s,
-						 groundspeed,
-						 heading,
-						 throttle,
-						 pos->alt,
-						 -pos->vel_d);
+			mavlink_vfr_hud_t msg;
+
+			msg.airspeed = airspeed.true_airspeed_m_s;
+			msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
+			msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
+			msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
+			msg.alt = pos.alt;
+			msg.climb = -pos.vel_d;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
 		}
 	}
 };
@@ -510,41 +825,64 @@ protected:
 class MavlinkStreamGPSRawInt : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamGPSRawInt::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "GPS_RAW_INT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamGPSRawInt();
+		return MAVLINK_MSG_ID_GPS_RAW_INT;
 	}
 
-private:
-	MavlinkOrbSubscription *gps_sub;
-	struct vehicle_gps_position_s *gps;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamGPSRawInt(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		gps_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position));
-		gps = (struct vehicle_gps_position_s *)gps_sub->get_data();
+		return MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_gps_sub;
+	uint64_t _gps_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &);
+	MavlinkStreamGPSRawInt& operator = (const MavlinkStreamGPSRawInt &);
+
+protected:
+	explicit MavlinkStreamGPSRawInt(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_gps_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position))),
+		_gps_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (gps_sub->update(t)) {
-			mavlink_msg_gps_raw_int_send(_channel,
-						     gps->timestamp_position,
-						     gps->fix_type,
-						     gps->lat,
-						     gps->lon,
-						     gps->alt,
-						     cm_uint16_from_m_float(gps->eph_m),
-						     cm_uint16_from_m_float(gps->epv_m),
-						     gps->vel_m_s * 100.0f,
-						     _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f,
-						     gps->satellites_visible);
+		struct vehicle_gps_position_s gps;
+
+		if (_gps_sub->update(&_gps_time, &gps)) {
+			mavlink_gps_raw_int_t msg;
+
+			msg.time_usec = gps.timestamp_position;
+			msg.fix_type = gps.fix_type;
+			msg.lat = gps.lat;
+			msg.lon = gps.lon;
+			msg.alt = gps.alt;
+			msg.eph = cm_uint16_from_m_float(gps.eph);
+			msg.epv = cm_uint16_from_m_float(gps.epv);
+			msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
+		    msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
+		    msg.satellites_visible = gps.satellites_used;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_GPS_RAW_INT, &msg);
 		}
 	}
 };
@@ -553,49 +891,72 @@ protected:
 class MavlinkStreamGlobalPositionInt : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamGlobalPositionInt::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "GLOBAL_POSITION_INT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
 	{
-		return new MavlinkStreamGlobalPositionInt();
+		return new MavlinkStreamGlobalPositionInt(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
 private:
-	MavlinkOrbSubscription *pos_sub;
-	struct vehicle_global_position_s *pos;
+	MavlinkOrbSubscription *_pos_sub;
+	uint64_t _pos_time;
 
-	MavlinkOrbSubscription *home_sub;
-	struct home_position_s *home;
+	MavlinkOrbSubscription *_home_sub;
+	uint64_t _home_time;
 
-protected:
-	void subscribe(Mavlink *mavlink)
-	{
-		pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
-		pos = (struct vehicle_global_position_s *)pos_sub->get_data();
+	/* do not allow top copying this class */
+	MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &);
+	MavlinkStreamGlobalPositionInt& operator = (const MavlinkStreamGlobalPositionInt &);
 
-		home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
-		home = (struct home_position_s *)home_sub->get_data();
-	}
+protected:
+	explicit MavlinkStreamGlobalPositionInt(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_global_position))),
+		_pos_time(0),
+		_home_sub(_mavlink->add_orb_subscription(ORB_ID(home_position))),
+		_home_time(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		bool updated = pos_sub->update(t);
-		updated |= home_sub->update(t);
+		struct vehicle_global_position_s pos;
+		struct home_position_s home;
+
+		bool updated = _pos_sub->update(&_pos_time, &pos);
+		updated |= _home_sub->update(&_home_time, &home);
 
 		if (updated) {
-			mavlink_msg_global_position_int_send(_channel,
-							     pos->timestamp / 1000,
-							     pos->lat * 1e7,
-							     pos->lon * 1e7,
-							     pos->alt * 1000.0f,
-							     (pos->alt - home->alt) * 1000.0f,
-							     pos->vel_n * 100.0f,
-							     pos->vel_e * 100.0f,
-							     pos->vel_d * 100.0f,
-							     _wrap_2pi(pos->yaw) * M_RAD_TO_DEG_F * 100.0f);
+			mavlink_global_position_int_t msg;
+
+			msg.time_boot_ms = pos.timestamp / 1000;
+			msg.lat = pos.lat * 1e7;
+			msg.lon = pos.lon * 1e7;
+			msg.alt = pos.alt * 1000.0f;
+		    msg.relative_alt = (pos.alt - home.alt) * 1000.0f;
+		    msg.vx = pos.vel_n * 100.0f;
+		    msg.vy = pos.vel_e * 100.0f;
+		    msg.vz = pos.vel_d * 100.0f;
+		    msg.hdg = _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, &msg);
 		}
 	}
 };
@@ -604,38 +965,124 @@ protected:
 class MavlinkStreamLocalPositionNED : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamLocalPositionNED::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "LOCAL_POSITION_NED";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamLocalPositionNED();
+		return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamLocalPositionNED(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
 private:
-	MavlinkOrbSubscription *pos_sub;
-	struct vehicle_local_position_s *pos;
+	MavlinkOrbSubscription *_pos_sub;
+	uint64_t _pos_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &);
+	MavlinkStreamLocalPositionNED& operator = (const MavlinkStreamLocalPositionNED &);
 
 protected:
-	void subscribe(Mavlink *mavlink)
+	explicit MavlinkStreamLocalPositionNED(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_local_position))),
+		_pos_time(0)
+	{}
+
+	void send(const hrt_abstime t)
 	{
-		pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position));
-		pos = (struct vehicle_local_position_s *)pos_sub->get_data();
+		struct vehicle_local_position_s pos;
+
+		if (_pos_sub->update(&_pos_time, &pos)) {
+			mavlink_local_position_ned_t msg;
+
+			msg.time_boot_ms = pos.timestamp / 1000;
+			msg.x = pos.x;
+			msg.y = pos.y;
+			msg.z = pos.z;
+		    msg.vx = pos.vx;
+		    msg.vy = pos.vy;
+		    msg.vz = pos.vz;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_NED, &msg);
+		}
 	}
+};
+
+
+class MavlinkStreamViconPositionEstimate : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkStreamViconPositionEstimate::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "VICON_POSITION_ESTIMATE";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamViconPositionEstimate(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	MavlinkOrbSubscription *_pos_sub;
+	uint64_t _pos_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamViconPositionEstimate(MavlinkStreamViconPositionEstimate &);
+	MavlinkStreamViconPositionEstimate& operator = (const MavlinkStreamViconPositionEstimate &);
+
+protected:
+	explicit MavlinkStreamViconPositionEstimate(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position))),
+		_pos_time(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		if (pos_sub->update(t)) {
-			mavlink_msg_local_position_ned_send(_channel,
-							    pos->timestamp / 1000,
-							    pos->x,
-							    pos->y,
-							    pos->z,
-							    pos->vx,
-							    pos->vy,
-							    pos->vz);
+		struct vehicle_vicon_position_s pos;
+
+		if (_pos_sub->update(&_pos_time, &pos)) {
+			mavlink_vicon_position_estimate_t msg;
+
+			msg.usec = pos.timestamp;
+			msg.x = pos.x;
+			msg.y = pos.y;
+			msg.z = pos.z;
+		    msg.roll = pos.roll;
+		    msg.pitch = pos.pitch;
+		    msg.yaw = pos.yaw;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, &msg);
 		}
 	}
 };
@@ -644,71 +1091,117 @@ protected:
 class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamGPSGlobalOrigin::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "GPS_GLOBAL_ORIGIN";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamGPSGlobalOrigin();
+		return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
 	}
 
-private:
-	MavlinkOrbSubscription *home_sub;
-	struct home_position_s *home;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamGPSGlobalOrigin(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
-		home = (struct home_position_s *)home_sub->get_data();
+		return _home_sub->is_published() ? (MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
+private:
+	MavlinkOrbSubscription *_home_sub;
+
+	/* do not allow top copying this class */
+	MavlinkStreamGPSGlobalOrigin(MavlinkStreamGPSGlobalOrigin &);
+	MavlinkStreamGPSGlobalOrigin& operator = (const MavlinkStreamGPSGlobalOrigin &);
+
+protected:
+	explicit MavlinkStreamGPSGlobalOrigin(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_home_sub(_mavlink->add_orb_subscription(ORB_ID(home_position)))
+	{}
+
 	void send(const hrt_abstime t)
 	{
-
 		/* we're sending the GPS home periodically to ensure the
 		 * the GCS does pick it up at one point */
-		if (home_sub->is_published()) {
-			home_sub->update(t);
+		if (_home_sub->is_published()) {
+			struct home_position_s home;
+
+			if (_home_sub->update(&home)) {
+				mavlink_gps_global_origin_t msg;
 
-			mavlink_msg_gps_global_origin_send(_channel,
-							   (int32_t)(home->lat * 1e7),
-							   (int32_t)(home->lon * 1e7),
-							   (int32_t)(home->alt) * 1000.0f);
+				msg.latitude = home.lat * 1e7;
+				msg.longitude = home.lon * 1e7;
+				msg.altitude = home.alt * 1e3f;
+
+				_mavlink->send_message(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, &msg);
+			}
 		}
 	}
 };
 
 
+template <int N>
 class MavlinkStreamServoOutputRaw : public MavlinkStream
 {
 public:
-	MavlinkStreamServoOutputRaw(unsigned int n) : MavlinkStream(), _n(n)
+	const char *get_name() const
+	{
+		return MavlinkStreamServoOutputRaw<N>::get_name_static();
+	}
+
+	uint8_t get_id()
 	{
-		sprintf(_name, "SERVO_OUTPUT_RAW_%d", _n);
+		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
 	}
 
-	const char *get_name()
+	static const char *get_name_static()
 	{
-		return _name;
+		switch (N) {
+			case 0:
+			return "SERVO_OUTPUT_RAW_0";
+
+			case 1:
+			return "SERVO_OUTPUT_RAW_1";
+
+			case 2:
+			return "SERVO_OUTPUT_RAW_2";
+
+			case 3:
+			return "SERVO_OUTPUT_RAW_3";
+		}
 	}
 
-	MavlinkStream *new_instance()
+	static MavlinkStream *new_instance(Mavlink *mavlink)
 	{
-		return new MavlinkStreamServoOutputRaw(_n);
+		return new MavlinkStreamServoOutputRaw<N>(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
 private:
-	MavlinkOrbSubscription *act_sub;
-	struct actuator_outputs_s *act;
+	MavlinkOrbSubscription *_act_sub;
+	uint64_t _act_time;
 
-	char _name[20];
-	unsigned int _n;
+	/* do not allow top copying this class */
+	MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &);
+	MavlinkStreamServoOutputRaw& operator = (const MavlinkStreamServoOutputRaw &);
 
 protected:
-	void subscribe(Mavlink *mavlink)
+	explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_act_sub(nullptr),
+		_act_time(0)
 	{
 		orb_id_t act_topics[] = {
 			ORB_ID(actuator_outputs_0),
@@ -717,24 +1210,28 @@ protected:
 			ORB_ID(actuator_outputs_3)
 		};
 
-		act_sub = mavlink->add_orb_subscription(act_topics[_n]);
-		act = (struct actuator_outputs_s *)act_sub->get_data();
+		_act_sub = _mavlink->add_orb_subscription(act_topics[N]);
 	}
 
 	void send(const hrt_abstime t)
 	{
-		if (act_sub->update(t)) {
-			mavlink_msg_servo_output_raw_send(_channel,
-							  act->timestamp / 1000,
-							  _n,
-							  act->output[0],
-							  act->output[1],
-							  act->output[2],
-							  act->output[3],
-							  act->output[4],
-							  act->output[5],
-							  act->output[6],
-							  act->output[7]);
+		struct actuator_outputs_s act;
+
+		if (_act_sub->update(&_act_time, &act)) {
+			mavlink_servo_output_raw_t msg;
+
+			msg.time_usec = act.timestamp;
+			msg.port = N;
+			msg.servo1_raw = act.output[0];
+			msg.servo2_raw = act.output[1];
+			msg.servo3_raw = act.output[2];
+			msg.servo4_raw = act.output[3];
+			msg.servo5_raw = act.output[4];
+			msg.servo6_raw = act.output[5];
+			msg.servo7_raw = act.output[6];
+			msg.servo8_raw = act.output[7];
+
+			_mavlink->send_message(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, &msg);
 		}
 	}
 };
@@ -743,56 +1240,82 @@ protected:
 class MavlinkStreamHILControls : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamHILControls::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "HIL_CONTROLS";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamHILControls();
+		return MAVLINK_MSG_ID_HIL_CONTROLS;
 	}
 
-private:
-	MavlinkOrbSubscription *status_sub;
-	struct vehicle_status_s *status;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamHILControls(mavlink);
+	}
 
-	MavlinkOrbSubscription *pos_sp_triplet_sub;
-	struct position_setpoint_triplet_s *pos_sp_triplet;
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_HIL_CONTROLS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
 
-	MavlinkOrbSubscription *act_sub;
-	struct actuator_outputs_s *act;
+private:
+	MavlinkOrbSubscription *_status_sub;
+	uint64_t _status_time;
 
-protected:
-	void subscribe(Mavlink *mavlink)
-	{
-		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
-		status = (struct vehicle_status_s *)status_sub->get_data();
+	MavlinkOrbSubscription *_pos_sp_triplet_sub;
+	uint64_t _pos_sp_triplet_time;
 
-		pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
-		pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
+	MavlinkOrbSubscription *_act_sub;
+	uint64_t _act_time;
 
-		act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0));
-		act = (struct actuator_outputs_s *)act_sub->get_data();
-	}
+	/* do not allow top copying this class */
+	MavlinkStreamHILControls(MavlinkStreamHILControls &);
+	MavlinkStreamHILControls& operator = (const MavlinkStreamHILControls &);
+
+protected:
+	explicit MavlinkStreamHILControls(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))),
+		_status_time(0),
+		_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet))),
+		_pos_sp_triplet_time(0),
+		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0))),
+		_act_time(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		bool updated = status_sub->update(t);
-		updated |= pos_sp_triplet_sub->update(t);
-		updated |= act_sub->update(t);
+		struct vehicle_status_s status;
+		struct position_setpoint_triplet_s pos_sp_triplet;
+		struct actuator_outputs_s act;
 
-		if (updated) {
+		bool updated = _act_sub->update(&_act_time, &act);
+		updated |= _pos_sp_triplet_sub->update(&_pos_sp_triplet_time, &pos_sp_triplet);
+		updated |= _status_sub->update(&_status_time, &status);
+
+		if (updated && (status.arming_state == ARMING_STATE_ARMED)) {
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state;
 			uint8_t mavlink_base_mode;
 			uint32_t mavlink_custom_mode;
-			get_mavlink_mode_state(status, pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
+			get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
+
+			float out[8];
 
+			const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
+
+			/* scale outputs depending on system type */
 			if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
 				mavlink_system.type == MAV_TYPE_HEXAROTOR ||
 				mavlink_system.type == MAV_TYPE_OCTOROTOR) {
-				/* set number of valid outputs depending on vehicle type */
+				/* multirotors: set number of rotor outputs depending on type */
+
 				unsigned n;
 
 				switch (mavlink_system.type) {
@@ -809,59 +1332,54 @@ protected:
 					break;
 				}
 
-				/* scale / assign outputs depending on system type */
-				float out[8];
-
 				for (unsigned i = 0; i < 8; i++) {
-					if (i < n) {
-						if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
-							/* scale fake PWM out 900..2100 us to 0..1 for normal multirotors */
-							out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
+					if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
+						if (i < n) {
+							/* scale PWM out 900..2100 us to 0..1 for rotors */
+							out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
 
 						} else {
-							/* send 0 when disarmed */
-							out[i] = 0.0f;
+							/* scale PWM out 900..2100 us to -1..1 for other channels */
+							out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
 						}
 
 					} else {
-						out[i] = -1.0f;
+						/* send 0 when disarmed */
+						out[i] = 0.0f;
 					}
 				}
 
-				mavlink_msg_hil_controls_send(_channel,
-							      hrt_absolute_time(),
-							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
-							      mavlink_base_mode,
-							      0);
 			} else {
-
-				/* fixed wing: scale all channels except throttle -1 .. 1
-				 * because we know that we set the mixers up this way
-				 */
-
-				float out[8];
-
-				const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
+				/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
 
 				for (unsigned i = 0; i < 8; i++) {
 					if (i != 3) {
-						/* scale fake PWM out 900..2100 us to -1..+1 for normal channels */
-						out[i] = (act->output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
+						/* scale PWM out 900..2100 us to -1..1 for normal channels */
+						out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
 
 					} else {
-
-						/* scale fake PWM out 900..2100 us to 0..1 for throttle */
-						out[i] = (act->output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
+						/* scale PWM out 900..2100 us to 0..1 for throttle */
+						out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
 					}
 
 				}
-
-				mavlink_msg_hil_controls_send(_channel,
-							      hrt_absolute_time(),
-							      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
-							      mavlink_base_mode,
-							      0);
 			}
+
+			mavlink_hil_controls_t msg;
+
+			msg.time_usec = hrt_absolute_time();
+			msg.roll_ailerons = out[0];
+			msg.pitch_elevator = out[1];
+			msg.yaw_rudder = out[2];
+			msg.throttle = out[3];
+			msg.aux1 = out[4];
+			msg.aux2 = out[5];
+			msg.aux3 = out[6];
+			msg.aux4 = out[7];
+			msg.mode = mavlink_base_mode;
+			msg.nav_mode = 0;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_HIL_CONTROLS, &msg);
 		}
 	}
 };
@@ -870,36 +1388,57 @@ protected:
 class MavlinkStreamGlobalPositionSetpointInt : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamGlobalPositionSetpointInt::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "GLOBAL_POSITION_SETPOINT_INT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamGlobalPositionSetpointInt();
+		return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
 	}
 
-private:
-	MavlinkOrbSubscription *pos_sp_triplet_sub;
-	struct position_setpoint_triplet_s *pos_sp_triplet;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamGlobalPositionSetpointInt(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
-		pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
+		return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_pos_sp_triplet_sub;
+
+	/* do not allow top copying this class */
+	MavlinkStreamGlobalPositionSetpointInt(MavlinkStreamGlobalPositionSetpointInt &);
+	MavlinkStreamGlobalPositionSetpointInt& operator = (const MavlinkStreamGlobalPositionSetpointInt &);
+
+protected:
+	explicit MavlinkStreamGlobalPositionSetpointInt(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)))
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (pos_sp_triplet_sub->update(t)) {
-			mavlink_msg_global_position_setpoint_int_send(_channel,
-					MAV_FRAME_GLOBAL,
-					(int32_t)(pos_sp_triplet->current.lat * 1e7),
-					(int32_t)(pos_sp_triplet->current.lon * 1e7),
-					(int32_t)(pos_sp_triplet->current.alt * 1000),
-					(int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f));
+		struct position_setpoint_triplet_s pos_sp_triplet;
+
+		if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
+			mavlink_global_position_setpoint_int_t msg;
+
+			msg.coordinate_frame = MAV_FRAME_GLOBAL;
+			msg.latitude = pos_sp_triplet.current.lat * 1e7;
+			msg.longitude = pos_sp_triplet.current.lon * 1e7;
+			msg.altitude = pos_sp_triplet.current.alt * 1000;
+			msg.yaw = pos_sp_triplet.current.yaw * M_RAD_TO_DEG_F * 100.0f;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT, &msg);
 		}
 	}
 };
@@ -908,36 +1447,59 @@ protected:
 class MavlinkStreamLocalPositionSetpoint : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamLocalPositionSetpoint::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "LOCAL_POSITION_SETPOINT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamLocalPositionSetpoint();
+		return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
 	}
 
-private:
-	MavlinkOrbSubscription *pos_sp_sub;
-	struct vehicle_local_position_setpoint_s *pos_sp;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamLocalPositionSetpoint(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		pos_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position_setpoint));
-		pos_sp = (struct vehicle_local_position_setpoint_s *)pos_sp_sub->get_data();
+		return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_pos_sp_sub;
+	uint64_t _pos_sp_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &);
+	MavlinkStreamLocalPositionSetpoint& operator = (const MavlinkStreamLocalPositionSetpoint &);
+
+protected:
+	explicit MavlinkStreamLocalPositionSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_pos_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_local_position_setpoint))),
+		_pos_sp_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (pos_sp_sub->update(t)) {
-			mavlink_msg_local_position_setpoint_send(_channel,
-					MAV_FRAME_LOCAL_NED,
-					pos_sp->x,
-					pos_sp->y,
-					pos_sp->z,
-					pos_sp->yaw);
+		struct vehicle_local_position_setpoint_s pos_sp;
+
+		if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) {
+			mavlink_local_position_setpoint_t msg;
+
+			msg.coordinate_frame = MAV_FRAME_LOCAL_NED;
+			msg.x = pos_sp.x;
+			msg.y = pos_sp.y;
+			msg.z = pos_sp.z;
+			msg.yaw = pos_sp.yaw;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, &msg);
 		}
 	}
 };
@@ -946,36 +1508,59 @@ protected:
 class MavlinkStreamRollPitchYawThrustSetpoint : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamRollPitchYawThrustSetpoint::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "ROLL_PITCH_YAW_THRUST_SETPOINT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamRollPitchYawThrustSetpoint(mavlink);
+	}
+
+	unsigned get_size()
 	{
-		return new MavlinkStreamRollPitchYawThrustSetpoint();
+		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
 private:
 	MavlinkOrbSubscription *att_sp_sub;
-	struct vehicle_attitude_setpoint_s *att_sp;
+	uint64_t att_sp_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamRollPitchYawThrustSetpoint(MavlinkStreamRollPitchYawThrustSetpoint &);
+	MavlinkStreamRollPitchYawThrustSetpoint& operator = (const MavlinkStreamRollPitchYawThrustSetpoint &);
 
 protected:
-	void subscribe(Mavlink *mavlink)
-	{
-		att_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint));
-		att_sp = (struct vehicle_attitude_setpoint_s *)att_sp_sub->get_data();
-	}
+	explicit MavlinkStreamRollPitchYawThrustSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink),
+		att_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint))),
+		att_sp_time(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		if (att_sp_sub->update(t)) {
-			mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(_channel,
-					att_sp->timestamp / 1000,
-					att_sp->roll_body,
-					att_sp->pitch_body,
-					att_sp->yaw_body,
-					att_sp->thrust);
+		struct vehicle_attitude_setpoint_s att_sp;
+
+		if (att_sp_sub->update(&att_sp_time, &att_sp)) {
+			mavlink_roll_pitch_yaw_thrust_setpoint_t msg;
+
+			msg.time_boot_ms = att_sp.timestamp / 1000;
+			msg.roll = att_sp.roll_body;
+			msg.pitch = att_sp.pitch_body;
+			msg.yaw = att_sp.yaw_body;
+			msg.thrust = att_sp.thrust;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT, &msg);
 		}
 	}
 };
@@ -984,36 +1569,59 @@ protected:
 class MavlinkStreamRollPitchYawRatesThrustSetpoint : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamRollPitchYawRatesThrustSetpoint();
+		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
 	}
 
-private:
-	MavlinkOrbSubscription *att_rates_sp_sub;
-	struct vehicle_rates_setpoint_s *att_rates_sp;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamRollPitchYawRatesThrustSetpoint(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		att_rates_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint));
-		att_rates_sp = (struct vehicle_rates_setpoint_s *)att_rates_sp_sub->get_data();
+		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_att_rates_sp_sub;
+	uint64_t _att_rates_sp_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamRollPitchYawRatesThrustSetpoint(MavlinkStreamRollPitchYawRatesThrustSetpoint &);
+	MavlinkStreamRollPitchYawRatesThrustSetpoint& operator = (const MavlinkStreamRollPitchYawRatesThrustSetpoint &);
+
+protected:
+	explicit MavlinkStreamRollPitchYawRatesThrustSetpoint(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_att_rates_sp_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint))),
+		_att_rates_sp_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (att_rates_sp_sub->update(t)) {
-			mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(_channel,
-					att_rates_sp->timestamp / 1000,
-					att_rates_sp->roll,
-					att_rates_sp->pitch,
-					att_rates_sp->yaw,
-					att_rates_sp->thrust);
+		struct vehicle_rates_setpoint_s att_rates_sp;
+
+		if (_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp)) {
+			mavlink_roll_pitch_yaw_rates_thrust_setpoint_t msg;
+
+			msg.time_boot_ms = att_rates_sp.timestamp / 1000;
+			msg.roll_rate = att_rates_sp.roll;
+			msg.pitch_rate = att_rates_sp.pitch;
+			msg.yaw_rate = att_rates_sp.yaw;
+			msg.thrust = att_rates_sp.thrust;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, &msg);
 		}
 	}
 };
@@ -1022,47 +1630,99 @@ protected:
 class MavlinkStreamRCChannelsRaw : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamRCChannelsRaw::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "RC_CHANNELS_RAW";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamRCChannelsRaw();
+		return MAVLINK_MSG_ID_RC_CHANNELS_RAW;
 	}
 
-private:
-	MavlinkOrbSubscription *rc_sub;
-	struct rc_input_values *rc;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamRCChannelsRaw(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		rc_sub = mavlink->add_orb_subscription(ORB_ID(input_rc));
-		rc = (struct rc_input_values *)rc_sub->get_data();
+		return _rc_sub->is_published() ? ((RC_INPUT_MAX_CHANNELS / 8) * (MAVLINK_MSG_ID_RC_CHANNELS_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) +
+				MAVLINK_MSG_ID_RC_CHANNELS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
+private:
+	MavlinkOrbSubscription *_rc_sub;
+	uint64_t _rc_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamRCChannelsRaw(MavlinkStreamRCChannelsRaw &);
+	MavlinkStreamRCChannelsRaw& operator = (const MavlinkStreamRCChannelsRaw &);
+
+protected:
+	explicit MavlinkStreamRCChannelsRaw(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_rc_sub(_mavlink->add_orb_subscription(ORB_ID(input_rc))),
+		_rc_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (rc_sub->update(t)) {
+		struct rc_input_values rc;
+
+		if (_rc_sub->update(&_rc_time, &rc)) {
 			const unsigned port_width = 8;
 
-			for (unsigned i = 0; (i * port_width) < rc->channel_count; i++) {
-				/* Channels are sent in MAVLink main loop at a fixed interval */
-				mavlink_msg_rc_channels_raw_send(_channel,
-								 rc->timestamp_publication / 1000,
-								 i,
-								 (rc->channel_count > (i * port_width) + 0) ? rc->values[(i * port_width) + 0] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 1) ? rc->values[(i * port_width) + 1] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 2) ? rc->values[(i * port_width) + 2] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 3) ? rc->values[(i * port_width) + 3] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 4) ? rc->values[(i * port_width) + 4] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 5) ? rc->values[(i * port_width) + 5] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 6) ? rc->values[(i * port_width) + 6] : UINT16_MAX,
-								 (rc->channel_count > (i * port_width) + 7) ? rc->values[(i * port_width) + 7] : UINT16_MAX,
-								 rc->rssi);
+			/* deprecated message (but still needed for compatibility!) */
+			for (unsigned i = 0; (i * port_width) < rc.channel_count; i++) {
+				/* channels are sent in MAVLink main loop at a fixed interval */
+				mavlink_rc_channels_raw_t msg;
+
+				msg.time_boot_ms = rc.timestamp_publication / 1000;
+				msg.port = i;
+				msg.chan1_raw = (rc.channel_count > (i * port_width) + 0) ? rc.values[(i * port_width) + 0] : UINT16_MAX;
+				msg.chan2_raw = (rc.channel_count > (i * port_width) + 1) ? rc.values[(i * port_width) + 1] : UINT16_MAX;
+				msg.chan3_raw = (rc.channel_count > (i * port_width) + 2) ? rc.values[(i * port_width) + 2] : UINT16_MAX;
+				msg.chan4_raw = (rc.channel_count > (i * port_width) + 3) ? rc.values[(i * port_width) + 3] : UINT16_MAX;
+				msg.chan4_raw = (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX;
+				msg.chan4_raw = (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX;
+				msg.chan4_raw = (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX;
+				msg.chan4_raw = (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX;
+				msg.rssi = rc.rssi;
+
+				_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS_RAW, &msg);
 			}
+
+			/* new message */
+			mavlink_rc_channels_t msg;
+
+			msg.time_boot_ms = rc.timestamp_publication / 1000;
+			msg.chancount = rc.channel_count;
+			msg.chan1_raw = (rc.channel_count > 0) ? rc.values[0] : UINT16_MAX;
+			msg.chan2_raw = (rc.channel_count > 1) ? rc.values[1] : UINT16_MAX;
+			msg.chan3_raw = (rc.channel_count > 2) ? rc.values[2] : UINT16_MAX;
+			msg.chan4_raw = (rc.channel_count > 3) ? rc.values[3] : UINT16_MAX;
+			msg.chan5_raw = (rc.channel_count > 4) ? rc.values[4] : UINT16_MAX;
+			msg.chan6_raw = (rc.channel_count > 5) ? rc.values[5] : UINT16_MAX;
+			msg.chan7_raw = (rc.channel_count > 6) ? rc.values[6] : UINT16_MAX;
+			msg.chan8_raw = (rc.channel_count > 7) ? rc.values[7] : UINT16_MAX;
+			msg.chan9_raw = (rc.channel_count > 8) ? rc.values[8] : UINT16_MAX;
+			msg.chan10_raw = (rc.channel_count > 9) ? rc.values[9] : UINT16_MAX;
+			msg.chan11_raw = (rc.channel_count > 10) ? rc.values[10] : UINT16_MAX;
+			msg.chan12_raw = (rc.channel_count > 11) ? rc.values[11] : UINT16_MAX;
+			msg.chan13_raw = (rc.channel_count > 12) ? rc.values[12] : UINT16_MAX;
+			msg.chan14_raw = (rc.channel_count > 13) ? rc.values[13] : UINT16_MAX;
+			msg.chan15_raw = (rc.channel_count > 14) ? rc.values[14] : UINT16_MAX;
+			msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
+			msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
+			msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
+			msg.rssi = rc.rssi;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg);
 		}
 	}
 };
@@ -1071,37 +1731,60 @@ protected:
 class MavlinkStreamManualControl : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamManualControl::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "MANUAL_CONTROL";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamManualControl();
+		return MAVLINK_MSG_ID_MANUAL_CONTROL;
 	}
 
-private:
-	MavlinkOrbSubscription *manual_sub;
-	struct manual_control_setpoint_s *manual;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamManualControl(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		manual_sub = mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint));
-		manual = (struct manual_control_setpoint_s *)manual_sub->get_data();
+		return _manual_sub->is_published() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
+private:
+	MavlinkOrbSubscription *_manual_sub;
+	uint64_t _manual_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamManualControl(MavlinkStreamManualControl &);
+	MavlinkStreamManualControl& operator = (const MavlinkStreamManualControl &);
+
+protected:
+	explicit MavlinkStreamManualControl(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_manual_sub(_mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint))),
+		_manual_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (manual_sub->update(t)) {
-			mavlink_msg_manual_control_send(_channel,
-							mavlink_system.sysid,
-							manual->roll * 1000,
-							manual->pitch * 1000,
-							manual->yaw * 1000,
-							manual->throttle * 1000,
-							0);
+		struct manual_control_setpoint_s manual;
+
+		if (_manual_sub->update(&_manual_time, &manual)) {
+			mavlink_manual_control_t msg;
+
+			msg.target = mavlink_system.sysid;
+			msg.x = manual.x * 1000;
+			msg.y = manual.y * 1000;
+			msg.z = manual.z * 1000;
+			msg.r = manual.r * 1000;
+			msg.buttons = 0;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_MANUAL_CONTROL, &msg);
 		}
 	}
 };
@@ -1110,37 +1793,62 @@ protected:
 class MavlinkStreamOpticalFlow : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamOpticalFlow::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "OPTICAL_FLOW";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamOpticalFlow();
+		return MAVLINK_MSG_ID_OPTICAL_FLOW;
 	}
 
-private:
-	MavlinkOrbSubscription *flow_sub;
-	struct optical_flow_s *flow;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamOpticalFlow(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow));
-		flow = (struct optical_flow_s *)flow_sub->get_data();
+		return _flow_sub->is_published() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
+private:
+	MavlinkOrbSubscription *_flow_sub;
+	uint64_t _flow_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &);
+	MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &);
+
+protected:
+	explicit MavlinkStreamOpticalFlow(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_flow_sub(_mavlink->add_orb_subscription(ORB_ID(optical_flow))),
+		_flow_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (flow_sub->update(t)) {
-			mavlink_msg_optical_flow_send(_channel,
-						      flow->timestamp,
-						      flow->sensor_id,
-						      flow->flow_raw_x, flow->flow_raw_y,
-						      flow->flow_comp_x_m, flow->flow_comp_y_m,
-						      flow->quality,
-						      flow->ground_distance_m);
+		struct optical_flow_s flow;
+
+		if (_flow_sub->update(&_flow_time, &flow)) {
+			mavlink_optical_flow_t msg;
+
+			msg.time_usec = flow.timestamp;
+			msg.sensor_id = flow.sensor_id;
+			msg.flow_x = flow.flow_raw_x;
+			msg.flow_y = flow.flow_raw_y;
+			msg.flow_comp_m_x = flow.flow_comp_x_m;
+			msg.flow_comp_m_y = flow.flow_comp_y_m;
+			msg.quality = flow.quality;
+			msg.ground_distance = flow.ground_distance_m;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_OPTICAL_FLOW, &msg);
 		}
 	}
 };
@@ -1148,157 +1856,309 @@ protected:
 class MavlinkStreamAttitudeControls : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamAttitudeControls::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "ATTITUDE_CONTROLS";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamAttitudeControls();
+		return 0;
 	}
 
-private:
-	MavlinkOrbSubscription *att_ctrl_sub;
-	struct actuator_controls_s *att_ctrl;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamAttitudeControls(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		att_ctrl_sub = mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-		att_ctrl = (struct actuator_controls_s *)att_ctrl_sub->get_data();
+		return 4 * (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
 	}
 
+private:
+	MavlinkOrbSubscription *_att_ctrl_sub;
+	uint64_t _att_ctrl_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamAttitudeControls(MavlinkStreamAttitudeControls &);
+	MavlinkStreamAttitudeControls& operator = (const MavlinkStreamAttitudeControls &);
+
+protected:
+	explicit MavlinkStreamAttitudeControls(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_att_ctrl_sub(_mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS)),
+		_att_ctrl_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (att_ctrl_sub->update(t)) {
+		struct actuator_controls_s att_ctrl;
+
+		if (_att_ctrl_sub->update(&_att_ctrl_time, &att_ctrl)) {
 			/* send, add spaces so that string buffer is at least 10 chars long */
-			mavlink_msg_named_value_float_send(_channel,
-							   att_ctrl->timestamp / 1000,
-							   "rll ctrl    ",
-							   att_ctrl->control[0]);
-			mavlink_msg_named_value_float_send(_channel,
-							   att_ctrl->timestamp / 1000,
-							   "ptch ctrl    ",
-							   att_ctrl->control[1]);
-			mavlink_msg_named_value_float_send(_channel,
-							   att_ctrl->timestamp / 1000,
-							   "yaw ctrl     ",
-							   att_ctrl->control[2]);
-			mavlink_msg_named_value_float_send(_channel,
-							   att_ctrl->timestamp / 1000,
-							   "thr ctrl     ",
-							   att_ctrl->control[3]);
+			mavlink_named_value_float_t msg;
+
+			msg.time_boot_ms = att_ctrl.timestamp / 1000;
+
+			snprintf(msg.name, sizeof(msg.name), "rll ctrl");
+			msg.value = att_ctrl.control[0];
+
+			_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
+
+			snprintf(msg.name, sizeof(msg.name), "ptch ctrl");
+			msg.value = att_ctrl.control[1];
+
+			_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
+
+			snprintf(msg.name, sizeof(msg.name), "yaw ctrl");
+			msg.value = att_ctrl.control[2];
+
+			_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
+
+			snprintf(msg.name, sizeof(msg.name), "thr ctrl");
+			msg.value = att_ctrl.control[3];
+
+			_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
 		}
 	}
 };
 
+
 class MavlinkStreamNamedValueFloat : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamNamedValueFloat::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "NAMED_VALUE_FLOAT";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
 	{
-		return new MavlinkStreamNamedValueFloat();
+		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
 	}
 
-private:
-	MavlinkOrbSubscription *debug_sub;
-	struct debug_key_value_s *debug;
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamNamedValueFloat(mavlink);
+	}
 
-protected:
-	void subscribe(Mavlink *mavlink)
+	unsigned get_size()
 	{
-		debug_sub = mavlink->add_orb_subscription(ORB_ID(debug_key_value));
-		debug = (struct debug_key_value_s *)debug_sub->get_data();
+		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
+private:
+	MavlinkOrbSubscription *_debug_sub;
+	uint64_t _debug_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &);
+	MavlinkStreamNamedValueFloat& operator = (const MavlinkStreamNamedValueFloat &);
+
+protected:
+	explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_debug_sub(_mavlink->add_orb_subscription(ORB_ID(debug_key_value))),
+		_debug_time(0)
+	{}
+
 	void send(const hrt_abstime t)
 	{
-		if (debug_sub->update(t)) {
+		struct debug_key_value_s debug;
+
+		if (_debug_sub->update(&_debug_time, &debug)) {
+			mavlink_named_value_float_t msg;
+
+			msg.time_boot_ms = debug.timestamp_ms;
+			memcpy(msg.name, debug.key, sizeof(msg.name));
 			/* enforce null termination */
-			debug->key[sizeof(debug->key) - 1] = '\0';
+			msg.name[sizeof(msg.name) - 1] = '\0';
+			msg.value = debug.value;
 
-			mavlink_msg_named_value_float_send(_channel,
-							   debug->timestamp_ms,
-							   debug->key,
-							   debug->value);
+			_mavlink->send_message(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, &msg);
 		}
 	}
 };
 
+
 class MavlinkStreamCameraCapture : public MavlinkStream
 {
 public:
-	const char *get_name()
+	const char *get_name() const
+	{
+		return MavlinkStreamCameraCapture::get_name_static();
+	}
+
+	static const char *get_name_static()
 	{
 		return "CAMERA_CAPTURE";
 	}
 
-	MavlinkStream *new_instance()
+	uint8_t get_id()
+	{
+		return 0;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
 	{
-		return new MavlinkStreamCameraCapture();
+		return new MavlinkStreamCameraCapture(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return MAVLINK_MSG_ID_COMMAND_LONG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
 private:
-	MavlinkOrbSubscription *status_sub;
-	struct vehicle_status_s *status;
+	MavlinkOrbSubscription *_status_sub;
+
+	/* do not allow top copying this class */
+	MavlinkStreamCameraCapture(MavlinkStreamCameraCapture &);
+	MavlinkStreamCameraCapture& operator = (const MavlinkStreamCameraCapture &);
 
 protected:
-	void subscribe(Mavlink *mavlink)
+	explicit MavlinkStreamCameraCapture(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status)))
+	{}
+
+	void send(const hrt_abstime t)
 	{
-		status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
-		status = (struct vehicle_status_s *)status_sub->get_data();
+		struct vehicle_status_s status;
+		(void)_status_sub->update(&status);
+
+		mavlink_command_long_t msg;
 
+		msg.target_system = mavlink_system.sysid;
+		msg.target_component = MAV_COMP_ID_ALL;
+		msg.command = MAV_CMD_DO_CONTROL_VIDEO;
+		msg.confirmation = 0;
+		msg.param1 = 0;
+		msg.param2 = 0;
+		msg.param3 = 0;
+		/* set camera capture ON/OFF depending on arming state */
+		msg.param4 = (status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) ? 1 : 0;
+		msg.param5 = 0;
+		msg.param6 = 0;
+		msg.param7 = 0;
 
+		_mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &msg);
 	}
+};
+
+
+class MavlinkStreamDistanceSensor : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkStreamDistanceSensor::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "DISTANCE_SENSOR";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_DISTANCE_SENSOR;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamDistanceSensor(mavlink);
+	}
+
+	unsigned get_size()
+	{
+		return _range_sub->is_published() ? (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	MavlinkOrbSubscription *_range_sub;
+	uint64_t _range_time;
+
+	/* do not allow top copying this class */
+	MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &);
+	MavlinkStreamDistanceSensor& operator = (const MavlinkStreamDistanceSensor &);
+
+protected:
+	explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink),
+		_range_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_range_finder))),
+		_range_time(0)
+	{}
 
 	void send(const hrt_abstime t)
 	{
-		(void)status_sub->update(t);
+		struct range_finder_report range;
+
+		if (_range_sub->update(&_range_time, &range)) {
 
-		if (status->arming_state == ARMING_STATE_ARMED
-		    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
+			mavlink_distance_sensor_t msg;
 
-			/* send camera capture on */
-			mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
+			msg.time_boot_ms = range.timestamp / 1000;
 
-		} else {
-			/* send camera capture off */
-			mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
+			switch (range.type) {
+			case RANGE_FINDER_TYPE_LASER:
+				msg.type = MAV_DISTANCE_SENSOR_LASER;
+				break;
+
+			default:
+				msg.type = MAV_DISTANCE_SENSOR_LASER;
+				break;
+			}
+
+			msg.id = 0;
+			msg.orientation = 0;
+			msg.min_distance = range.minimum_distance * 100;
+			msg.max_distance = range.minimum_distance * 100;
+			msg.current_distance = range.distance * 100;
+			msg.covariance = 20;
+
+			_mavlink->send_message(MAVLINK_MSG_ID_DISTANCE_SENSOR, &msg);
 		}
 	}
 };
 
-MavlinkStream *streams_list[] = {
-	new MavlinkStreamHeartbeat(),
-	new MavlinkStreamSysStatus(),
-	new MavlinkStreamHighresIMU(),
-	new MavlinkStreamAttitude(),
-	new MavlinkStreamAttitudeQuaternion(),
-	new MavlinkStreamVFRHUD(),
-	new MavlinkStreamGPSRawInt(),
-	new MavlinkStreamGlobalPositionInt(),
-	new MavlinkStreamLocalPositionNED(),
-	new MavlinkStreamGPSGlobalOrigin(),
-	new MavlinkStreamServoOutputRaw(0),
-	new MavlinkStreamServoOutputRaw(1),
-	new MavlinkStreamServoOutputRaw(2),
-	new MavlinkStreamServoOutputRaw(3),
-	new MavlinkStreamHILControls(),
-	new MavlinkStreamGlobalPositionSetpointInt(),
-	new MavlinkStreamLocalPositionSetpoint(),
-	new MavlinkStreamRollPitchYawThrustSetpoint(),
-	new MavlinkStreamRollPitchYawRatesThrustSetpoint(),
-	new MavlinkStreamRCChannelsRaw(),
-	new MavlinkStreamManualControl(),
-	new MavlinkStreamOpticalFlow(),
-	new MavlinkStreamAttitudeControls(),
-	new MavlinkStreamNamedValueFloat(),
-	new MavlinkStreamCameraCapture(),
+
+StreamListItem *streams_list[] = {
+	new StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static),
+	new StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static),
+	new StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static),
+	new StreamListItem(&MavlinkStreamSysStatus::new_instance, &MavlinkStreamSysStatus::get_name_static),
+	new StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static),
+	new StreamListItem(&MavlinkStreamAttitude::new_instance, &MavlinkStreamAttitude::get_name_static),
+	new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static),
+	new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static),
+	new StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static),
+	new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
+	new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static),
+	new StreamListItem(&MavlinkStreamViconPositionEstimate::new_instance, &MavlinkStreamViconPositionEstimate::get_name_static),
+	new StreamListItem(&MavlinkStreamGPSGlobalOrigin::new_instance, &MavlinkStreamGPSGlobalOrigin::get_name_static),
+	new StreamListItem(&MavlinkStreamServoOutputRaw<0>::new_instance, &MavlinkStreamServoOutputRaw<0>::get_name_static),
+	new StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static),
+	new StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static),
+	new StreamListItem(&MavlinkStreamServoOutputRaw<3>::new_instance, &MavlinkStreamServoOutputRaw<3>::get_name_static),
+	new StreamListItem(&MavlinkStreamHILControls::new_instance, &MavlinkStreamHILControls::get_name_static),
+	new StreamListItem(&MavlinkStreamGlobalPositionSetpointInt::new_instance, &MavlinkStreamGlobalPositionSetpointInt::get_name_static),
+	new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static),
+	new StreamListItem(&MavlinkStreamRollPitchYawThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawThrustSetpoint::get_name_static),
+	new StreamListItem(&MavlinkStreamRollPitchYawRatesThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static),
+	new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
+	new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
+	new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
+	new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),
+	new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static),
+	new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
+	new StreamListItem(&MavlinkStreamDistanceSensor::new_instance, &MavlinkStreamDistanceSensor::get_name_static),
 	nullptr
 };
diff --git a/src/modules/mavlink/mavlink_messages.h b/src/modules/mavlink/mavlink_messages.h
index b8823263a..7e4416609 100644
--- a/src/modules/mavlink/mavlink_messages.h
+++ b/src/modules/mavlink/mavlink_messages.h
@@ -43,6 +43,19 @@
 
 #include "mavlink_stream.h"
 
-extern MavlinkStream *streams_list[];
+class StreamListItem {
+
+public:
+	MavlinkStream* (*new_instance)(Mavlink *mavlink);
+	const char* (*get_name)();
+
+	StreamListItem(MavlinkStream* (*inst)(Mavlink *mavlink), const char* (*name)()) :
+		new_instance(inst),
+		get_name(name) {};
+
+	~StreamListItem() {};
+};
+
+extern StreamListItem *streams_list[];
 
 #endif /* MAVLINK_MESSAGES_H_ */
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
new file mode 100644
index 000000000..7a761588a
--- /dev/null
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -0,0 +1,831 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_mission.cpp
+ * MAVLink mission manager implementation.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include "mavlink_mission.h"
+#include "mavlink_main.h"
+
+#include <math.h>
+#include <lib/geo/geo.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+#include <dataman/dataman.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+
+MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : MavlinkStream(mavlink),
+	_state(MAVLINK_WPM_STATE_IDLE),
+	_time_last_recv(0),
+	_time_last_sent(0),
+	_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
+	_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
+	_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
+	_dataman_id(0),
+	_count(0),
+	_current_seq(0),
+	_transfer_dataman_id(0),
+	_transfer_count(0),
+	_transfer_seq(0),
+	_transfer_current_seq(0),
+	_transfer_partner_sysid(0),
+	_transfer_partner_compid(0),
+	_offboard_mission_sub(-1),
+	_mission_result_sub(-1),
+	_offboard_mission_pub(-1),
+	_slow_rate_limiter(_interval / 10.0f),
+	_verbose(false),
+	_comp_id(MAV_COMP_ID_MISSIONPLANNER)
+{
+	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
+	_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
+
+	init_offboard_mission();
+}
+
+MavlinkMissionManager::~MavlinkMissionManager()
+{
+	close(_offboard_mission_pub);
+	close(_mission_result_sub);
+}
+
+unsigned
+MavlinkMissionManager::get_size()
+{
+	if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+		return MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
+		return MAVLINK_MSG_ID_MISSION_REQUEST + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else {
+		return 0;
+	}
+}
+
+void
+MavlinkMissionManager::init_offboard_mission()
+{
+	mission_s mission_state;
+	if (dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) == sizeof(mission_s)) {
+		_dataman_id = mission_state.dataman_id;
+		_count = mission_state.count;
+		_current_seq = mission_state.current_seq;
+
+		warnx("offboard mission init: dataman_id=%d, count=%u, current_seq=%d", _dataman_id, _count, _current_seq);
+
+	} else {
+		_dataman_id = 0;
+		_count = 0;
+		_current_seq = 0;
+		warnx("offboard mission init: ERROR, reading mission state failed");
+	}
+}
+
+/**
+ * Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
+ */
+int
+MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq)
+{
+	struct mission_s mission;
+
+	mission.dataman_id = dataman_id;
+	mission.count = count;
+	mission.current_seq = seq;
+
+	/* update mission state in dataman */
+	int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
+
+	if (res == sizeof(mission_s)) {
+		/* update active mission state */
+		_dataman_id = dataman_id;
+		_count = count;
+		_current_seq = seq;
+
+		/* mission state saved successfully, publish offboard_mission topic */
+		if (_offboard_mission_pub < 0) {
+			_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
+
+		} else {
+			orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
+		}
+
+		return OK;
+
+	} else {
+		warnx("ERROR: can't save mission state");
+		_mavlink->send_statustext(MAV_SEVERITY_CRITICAL, "ERROR: can't save mission state");
+
+		return ERROR;
+	}
+}
+
+void
+MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type)
+{
+	mavlink_mission_ack_t wpa;
+
+	wpa.target_system = sysid;
+	wpa.target_component = compid;
+	wpa.type = type;
+
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ACK, &wpa);
+
+	if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
+}
+
+
+void
+MavlinkMissionManager::send_mission_current(uint16_t seq)
+{
+	if (seq < _count) {
+		mavlink_mission_current_t wpc;
+
+		wpc.seq = seq;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_CURRENT, &wpc);
+
+	} else if (seq == 0 && _count == 0) {
+		/* don't broadcast if no WPs */
+
+	} else {
+		if (_verbose) { warnx("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
+
+		_mavlink->send_statustext_critical("ERROR: wp index out of bounds");
+	}
+}
+
+
+void
+MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count)
+{
+	_time_last_sent = hrt_absolute_time();
+
+	mavlink_mission_count_t wpc;
+
+	wpc.target_system = sysid;
+	wpc.target_component = compid;
+	wpc.count = _count;
+
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_COUNT, &wpc);
+
+	if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
+}
+
+
+void
+MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
+{
+	dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
+	struct mission_item_s mission_item;
+
+	if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
+		_time_last_sent = hrt_absolute_time();
+
+		/* create mission_item_s from mavlink_mission_item_t */
+		mavlink_mission_item_t wp;
+		format_mavlink_mission_item(&mission_item, &wp);
+
+		wp.target_system = sysid;
+		wp.target_component = compid;
+		wp.seq = seq;
+		wp.current = (_current_seq == seq) ? 1 : 0;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM, &wp);
+
+		if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
+
+	} else {
+		send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+		_mavlink->send_statustext_critical("Unable to read from micro SD");
+
+		if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
+	}
+}
+
+
+void
+MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
+{
+	if (seq < _max_count) {
+		_time_last_sent = hrt_absolute_time();
+
+		mavlink_mission_request_t wpr;
+		wpr.target_system = sysid;
+		wpr.target_component = compid;
+		wpr.seq = seq;
+
+		_mavlink->send_message(MAVLINK_MSG_ID_MISSION_REQUEST, &wpr);
+
+		if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
+
+	} else {
+		_mavlink->send_statustext_critical("ERROR: Waypoint index exceeds list capacity");
+
+		if (_verbose) { warnx("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
+	}
+}
+
+
+void
+MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
+{
+	mavlink_mission_item_reached_t wp_reached;
+
+	wp_reached.seq = seq;
+
+	_mavlink->send_message(MAVLINK_MSG_ID_MISSION_ITEM_REACHED, &wp_reached);
+
+	if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
+}
+
+
+void
+MavlinkMissionManager::send(const hrt_abstime now)
+{
+	/* update interval for slow rate limiter */
+	_slow_rate_limiter.set_interval(_interval * 10 / _mavlink->get_rate_mult());
+
+	bool updated = false;
+	orb_check(_mission_result_sub, &updated);
+
+	if (updated) {
+		mission_result_s mission_result;
+		orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result);
+
+		_current_seq = mission_result.seq_current;
+
+		if (_verbose) { warnx("WPM: got mission result, new current_seq: %d", _current_seq); }
+
+		if (mission_result.reached) {
+			send_mission_item_reached((uint16_t)mission_result.seq_reached);
+		}
+
+		send_mission_current(_current_seq);
+
+	} else {
+		if (_slow_rate_limiter.check(now)) {
+			send_mission_current(_current_seq);
+		}
+	}
+
+	/* check for timed-out operations */
+	if (_state != MAVLINK_WPM_STATE_IDLE && hrt_elapsed_time(&_time_last_recv) > _action_timeout) {
+		_mavlink->send_statustext_critical("Operation timeout");
+
+		if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
+
+		_state = MAVLINK_WPM_STATE_IDLE;
+
+	} else if (_state == MAVLINK_WPM_STATE_GETLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
+		/* try to request item again after timeout */
+		send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
+
+	} else if (_state == MAVLINK_WPM_STATE_SENDLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
+		if (_transfer_seq == 0) {
+			/* try to send items count again after timeout */
+			send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
+
+		} else {
+			/* try to send item again after timeout */
+			send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_message(const mavlink_message_t *msg)
+{
+	switch (msg->msgid) {
+	case MAVLINK_MSG_ID_MISSION_ACK:
+		handle_mission_ack(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
+		handle_mission_set_current(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
+		handle_mission_request_list(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_REQUEST:
+		handle_mission_request(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_COUNT:
+		handle_mission_count(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_ITEM:
+		handle_mission_item(msg);
+		break;
+
+	case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
+		handle_mission_clear_all(msg);
+		break;
+
+	default:
+		break;
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
+{
+	mavlink_mission_ack_t wpa;
+	mavlink_msg_mission_ack_decode(msg, &wpa);
+
+	if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
+		if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) {
+			if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+				_time_last_recv = hrt_absolute_time();
+
+				if (_transfer_seq == _count) {
+					if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
+
+				} else {
+					_mavlink->send_statustext_critical("WPM: ERR: not all items sent -> IDLE");
+
+					if (_verbose) { warnx("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
+				}
+
+				_state = MAVLINK_WPM_STATE_IDLE;
+			}
+
+		} else {
+			_mavlink->send_statustext_critical("REJ. WP CMD: partner id mismatch");
+
+			if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); }
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
+{
+	mavlink_mission_set_current_t wpc;
+	mavlink_msg_mission_set_current_decode(msg, &wpc);
+
+	if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
+		if (_state == MAVLINK_WPM_STATE_IDLE) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (wpc.seq < _count) {
+				if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) {
+					if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
+
+				} else {
+					if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
+
+					_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID");
+				}
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
+
+				_mavlink->send_statustext_critical("WPM: WP CURR CMD: Not in list");
+			}
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
+
+			_mavlink->send_statustext_critical("WPM: IGN WP CURR CMD: Busy");
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
+{
+	mavlink_mission_request_list_t wprl;
+	mavlink_msg_mission_request_list_decode(msg, &wprl);
+
+	if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
+		if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (_count > 0) {
+				_state = MAVLINK_WPM_STATE_SENDLIST;
+				_transfer_seq = 0;
+				_transfer_count = _count;
+				_transfer_partner_sysid = msg->sysid;
+				_transfer_partner_compid = msg->compid;
+
+				if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
+
+				_mavlink->send_statustext_info("WPM: mission is empty");
+			}
+
+			send_mission_count(msg->sysid, msg->compid, _count);
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
+
+			_mavlink->send_statustext_critical("IGN REQUEST LIST: Busy");
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
+{
+	mavlink_mission_request_t wpr;
+	mavlink_msg_mission_request_decode(msg, &wpr);
+
+	if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
+		if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
+			if (_state == MAVLINK_WPM_STATE_SENDLIST) {
+				_time_last_recv = hrt_absolute_time();
+
+				/* _transfer_seq contains sequence of expected request */
+				if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
+					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u", wpr.seq, msg->sysid); }
+
+					_transfer_seq++;
+
+				} else if (wpr.seq == _transfer_seq - 1) {
+					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u (again)", wpr.seq, msg->sysid); }
+
+				} else {
+					if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
+						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
+
+					} else if (_transfer_seq <= 0) {
+						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
+
+					} else {
+						if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
+					}
+
+					_state = MAVLINK_WPM_STATE_IDLE;
+
+					send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+					_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
+					return;
+				}
+
+				/* double check bounds in case of items count changed */
+				if (wpr.seq < _count) {
+					send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
+
+				} else {
+					if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)_count - 1); }
+
+					_state = MAVLINK_WPM_STATE_IDLE;
+
+					send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+					_mavlink->send_statustext_critical("WPM: REJ. CMD: Req. WP was unexpected");
+				}
+
+			} else if (_state == MAVLINK_WPM_STATE_IDLE) {
+				if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: no transfer"); }
+
+				_mavlink->send_statustext_critical("IGN MISSION_ITEM_REQUEST: No active transfer");
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _state); }
+
+				_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
+			}
+
+		} else {
+			_mavlink->send_statustext_critical("WPM: REJ. CMD: partner id mismatch");
+
+			if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); }
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
+{
+	mavlink_mission_count_t wpc;
+	mavlink_msg_mission_count_decode(msg, &wpc);
+
+	if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
+		if (_state == MAVLINK_WPM_STATE_IDLE) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (wpc.count > _max_count) {
+				if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); }
+
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
+				return;
+			}
+
+			if (wpc.count == 0) {
+				if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
+
+				/* alternate dataman ID anyway to let navigator know about changes */
+				update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
+				_mavlink->send_statustext_info("WPM: COUNT 0: CLEAR MISSION");
+
+				// TODO send ACK?
+				return;
+			}
+
+			if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
+
+			_state = MAVLINK_WPM_STATE_GETLIST;
+			_transfer_seq = 0;
+			_transfer_partner_sysid = msg->sysid;
+			_transfer_partner_compid = msg->compid;
+			_transfer_count = wpc.count;
+			_transfer_dataman_id = _dataman_id == 0 ? 1 : 0;	// use inactive storage for transmission
+			_transfer_current_seq = -1;
+
+		} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (_transfer_seq == 0) {
+				/* looks like our MISSION_REQUEST was lost, try again */
+				if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
+
+				_mavlink->send_statustext_info("WP CMD OK TRY AGAIN");
+
+			} else {
+				if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
+
+				_mavlink->send_statustext_critical("WPM: REJ. CMD: Busy");
+				return;
+			}
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
+
+			_mavlink->send_statustext_critical("WPM: IGN MISSION_COUNT: Busy");
+			return;
+		}
+
+		send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
+{
+	mavlink_mission_item_t wp;
+	mavlink_msg_mission_item_decode(msg, &wp);
+
+	if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) {
+		if (_state == MAVLINK_WPM_STATE_GETLIST) {
+			_time_last_recv = hrt_absolute_time();
+
+			if (wp.seq != _transfer_seq) {
+				if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
+
+				/* don't send request here, it will be performed in eventloop after timeout */
+				return;
+			}
+
+		} else if (_state == MAVLINK_WPM_STATE_IDLE) {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
+
+			_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
+			return;
+
+		} else {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
+
+			_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
+			return;
+		}
+
+		struct mission_item_s mission_item;
+		int ret = parse_mavlink_mission_item(&wp, &mission_item);
+
+		if (ret != OK) {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
+
+			_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
+
+			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
+			_state = MAVLINK_WPM_STATE_IDLE;
+			return;
+		}
+
+		dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
+
+		if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
+			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
+
+			send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+			_mavlink->send_statustext_critical("Unable to write on micro SD");
+			_state = MAVLINK_WPM_STATE_IDLE;
+			return;
+		}
+
+		/* waypoint marked as current */
+		if (wp.current) {
+			_transfer_current_seq = wp.seq;
+		}
+
+		if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
+
+		_transfer_seq = wp.seq + 1;
+
+		if (_transfer_seq == _transfer_count) {
+			/* got all new mission items successfully */
+			if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
+
+			_mavlink->send_statustext_info("WPM: Transfer complete.");
+
+			_state = MAVLINK_WPM_STATE_IDLE;
+
+			if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
+
+			} else {
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+			}
+
+		} else {
+			/* request next item */
+			send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
+		}
+	}
+}
+
+
+void
+MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
+{
+	mavlink_mission_clear_all_t wpca;
+	mavlink_msg_mission_clear_all_decode(msg, &wpca);
+
+	if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
+
+		if (_state == MAVLINK_WPM_STATE_IDLE) {
+			/* don't touch mission items storage itself, but only items count in mission state */
+			_time_last_recv = hrt_absolute_time();
+
+			if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) {
+				if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
+
+			} else {
+				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
+			}
+
+		} else {
+			_mavlink->send_statustext_critical("WPM: IGN CLEAR CMD: Busy");
+
+			if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
+		}
+	}
+}
+
+int
+MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
+{
+	/* only support global waypoints for now */
+	switch (mavlink_mission_item->frame) {
+	case MAV_FRAME_GLOBAL:
+		mission_item->lat = (double)mavlink_mission_item->x;
+		mission_item->lon = (double)mavlink_mission_item->y;
+		mission_item->altitude = mavlink_mission_item->z;
+		mission_item->altitude_is_relative = false;
+		break;
+
+	case MAV_FRAME_GLOBAL_RELATIVE_ALT:
+		mission_item->lat = (double)mavlink_mission_item->x;
+		mission_item->lon = (double)mavlink_mission_item->y;
+		mission_item->altitude = mavlink_mission_item->z;
+		mission_item->altitude_is_relative = true;
+		break;
+
+	case MAV_FRAME_LOCAL_NED:
+	case MAV_FRAME_LOCAL_ENU:
+		return MAV_MISSION_UNSUPPORTED_FRAME;
+
+	case MAV_FRAME_MISSION:
+	default:
+		return MAV_MISSION_ERROR;
+	}
+
+	switch (mavlink_mission_item->command) {
+	case MAV_CMD_NAV_TAKEOFF:
+		mission_item->pitch_min = mavlink_mission_item->param1;
+		break;
+	case MAV_CMD_DO_JUMP:
+		mission_item->do_jump_mission_index = mavlink_mission_item->param1;
+		mission_item->do_jump_current_count = 0;
+		mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
+		break;
+	default:
+		mission_item->acceptance_radius = mavlink_mission_item->param2;
+		mission_item->time_inside = mavlink_mission_item->param1;
+		break;
+	}
+
+	mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
+	mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
+	mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
+	mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+
+	mission_item->autocontinue = mavlink_mission_item->autocontinue;
+	// mission_item->index = mavlink_mission_item->seq;
+	mission_item->origin = ORIGIN_MAVLINK;
+
+	/* reset DO_JUMP count */
+	mission_item->do_jump_current_count = 0;
+
+	return MAV_MISSION_ACCEPTED;
+}
+
+
+int
+MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
+{
+	if (mission_item->altitude_is_relative) {
+		mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
+
+	} else {
+		mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
+	}
+
+	switch (mission_item->nav_cmd) {
+	case NAV_CMD_TAKEOFF:
+		mavlink_mission_item->param1 = mission_item->pitch_min;
+		break;
+
+	case NAV_CMD_DO_JUMP:
+		mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
+		mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
+		break;
+
+	default:
+		mavlink_mission_item->param2 = mission_item->acceptance_radius;
+		mavlink_mission_item->param1 = mission_item->time_inside;
+		break;
+	}
+
+	mavlink_mission_item->x = (float)mission_item->lat;
+	mavlink_mission_item->y = (float)mission_item->lon;
+	mavlink_mission_item->z = mission_item->altitude;
+
+	mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
+	mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
+	mavlink_mission_item->command = mission_item->nav_cmd;
+	mavlink_mission_item->autocontinue = mission_item->autocontinue;
+	// mavlink_mission_item->seq = mission_item->index;
+
+	return OK;
+}
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
new file mode 100644
index 000000000..8ff27f87d
--- /dev/null
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -0,0 +1,198 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_mission.h
+ * MAVLink mission manager interface definition.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_rate_limiter.h"
+#include "mavlink_stream.h"
+
+enum MAVLINK_WPM_STATES {
+	MAVLINK_WPM_STATE_IDLE = 0,
+	MAVLINK_WPM_STATE_SENDLIST,
+	MAVLINK_WPM_STATE_GETLIST,
+	MAVLINK_WPM_STATE_ENUM_END
+};
+
+enum MAVLINK_WPM_CODES {
+	MAVLINK_WPM_CODE_OK = 0,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
+	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
+	MAVLINK_WPM_CODE_ENUM_END
+};
+
+#define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000    ///< Protocol communication action timeout in useconds
+#define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000        ///< Protocol communication retry timeout in useconds
+
+class MavlinkMissionManager : public MavlinkStream {
+public:
+	~MavlinkMissionManager();
+
+	const char *get_name() const
+	{
+		return MavlinkMissionManager::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "MISSION_ITEM";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_MISSION_ITEM;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkMissionManager(mavlink);
+	}
+
+	unsigned get_size();
+
+	void handle_message(const mavlink_message_t *msg);
+
+	void set_verbose(bool v) { _verbose = v; }
+
+private:
+	enum MAVLINK_WPM_STATES _state;					///< Current state
+
+	uint64_t		_time_last_recv;
+	uint64_t		_time_last_sent;
+
+	uint32_t		_action_timeout;
+	uint32_t		_retry_timeout;
+	unsigned		_max_count;				///< Maximum number of mission items
+
+	int			_dataman_id;				///< Dataman storage ID for active mission
+	unsigned		_count;					///< Count of items in active mission
+	int			_current_seq;				///< Current item sequence in active mission
+
+	int			_transfer_dataman_id;			///< Dataman storage ID for current transmission
+	unsigned		_transfer_count;			///< Items count in current transmission
+	unsigned		_transfer_seq;				///< Item sequence in current transmission
+	unsigned		_transfer_current_seq;			///< Current item ID for current transmission (-1 means not initialized)
+	unsigned		_transfer_partner_sysid;		///< Partner system ID for current transmission
+	unsigned		_transfer_partner_compid;		///< Partner component ID for current transmission
+
+	int			_offboard_mission_sub;
+	int			_mission_result_sub;
+	orb_advert_t		_offboard_mission_pub;
+
+	MavlinkRateLimiter	_slow_rate_limiter;
+
+	bool _verbose;
+
+	uint8_t			_comp_id;
+
+	/* do not allow top copying this class */
+	MavlinkMissionManager(MavlinkMissionManager &);
+	MavlinkMissionManager& operator = (const MavlinkMissionManager &);
+
+	void init_offboard_mission();
+
+	int update_active_mission(int dataman_id, unsigned count, int seq);
+
+	/**
+	 *  @brief Sends an waypoint ack message
+	 */
+	void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type);
+
+	/**
+	 *  @brief Broadcasts the new target waypoint and directs the MAV to fly there
+	 *
+	 *  This function broadcasts its new active waypoint sequence number and
+	 *  sends a message to the controller, advising it to fly to the coordinates
+	 *  of the waypoint with a given orientation
+	 *
+	 *  @param seq The waypoint sequence number the MAV should fly to.
+	 */
+	void send_mission_current(uint16_t seq);
+
+	void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count);
+
+	void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq);
+
+	void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq);
+
+	/**
+	 *  @brief emits a message that a waypoint reached
+	 *
+	 *  This function broadcasts a message that a waypoint is reached.
+	 *
+	 *  @param seq The waypoint sequence number the MAV has reached.
+	 */
+	void send_mission_item_reached(uint16_t seq);
+
+	void handle_mission_ack(const mavlink_message_t *msg);
+
+	void handle_mission_set_current(const mavlink_message_t *msg);
+
+	void handle_mission_request_list(const mavlink_message_t *msg);
+
+	void handle_mission_request(const mavlink_message_t *msg);
+
+	void handle_mission_count(const mavlink_message_t *msg);
+
+	void handle_mission_item(const mavlink_message_t *msg);
+
+	void handle_mission_clear_all(const mavlink_message_t *msg);
+
+	/**
+	 * Parse mavlink MISSION_ITEM message to get mission_item_s.
+	 */
+	int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
+
+	/**
+	 * Format mission_item_s as mavlink MISSION_ITEM message.
+	 */
+	int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
+
+protected:
+	explicit MavlinkMissionManager(Mavlink *mavlink);
+
+	void send(const hrt_abstime t);
+};
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
index 4de722832..734f0903a 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.cpp
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -47,52 +47,58 @@
 #include "mavlink_orb_subscription.h"
 
 MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
-	_fd(orb_subscribe(_topic)),
-	_published(false),
+	next(nullptr),
 	_topic(topic),
-	_last_check(0),
-	next(nullptr)
+	_fd(orb_subscribe(_topic)),
+	_published(false)
 {
-	_data = malloc(topic->o_size);
-	memset(_data, 0, topic->o_size);
 }
 
 MavlinkOrbSubscription::~MavlinkOrbSubscription()
 {
 	close(_fd);
-	free(_data);
 }
 
-const orb_id_t
-MavlinkOrbSubscription::get_topic()
+orb_id_t
+MavlinkOrbSubscription::get_topic() const
 {
 	return _topic;
 }
 
-void *
-MavlinkOrbSubscription::get_data()
-{
-	return _data;
-}
-
 bool
-MavlinkOrbSubscription::update(const hrt_abstime t)
+MavlinkOrbSubscription::update(uint64_t *time, void* data)
 {
-	if (_last_check == t) {
-		/* already checked right now, return result of the check */
-		return _updated;
+	// TODO this is NOT atomic operation, we can get data newer than time
+	// if topic was published between orb_stat and orb_copy calls.
 
-	} else {
-		_last_check = t;
-		orb_check(_fd, &_updated);
+	uint64_t time_topic;
+	if (orb_stat(_fd, &time_topic)) {
+		/* error getting last topic publication time */
+		time_topic = 0;
+	}
 
-		if (_updated) {
-			orb_copy(_topic, _fd, _data);
+	if (orb_copy(_topic, _fd, data)) {
+		/* error copying topic data */
+		memset(data, 0, _topic->o_size);
+		return false;
+
+	} else {
+		/* data copied successfully */
+		_published = true;
+		if (time_topic != *time) {
+			*time = time_topic;
 			return true;
+
+		} else {
+			return false;
 		}
 	}
+}
 
-	return false;
+bool
+MavlinkOrbSubscription::update(void* data)
+{
+	return !orb_copy(_topic, _fd, data);
 }
 
 bool
diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h
index 5c6543e81..7af454df6 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.h
+++ b/src/modules/mavlink/mavlink_orb_subscription.h
@@ -48,12 +48,26 @@
 class MavlinkOrbSubscription
 {
 public:
-	MavlinkOrbSubscription *next;	/*< pointer to next subscription in list */
+	MavlinkOrbSubscription *next;	///< pointer to next subscription in list
 
 	MavlinkOrbSubscription(const orb_id_t topic);
 	~MavlinkOrbSubscription();
 
-	bool update(const hrt_abstime t);
+	/**
+	 * Check if subscription updated and get data.
+	 *
+	 * @return true only if topic was updated and data copied to buffer successfully.
+	 * If topic was not updated since last check it will return false but still copy the data.
+	 * If no data available data buffer will be filled with zeroes.
+	 */
+	bool update(uint64_t *time, void* data);
+
+	/**
+	 * Copy topic data to given buffer.
+	 *
+	 * @return true only if topic data copied successfully.
+	 */
+	bool update(void* data);
 
 	/**
 	 * Check if the topic has been published.
@@ -62,16 +76,16 @@ public:
 	 * @return true if the topic has been published at least once.
 	 */
 	bool is_published();
-	void *get_data();
-	const orb_id_t get_topic();
+	orb_id_t get_topic() const;
 
 private:
-	const orb_id_t _topic;		/*< topic metadata */
-	int _fd;					/*< subscription handle */
-	bool _published;			/*< topic was ever published */
-	void *_data;				/*< pointer to data buffer */
-	hrt_abstime _last_check;	/*< time of last check */
-	bool _updated;				/*< updated on last check */
+	const orb_id_t _topic;		///< topic metadata
+	int _fd;			///< subscription handle
+	bool _published;		///< topic was ever published
+
+	/* do not allow copying this class */
+	MavlinkOrbSubscription(const MavlinkOrbSubscription&);
+	MavlinkOrbSubscription operator=(const MavlinkOrbSubscription&);
 };
 
 
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
new file mode 100644
index 000000000..cd5f53d88
--- /dev/null
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -0,0 +1,197 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.cpp
+ * Mavlink parameters manager implementation.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <stdio.h>
+
+#include "mavlink_parameters.h"
+#include "mavlink_main.h"
+
+MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
+	_send_all_index(-1)
+{
+}
+
+unsigned
+MavlinkParametersManager::get_size()
+{
+	if (_send_all_index >= 0) {
+		return MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+
+	} else {
+		return 0;
+	}
+}
+
+void
+MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
+{
+	switch (msg->msgid) {
+	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
+			/* request all parameters */
+			mavlink_param_request_list_t req_list;
+			mavlink_msg_param_request_list_decode(msg, &req_list);
+
+			if (req_list.target_system == mavlink_system.sysid &&
+			    (req_list.target_component == mavlink_system.compid || req_list.target_component == MAV_COMP_ID_ALL)) {
+
+				_send_all_index = 0;
+				_mavlink->send_statustext_info("[pm] sending list");
+			}
+			break;
+		}
+
+	case MAVLINK_MSG_ID_PARAM_SET: {
+			/* set parameter */
+			if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) {
+				mavlink_param_set_t set;
+				mavlink_msg_param_set_decode(msg, &set);
+
+				if (set.target_system == mavlink_system.sysid &&
+				    (set.target_component == mavlink_system.compid || set.target_component == MAV_COMP_ID_ALL)) {
+
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter, set and send it */
+					param_t param = param_find(name);
+
+					if (param == PARAM_INVALID) {
+						char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
+						sprintf(buf, "[pm] unknown param: %s", name);
+						_mavlink->send_statustext_info(buf);
+
+					} else {
+						/* set and send parameter */
+						param_set(param, &(set.param_value));
+						send_param(param);
+					}
+				}
+			}
+			break;
+		}
+
+	case MAVLINK_MSG_ID_PARAM_REQUEST_READ: {
+			/* request one parameter */
+			mavlink_param_request_read_t req_read;
+			mavlink_msg_param_request_read_decode(msg, &req_read);
+
+			if (req_read.target_system == mavlink_system.sysid &&
+			    (req_read.target_component == mavlink_system.compid || req_read.target_component == MAV_COMP_ID_ALL)) {
+
+				/* when no index is given, loop through string ids and compare them */
+				if (req_read.param_index < 0) {
+					/* local name buffer to enforce null-terminated string */
+					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
+					strncpy(name, req_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+					/* enforce null termination */
+					name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0';
+					/* attempt to find parameter and send it */
+					send_param(param_find(name));
+
+				} else {
+					/* when index is >= 0, send this parameter again */
+					send_param(param_for_index(req_read.param_index));
+				}
+			}
+			break;
+		}
+
+	default:
+		break;
+	}
+}
+
+void
+MavlinkParametersManager::send(const hrt_abstime t)
+{
+	/* send all parameters if requested */
+	if (_send_all_index >= 0) {
+		send_param(param_for_index(_send_all_index));
+		_send_all_index++;
+		if (_send_all_index >= (int) param_count()) {
+			_send_all_index = -1;
+		}
+	}
+}
+
+void
+MavlinkParametersManager::send_param(param_t param)
+{
+	if (param == PARAM_INVALID) {
+		return;
+	}
+
+	mavlink_param_value_t msg;
+
+	/*
+	 * get param value, since MAVLink encodes float and int params in the same
+	 * space during transmission, copy param onto float val_buf
+	 */
+	if (param_get(param, &msg.param_value) != OK) {
+		return;
+	}
+
+	msg.param_count = param_count();
+	msg.param_index = param_get_index(param);
+
+	/* copy parameter name */
+	strncpy(msg.param_id, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
+
+	/* query parameter type */
+	param_type_t type = param_type(param);
+
+	/*
+	 * Map onboard parameter type to MAVLink type,
+	 * endianess matches (both little endian)
+	 */
+	if (type == PARAM_TYPE_INT32) {
+		msg.param_type = MAVLINK_TYPE_INT32_T;
+
+	} else if (type == PARAM_TYPE_FLOAT) {
+		msg.param_type = MAVLINK_TYPE_FLOAT;
+
+	} else {
+		msg.param_type = MAVLINK_TYPE_FLOAT;
+	}
+
+	_mavlink->send_message(MAVLINK_MSG_ID_PARAM_VALUE, &msg);
+}
diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
new file mode 100644
index 000000000..5576e6b84
--- /dev/null
+++ b/src/modules/mavlink/mavlink_parameters.h
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_parameters.h
+ * Mavlink parameters manager definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include <systemlib/param/param.h>
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_stream.h"
+
+class MavlinkParametersManager : public MavlinkStream
+{
+public:
+	const char *get_name() const
+	{
+		return MavlinkParametersManager::get_name_static();
+	}
+
+	static const char *get_name_static()
+	{
+		return "PARAM_VALUE";
+	}
+
+	uint8_t get_id()
+	{
+		return MAVLINK_MSG_ID_PARAM_VALUE;
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkParametersManager(mavlink);
+	}
+
+	unsigned get_size();
+
+	void handle_message(const mavlink_message_t *msg);
+
+	/**
+	 * Send one parameter identified by index.
+	 *
+	 * @param index		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	void		start_send_one(int index);
+
+
+	/**
+	 * Send one parameter identified by name.
+	 *
+	 * @param name		The index of the parameter to send.
+	 * @return		zero on success, nonzero else.
+	 */
+	int			start_send_for_name(const char *name);
+
+	/**
+	 * Start sending the parameter queue.
+	 *
+	 * This function will not directly send parameters, but instead
+	 * activate the sending of one parameter on each call of
+	 * mavlink_pm_queued_send().
+	 * @see 		mavlink_pm_queued_send()
+	 */
+	void		start_send_all();
+
+private:
+	int		_send_all_index;
+
+	/* do not allow top copying this class */
+	MavlinkParametersManager(MavlinkParametersManager &);
+	MavlinkParametersManager& operator = (const MavlinkParametersManager &);
+
+protected:
+	explicit MavlinkParametersManager(Mavlink *mavlink);
+
+	void send(const hrt_abstime t);
+
+	void send_param(param_t param);
+};
diff --git a/src/modules/mavlink/mavlink_rate_limiter.cpp b/src/modules/mavlink/mavlink_rate_limiter.cpp
index 9cdda8b17..d3b3e1cde 100644
--- a/src/modules/mavlink/mavlink_rate_limiter.cpp
+++ b/src/modules/mavlink/mavlink_rate_limiter.cpp
@@ -64,7 +64,7 @@ MavlinkRateLimiter::check(hrt_abstime t)
 	uint64_t dt = t - _last_sent;
 
 	if (dt > 0 && dt >= _interval) {
-		_last_sent = (t / _interval) * _interval;
+		_last_sent = t;
 		return true;
 	}
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index d7e300670..69e3ef31d 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -79,7 +79,6 @@ __BEGIN_DECLS
 #include "mavlink_bridge_header.h"
 #include "mavlink_receiver.h"
 #include "mavlink_main.h"
-#include "util.h"
 
 __END_DECLS
 
@@ -87,9 +86,9 @@ static const float mg2ms2 = CONSTANTS_ONE_G / 1000.0f;
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mavlink(parent),
-
-	_manual_sub(-1),
-
+	status{},
+	hil_local_pos{},
+	_control_mode{},
 	_global_pos_pub(-1),
 	_local_pos_pub(-1),
 	_attitude_pub(-1),
@@ -104,16 +103,25 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_cmd_pub(-1),
 	_flow_pub(-1),
 	_offboard_control_sp_pub(-1),
+	_local_pos_sp_pub(-1),
+	_global_vel_sp_pub(-1),
+	_att_sp_pub(-1),
+	_rates_sp_pub(-1),
 	_vicon_position_pub(-1),
 	_telemetry_status_pub(-1),
 	_rc_pub(-1),
 	_manual_pub(-1),
+	_radio_status_available(false),
+	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
 	_hil_frames(0),
 	_old_timestamp(0),
 	_hil_local_proj_inited(0),
-	_hil_local_alt0(0.0)
+	_hil_local_alt0(0.0f),
+	_hil_local_proj_ref{}
 {
-	memset(&hil_local_pos, 0, sizeof(hil_local_pos));
+
+	// make sure the FTP server is started
+	(void)MavlinkFTP::getServer();
 }
 
 MavlinkReceiver::~MavlinkReceiver()
@@ -152,6 +160,18 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_manual_control(msg);
 		break;
 
+	case MAVLINK_MSG_ID_HEARTBEAT:
+		handle_message_heartbeat(msg);
+		break;
+
+	case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
+		handle_message_request_data_stream(msg);
+		break;
+
+	case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
+		MavlinkFTP::getServer()->handle_message(_mavlink, msg);
+		break;
+
 	default:
 		break;
 	}
@@ -162,6 +182,9 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	 * The HIL mode is enabled by the HIL bit flag
 	 * in the system mode. Either send a set mode
 	 * COMMAND_LONG message or a SET_MODE message
+	 *
+	 * Accept HIL GPS messages if use_hil_gps flag is true.
+	 * This allows to provide fake gps measurements to the system.
 	 */
 	if (_mavlink->get_hil_enabled()) {
 		switch (msg->msgid) {
@@ -169,10 +192,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			handle_message_hil_sensor(msg);
 			break;
 
-		case MAVLINK_MSG_ID_HIL_GPS:
-			handle_message_hil_gps(msg);
-			break;
-
 		case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
 			handle_message_hil_state_quaternion(msg);
 			break;
@@ -181,6 +200,23 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			break;
 		}
 	}
+
+
+   	if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
+		switch (msg->msgid) {
+		case MAVLINK_MSG_ID_HIL_GPS:
+			handle_message_hil_gps(msg);
+			break;
+
+		default:
+			break;
+		}
+
+	}
+
+    /* If we've received a valid message, mark the flag indicating so.
+	   This is used in the '-w' command-line flag. */
+	_mavlink->set_has_received_messages(true);
 }
 
 void
@@ -203,6 +239,13 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			_mavlink->_task_should_exit = true;
 
 		} else {
+
+			if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
+				warnx("ignoring CMD spoofed with same SYS/COMP (%d/%d) ID",
+				      mavlink_system.sysid, mavlink_system.compid);
+				return;
+			}
+
 			struct vehicle_command_s vcmd;
 			memset(&vcmd, 0, sizeof(vcmd));
 
@@ -222,12 +265,10 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			vcmd.source_component = msg->compid;
 			vcmd.confirmation =  cmd_mavlink.confirmation;
 
-			/* check if topic is advertised */
-			if (_cmd_pub <= 0) {
+			if (_cmd_pub < 0) {
 				_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 
 			} else {
-				/* publish */
 				orb_publish(ORB_ID(vehicle_command), _cmd_pub, &vcmd);
 			}
 		}
@@ -245,6 +286,7 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
 	memset(&f, 0, sizeof(f));
 
 	f.timestamp = hrt_absolute_time();
+	f.flow_timestamp = flow.time_usec;
 	f.flow_raw_x = flow.flow_x;
 	f.flow_raw_y = flow.flow_y;
 	f.flow_comp_x_m = flow.flow_comp_m_x;
@@ -253,7 +295,7 @@ MavlinkReceiver::handle_message_optical_flow(mavlink_message_t *msg)
 	f.quality = flow.quality;
 	f.sensor_id = flow.sensor_id;
 
-	if (_flow_pub <= 0) {
+	if (_flow_pub < 0) {
 		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
 
 	} else {
@@ -287,7 +329,7 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
 	vcmd.source_component = msg->compid;
 	vcmd.confirmation = 1;
 
-	if (_cmd_pub <= 0) {
+	if (_cmd_pub < 0) {
 		_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 
 	} else {
@@ -312,7 +354,7 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
 	vicon_position.pitch = pos.pitch;
 	vicon_position.yaw = pos.yaw;
 
-	if (_vicon_position_pub <= 0) {
+	if (_vicon_position_pub < 0) {
 		_vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
 
 	} else {
@@ -323,57 +365,25 @@ MavlinkReceiver::handle_message_vicon_position_estimate(mavlink_message_t *msg)
 void
 MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg)
 {
-	mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
-	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
+	mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t swarm_offboard_control;
+	mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &swarm_offboard_control);
 
-	if (mavlink_system.sysid < 4) {
+	/* Only accept system IDs from 1 to 4 */
+	if (mavlink_system.sysid >= 1 && mavlink_system.sysid <= 4) {
 		struct offboard_control_setpoint_s offboard_control_sp;
 		memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));
 
-		uint8_t ml_mode = 0;
-		bool ml_armed = false;
-
-		switch (quad_motors_setpoint.mode) {
-		case 0:
-			ml_armed = false;
-			break;
-
-		case 1:
-			ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-			ml_armed = true;
-
-			break;
-
-		case 2:
-			ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-			ml_armed = true;
-
-			break;
+		/* Convert values * 1000 back */
+		offboard_control_sp.p1 = (float)swarm_offboard_control.roll[mavlink_system.sysid - 1] / 1000.0f;
+		offboard_control_sp.p2 = (float)swarm_offboard_control.pitch[mavlink_system.sysid - 1] / 1000.0f;
+		offboard_control_sp.p3 = (float)swarm_offboard_control.yaw[mavlink_system.sysid - 1] / 1000.0f;
+		offboard_control_sp.p4 = (float)swarm_offboard_control.thrust[mavlink_system.sysid - 1] / 1000.0f;
 
-		case 3:
-			ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
-			break;
-
-		case 4:
-			ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
-			break;
-		}
-
-		offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1]   / (float)INT16_MAX;
-		offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1]  / (float)INT16_MAX;
-		offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1]    / (float)INT16_MAX;
-		offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX;
-
-		if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) {
-			ml_armed = false;
-		}
-
-		offboard_control_sp.armed = ml_armed;
-		offboard_control_sp.mode = static_cast<enum OFFBOARD_CONTROL_MODE>(ml_mode);
+		offboard_control_sp.mode = (enum OFFBOARD_CONTROL_MODE)swarm_offboard_control.mode;
 
 		offboard_control_sp.timestamp = hrt_absolute_time();
 
-		if (_offboard_control_sp_pub <= 0) {
+		if (_offboard_control_sp_pub < 0) {
 			_offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
 
 		} else {
@@ -385,27 +395,34 @@ MavlinkReceiver::handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message
 void
 MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
 {
-	mavlink_radio_status_t rstatus;
-	mavlink_msg_radio_status_decode(msg, &rstatus);
+	/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
+	if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
+		mavlink_radio_status_t rstatus;
+		mavlink_msg_radio_status_decode(msg, &rstatus);
+
+		struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
+
+		tstatus.timestamp = hrt_absolute_time();
+		tstatus.telem_time = tstatus.timestamp;
+		/* tstatus.heartbeat_time is set by system heartbeats */
+		tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
+		tstatus.rssi = rstatus.rssi;
+		tstatus.remote_rssi = rstatus.remrssi;
+		tstatus.txbuf = rstatus.txbuf;
+		tstatus.noise = rstatus.noise;
+		tstatus.remote_noise = rstatus.remnoise;
+		tstatus.rxerrors = rstatus.rxerrors;
+		tstatus.fixed = rstatus.fixed;
+
+		if (_telemetry_status_pub < 0) {
+			_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
 
-	struct telemetry_status_s tstatus;
-	memset(&tstatus, 0, sizeof(tstatus));
-
-	tstatus.timestamp = hrt_absolute_time();
-	tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO;
-	tstatus.rssi = rstatus.rssi;
-	tstatus.remote_rssi = rstatus.remrssi;
-	tstatus.txbuf = rstatus.txbuf;
-	tstatus.noise = rstatus.noise;
-	tstatus.remote_noise = rstatus.remnoise;
-	tstatus.rxerrors = rstatus.rxerrors;
-	tstatus.fixed = rstatus.fixed;
-
-	if (_telemetry_status_pub <= 0) {
-		_telemetry_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
+		} else {
+			orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
+		}
 
-	} else {
-		orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);
+		/* this means that heartbeats alone won't be published to the radio status no more */
+		_radio_status_available = true;
 	}
 }
 
@@ -415,46 +432,76 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 	mavlink_manual_control_t man;
 	mavlink_msg_manual_control_decode(msg, &man);
 
-	/* rc channels */
-	{
-		struct rc_channels_s rc;
-		memset(&rc, 0, sizeof(rc));
+	struct manual_control_setpoint_s manual;
+	memset(&manual, 0, sizeof(manual));
 
-		rc.timestamp = hrt_absolute_time();
-		rc.chan_count = 4;
+	manual.timestamp = hrt_absolute_time();
+	manual.x = man.x / 1000.0f;
+	manual.y = man.y / 1000.0f;
+	manual.r = man.r / 1000.0f;
+	manual.z = man.z / 1000.0f;
 
-		rc.chan[0].scaled = man.x / 1000.0f;
-		rc.chan[1].scaled = man.y / 1000.0f;
-		rc.chan[2].scaled = man.r / 1000.0f;
-		rc.chan[3].scaled = man.z / 1000.0f;
+	warnx("pitch: %.2f, roll: %.2f, yaw: %.2f, throttle: %.2f", (double)manual.x, (double)manual.y, (double)manual.r, (double)manual.z);
 
-		if (_rc_pub == 0) {
-			_rc_pub = orb_advertise(ORB_ID(rc_channels), &rc);
+	if (_manual_pub < 0) {
+		_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
 
-		} else {
-			orb_publish(ORB_ID(rc_channels), _rc_pub, &rc);
-		}
+	} else {
+		orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
 	}
+}
 
-	/* manual control */
-	{
-		struct manual_control_setpoint_s manual;
-		memset(&manual, 0, sizeof(manual));
+void
+MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
+{
+	/* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
+	if (_mavlink->get_channel() < TELEMETRY_STATUS_ORB_ID_NUM) {
+		mavlink_heartbeat_t hb;
+		mavlink_msg_heartbeat_decode(msg, &hb);
 
-		/* get a copy first, to prevent altering values that are not sent by the mavlink command */
-		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &manual);
+		/* ignore own heartbeats, accept only heartbeats from GCS */
+		if (msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) {
 
-		manual.timestamp = hrt_absolute_time();
-		manual.roll = man.x / 1000.0f;
-		manual.pitch = man.y / 1000.0f;
-		manual.yaw = man.r / 1000.0f;
-		manual.throttle = man.z / 1000.0f;
+			struct telemetry_status_s &tstatus = _mavlink->get_rx_status();
 
-		if (_manual_pub == 0) {
-			_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
+			hrt_abstime tnow = hrt_absolute_time();
 
-		} else {
-			orb_publish(ORB_ID(manual_control_setpoint), _manual_pub, &manual);
+			/* always set heartbeat, publish only if telemetry link not up */
+			tstatus.heartbeat_time = tnow;
+
+			/* if no radio status messages arrive, lets at least publish that heartbeats were received */
+			if (!_radio_status_available) {
+
+				tstatus.timestamp = tnow;
+				/* telem_time indicates the timestamp of a telemetry status packet and we got none */
+				tstatus.telem_time = 0;
+				tstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
+
+				if (_telemetry_status_pub < 0) {
+					_telemetry_status_pub = orb_advertise(telemetry_status_orb_id[_mavlink->get_channel()], &tstatus);
+
+				} else {
+					orb_publish(telemetry_status_orb_id[_mavlink->get_channel()], _telemetry_status_pub, &tstatus);
+				}
+			}
+		}
+	}
+}
+
+void
+MavlinkReceiver::handle_message_request_data_stream(mavlink_message_t *msg)
+{
+	mavlink_request_data_stream_t req;
+	mavlink_msg_request_data_stream_decode(msg, &req);
+
+	if (req.target_system == mavlink_system.sysid && req.target_component == mavlink_system.compid) {
+		float rate = req.start_stop ? (1000.0f / req.req_message_rate) : 0.0f;
+
+		MavlinkStream *stream;
+		LL_FOREACH(_mavlink->get_streams(), stream) {
+			if (req.req_stream_id == stream->get_id()) {
+				_mavlink->configure_stream_threadsafe(stream->get_name(), rate);
+			}
 		}
 	}
 }
@@ -503,10 +550,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		gyro.temperature = imu.temperature;
 
 		if (_gyro_pub < 0) {
-			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
+			_gyro_pub = orb_advertise(ORB_ID(sensor_gyro0), &gyro);
 
 		} else {
-			orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &gyro);
+			orb_publish(ORB_ID(sensor_gyro0), _gyro_pub, &gyro);
 		}
 	}
 
@@ -525,10 +572,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		accel.temperature = imu.temperature;
 
 		if (_accel_pub < 0) {
-			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
 
 		} else {
-			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+			orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
 		}
 	}
 
@@ -546,10 +593,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		mag.z = imu.zmag;
 
 		if (_mag_pub < 0) {
-			_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
+			_mag_pub = orb_advertise(ORB_ID(sensor_mag0), &mag);
 
 		} else {
-			orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
+			orb_publish(ORB_ID(sensor_mag0), _mag_pub, &mag);
 		}
 	}
 
@@ -564,10 +611,10 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		baro.temperature = imu.temperature;
 
 		if (_baro_pub < 0) {
-			_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
+			_baro_pub = orb_advertise(ORB_ID(sensor_baro0), &baro);
 
 		} else {
-			orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
+			orb_publish(ORB_ID(sensor_baro0), _baro_pub, &baro);
 		}
 	}
 
@@ -619,11 +666,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		hil_sensors.differential_pressure_timestamp = timestamp;
 
 		/* publish combined sensor topic */
-		if (_sensors_pub > 0) {
-			orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors);
+		if (_sensors_pub < 0) {
+			_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
 
 		} else {
-			_sensors_pub = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
+			orb_publish(ORB_ID(sensor_combined), _sensors_pub, &hil_sensors);
 		}
 	}
 
@@ -638,11 +685,11 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
 
-		if (_battery_pub > 0) {
-			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
+		if (_battery_pub < 0) {
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 
 		} else {
-			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
 		}
 	}
 
@@ -675,12 +722,11 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.lat = gps.lat;
 	hil_gps.lon = gps.lon;
 	hil_gps.alt = gps.alt;
-	hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
-	hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+	hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
+	hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
 
 	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
-	hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
 
 	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
@@ -690,15 +736,14 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.vel_ned_valid = true;
 	hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
 
-	hil_gps.timestamp_satellites = timestamp;
 	hil_gps.fix_type = gps.fix_type;
-	hil_gps.satellites_visible = gps.satellites_visible;
+	hil_gps.satellites_used = gps.satellites_visible;  //TODO: rename mavlink_hil_gps_t sats visible to used?
 
-	if (_gps_pub > 0) {
-		orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps);
+	if (_gps_pub < 0) {
+		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
 
 	} else {
-		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
+		orb_publish(ORB_ID(vehicle_gps_position), _gps_pub, &hil_gps);
 	}
 }
 
@@ -752,11 +797,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_attitude.pitchspeed = hil_state.pitchspeed;
 		hil_attitude.yawspeed = hil_state.yawspeed;
 
-		if (_attitude_pub > 0) {
-			orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude);
+		if (_attitude_pub < 0) {
+			_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 
 		} else {
-			_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
+			orb_publish(ORB_ID(vehicle_attitude), _attitude_pub, &hil_attitude);
 		}
 	}
 
@@ -766,7 +811,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		memset(&hil_global_pos, 0, sizeof(hil_global_pos));
 
 		hil_global_pos.timestamp = timestamp;
-		hil_global_pos.global_valid = true;
 		hil_global_pos.lat = hil_state.lat;
 		hil_global_pos.lon = hil_state.lon;
 		hil_global_pos.alt = hil_state.alt / 1000.0f;
@@ -774,30 +818,35 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_global_pos.vel_e = hil_state.vy / 100.0f;
 		hil_global_pos.vel_d = hil_state.vz / 100.0f;
 		hil_global_pos.yaw = hil_attitude.yaw;
+		hil_global_pos.eph = 2.0f;
+		hil_global_pos.epv = 4.0f;
 
-		if (_global_pos_pub > 0) {
-			orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos);
+		if (_global_pos_pub < 0) {
+			_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
 
 		} else {
-			_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
+			orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &hil_global_pos);
 		}
 	}
 
 	/* local position */
 	{
+		double lat = hil_state.lat * 1e-7;
+		double lon = hil_state.lon * 1e-7;
+
 		if (!_hil_local_proj_inited) {
 			_hil_local_proj_inited = true;
 			_hil_local_alt0 = hil_state.alt / 1000.0f;
-			map_projection_init(hil_state.lat, hil_state.lon);
+			map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
 			hil_local_pos.ref_timestamp = timestamp;
-			hil_local_pos.ref_lat = hil_state.lat;
-			hil_local_pos.ref_lon = hil_state.lon;
+			hil_local_pos.ref_lat = lat;
+			hil_local_pos.ref_lon = lon;
 			hil_local_pos.ref_alt = _hil_local_alt0;
 		}
 
 		float x;
 		float y;
-		map_projection_project(hil_state.lat * 1e-7, hil_state.lon * 1e-7, &x, &y);
+		map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
 		hil_local_pos.timestamp = timestamp;
 		hil_local_pos.xy_valid = true;
 		hil_local_pos.z_valid = true;
@@ -816,11 +865,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		bool landed = (float)(hil_state.alt) / 1000.0f < (_hil_local_alt0 + 0.1f); // XXX improve?
 		hil_local_pos.landed = landed;
 
-		if (_local_pos_pub > 0) {
-			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
+		if (_local_pos_pub < 0) {
+			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
 
 		} else {
-			_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &hil_local_pos);
+			orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &hil_local_pos);
 		}
 	}
 
@@ -839,10 +888,10 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		accel.temperature = 25.0f;
 
 		if (_accel_pub < 0) {
-			_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
+			_accel_pub = orb_advertise(ORB_ID(sensor_accel0), &accel);
 
 		} else {
-			orb_publish(ORB_ID(sensor_accel), _accel_pub, &accel);
+			orb_publish(ORB_ID(sensor_accel0), _accel_pub, &accel);
 		}
 	}
 
@@ -857,11 +906,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
 
-		if (_battery_pub > 0) {
-			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
+		if (_battery_pub < 0) {
+			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
 
 		} else {
-			_battery_pub = orb_advertise(ORB_ID(battery_status), &hil_battery_status);
+			orb_publish(ORB_ID(battery_status), _battery_pub, &hil_battery_status);
 		}
 	}
 }
@@ -885,8 +934,6 @@ MavlinkReceiver::receive_thread(void *arg)
 	sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
 	prctl(PR_SET_NAME, thread_name, getpid());
 
-	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-
 	struct pollfd fds[1];
 	fds[0].fd = uart_fd;
 	fds[0].events = POLLIN;
@@ -908,13 +955,13 @@ MavlinkReceiver::receive_thread(void *arg)
 					/* handle generic messages and commands */
 					handle_message(&msg);
 
-					/* handle packet with waypoint component */
-					_mavlink->mavlink_wpm_message_handler(&msg);
-
-					/* handle packet with parameter component */
-					_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
+					/* handle packet with parent object */
+					_mavlink->handle_message(&msg);
 				}
 			}
+
+			/* count received bytes */
+			_mavlink->count_rxbytes(nread);
 		}
 	}
 
@@ -933,6 +980,8 @@ void *MavlinkReceiver::start_helper(void *context)
 	rcv->receive_thread(NULL);
 
 	delete rcv;
+
+	return nullptr;
 }
 
 pthread_t
@@ -950,8 +999,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 3000);
-
+	pthread_attr_setstacksize(&receiveloop_attr, 2900);
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 0a5a1b5c7..f4d0c52d8 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -36,6 +36,7 @@
  * MAVLink 1.0 uORB listener definition
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #pragma once
@@ -44,6 +45,7 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -53,6 +55,7 @@
 #include <uORB/topics/offboard_control_setpoint.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_global_velocity_setpoint.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -68,6 +71,8 @@
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
 
+#include "mavlink_ftp.h"
+
 class Mavlink;
 
 class MavlinkReceiver
@@ -100,8 +105,6 @@ public:
 	static void *start_helper(void *context);
 
 private:
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
 	Mavlink	*_mavlink;
 
 	void handle_message(mavlink_message_t *msg);
@@ -112,6 +115,8 @@ private:
 	void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
 	void handle_message_radio_status(mavlink_message_t *msg);
 	void handle_message_manual_control(mavlink_message_t *msg);
+	void handle_message_heartbeat(mavlink_message_t *msg);
+	void handle_message_request_data_stream(mavlink_message_t *msg);
 	void handle_message_hil_sensor(mavlink_message_t *msg);
 	void handle_message_hil_gps(mavlink_message_t *msg);
 	void handle_message_hil_state_quaternion(mavlink_message_t *msg);
@@ -120,7 +125,7 @@ private:
 
 	mavlink_status_t status;
 	struct vehicle_local_position_s hil_local_pos;
-	int _manual_sub;
+	struct vehicle_control_mode_s _control_mode;
 	orb_advert_t _global_pos_pub;
 	orb_advert_t _local_pos_pub;
 	orb_advert_t _attitude_pub;
@@ -135,12 +140,23 @@ private:
 	orb_advert_t _cmd_pub;
 	orb_advert_t _flow_pub;
 	orb_advert_t _offboard_control_sp_pub;
+	orb_advert_t _local_pos_sp_pub;
+	orb_advert_t _global_vel_sp_pub;
+	orb_advert_t _att_sp_pub;
+	orb_advert_t _rates_sp_pub;
 	orb_advert_t _vicon_position_pub;
 	orb_advert_t _telemetry_status_pub;
 	orb_advert_t _rc_pub;
 	orb_advert_t _manual_pub;
+	bool _radio_status_available;
+	int _control_mode_sub;
 	int _hil_frames;
 	uint64_t _old_timestamp;
 	bool _hil_local_proj_inited;
 	float _hil_local_alt0;
+	struct map_projection_reference_s _hil_local_proj_ref;
+
+	/* do not allow copying this class */
+	MavlinkReceiver(const MavlinkReceiver&);
+	MavlinkReceiver operator=(const MavlinkReceiver&);
 };
diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp
index bb19d7e33..5b9e45d3e 100644
--- a/src/modules/mavlink/mavlink_stream.cpp
+++ b/src/modules/mavlink/mavlink_stream.cpp
@@ -43,7 +43,11 @@
 #include "mavlink_stream.h"
 #include "mavlink_main.h"
 
-MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
+MavlinkStream::MavlinkStream(Mavlink *mavlink) :
+	next(nullptr),
+	_mavlink(mavlink),
+	_interval(1000000),
+	_last_sent(0)
 {
 }
 
@@ -61,25 +65,30 @@ MavlinkStream::set_interval(const unsigned int interval)
 }
 
 /**
- * Set mavlink channel
- */
-void
-MavlinkStream::set_channel(mavlink_channel_t channel)
-{
-	_channel = channel;
-}
-
-/**
  * Update subscriptions and send message if necessary
  */
 int
 MavlinkStream::update(const hrt_abstime t)
 {
 	uint64_t dt = t - _last_sent;
+	unsigned int interval = _interval;
 
-	if (dt > 0 && dt >= _interval) {
+	if (!const_rate()) {
+		interval /= _mavlink->get_rate_mult();
+	}
+
+	if (dt > 0 && dt >= interval) {
 		/* interval expired, send message */
 		send(t);
-		_last_sent = (t / _interval) * _interval;
+		if (const_rate()) {
+			_last_sent = (t / _interval) * _interval;
+
+		} else {
+			_last_sent = t;
+		}
+
+		return 0;
 	}
+
+	return -1;
 }
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 135e1bce0..ef22dc443 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file mavlink_stream.cpp
+ * @file mavlink_stream.h
  * Mavlink messages stream definition.
  *
  * @author Anton Babushkin <anton.babushkin@me.com>
@@ -46,30 +46,60 @@
 class Mavlink;
 class MavlinkStream;
 
-#include "mavlink_main.h"
-
 class MavlinkStream
 {
-private:
-	hrt_abstime _last_sent;
+
+public:
+	MavlinkStream *next;
+
+	MavlinkStream(Mavlink *mavlink);
+	virtual ~MavlinkStream();
+
+	/**
+	 * Get the interval
+	 *
+	 * @param interval the inveral in microseconds (us) between messages
+	 */
+	void set_interval(const unsigned int interval);
+
+	/**
+	 * Get the interval
+	 *
+	 * @return the inveral in microseconds (us) between messages
+	 */
+	unsigned get_interval() { return _interval; }
+
+	/**
+	 * @return 0 if updated / sent, -1 if unchanged
+	 */
+	int update(const hrt_abstime t);
+	static MavlinkStream *new_instance(const Mavlink *mavlink);
+	static const char *get_name_static();
+	virtual const char *get_name() const = 0;
+	virtual uint8_t get_id() = 0;
+
+	/**
+	 * @return true if steam rate shouldn't be adjusted
+	 */
+	virtual bool const_rate() { return false; }
+
+	/**
+	 * Get maximal total messages size on update
+	 */
+	virtual unsigned get_size() = 0;
 
 protected:
-	mavlink_channel_t _channel;
+	Mavlink *    _mavlink;
 	unsigned int _interval;
 
 	virtual void send(const hrt_abstime t) = 0;
 
-public:
-	MavlinkStream *next;
+private:
+	hrt_abstime _last_sent;
 
-	MavlinkStream();
-	~MavlinkStream();
-	void set_interval(const unsigned int interval);
-	void set_channel(mavlink_channel_t channel);
-	int update(const hrt_abstime t);
-	virtual MavlinkStream *new_instance() = 0;
-	virtual void subscribe(Mavlink *mavlink) = 0;
-	virtual const char *get_name() = 0;
+	/* do not allow top copying this class */
+	MavlinkStream(const MavlinkStream&);
+	MavlinkStream& operator=(const MavlinkStream&);
 };
 
 
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index f09efa2e6..91fdd6154 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -39,9 +39,18 @@ MODULE_COMMAND	 = mavlink
 SRCS		 += mavlink_main.cpp \
 			mavlink.c \
 			mavlink_receiver.cpp \
+			mavlink_mission.cpp \
+			mavlink_parameters.cpp \
 			mavlink_orb_subscription.cpp \
 			mavlink_messages.cpp \
 			mavlink_stream.cpp \
-			mavlink_rate_limiter.cpp
+			mavlink_rate_limiter.cpp \
+			mavlink_ftp.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1024
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/modules/mavlink/waypoints.h b/src/modules/mavlink/waypoints.h
deleted file mode 100644
index 532eff7aa..000000000
--- a/src/modules/mavlink/waypoints.h
+++ /dev/null
@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2009-2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file waypoints.h
- * MAVLink waypoint protocol definition (BSD-relicensed).
- *
- * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- */
-
-#ifndef WAYPOINTS_H_
-#define WAYPOINTS_H_
-
-/* This assumes you have the mavlink headers on your include path
- or in the same folder as this source file */
-
-#include <v1.0/mavlink_types.h>
-#include "mavlink_bridge_header.h"
-#include <stdbool.h>
-#include <uORB/topics/mission.h>
-
-enum MAVLINK_WPM_STATES {
-	MAVLINK_WPM_STATE_IDLE = 0,
-	MAVLINK_WPM_STATE_SENDLIST,
-	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
-	MAVLINK_WPM_STATE_GETLIST,
-	MAVLINK_WPM_STATE_GETLIST_GETWPS,
-	MAVLINK_WPM_STATE_GETLIST_GOTALL,
-	MAVLINK_WPM_STATE_ENUM_END
-};
-
-enum MAVLINK_WPM_CODES {
-	MAVLINK_WPM_CODE_OK = 0,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
-	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
-	MAVLINK_WPM_CODE_ENUM_END
-};
-
-
-#define MAVLINK_WPM_MAX_WP_COUNT 255
-#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000         ///< Protocol communication timeout in useconds
-#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000           ///< When to send a new setpoint
-#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
-
-
-struct mavlink_wpm_storage {
-	uint16_t size;
-	uint16_t max_size;
-	enum MAVLINK_WPM_STATES current_state;
-	int16_t current_wp_id;							///< Waypoint in current transmission
-	uint16_t current_count;
-	uint8_t current_partner_sysid;
-	uint8_t current_partner_compid;
-	uint64_t timestamp_lastaction;
-	uint64_t timestamp_last_send_setpoint;
-	uint32_t timeout;
-	int current_dataman_id;
-};
-
-typedef struct mavlink_wpm_storage mavlink_wpm_storage;
-
-int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
-int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
-
-
-void mavlink_wpm_init(mavlink_wpm_storage *state);
-void mavlink_waypoint_eventloop(uint64_t now);
-void mavlink_wpm_message_handler(const mavlink_message_t *msg);
-
-extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
-		float param2, float param3, float param4, float param5_lat_x,
-		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
-
-static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
-
-#endif /* WAYPOINTS_H_ */
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 9cb8e8344..19c10198c 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,9 +32,13 @@
  ****************************************************************************/
 
 /**
- * @file mc_att_control_main.c
+ * @file mc_att_control_main.cpp
  * Multicopter attitude controller.
  *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * The controller has two loops: P loop for angular error and PD loop for angular rate error.
  * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
  * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
@@ -71,7 +72,8 @@
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
-#include <mathlib/mathlib.h>
+#include <systemlib/circuit_breaker.h>
+#include <lib/mathlib/mathlib.h>
 #include <lib/geo/geo.h>
 
 /**
@@ -122,6 +124,8 @@ private:
 	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
 	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
 
+	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
+
 	struct vehicle_attitude_s			_v_att;				/**< vehicle attitude */
 	struct vehicle_attitude_setpoint_s	_v_att_sp;			/**< vehicle attitude setpoint */
 	struct vehicle_rates_setpoint_s		_v_rates_sp;		/**< vehicle rates setpoint */
@@ -156,8 +160,14 @@ private:
 		param_t yaw_rate_i;
 		param_t yaw_rate_d;
 		param_t yaw_ff;
-
-		param_t rc_scale_yaw;
+		param_t yaw_rate_max;
+
+		param_t man_roll_max;
+		param_t man_pitch_max;
+		param_t man_yaw_max;
+		param_t acro_roll_max;
+		param_t acro_pitch_max;
+		param_t acro_yaw_max;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	struct {
@@ -166,8 +176,12 @@ private:
 		math::Vector<3> rate_i;				/**< I gain for angular rate error */
 		math::Vector<3> rate_d;				/**< D gain for angular rate error */
 		float yaw_ff;						/**< yaw control feed-forward */
+		float yaw_rate_max;					/**< max yaw rate */
 
-		float rc_scale_yaw;
+		float man_roll_max;
+		float man_pitch_max;
+		float man_yaw_max;
+		math::Vector<3> acro_rate_max;		/**< max attitude rates in acro mode */
 	}		_params;
 
 	/**
@@ -221,9 +235,9 @@ private:
 	static void	task_main_trampoline(int argc, char *argv[]);
 
 	/**
-	 * Main sensor collection task.
+	 * Main attitude control task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace mc_att_control
@@ -256,6 +270,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_v_rates_sp_pub(-1),
 	_actuators_0_pub(-1),
 
+	_actuators_0_circuit_breaker_enabled(false),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
 
@@ -272,6 +288,12 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_params.rate_p.zero();
 	_params.rate_i.zero();
 	_params.rate_d.zero();
+	_params.yaw_ff = 0.0f;
+	_params.yaw_rate_max = 0.0f;
+	_params.man_roll_max = 0.0f;
+	_params.man_pitch_max = 0.0f;
+	_params.man_yaw_max = 0.0f;
+	_params.acro_rate_max.zero();
 
 	_rates_prev.zero();
 	_rates_sp.zero();
@@ -294,8 +316,13 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_params_handles.yaw_rate_i		= 	param_find("MC_YAWRATE_I");
 	_params_handles.yaw_rate_d		= 	param_find("MC_YAWRATE_D");
 	_params_handles.yaw_ff			= 	param_find("MC_YAW_FF");
-
-	_params_handles.rc_scale_yaw	= 	param_find("RC_SCALE_YAW");
+	_params_handles.yaw_rate_max	= 	param_find("MC_YAWRATE_MAX");
+	_params_handles.man_roll_max	= 	param_find("MC_MAN_R_MAX");
+	_params_handles.man_pitch_max	= 	param_find("MC_MAN_P_MAX");
+	_params_handles.man_yaw_max		= 	param_find("MC_MAN_Y_MAX");
+	_params_handles.acro_roll_max	= 	param_find("MC_ACRO_R_MAX");
+	_params_handles.acro_pitch_max	= 	param_find("MC_ACRO_P_MAX");
+	_params_handles.acro_yaw_max		= 	param_find("MC_ACRO_Y_MAX");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -330,7 +357,7 @@ MulticopterAttitudeControl::parameters_update()
 {
 	float v;
 
-	/* roll */
+	/* roll gains */
 	param_get(_params_handles.roll_p, &v);
 	_params.att_p(0) = v;
 	param_get(_params_handles.roll_rate_p, &v);
@@ -340,7 +367,7 @@ MulticopterAttitudeControl::parameters_update()
 	param_get(_params_handles.roll_rate_d, &v);
 	_params.rate_d(0) = v;
 
-	/* pitch */
+	/* pitch gains */
 	param_get(_params_handles.pitch_p, &v);
 	_params.att_p(1) = v;
 	param_get(_params_handles.pitch_rate_p, &v);
@@ -350,7 +377,7 @@ MulticopterAttitudeControl::parameters_update()
 	param_get(_params_handles.pitch_rate_d, &v);
 	_params.rate_d(1) = v;
 
-	/* yaw */
+	/* yaw gains */
 	param_get(_params_handles.yaw_p, &v);
 	_params.att_p(2) = v;
 	param_get(_params_handles.yaw_rate_p, &v);
@@ -361,8 +388,26 @@ MulticopterAttitudeControl::parameters_update()
 	_params.rate_d(2) = v;
 
 	param_get(_params_handles.yaw_ff, &_params.yaw_ff);
-
-	param_get(_params_handles.rc_scale_yaw, &_params.rc_scale_yaw);
+	param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max);
+	_params.yaw_rate_max = math::radians(_params.yaw_rate_max);
+
+	/* manual control scale */
+	param_get(_params_handles.man_roll_max, &_params.man_roll_max);
+	param_get(_params_handles.man_pitch_max, &_params.man_pitch_max);
+	param_get(_params_handles.man_yaw_max, &_params.man_yaw_max);
+	_params.man_roll_max = math::radians(_params.man_roll_max);
+	_params.man_pitch_max = math::radians(_params.man_pitch_max);
+	_params.man_yaw_max = math::radians(_params.man_yaw_max);
+
+	/* acro control scale */
+	param_get(_params_handles.acro_roll_max, &v);
+	_params.acro_rate_max(0) = math::radians(v);
+	param_get(_params_handles.acro_pitch_max, &v);
+	_params.acro_rate_max(1) = math::radians(v);
+	param_get(_params_handles.acro_yaw_max, &v);
+	_params.acro_rate_max(2) = math::radians(v);
+
+	_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY);
 
 	return OK;
 }
@@ -404,7 +449,6 @@ MulticopterAttitudeControl::vehicle_manual_poll()
 	orb_check(_manual_control_sp_sub, &updated);
 
 	if (updated) {
-
 		orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
 	}
 }
@@ -466,7 +510,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 		if (!_v_control_mode.flag_control_climb_rate_enabled) {
 			/* pass throttle directly if not in altitude stabilized mode */
-			_v_att_sp.thrust = _manual_control_sp.throttle;
+			_v_att_sp.thrust = _manual_control_sp.z;
 			publish_att_sp = true;
 		}
 
@@ -483,24 +527,19 @@ MulticopterAttitudeControl::control_attitude(float dt)
 			//	reset_yaw_sp = true;
 			//}
 		} else {
-			float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale_yaw;
-
-			if (_params.rc_scale_yaw > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) {
-				/* move yaw setpoint */
-				yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale_yaw;
-
-				if (_manual_control_sp.yaw > 0.0f) {
-					yaw_sp_move_rate -= YAW_DEADZONE;
-
-				} else {
-					yaw_sp_move_rate += YAW_DEADZONE;
-				}
-
-				yaw_sp_move_rate *= _params.rc_scale_yaw;
-				_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
-				_v_att_sp.R_valid = false;
-				publish_att_sp = true;
+			/* move yaw setpoint */
+			yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
+			_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
+			float yaw_offs_max = _params.man_yaw_max / _params.att_p(2);
+			float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw);
+			if (yaw_offs < - yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max);
+
+			} else if (yaw_offs > yaw_offs_max) {
+				_v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max);
 			}
+			_v_att_sp.R_valid = false;
+			publish_att_sp = true;
 		}
 
 		/* reset yaw setpint to current position if needed */
@@ -513,8 +552,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 		if (!_v_control_mode.flag_control_velocity_enabled) {
 			/* update attitude setpoint if not in position control mode */
-			_v_att_sp.roll_body = _manual_control_sp.roll;
-			_v_att_sp.pitch_body = _manual_control_sp.pitch;
+			_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
+			_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
 			_v_att_sp.R_valid = false;
 			publish_att_sp = true;
 		}
@@ -627,6 +666,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	/* calculate angular rates setpoint */
 	_rates_sp = _params.att_p.emult(e_R);
 
+	/* limit yaw rate */
+	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
+
 	/* feed forward yaw setpoint rate */
 	_rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff;
 }
@@ -763,11 +805,36 @@ MulticopterAttitudeControl::task_main()
 
 			} else {
 				/* attitude controller disabled, poll rates setpoint topic */
-				vehicle_rates_setpoint_poll();
-				_rates_sp(0) = _v_rates_sp.roll;
-				_rates_sp(1) = _v_rates_sp.pitch;
-				_rates_sp(2) = _v_rates_sp.yaw;
-				_thrust_sp = _v_rates_sp.thrust;
+				if (_v_control_mode.flag_control_manual_enabled) {
+					/* manual rates control - ACRO mode */
+					_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
+					_thrust_sp = _manual_control_sp.z;
+
+					/* reset yaw setpoint after ACRO */
+					_reset_yaw_sp = true;
+
+					/* publish attitude rates setpoint */
+					_v_rates_sp.roll = _rates_sp(0);
+					_v_rates_sp.pitch = _rates_sp(1);
+					_v_rates_sp.yaw = _rates_sp(2);
+					_v_rates_sp.thrust = _thrust_sp;
+					_v_rates_sp.timestamp = hrt_absolute_time();
+
+					if (_v_rates_sp_pub > 0) {
+						orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);
+
+					} else {
+						_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
+					}
+
+				} else {
+					/* attitude controller disabled, poll rates setpoint topic */
+					vehicle_rates_setpoint_poll();
+					_rates_sp(0) = _v_rates_sp.roll;
+					_rates_sp(1) = _v_rates_sp.pitch;
+					_rates_sp(2) = _v_rates_sp.yaw;
+					_thrust_sp = _v_rates_sp.thrust;
+				}
 			}
 
 			if (_v_control_mode.flag_control_rates_enabled) {
@@ -780,11 +847,13 @@ MulticopterAttitudeControl::task_main()
 				_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
 				_actuators.timestamp = hrt_absolute_time();
 
-				if (_actuators_0_pub > 0) {
-					orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
+				if (!_actuators_0_circuit_breaker_enabled) {
+					if (_actuators_0_pub > 0) {
+						orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators);
 
-				} else {
-					_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
+					} else {
+						_actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
+					}
 				}
 			}
 		}
@@ -807,7 +876,7 @@ MulticopterAttitudeControl::start()
 	_control_task = task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 488107d58..819847b40 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *   	     @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file mc_att_control_params.c
  * Parameters for multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <systemlib/param/param.h>
@@ -173,3 +174,73 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
  * @group Multicopter Attitude Control
  */
 PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
+
+/**
+ * Max yaw rate
+ *
+ * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
+
+/**
+ * Max manual roll
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
+
+/**
+ * Max manual pitch
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
+
+/**
+ * Max manual yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
+
+/**
+ * Max acro roll rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
+
+/**
+ * Max acro pitch rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
+
+/**
+ * Max acro yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 78d06ba5b..9b0f69226 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,6 +39,8 @@
  * Output of velocity controller is thrust vector that splitted to thrust direction
  * (i.e. rotation matrix for multicopter orientation) and thrust module (i.e. multicopter thrust itself).
  * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
@@ -62,9 +63,10 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
@@ -104,32 +106,36 @@ public:
 
 private:
 
-	bool	_task_should_exit;		/**< if true, task should exit */
+	bool		_task_should_exit;		/**< if true, task should exit */
 	int		_control_task;			/**< task handle for task */
 	int		_mavlink_fd;			/**< mavlink fd */
 
 	int		_att_sub;				/**< vehicle attitude subscription */
 	int		_att_sp_sub;			/**< vehicle attitude setpoint */
 	int		_control_mode_sub;		/**< vehicle control mode subscription */
-	int 	_params_sub;			/**< notification of parameter updates */
-	int 	_manual_sub;			/**< notification of manual control updates */
+	int		_params_sub;			/**< notification of parameter updates */
+	int		_manual_sub;			/**< notification of manual control updates */
 	int		_arming_sub;			/**< arming status of outputs */
-	int		_global_pos_sub;			/**< vehicle local position */
-	int		_pos_sp_triplet_sub;		/**< position setpoint triplet */
+	int		_local_pos_sub;			/**< vehicle local position */
+	int		_pos_sp_triplet_sub;	/**< position setpoint triplet */
+	int		_local_pos_sp_sub;		/**< offboard local position setpoint */
+	int		_global_vel_sp_sub;		/**< offboard global velocity setpoint */
 
 	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
-	orb_advert_t	_pos_sp_triplet_pub;	/**< position setpoint triplet publication */
-	orb_advert_t	_global_vel_sp_pub;		/**< vehicle global velocity setpoint */
+	orb_advert_t	_local_pos_sp_pub;		/**< vehicle local position setpoint publication */
+	orb_advert_t	_global_vel_sp_pub;		/**< vehicle global velocity setpoint publication */
 
 	struct vehicle_attitude_s			_att;			/**< vehicle attitude */
-	struct vehicle_attitude_setpoint_s	_att_sp;		/**< vehicle attitude setpoint */
-	struct manual_control_setpoint_s	_manual;		/**< r/c channel data */
-	struct vehicle_control_mode_s		_control_mode;	/**< vehicle control mode */
+	struct vehicle_attitude_setpoint_s		_att_sp;		/**< vehicle attitude setpoint */
+	struct manual_control_setpoint_s		_manual;		/**< r/c channel data */
+	struct vehicle_control_mode_s			_control_mode;	/**< vehicle control mode */
 	struct actuator_armed_s				_arming;		/**< actuator arming status */
-	struct vehicle_global_position_s		_global_pos;	/**< vehicle global position */
+	struct vehicle_local_position_s			_local_pos;		/**< vehicle local position */
 	struct position_setpoint_triplet_s		_pos_sp_triplet;	/**< vehicle global position setpoint triplet */
+	struct vehicle_local_position_setpoint_s	_local_pos_sp;		/**< vehicle local position setpoint */
 	struct vehicle_global_velocity_setpoint_s	_global_vel_sp;	/**< vehicle global velocity setpoint */
 
+
 	struct {
 		param_t thr_min;
 		param_t thr_max;
@@ -145,23 +151,17 @@ private:
 		param_t xy_vel_d;
 		param_t xy_vel_max;
 		param_t xy_ff;
-		param_t tilt_max;
+		param_t tilt_max_air;
 		param_t land_speed;
-		param_t land_tilt_max;
-
-		param_t rc_scale_pitch;
-		param_t rc_scale_roll;
+		param_t tilt_max_land;
 	}		_params_handles;		/**< handles for interesting parameters */
 
 	struct {
 		float thr_min;
 		float thr_max;
-		float tilt_max;
+		float tilt_max_air;
 		float land_speed;
-		float land_tilt_max;
-
-		float rc_scale_pitch;
-		float rc_scale_roll;
+		float tilt_max_land;
 
 		math::Vector<3> pos_p;
 		math::Vector<3> vel_p;
@@ -172,14 +172,15 @@ private:
 		math::Vector<3> sp_offs_max;
 	}		_params;
 
-	double _lat_sp;
-	double _lon_sp;
-	float _alt_sp;
+	struct map_projection_reference_s _ref_pos;
+	float _ref_alt;
+	hrt_abstime _ref_timestamp;
 
-	bool _reset_lat_lon_sp;
+	bool _reset_pos_sp;
 	bool _reset_alt_sp;
-	bool _use_global_alt;			/**< switch between global (AMSL) and barometric altitudes */
 
+	math::Vector<3> _pos;
+	math::Vector<3> _pos_sp;
 	math::Vector<3> _vel;
 	math::Vector<3> _vel_sp;
 	math::Vector<3> _vel_prev;			/**< velocity on previous step */
@@ -202,9 +203,13 @@ private:
 	static float	scale_control(float ctl, float end, float dz);
 
 	/**
-	 * Reset lat/lon to current position
+	 * Update reference for local position projection
+	 */
+	void		update_ref();
+	/**
+	 * Reset position setpoint to current position
 	 */
-	void		reset_lat_lon_sp();
+	void		reset_pos_sp();
 
 	/**
 	 * Reset altitude setpoint to current altitude
@@ -224,7 +229,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace pos_control
@@ -252,31 +257,33 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params_sub(-1),
 	_manual_sub(-1),
 	_arming_sub(-1),
-	_global_pos_sub(-1),
+	_local_pos_sub(-1),
 	_pos_sp_triplet_sub(-1),
+	_global_vel_sp_sub(-1),
 
 /* publications */
 	_att_sp_pub(-1),
-	_pos_sp_triplet_pub(-1),
+	_local_pos_sp_pub(-1),
 	_global_vel_sp_pub(-1),
 
-	_lat_sp(0.0),
-	_lon_sp(0.0),
-	_alt_sp(0.0f),
+	_ref_alt(0.0f),
+	_ref_timestamp(0),
 
-	_reset_lat_lon_sp(true),
-	_reset_alt_sp(true),
-	_use_global_alt(false)
+	_reset_pos_sp(true),
+	_reset_alt_sp(true)
 {
 	memset(&_att, 0, sizeof(_att));
 	memset(&_att_sp, 0, sizeof(_att_sp));
 	memset(&_manual, 0, sizeof(_manual));
 	memset(&_control_mode, 0, sizeof(_control_mode));
 	memset(&_arming, 0, sizeof(_arming));
-	memset(&_global_pos, 0, sizeof(_global_pos));
+	memset(&_local_pos, 0, sizeof(_local_pos));
 	memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
+	memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
 	memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
 
+	memset(&_ref_pos, 0, sizeof(_ref_pos));
+
 	_params.pos_p.zero();
 	_params.vel_p.zero();
 	_params.vel_i.zero();
@@ -285,6 +292,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params.vel_ff.zero();
 	_params.sp_offs_max.zero();
 
+	_pos.zero();
+	_pos_sp.zero();
 	_vel.zero();
 	_vel_sp.zero();
 	_vel_prev.zero();
@@ -303,11 +312,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params_handles.xy_vel_d	= param_find("MPC_XY_VEL_D");
 	_params_handles.xy_vel_max	= param_find("MPC_XY_VEL_MAX");
 	_params_handles.xy_ff		= param_find("MPC_XY_FF");
-	_params_handles.tilt_max	= param_find("MPC_TILT_MAX");
+	_params_handles.tilt_max_air	= param_find("MPC_TILTMAX_AIR");
 	_params_handles.land_speed	= param_find("MPC_LAND_SPEED");
-	_params_handles.land_tilt_max	= param_find("MPC_LAND_TILT");
-	_params_handles.rc_scale_pitch	= param_find("RC_SCALE_PITCH");
-	_params_handles.rc_scale_roll	= param_find("RC_SCALE_ROLL");
+	_params_handles.tilt_max_land	= param_find("MPC_TILTMAX_LND");
 
 	/* fetch initial parameter values */
 	parameters_update(true);
@@ -345,17 +352,18 @@ MulticopterPositionControl::parameters_update(bool force)
 
 	orb_check(_params_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(parameter_update), _params_sub, &param_upd);
+	}
 
 	if (updated || force) {
 		param_get(_params_handles.thr_min, &_params.thr_min);
 		param_get(_params_handles.thr_max, &_params.thr_max);
-		param_get(_params_handles.tilt_max, &_params.tilt_max);
+		param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
+		_params.tilt_max_air = math::radians(_params.tilt_max_air);
 		param_get(_params_handles.land_speed, &_params.land_speed);
-		param_get(_params_handles.land_tilt_max, &_params.land_tilt_max);
-		param_get(_params_handles.rc_scale_pitch, &_params.rc_scale_pitch);
-		param_get(_params_handles.rc_scale_roll, &_params.rc_scale_roll);
+		param_get(_params_handles.tilt_max_land, &_params.tilt_max_land);
+		_params.tilt_max_land = math::radians(_params.tilt_max_land);
 
 		float v;
 		param_get(_params_handles.xy_p, &v);
@@ -402,33 +410,39 @@ MulticopterPositionControl::poll_subscriptions()
 
 	orb_check(_att_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
+	}
 
 	orb_check(_att_sp_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
+	}
 
 	orb_check(_control_mode_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+	}
 
 	orb_check(_manual_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual);
+	}
 
 	orb_check(_arming_sub, &updated);
 
-	if (updated)
+	if (updated) {
 		orb_copy(ORB_ID(actuator_armed), _arming_sub, &_arming);
+	}
 
-	orb_check(_global_pos_sub, &updated);
+	orb_check(_local_pos_sub, &updated);
 
-	if (updated)
-		orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
+	if (updated) {
+		orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
+	}
 }
 
 float
@@ -452,40 +466,50 @@ MulticopterPositionControl::task_main_trampoline(int argc, char *argv[])
 }
 
 void
-MulticopterPositionControl::reset_lat_lon_sp()
+MulticopterPositionControl::update_ref()
 {
-	if (_reset_lat_lon_sp) {
-		_reset_lat_lon_sp = false;
-		_lat_sp = _global_pos.lat;
-		_lon_sp = _global_pos.lon;
-		mavlink_log_info(_mavlink_fd, "[mpc] reset lat/lon sp: %.7f, %.7f", _lat_sp, _lon_sp);
+	if (_local_pos.ref_timestamp != _ref_timestamp) {
+		double lat_sp, lon_sp;
+		float alt_sp = 0.0f;
+
+		if (_ref_timestamp != 0) {
+			/* calculate current position setpoint in global frame */
+			map_projection_reproject(&_ref_pos, _pos_sp(0), _pos_sp(1), &lat_sp, &lon_sp);
+			alt_sp = _ref_alt - _pos_sp(2);
+		}
+
+		/* update local projection reference */
+		map_projection_init(&_ref_pos, _local_pos.ref_lat, _local_pos.ref_lon);
+		_ref_alt = _local_pos.ref_alt;
+
+		if (_ref_timestamp != 0) {
+			/* reproject position setpoint to new reference */
+			map_projection_project(&_ref_pos, lat_sp, lon_sp, &_pos_sp.data[0], &_pos_sp.data[1]);
+			_pos_sp(2) = -(alt_sp - _ref_alt);
+		}
+
+		_ref_timestamp = _local_pos.ref_timestamp;
 	}
 }
 
 void
-MulticopterPositionControl::reset_alt_sp()
+MulticopterPositionControl::reset_pos_sp()
 {
-	if (_reset_alt_sp) {
-		_reset_alt_sp = false;
-		_alt_sp = _use_global_alt ? _global_pos.alt : _global_pos.baro_alt;
-		mavlink_log_info(_mavlink_fd, "[mpc] reset alt (%s) sp: %.2f", _use_global_alt ? "AMSL" : "baro", (double)_alt_sp);
+	if (_reset_pos_sp) {
+		_reset_pos_sp = false;
+		_pos_sp(0) = _pos(0);
+		_pos_sp(1) = _pos(1);
+		mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
 	}
 }
 
 void
-MulticopterPositionControl::select_alt(bool global)
+MulticopterPositionControl::reset_alt_sp()
 {
-	if (global != _use_global_alt) {
-		_use_global_alt = global;
-
-		if (global) {
-			/* switch from barometric to global altitude */
-			_alt_sp += _global_pos.alt - _global_pos.baro_alt;
-
-		} else {
-			/* switch from global to barometric altitude */
-			_alt_sp += _global_pos.baro_alt - _global_pos.alt;
-		}
+	if (_reset_alt_sp) {
+		_reset_alt_sp = false;
+		_pos_sp(2) = _pos(2);
+		mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
 	}
 }
 
@@ -506,8 +530,11 @@ MulticopterPositionControl::task_main()
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_arming_sub = orb_subscribe(ORB_ID(actuator_armed));
-	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
 	_pos_sp_triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
+	_local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
+	_global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
+
 
 	parameters_update(true);
 
@@ -525,10 +552,12 @@ MulticopterPositionControl::task_main()
 	hrt_abstime t_prev = 0;
 
 	const float alt_ctl_dz = 0.2f;
-	const float pos_ctl_dz = 0.05f;
 
 	math::Vector<3> sp_move_rate;
 	sp_move_rate.zero();
+
+	float yaw_sp_move_rate;
+
 	math::Vector<3> thrust_int;
 	thrust_int.zero();
 	math::Matrix<3, 3> R;
@@ -537,8 +566,7 @@ MulticopterPositionControl::task_main()
 	/* wakeup source */
 	struct pollfd fds[1];
 
-	/* Setup of loop */
-	fds[0].fd = _global_pos_sub;
+	fds[0].fd = _local_pos_sub;
 	fds[0].events = POLLIN;
 
 	while (!_task_should_exit) {
@@ -546,8 +574,9 @@ MulticopterPositionControl::task_main()
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
 
 		/* timed out - periodic check for _task_should_exit */
-		if (pret == 0)
+		if (pret == 0) {
 			continue;
+		}
 
 		/* this is undesirable but not much we can do */
 		if (pret < 0) {
@@ -564,7 +593,7 @@ MulticopterPositionControl::task_main()
 
 		if (_control_mode.flag_armed && !was_armed) {
 			/* reset setpoints and integrals on arming */
-			_reset_lat_lon_sp = true;
+			_reset_pos_sp = true;
 			_reset_alt_sp = true;
 			reset_int_z = true;
 			reset_int_xy = true;
@@ -572,44 +601,41 @@ MulticopterPositionControl::task_main()
 
 		was_armed = _control_mode.flag_armed;
 
+		update_ref();
+
 		if (_control_mode.flag_control_altitude_enabled ||
 		    _control_mode.flag_control_position_enabled ||
 		    _control_mode.flag_control_climb_rate_enabled ||
 		    _control_mode.flag_control_velocity_enabled) {
 
-			_vel(0) = _global_pos.vel_n;
-			_vel(1) = _global_pos.vel_e;
-			_vel(2) = _global_pos.vel_d;
+			_pos(0) = _local_pos.x;
+			_pos(1) = _local_pos.y;
+			_pos(2) = _local_pos.z;
 
-			sp_move_rate.zero();
+			_vel(0) = _local_pos.vx;
+			_vel(1) = _local_pos.vy;
+			_vel(2) = _local_pos.vz;
 
-			float alt = _global_pos.alt;
+			sp_move_rate.zero();
 
 			/* select control source */
 			if (_control_mode.flag_control_manual_enabled) {
-				/* select altitude source and update setpoint */
-				select_alt(_global_pos.global_valid);
-
-				if (!_use_global_alt) {
-					alt = _global_pos.baro_alt;
-				}
-
 				/* manual control */
 				if (_control_mode.flag_control_altitude_enabled) {
 					/* reset alt setpoint to current altitude if needed */
 					reset_alt_sp();
 
 					/* move altitude setpoint with throttle stick */
-					sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
+					sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
 				}
 
 				if (_control_mode.flag_control_position_enabled) {
-					/* reset lat/lon setpoint to current position if needed */
-					reset_lat_lon_sp();
+					/* reset position setpoint to current position if needed */
+					reset_pos_sp();
 
 					/* move position setpoint with roll/pitch stick */
-					sp_move_rate(0) = scale_control(-_manual.pitch / _params.rc_scale_pitch, 1.0f, pos_ctl_dz);
-					sp_move_rate(1) = scale_control(_manual.roll / _params.rc_scale_roll, 1.0f, pos_ctl_dz);
+					sp_move_rate(0) = _manual.x;
+					sp_move_rate(1) = _manual.y;
 				}
 
 				/* limit setpoint move rate */
@@ -625,74 +651,123 @@ MulticopterPositionControl::task_main()
 				sp_move_rate = R_yaw_sp * sp_move_rate.emult(_params.vel_max);
 
 				/* move position setpoint */
-				add_vector_to_global_position(_lat_sp, _lon_sp, sp_move_rate(0) * dt, sp_move_rate(1) * dt, &_lat_sp, &_lon_sp);
-				_alt_sp -= sp_move_rate(2) * dt;
+				_pos_sp += sp_move_rate * dt;
 
 				/* check if position setpoint is too far from actual position */
 				math::Vector<3> pos_sp_offs;
 				pos_sp_offs.zero();
 
 				if (_control_mode.flag_control_position_enabled) {
-					get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_sp_offs.data[0], &pos_sp_offs.data[1]);
-					pos_sp_offs(0) /= _params.sp_offs_max(0);
-					pos_sp_offs(1) /= _params.sp_offs_max(1);
+					pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
+					pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
 				}
 
 				if (_control_mode.flag_control_altitude_enabled) {
-					pos_sp_offs(2) = -(_alt_sp - alt) / _params.sp_offs_max(2);
+					pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
 				}
 
 				float pos_sp_offs_norm = pos_sp_offs.length();
 
 				if (pos_sp_offs_norm > 1.0f) {
 					pos_sp_offs /= pos_sp_offs_norm;
-					add_vector_to_global_position(_global_pos.lat, _global_pos.lon, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp);
-					_alt_sp = alt - pos_sp_offs(2) * _params.sp_offs_max(2);
+					_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
+				}
+
+			} else if (_control_mode.flag_control_offboard_enabled) {
+				/* Offboard control */
+				bool updated;
+				orb_check(_pos_sp_triplet_sub, &updated);
+
+				if (updated) {
+					orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
 				}
 
-				/* fill position setpoint triplet */
-				_pos_sp_triplet.previous.valid = true;
-				_pos_sp_triplet.current.valid = true;
-				_pos_sp_triplet.next.valid = true;
-
-				_pos_sp_triplet.nav_state = NAV_STATE_NONE;
-				_pos_sp_triplet.current.type = SETPOINT_TYPE_NORMAL;
-				_pos_sp_triplet.current.lat = _lat_sp;
-				_pos_sp_triplet.current.lon = _lon_sp;
-				_pos_sp_triplet.current.alt = _alt_sp;
-				_pos_sp_triplet.current.yaw = _att_sp.yaw_body;
-				_pos_sp_triplet.current.loiter_radius = 0.0f;
-				_pos_sp_triplet.current.loiter_direction = 1.0f;
-				_pos_sp_triplet.current.pitch_min = 0.0f;
-
-				/* publish position setpoint triplet */
-				if (_pos_sp_triplet_pub > 0) {
-					orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
+				if (_pos_sp_triplet.current.valid) {
+
+					if (_control_mode.flag_control_position_enabled && _pos_sp_triplet.current.position_valid) {
+
+						_pos_sp(0) = _pos_sp_triplet.current.x;
+						_pos_sp(1) = _pos_sp_triplet.current.y;
+						_pos_sp(2) = _pos_sp_triplet.current.z;
+						_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
+
+					} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
+						/* reset position setpoint to current position if needed */
+						reset_pos_sp();
+						/* move position setpoint with roll/pitch stick */
+						sp_move_rate(0) = _pos_sp_triplet.current.vx;
+						sp_move_rate(1) = _pos_sp_triplet.current.vy;
+						yaw_sp_move_rate = _pos_sp_triplet.current.yawspeed;
+						_att_sp.yaw_body = _att.yaw + yaw_sp_move_rate * dt;
+					}
+
+					if (_control_mode.flag_control_altitude_enabled) {
+						/* reset alt setpoint to current altitude if needed */
+						reset_alt_sp();
+
+						/* move altitude setpoint with throttle stick */
+						sp_move_rate(2) = -scale_control(_pos_sp_triplet.current.vz - 0.5f, 0.5f, alt_ctl_dz);;
+					}
+
+					/* limit setpoint move rate */
+					float sp_move_norm = sp_move_rate.length();
+
+					if (sp_move_norm > 1.0f) {
+						sp_move_rate /= sp_move_norm;
+					}
+
+					/* scale to max speed and rotate around yaw */
+					math::Matrix<3, 3> R_yaw_sp;
+					R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
+					sp_move_rate = R_yaw_sp * sp_move_rate.emult(_params.vel_max);
+
+					/* move position setpoint */
+					_pos_sp += sp_move_rate * dt;
+
+					/* check if position setpoint is too far from actual position */
+					math::Vector<3> pos_sp_offs;
+					pos_sp_offs.zero();
+
+					if (_control_mode.flag_control_position_enabled) {
+						pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
+						pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
+					}
+
+					if (_control_mode.flag_control_altitude_enabled) {
+						pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
+					}
+
+					float pos_sp_offs_norm = pos_sp_offs.length();
+
+					if (pos_sp_offs_norm > 1.0f) {
+						pos_sp_offs /= pos_sp_offs_norm;
+						_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
+					}
 
 				} else {
-					_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
+					reset_pos_sp();
+					reset_alt_sp();
 				}
 
 			} else {
-				/* always use AMSL altitude for AUTO */
-				select_alt(true);
-
 				/* AUTO */
 				bool updated;
 				orb_check(_pos_sp_triplet_sub, &updated);
 
-				if (updated)
+				if (updated) {
 					orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
+				}
 
 				if (_pos_sp_triplet.current.valid) {
 					/* in case of interrupted mission don't go to waypoint but stay at current position */
-					_reset_lat_lon_sp = true;
+					_reset_pos_sp = true;
 					_reset_alt_sp = true;
 
-					/* update position setpoint */
-					_lat_sp = _pos_sp_triplet.current.lat;
-					_lon_sp = _pos_sp_triplet.current.lon;
-					_alt_sp = _pos_sp_triplet.current.alt;
+					/* project setpoint to local frame */
+					map_projection_project(&_ref_pos,
+							       _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
+							       &_pos_sp.data[0], &_pos_sp.data[1]);
+					_pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
 
 					/* update yaw setpoint if needed */
 					if (isfinite(_pos_sp_triplet.current.yaw)) {
@@ -701,11 +776,26 @@ MulticopterPositionControl::task_main()
 
 				} else {
 					/* no waypoint, loiter, reset position setpoint if needed */
-					reset_lat_lon_sp();
+					reset_pos_sp();
 					reset_alt_sp();
 				}
 			}
 
+			/* fill local position setpoint */
+			_local_pos_sp.x = _pos_sp(0);
+			_local_pos_sp.y = _pos_sp(1);
+			_local_pos_sp.z = _pos_sp(2);
+			_local_pos_sp.yaw = _att_sp.yaw_body;
+
+			/* publish local position setpoint */
+			if (_local_pos_sp_pub > 0) {
+				orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
+
+			} else {
+				_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
+			}
+
+
 			if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) {
 				/* idle state, don't run controller and set zero thrust */
 				R.identity();
@@ -729,9 +819,7 @@ MulticopterPositionControl::task_main()
 
 			} else {
 				/* run position & altitude controllers, calculate velocity setpoint */
-				math::Vector<3> pos_err;
-				get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]);
-				pos_err(2) = -(_alt_sp - alt);
+				math::Vector<3> pos_err = _pos_sp - _pos;
 
 				_vel_sp = pos_err.emult(_params.pos_p) + sp_move_rate.emult(_params.vel_ff);
 
@@ -741,7 +829,7 @@ MulticopterPositionControl::task_main()
 				}
 
 				if (!_control_mode.flag_control_position_enabled) {
-					_reset_lat_lon_sp = true;
+					_reset_pos_sp = true;
 					_vel_sp(0) = 0.0f;
 					_vel_sp(1) = 0.0f;
 				}
@@ -751,6 +839,7 @@ MulticopterPositionControl::task_main()
 					_vel_sp(2) = _params.land_speed;
 				}
 
+
 				if (!_control_mode.flag_control_manual_enabled) {
 					/* limit 3D speed only in non-manual modes */
 					float vel_sp_norm = _vel_sp.edivide(_params.vel_max).length();
@@ -780,7 +869,7 @@ MulticopterPositionControl::task_main()
 							float i = _params.thr_min;
 
 							if (reset_int_z_manual) {
-								i = _manual.throttle;
+								i = _manual.z;
 
 								if (i < _params.thr_min) {
 									i = _params.thr_min;
@@ -839,16 +928,17 @@ MulticopterPositionControl::task_main()
 						thr_min = 0.0f;
 					}
 
-					float tilt_max = _params.tilt_max;
+					float tilt_max = _params.tilt_max_air;
 
 					/* adjust limits for landing mode */
 					if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
 					    _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
 						/* limit max tilt and min lift when landing */
-						tilt_max = _params.land_tilt_max;
+						tilt_max = _params.tilt_max_land;
 
-						if (thr_min < 0.0f)
+						if (thr_min < 0.0f) {
 							thr_min = 0.0f;
+						}
 					}
 
 					/* limit min lift */
@@ -859,7 +949,7 @@ MulticopterPositionControl::task_main()
 
 					if (_control_mode.flag_control_velocity_enabled) {
 						/* limit max tilt */
-						if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) {
+						if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) {
 							/* absolute horizontal thrust */
 							float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length();
 
@@ -939,8 +1029,9 @@ MulticopterPositionControl::task_main()
 						thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt;
 
 						/* protection against flipping on ground when landing */
-						if (thrust_int(2) > 0.0f)
+						if (thrust_int(2) > 0.0f) {
 							thrust_int(2) = 0.0f;
+						}
 					}
 
 					/* calculate attitude setpoint from thrust vector */
@@ -999,6 +1090,18 @@ MulticopterPositionControl::task_main()
 						_att_sp.roll_body = euler(0);
 						_att_sp.pitch_body = euler(1);
 						/* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */
+
+					} else if (!_control_mode.flag_control_manual_enabled) {
+						/* autonomous altitude control without position control (failsafe landing),
+						 * force level attitude, don't change yaw */
+						R.from_euler(0.0f, 0.0f, _att_sp.yaw_body);
+
+						/* copy rotation matrix to attitude setpoint topic */
+						memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body));
+						_att_sp.R_valid = true;
+
+						_att_sp.roll_body = 0.0f;
+						_att_sp.pitch_body = 0.0f;
 					}
 
 					_att_sp.thrust = thrust_abs;
@@ -1021,9 +1124,10 @@ MulticopterPositionControl::task_main()
 		} else {
 			/* position controller disabled, reset setpoints */
 			_reset_alt_sp = true;
-			_reset_lat_lon_sp = true;
+			_reset_pos_sp = true;
 			reset_int_z = true;
 			reset_int_xy = true;
+
 		}
 
 		/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */
@@ -1046,7 +1150,7 @@ MulticopterPositionControl::start()
 	_control_task = task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterPositionControl::task_main_trampoline,
 				       nullptr);
 
@@ -1060,18 +1164,21 @@ MulticopterPositionControl::start()
 
 int mc_pos_control_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: mc_pos_control {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (pos_control::g_control != nullptr)
+		if (pos_control::g_control != nullptr) {
 			errx(1, "already running");
+		}
 
 		pos_control::g_control = new MulticopterPositionControl;
 
-		if (pos_control::g_control == nullptr)
+		if (pos_control::g_control == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != pos_control::g_control->start()) {
 			delete pos_control::g_control;
@@ -1083,8 +1190,9 @@ int mc_pos_control_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (pos_control::g_control == nullptr)
+		if (pos_control::g_control == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete pos_control::g_control;
 		pos_control::g_control = nullptr;
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 0082a5e6a..05ab5769b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -35,6 +35,8 @@
 /**
  * @file mc_pos_control_params.c
  * Multicopter position controller parameters.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <systemlib/param/param.h>
@@ -98,8 +100,9 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
 /**
  * Maximum vertical velocity
  *
- * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
+ * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
  *
+ * @unit m/s
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -108,7 +111,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
 /**
  * Vertical velocity feed forward
  *
- * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -153,8 +156,9 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
 /**
  * Maximum horizontal velocity
  *
- * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
+ * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
  *
+ * @unit m/s
  * @min 0.0
  * @group Multicopter Position Control
  */
@@ -163,7 +167,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 /**
  * Horizontal velocity feed forward
  *
- * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
+ * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
  *
  * @min 0.0
  * @max 1.0
@@ -172,31 +176,35 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
 PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
 
 /**
- * Maximum tilt
+ * Maximum tilt angle in air
  *
- * Limits maximum tilt in AUTO and EASY modes.
+ * Limits maximum tilt in AUTO and POSCTRL modes during flight.
  *
+ * @unit deg
  * @min 0.0
- * @max 1.57
+ * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
 
 /**
- * Landing descend rate
+ * Maximum tilt during landing
  *
+ * Limits maximum tilt angle on landing.
+ *
+ * @unit deg
  * @min 0.0
+ * @max 90.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
 
 /**
- * Maximum landing tilt
- *
- * Limits maximum tilt on landing.
+ * Landing descend rate
  *
+ * @unit m/s
  * @min 0.0
- * @max 1.57
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f);
+PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
+
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index f452a85f7..266215308 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.cpp
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 #include "geofence.h"
 
@@ -77,7 +78,7 @@ bool Geofence::inside(const struct vehicle_global_position_s *vehicle)
 {
 	double lat = vehicle->lat / 1e7d;
 	double lon = vehicle->lon / 1e7d;
-	float	alt = vehicle->alt;
+	//float	alt = vehicle->alt;
 
 	return inside(lat, lon, vehicle->alt);
 }
@@ -115,9 +116,9 @@ bool Geofence::inside(double lat, double lon, float altitude)
 				}
 
 				// skip vertex 0 (return point)
-				if (((temp_vertex_i.lon) >= lon != (temp_vertex_j.lon >= lon)) &&
-							(lat <= (temp_vertex_j.lat - temp_vertex_i.lat) * (lon - temp_vertex_i.lon) /
-							 (temp_vertex_j.lon - temp_vertex_i.lon) + temp_vertex_i.lat)) {
+				if (((double)temp_vertex_i.lon >= lon) != ((double)temp_vertex_j.lon >= lon) &&
+							(lat <= (double)(temp_vertex_j.lat - temp_vertex_i.lat) * (lon - (double)temp_vertex_i.lon) /
+							 (double)(temp_vertex_j.lon - temp_vertex_i.lon) + (double)temp_vertex_i.lat)) {
 							c = !c;
 				}
 
@@ -293,4 +294,5 @@ Geofence::loadFromFile(const char *filename)
 int Geofence::clearDm()
 {
 	dm_clear(DM_KEY_FENCE_POINTS);
+	return OK;
 }
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 9628b7271..2eb126ab5 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.h
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #ifndef GEOFENCE_H_
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index 5831a0ca9..653b1ad84 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/sdlog/sdlog_ringbuffer.c b/src/modules/navigator/loiter.cpp
index d7c8a4759..f827e70c9 100644
--- a/src/modules/sdlog/sdlog_ringbuffer.c
+++ b/src/modules/navigator/loiter.cpp
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,61 +30,64 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-
 /**
- * @file sdlog_log.c
- * MAVLink text logging.
+ * @file loiter.cpp
+ *
+ * Helper class to loiter
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <string.h>
 #include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/position_setpoint_triplet.h>
 
-#include "sdlog_ringbuffer.h"
+#include "loiter.h"
+#include "navigator.h"
 
-void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size)
+Loiter::Loiter(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name)
 {
-	lb->size  = size;
-	lb->start = 0;
-	lb->count = 0;
-	lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector));
+	/* load initial params */
+	updateParams();
 }
 
-int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb)
+Loiter::~Loiter()
 {
-	return lb->count == (int)lb->size;
 }
 
-int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb)
+void
+Loiter::on_inactive()
 {
-	return lb->count == 0;
 }
 
-
-// XXX make these functions thread-safe
-void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem)
+void
+Loiter::on_activation()
 {
-	int end = (lb->start + lb->count) % lb->size;
-	memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector));
+	/* set current mission item to loiter */
+	set_loiter_item(&_mission_item);
+
+	/* convert mission item to current setpoint */
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	pos_sp_triplet->previous.valid = false;
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->next.valid = false;
 
-	if (sdlog_logbuffer_is_full(lb)) {
-		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
+	_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
 
-	} else {
-		++lb->count;
-	}
+	_navigator->set_position_setpoint_triplet_updated();
 }
 
-int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem)
+void
+Loiter::on_active()
 {
-	if (!sdlog_logbuffer_is_empty(lb)) {
-		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector));
-		lb->start = (lb->start + 1) % lb->size;
-		--lb->count;
-		return 0;
-
-	} else {
-		return 1;
-	}
 }
diff --git a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h b/src/modules/navigator/loiter.h
index 500e3e197..37ab57a07 100644
--- a/src/modules/fixedwing_att_control/fixedwing_att_control_rate.h
+++ b/src/modules/navigator/loiter.h
@@ -1,8 +1,6 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+/***************************************************************************
  *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,17 +30,35 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
+/**
+ * @file loiter.h
+ *
+ * Helper class to loiter
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_LOITER_H
+#define NAVIGATOR_LOITER_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+
+class Loiter : public MissionBlock
+{
+public:
+	Loiter(Navigator *navigator, const char *name);
 
-/* @file Fixed Wing Attitude Rate Control */
+	~Loiter();
 
-#ifndef FIXEDWING_ATT_CONTROL_RATE_H_
-#define FIXEDWING_ATT_CONTROL_RATE_H_
+	virtual void on_inactive();
 
-#include <uORB/topics/vehicle_rates_setpoint.h>
-#include <uORB/topics/actuator_controls.h>
+	virtual void on_activation();
 
-int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
-				const float rates[],
-				struct actuator_controls_s *actuators);
+	virtual void on_active();
+};
 
-#endif /* FIXEDWING_ATT_CONTROL_RATE_H_ */
+#endif
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
new file mode 100644
index 000000000..c0e37a3ed
--- /dev/null
+++ b/src/modules/navigator/mission.cpp
@@ -0,0 +1,628 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator_mission.cpp
+ *
+ * Helper class to access missions
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <sys/types.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include <drivers/drv_hrt.h>
+
+#include <dataman/dataman.h>
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
+#include "mission.h"
+#include "navigator.h"
+
+Mission::Mission(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name),
+	_param_onboard_enabled(this, "ONBOARD_EN"),
+	_param_takeoff_alt(this, "TAKEOFF_ALT"),
+	_param_dist_1wp(this, "DIST_1WP"),
+	_onboard_mission({0}),
+	_offboard_mission({0}),
+	_current_onboard_mission_index(-1),
+	_current_offboard_mission_index(-1),
+	_need_takeoff(true),
+	_takeoff(false),
+	_mission_result_pub(-1),
+	_mission_result({0}),
+	_mission_type(MISSION_TYPE_NONE),
+	_inited(false),
+	_dist_1wp_ok(false)
+{
+	/* load initial params */
+	updateParams();
+}
+
+Mission::~Mission()
+{
+}
+
+void
+Mission::on_inactive()
+{
+	if (_inited) {
+		/* check if missions have changed so that feedback to ground station is given */
+		bool onboard_updated = false;
+		orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
+		if (onboard_updated) {
+			update_onboard_mission();
+		}
+
+		bool offboard_updated = false;
+		orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
+		if (offboard_updated) {
+			update_offboard_mission();
+		}
+
+	} else {
+		/* read mission topics on initialization */
+		_inited = true;
+
+		update_onboard_mission();
+		update_offboard_mission();
+	}
+
+	if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
+		_need_takeoff = true;
+	}
+}
+
+void
+Mission::on_activation()
+{
+	set_mission_items();
+}
+
+void
+Mission::on_active()
+{
+	/* check if anything has changed */
+	bool onboard_updated = false;
+	orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
+	if (onboard_updated) {
+		update_onboard_mission();
+	}
+
+	bool offboard_updated = false;
+	orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
+	if (offboard_updated) {
+		update_offboard_mission();
+	}
+
+	/* reset mission items if needed */
+	if (onboard_updated || offboard_updated) {
+		set_mission_items();
+	}
+
+	/* lets check if we reached the current mission item */
+	if (_mission_type != MISSION_TYPE_NONE && is_mission_item_reached()) {
+		advance_mission();
+		set_mission_items();
+
+	} else {
+		/* if waypoint position reached allow loiter on the setpoint */
+		if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
+			_navigator->set_can_loiter_at_sp(true);
+		}
+	}
+}
+
+void
+Mission::update_onboard_mission()
+{
+	if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) {
+		/* accept the current index set by the onboard mission if it is within bounds */
+		if (_onboard_mission.current_seq >=0
+		&& _onboard_mission.current_seq < (int)_onboard_mission.count) {
+			_current_onboard_mission_index = _onboard_mission.current_seq;
+		} else {
+			/* if less WPs available, reset to first WP */
+			if (_current_onboard_mission_index >= (int)_onboard_mission.count) {
+				_current_onboard_mission_index = 0;
+			/* if not initialized, set it to 0 */
+			} else if (_current_onboard_mission_index < 0) {
+				_current_onboard_mission_index = 0;
+			}
+			/* otherwise, just leave it */
+		}
+
+	} else {
+		_onboard_mission.count = 0;
+		_onboard_mission.current_seq = 0;
+		_current_onboard_mission_index = 0;
+	}
+}
+
+void
+Mission::update_offboard_mission()
+{
+	if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
+		warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq);
+		/* determine current index */
+		if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) {
+			_current_offboard_mission_index = _offboard_mission.current_seq;
+		} else {
+			/* if less items available, reset to first item */
+			if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
+				_current_offboard_mission_index = 0;
+
+			/* if not initialized, set it to 0 */
+			} else if (_current_offboard_mission_index < 0) {
+				_current_offboard_mission_index = 0;
+			}
+			/* otherwise, just leave it */
+		}
+
+		/* Check mission feasibility, for now do not handle the return value,
+		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
+		dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
+
+		missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
+				dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
+				_navigator->get_home_position()->alt);
+
+	} else {
+		warnx("offboard mission update failed");
+		_offboard_mission.count = 0;
+		_offboard_mission.current_seq = 0;
+		_current_offboard_mission_index = 0;
+	}
+
+	report_current_offboard_mission_item();
+}
+
+
+void
+Mission::advance_mission()
+{
+	if (_takeoff) {
+		_takeoff = false;
+
+	} else {
+		switch (_mission_type) {
+		case MISSION_TYPE_ONBOARD:
+			_current_onboard_mission_index++;
+			break;
+
+		case MISSION_TYPE_OFFBOARD:
+			_current_offboard_mission_index++;
+			break;
+
+		case MISSION_TYPE_NONE:
+		default:
+			break;
+		}
+	}
+}
+
+bool
+Mission::check_dist_1wp()
+{
+	if (_dist_1wp_ok) {
+		/* always return true after at least one successful check */
+		return true;
+	}
+
+	/* check if first waypoint is not too far from home */
+	if (_param_dist_1wp.get() > 0.0f) {
+		if (_navigator->get_vstatus()->condition_home_position_valid) {
+			struct mission_item_s mission_item;
+
+			/* find first waypoint (with lat/lon) item in datamanager */
+			for (unsigned i = 0; i < _offboard_mission.count; i++) {
+				if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id), i,
+						&mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) {
+
+					/* check only items with valid lat/lon */
+					if (	mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
+							mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+							mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
+							mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+							mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
+							mission_item.nav_cmd == NAV_CMD_PATHPLANNING) {
+
+						/* check distance from home to item */
+						float dist_to_1wp = get_distance_to_next_waypoint(
+								mission_item.lat, mission_item.lon,
+								_navigator->get_home_position()->lat, _navigator->get_home_position()->lon);
+
+						if (dist_to_1wp < _param_dist_1wp.get()) {
+							_dist_1wp_ok = true;
+							if (dist_to_1wp > ((_param_dist_1wp.get() * 3) / 2)) {
+								/* allow at 2/3 distance, but warn */
+								mavlink_log_critical(_navigator->get_mavlink_fd(), "Warning: First waypoint very far: %d m", (int)dist_to_1wp);
+							}
+							return true;
+
+						} else {
+							/* item is too far from home */
+							mavlink_log_critical(_navigator->get_mavlink_fd(), "Waypoint too far: %d m,[MIS_DIST_1WP=%d]", (int)dist_to_1wp, (int)_param_dist_1wp.get());
+							return false;
+						}
+					}
+
+				} else {
+					/* error reading, mission is invalid */
+					mavlink_log_info(_navigator->get_mavlink_fd(), "error reading offboard mission");
+					return false;
+				}
+			}
+
+			/* no waypoints found in mission, then we will not fly far away */
+			_dist_1wp_ok = true;
+			return true;
+
+		} else {
+			mavlink_log_info(_navigator->get_mavlink_fd(), "no home position");
+			return false;
+		}
+
+	} else {
+		return true;
+	}
+}
+
+void
+Mission::set_mission_items()
+{
+	/* make sure param is up to date */
+	updateParams();
+
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	/* set previous position setpoint to current */
+	set_previous_pos_setpoint();
+
+	/* get home distance state */
+	bool home_dist_ok = check_dist_1wp();
+	/* the home dist check provides user feedback, so we initialize it to this */
+	bool user_feedback_done = !home_dist_ok;
+
+	/* try setting onboard mission item */
+	if (_param_onboard_enabled.get() && read_mission_item(true, true, &_mission_item)) {
+		/* if mission type changed, notify */
+		if (_mission_type != MISSION_TYPE_ONBOARD) {
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "onboard mission now running");
+		}
+		_mission_type = MISSION_TYPE_ONBOARD;
+
+	/* try setting offboard mission item */
+	} else if (home_dist_ok && read_mission_item(false, true, &_mission_item)) {
+		/* if mission type changed, notify */
+		if (_mission_type != MISSION_TYPE_OFFBOARD) {
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "offboard mission now running");
+		}
+		_mission_type = MISSION_TYPE_OFFBOARD;
+
+	} else {
+		/* no mission available or mission finished, switch to loiter */
+		if (_mission_type != MISSION_TYPE_NONE) {
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "mission finished, loitering");
+		} else if (!user_feedback_done) {
+			/* only tell users that we got no mission if there has not been any
+			 * better, more specific feedback yet
+			 */
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "no valid mission available");
+		}
+		_mission_type = MISSION_TYPE_NONE;
+
+		/* set loiter mission item */
+		set_loiter_item(&_mission_item);
+
+		/* update position setpoint triplet  */
+		pos_sp_triplet->previous.valid = false;
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+		pos_sp_triplet->next.valid = false;
+
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == SETPOINT_TYPE_LOITER);
+
+		reset_mission_item_reached();
+		report_mission_finished();
+
+		_navigator->set_position_setpoint_triplet_updated();
+		return;
+	}
+
+	/* do takeoff on first waypoint for rotary wing vehicles */
+	if (_navigator->get_vstatus()->is_rotary_wing) {
+		/* force takeoff if landed (additional protection) */
+		if (!_takeoff && _navigator->get_vstatus()->condition_landed) {
+			_need_takeoff = true;
+		}
+
+		/* new current mission item set, check if we need takeoff */
+		if (_need_takeoff && (
+				_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
+				_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
+				_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+				_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
+				_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+				_mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH)) {
+			_takeoff = true;
+			_need_takeoff = false;
+		}
+	}
+
+	if (_takeoff) {
+		/* do takeoff before going to setpoint */
+		/* set mission item as next position setpoint */
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->next);
+
+		/* calculate takeoff altitude */
+		float takeoff_alt = _mission_item.altitude;
+		if (_mission_item.altitude_is_relative) {
+			takeoff_alt += _navigator->get_home_position()->alt;
+		}
+
+		/* perform takeoff at least to NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
+		if (_navigator->get_vstatus()->condition_landed) {
+			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
+
+		} else {
+			takeoff_alt = fmaxf(takeoff_alt, _navigator->get_home_position()->alt + _param_takeoff_alt.get());
+		}
+
+		mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
+
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude = takeoff_alt;
+		_mission_item.altitude_is_relative = false;
+
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+
+	} else {
+		/* set current position setpoint from mission item */
+		mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+
+		/* require takeoff after landing or idle */
+		if (pos_sp_triplet->current.type == SETPOINT_TYPE_LAND || pos_sp_triplet->current.type == SETPOINT_TYPE_IDLE) {
+			_need_takeoff = true;
+		}
+
+		_navigator->set_can_loiter_at_sp(false);
+		reset_mission_item_reached();
+
+		if (_mission_type == MISSION_TYPE_OFFBOARD) {
+			report_current_offboard_mission_item();
+		}
+		// TODO: report onboard mission item somehow
+
+		/* try to read next mission item */
+		struct mission_item_s mission_item_next;
+
+		if (read_mission_item(_mission_type == MISSION_TYPE_ONBOARD, false, &mission_item_next)) {
+			/* got next mission item, update setpoint triplet */
+			mission_item_to_position_setpoint(&mission_item_next, &pos_sp_triplet->next);
+
+		} else {
+			/* next mission item is not available */
+			pos_sp_triplet->next.valid = false;
+		}
+	}
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+bool
+Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
+{
+	/* select onboard/offboard mission */
+	int *mission_index_ptr;
+	struct mission_s *mission;
+	dm_item_t dm_item;
+	int mission_index_next;
+
+	if (onboard) {
+		/* onboard mission */
+		mission_index_next = _current_onboard_mission_index + 1;
+		mission_index_ptr = is_current ? &_current_onboard_mission_index : &mission_index_next;
+
+		mission = &_onboard_mission;
+
+		dm_item = DM_KEY_WAYPOINTS_ONBOARD;
+
+	} else {
+		/* offboard mission */
+		mission_index_next = _current_offboard_mission_index + 1;
+		mission_index_ptr = is_current ? &_current_offboard_mission_index : &mission_index_next;
+
+		mission = &_offboard_mission;
+
+		dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
+	}
+
+	if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
+		/* mission item index out of bounds */
+		return false;
+	}
+
+	/* repeat several to get the mission item because we might have to follow multiple DO_JUMPS */
+	for (int i = 0; i < 10; i++) {
+		const ssize_t len = sizeof(struct mission_item_s);
+
+		/* read mission item to temp storage first to not overwrite current mission item if data damaged */
+		struct mission_item_s mission_item_tmp;
+
+		/* read mission item from datamanager */
+		if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
+			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+			mavlink_log_critical(_navigator->get_mavlink_fd(),
+			                     "ERROR waypoint could not be read");
+			return false;
+		}
+
+		/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
+		if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) {
+
+			/* do DO_JUMP as many times as requested */
+			if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) {
+
+				/* only raise the repeat count if this is for the current mission item
+				* but not for the next mission item */
+				if (is_current) {
+					(mission_item_tmp.do_jump_current_count)++;
+					/* save repeat count */
+					if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_IN_FLIGHT_RESET, &mission_item_tmp, len) != len) {
+						/* not supposed to happen unless the datamanager can't access the
+						 * dataman */
+						mavlink_log_critical(_navigator->get_mavlink_fd(),
+								"ERROR DO JUMP waypoint could not be written");
+						return false;
+					}
+				}
+				/* set new mission item index and repeat
+				* we don't have to validate here, if it's invalid, we should realize this later .*/
+				*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
+
+			} else {
+				mavlink_log_critical(_navigator->get_mavlink_fd(),
+						 "DO JUMP repetitions completed");
+				/* no more DO_JUMPS, therefore just try to continue with next mission item */
+				(*mission_index_ptr)++;
+			}
+
+		} else {
+			/* if it's not a DO_JUMP, then we were successful */
+			memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s));
+			return true;
+		}
+	}
+
+	/* we have given up, we don't want to cycle forever */
+	mavlink_log_critical(_navigator->get_mavlink_fd(),
+			     "ERROR DO JUMP is cycling, giving up");
+	return false;
+}
+
+void
+Mission::save_offboard_mission_state()
+{
+	mission_s mission_state;
+
+	/* lock MISSION_STATE item */
+	dm_lock(DM_KEY_MISSION_STATE);
+
+	/* read current state */
+	int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));
+
+	if (read_res == sizeof(mission_s)) {
+		/* data read successfully, check dataman ID and items count */
+		if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
+			/* navigator may modify only sequence, write modified state only if it changed */
+			if (mission_state.current_seq != _current_offboard_mission_index) {
+				if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
+					warnx("ERROR: can't save mission state");
+					mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
+				}
+			}
+		}
+
+	} else {
+		/* invalid data, this must not happen and indicates error in offboard_mission publisher */
+		mission_state.dataman_id = _offboard_mission.dataman_id;
+		mission_state.count = _offboard_mission.count;
+		mission_state.current_seq = _current_offboard_mission_index;
+
+		warnx("ERROR: invalid mission state");
+		mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: invalid mission state");
+
+		/* write modified state only if changed */
+		if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
+			warnx("ERROR: can't save mission state");
+			mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
+		}
+	}
+
+	/* unlock MISSION_STATE item */
+	dm_unlock(DM_KEY_MISSION_STATE);
+}
+
+void
+Mission::report_mission_item_reached()
+{
+	if (_mission_type == MISSION_TYPE_OFFBOARD) {
+		_mission_result.reached = true;
+		_mission_result.seq_reached = _current_offboard_mission_index;
+	}
+	publish_mission_result();
+}
+
+void
+Mission::report_current_offboard_mission_item()
+{
+	warnx("current offboard mission index: %d", _current_offboard_mission_index);
+	_mission_result.seq_current = _current_offboard_mission_index;
+	publish_mission_result();
+
+	save_offboard_mission_state();
+}
+
+void
+Mission::report_mission_finished()
+{
+	_mission_result.finished = true;
+	publish_mission_result();
+}
+
+void
+Mission::publish_mission_result()
+{
+	/* lazily publish the mission result only once available */
+	if (_mission_result_pub > 0) {
+		/* publish mission result */
+		orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
+
+	} else {
+		/* advertise and publish */
+		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
+	}
+	/* reset reached bool */
+	_mission_result.reached = false;
+	_mission_result.finished = false;
+}
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
new file mode 100644
index 000000000..4da6a1155
--- /dev/null
+++ b/src/modules/navigator/mission.h
@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file mission.h
+ *
+ * Navigator mode to access missions
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_MISSION_H
+#define NAVIGATOR_MISSION_H
+
+#include <drivers/drv_hrt.h>
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <dataman/dataman.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+#include "mission_feasibility_checker.h"
+
+class Navigator;
+
+class Mission : public MissionBlock
+{
+public:
+	Mission(Navigator *navigator, const char *name);
+
+	virtual ~Mission();
+
+	virtual void on_inactive();
+
+	virtual void on_activation();
+
+	virtual void on_active();
+
+private:
+	/**
+	 * Update onboard mission topic
+	 */
+	void update_onboard_mission();
+
+	/**
+	 * Update offboard mission topic
+	 */
+	void update_offboard_mission();
+
+	/**
+	 * Move on to next mission item or switch to loiter
+	 */
+	void advance_mission();
+
+	/**
+	 * Check distance to first waypoint (with lat/lon)
+	 * @return true only if it's not too far from home (< MIS_DIST_1WP)
+	 */
+	bool check_dist_1wp();
+
+	/**
+	 * Set new mission items
+	 */
+	void set_mission_items();
+
+	/**
+	 * Read current or next mission item from the dataman and watch out for DO_JUMPS
+	 * @return true if successful
+	 */
+	bool read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item);
+
+	/**
+	 * Save current offboard mission state to dataman
+	 */
+	void save_offboard_mission_state();
+
+	/**
+	 * Report that a mission item has been reached
+	 */
+	void report_mission_item_reached();
+
+	/**
+	 * Rport the current mission item
+	 */
+	void report_current_offboard_mission_item();
+
+	/**
+	 * Report that the mission is finished if one exists or that none exists
+	 */
+	void report_mission_finished();
+
+	/**
+	 * Publish the mission result so commander and mavlink know what is going on
+	 */
+	void publish_mission_result();
+
+	control::BlockParamInt _param_onboard_enabled;
+	control::BlockParamFloat _param_takeoff_alt;
+	control::BlockParamFloat _param_dist_1wp;
+
+	struct mission_s _onboard_mission;
+	struct mission_s _offboard_mission;
+
+	int _current_onboard_mission_index;
+	int _current_offboard_mission_index;
+	bool _need_takeoff;
+	bool _takeoff;
+
+	orb_advert_t _mission_result_pub;
+	struct mission_result_s _mission_result;
+
+	enum {
+		MISSION_TYPE_NONE,
+		MISSION_TYPE_ONBOARD,
+		MISSION_TYPE_OFFBOARD
+	} _mission_type;
+
+	bool _inited;
+	bool _dist_1wp_ok;
+
+	MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
+};
+
+#endif
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
new file mode 100644
index 000000000..4adf77dce
--- /dev/null
+++ b/src/modules/navigator/mission_block.cpp
@@ -0,0 +1,251 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file mission_block.cpp
+ *
+ * Helper class to use mission items
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <sys/types.h>
+#include <string.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <math.h>
+#include <float.h>
+
+#include <systemlib/err.h>
+#include <geo/geo.h>
+#include <mavlink/mavlink_log.h>
+
+#include <uORB/uORB.h>
+
+#include "navigator.h"
+#include "mission_block.h"
+
+
+MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
+	NavigatorMode(navigator, name),
+	_mission_item({0}),
+	_waypoint_position_reached(false),
+	_waypoint_yaw_reached(false),
+	_time_first_inside_orbit(0)
+{
+}
+
+MissionBlock::~MissionBlock()
+{
+}
+
+bool
+MissionBlock::is_mission_item_reached()
+{
+	if (_mission_item.nav_cmd == NAV_CMD_IDLE) {
+		return false;
+	}
+
+	if (_mission_item.nav_cmd == NAV_CMD_LAND) {
+		return _navigator->get_vstatus()->condition_landed;
+	}
+
+	/* TODO: count turns */
+	if ((/*_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||*/
+	     _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {
+		return false;
+	}
+
+	hrt_abstime now = hrt_absolute_time();
+
+	if (!_waypoint_position_reached) {
+		float dist = -1.0f;
+		float dist_xy = -1.0f;
+		float dist_z = -1.0f;
+
+		float altitude_amsl = _mission_item.altitude_is_relative
+				      ? _mission_item.altitude + _navigator->get_home_position()->alt
+			              : _mission_item.altitude;
+
+		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
+				                          _navigator->get_global_position()->lat,
+							  _navigator->get_global_position()->lon,
+							  _navigator->get_global_position()->alt,
+				&dist_xy, &dist_z);
+
+		if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF && _navigator->get_vstatus()->is_rotary_wing) {
+			/* require only altitude for takeoff for multicopter */
+			if (_navigator->get_global_position()->alt >
+				altitude_amsl - _navigator->get_acceptance_radius()) {
+				_waypoint_position_reached = true;
+			}
+		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
+			/* for takeoff mission items use the parameter for the takeoff acceptance radius */
+			if (dist >= 0.0f && dist <= _navigator->get_acceptance_radius()) {
+				_waypoint_position_reached = true;
+			}
+		} else {
+			/* for normal mission items used their acceptance radius */
+			if (dist >= 0.0f && dist <= _mission_item.acceptance_radius) {
+				_waypoint_position_reached = true;
+			}
+		}
+	}
+
+	if (_waypoint_position_reached && !_waypoint_yaw_reached) {
+
+		/* TODO: removed takeoff, why? */
+		if (_navigator->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {
+
+			/* check yaw if defined only for rotary wing except takeoff */
+			float yaw_err = _wrap_pi(_mission_item.yaw - _navigator->get_global_position()->yaw);
+
+			if (fabsf(yaw_err) < 0.2f) { /* TODO: get rid of magic number */
+				_waypoint_yaw_reached = true;
+			}
+
+		} else {
+			_waypoint_yaw_reached = true;
+		}
+	}
+
+	/* check if the current waypoint was reached */
+	if (_waypoint_position_reached && _waypoint_yaw_reached) {
+
+		if (_time_first_inside_orbit == 0) {
+			_time_first_inside_orbit = now;
+
+			// if (_mission_item.time_inside > 0.01f) {
+			// 	mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs",
+			// 		(double)_mission_item.time_inside);
+			// }
+		}
+
+		/* check if the MAV was long enough inside the waypoint orbit */
+		if (now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f) {
+			return true;
+		}
+	}
+	return false;
+}
+
+void
+MissionBlock::reset_mission_item_reached()
+{
+	_waypoint_position_reached = false;
+	_waypoint_yaw_reached = false;
+	_time_first_inside_orbit = 0;
+}
+
+void
+MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp)
+{
+	sp->valid = true;
+	sp->lat = item->lat;
+	sp->lon = item->lon;
+	sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
+	sp->yaw = item->yaw;
+	sp->loiter_radius = item->loiter_radius;
+	sp->loiter_direction = item->loiter_direction;
+	sp->pitch_min = item->pitch_min;
+
+	switch (item->nav_cmd) {
+	case NAV_CMD_IDLE:
+		sp->type = SETPOINT_TYPE_IDLE;
+		break;
+
+	case NAV_CMD_TAKEOFF:
+		sp->type = SETPOINT_TYPE_TAKEOFF;
+		break;
+
+	case NAV_CMD_LAND:
+		sp->type = SETPOINT_TYPE_LAND;
+		break;
+
+	case NAV_CMD_LOITER_TIME_LIMIT:
+	case NAV_CMD_LOITER_TURN_COUNT:
+	case NAV_CMD_LOITER_UNLIMITED:
+		sp->type = SETPOINT_TYPE_LOITER;
+		break;
+
+	default:
+		sp->type = SETPOINT_TYPE_POSITION;
+		break;
+	}
+}
+
+void
+MissionBlock::set_previous_pos_setpoint()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+    if (pos_sp_triplet->current.valid) {
+        memcpy(&pos_sp_triplet->previous, &pos_sp_triplet->current, sizeof(struct position_setpoint_s));
+    }
+}
+
+void
+MissionBlock::set_loiter_item(struct mission_item_s *item)
+{
+	if (_navigator->get_vstatus()->condition_landed) {
+		/* landed, don't takeoff, but switch to IDLE mode */
+		item->nav_cmd = NAV_CMD_IDLE;
+
+	} else {
+		item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
+
+		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+		if (_navigator->get_can_loiter_at_sp() && pos_sp_triplet->current.valid) {
+			/* use current position setpoint */
+			item->lat = pos_sp_triplet->current.lat;
+			item->lon = pos_sp_triplet->current.lon;
+			item->altitude = pos_sp_triplet->current.alt;
+
+		} else {
+			/* use current position */
+			item->lat = _navigator->get_global_position()->lat;
+			item->lon = _navigator->get_global_position()->lon;
+			item->altitude = _navigator->get_global_position()->alt;
+		}
+
+		item->altitude_is_relative = false;
+		item->yaw = NAN;
+		item->loiter_radius = _navigator->get_loiter_radius();
+		item->loiter_direction = 1;
+		item->acceptance_radius = _navigator->get_acceptance_radius();
+		item->time_inside = 0.0f;
+		item->pitch_min = 0.0f;
+		item->autocontinue = false;
+		item->origin = ORIGIN_ONBOARD;
+	}
+}
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
new file mode 100644
index 000000000..adf50bc39
--- /dev/null
+++ b/src/modules/navigator/mission_block.h
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file mission_block.h
+ *
+ * Helper class to use mission items
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_MISSION_BLOCK_H
+#define NAVIGATOR_MISSION_BLOCK_H
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/topics/mission.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+
+#include "navigator_mode.h"
+
+class Navigator;
+
+class MissionBlock : public NavigatorMode
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MissionBlock(Navigator *navigator, const char *name);
+
+	/**
+	 * Destructor
+	 */
+	virtual ~MissionBlock();
+
+protected:
+	/**
+	 * Check if mission item has been reached
+	 * @return true if successfully reached
+	 */
+	bool is_mission_item_reached();
+	/**
+	 * Reset all reached flags
+	 */
+	void reset_mission_item_reached();
+
+	/**
+	 * Convert a mission item to a position setpoint
+	 *
+	 * @param the mission item to convert
+	 * @param the position setpoint that needs to be set
+	 */
+	void mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
+
+    /**
+     * Set previous position setpoint to current setpoint
+     */
+	void set_previous_pos_setpoint();
+
+	/**
+	 * Set a loiter mission item, if possible reuse the position setpoint, otherwise take the current position
+	 */
+	void set_loiter_item(struct mission_item_s *item);
+
+	mission_item_s _mission_item;
+	bool _waypoint_position_reached;
+	bool _waypoint_yaw_reached;
+	hrt_abstime _time_first_inside_orbit;
+};
+
+#endif
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index eaafa217d..606521f20 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file mission_feasibility_checker.cpp
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 
 #include "mission_feasibility_checker.h"
@@ -62,7 +63,7 @@ MissionFeasibilityChecker::MissionFeasibilityChecker() : _mavlink_fd(-1), _capab
 }
 
 
-bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Init if not done yet */
 	init();
@@ -75,24 +76,24 @@ bool MissionFeasibilityChecker::checkMissionFeasible(bool isRotarywing, dm_item_
 
 
 	if (isRotarywing)
-		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleRotarywing(dm_current, nMissionItems, geofence, home_alt);
 	else
-		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence);
+		return checkMissionFeasibleFixedwing(dm_current, nMissionItems, geofence, home_alt);
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 
-	return checkGeofence(dm_current, nMissionItems, geofence);
+	return  (checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
-bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
+bool MissionFeasibilityChecker::checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt)
 {
 	/* Update fixed wing navigation capabilites */
 	updateNavigationCapabilities();
 //	warnx("_nav_caps.landing_slope_angle_rad %.4f, _nav_caps.landing_horizontal_slope_displacement %.4f", _nav_caps.landing_slope_angle_rad, _nav_caps.landing_horizontal_slope_displacement);
 
-	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence));
+	return (checkFixedWingLanding(dm_current, nMissionItems) && checkGeofence(dm_current, nMissionItems, geofence) && checkHomePositionAltitude(dm_current, nMissionItems, home_alt));
 }
 
 bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence)
@@ -100,15 +101,15 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	/* Check if all mission items are inside the geofence (if we have a valid geofence) */
 	if (geofence.valid()) {
 		for (size_t i = 0; i < nMissionItems; i++) {
-			static struct mission_item_s missionitem;
-			const ssize_t len = sizeof(struct mission_item_s);
+			struct mission_item_s missionitem;
+			const ssize_t len = sizeof(missionitem);
 
 			if (dm_read(dm_current, i, &missionitem, len) != len) {
 				/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 				return false;
 			}
 
-			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) { //xxx: handle relative altitude
+			if (!geofence.inside(missionitem.lat, missionitem.lon, missionitem.altitude)) {
 				mavlink_log_info(_mavlink_fd, "#audio: Geofence violation waypoint %d", i);
 				return false;
 			}
@@ -118,6 +119,39 @@ bool MissionFeasibilityChecker::checkGeofence(dm_item_t dm_current, size_t nMiss
 	return true;
 }
 
+bool MissionFeasibilityChecker::checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error)
+{
+	/* Check if all all waypoints are above the home altitude, only return false if bool throw_error = true */
+	for (size_t i = 0; i < nMissionItems; i++) {
+		static struct mission_item_s missionitem;
+		const ssize_t len = sizeof(struct mission_item_s);
+
+		if (dm_read(dm_current, i, &missionitem, len) != len) {
+			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
+			if (throw_error) {
+				return false;
+			} else	{
+				return true;
+			}
+		}
+
+		/* calculate the global waypoint altitude */
+		float wp_alt = (missionitem.altitude_is_relative) ? missionitem.altitude + home_alt : missionitem.altitude;
+
+		if (home_alt > wp_alt) {
+			if (throw_error) {
+				mavlink_log_critical(_mavlink_fd, "Rejecting Mission: Waypoint %d below home", i);
+				return false;
+			} else	{
+				mavlink_log_critical(_mavlink_fd, "Warning: Waypoint %d below home", i);
+				return true;
+			}
+		}
+	}
+
+	return true;
+}
+
 bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems)
 {
 	/* Go through all mission items and search for a landing waypoint
@@ -125,8 +159,8 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 
 
 	for (size_t i = 0; i < nMissionItems; i++) {
-		static struct mission_item_s missionitem;
-		const ssize_t len = sizeof(struct mission_item_s);
+		struct mission_item_s missionitem;
+		const ssize_t len = sizeof(missionitem);
 		if (dm_read(dm_current, i, &missionitem, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
 			return false;
@@ -184,11 +218,12 @@ bool MissionFeasibilityChecker::checkFixedWingLanding(dm_item_t dm_current, size
 
 
 //	float slope_alt = wp_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_distance)/_flare_constant) - _H1_virt;
+	return false;
 }
 
 void MissionFeasibilityChecker::updateNavigationCapabilities()
 {
-	int res = orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
+	(void)orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
 }
 
 void MissionFeasibilityChecker::init()
diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h
index 7a0b2a296..96c9209d3 100644
--- a/src/modules/navigator/mission_feasibility_checker.h
+++ b/src/modules/navigator/mission_feasibility_checker.h
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +33,11 @@
 /**
  * @file mission_feasibility_checker.h
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
+
 #ifndef MISSION_FEASIBILITY_CHECKER_H_
 #define MISSION_FEASIBILITY_CHECKER_H_
 
@@ -59,14 +61,15 @@ private:
 
 	/* Checks for all airframes */
 	bool checkGeofence(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkHomePositionAltitude(dm_item_t dm_current, size_t nMissionItems, float home_alt, bool throw_error = false);
 
 	/* Checks specific to fixedwing airframes */
-	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasibleFixedwing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 	bool checkFixedWingLanding(dm_item_t dm_current, size_t nMissionItems);
 	void updateNavigationCapabilities();
 
 	/* Checks specific to rotarywing airframes */
-	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasibleRotarywing(dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 public:
 
 	MissionFeasibilityChecker();
@@ -75,7 +78,7 @@ public:
 	/*
 	 * Returns true if mission is feasible and false otherwise
 	 */
-	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence);
+	bool checkMissionFeasible(bool isRotarywing, dm_item_t dm_current, size_t nMissionItems, Geofence &geofence, float home_alt);
 
 };
 
diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c
new file mode 100644
index 000000000..d15e1e771
--- /dev/null
+++ b/src/modules/navigator/mission_params.c
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mission_params.c
+ *
+ * Parameters for mission.
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * Mission parameters, accessible via MAVLink
+ */
+
+/**
+ * Take-off altitude
+ *
+ * Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
+ * MIS_TAKEOFF_ALT on takeoff, then go to waypoint.
+ *
+ * @unit meters
+ * @group Mission
+ */
+PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 10.0f);
+
+/**
+ * Enable persistent onboard mission storage
+ *
+ * When enabled, missions that have been uploaded by the GCS are stored
+ * and reloaded after reboot persistently.
+ *
+ * @min 0
+ * @max 1
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
+
+/**
+ * Maximal horizontal distance from home to first waypoint
+ *
+ * Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
+ * Set a value of zero or less to disable. The mission will not be started if the current
+ * waypoint is more distant than MIS_DIS_1WP from the current position.
+ *
+ * @min 0
+ * @max 1000
+ * @group Mission
+ */
+PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 500);
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 55f8a4caa..b50198996 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -39,9 +39,20 @@ MODULE_COMMAND	= navigator
 
 SRCS		= navigator_main.cpp \
 		  navigator_params.c \
-		  navigator_mission.cpp \
+		  navigator_mode.cpp \
+		  mission_block.cpp \
+		  mission.cpp \
+		  mission_params.c \
+		  loiter.cpp \
+		  rtl.cpp \
+		  rtl_params.c \
+		  offboard.cpp \
 		  mission_feasibility_checker.cpp \
 		  geofence.cpp \
 		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS	= -Weffc++
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
new file mode 100644
index 000000000..8edbb63b3
--- /dev/null
+++ b/src/modules/navigator/navigator.h
@@ -0,0 +1,232 @@
+/***************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator.h
+ * Helper class to access missions
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef NAVIGATOR_H
+#define NAVIGATOR_H
+
+#include <systemlib/perf_counter.h>
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/parameter_update.h>
+
+#include "navigator_mode.h"
+#include "mission.h"
+#include "loiter.h"
+#include "rtl.h"
+#include "offboard.h"
+#include "geofence.h"
+
+/**
+ * Number of navigation modes that need on_active/on_inactive calls
+ * Currently: mission, loiter, and rtl
+ */
+#define NAVIGATOR_MODE_ARRAY_SIZE 4
+
+class Navigator : public control::SuperBlock
+{
+public:
+	/**
+	 * Constructor
+	 */
+	Navigator();
+
+	/**
+	 * Destructor, also kills the navigators task.
+	 */
+	~Navigator();
+
+	/**
+	 * Start the navigator task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+	/**
+	 * Display the navigator status.
+	 */
+	void		status();
+
+	/**
+	 * Add point to geofence
+	 */
+	void		add_fence_point(int argc, char *argv[]);
+
+	/**
+	 * Load fence from file
+	 */
+	void		load_fence_from_file(const char *filename);
+
+	/**
+	 * Setters
+	 */
+	void		set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
+	void		set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; }
+
+	/**
+	 * Getters
+	 */
+	struct vehicle_status_s*	    get_vstatus() { return &_vstatus; }
+	struct vehicle_control_mode_s*	    get_control_mode() { return &_control_mode; }
+	struct vehicle_global_position_s*   get_global_position() { return &_global_pos; }
+	struct home_position_s*		    get_home_position() { return &_home_pos; }
+	struct position_setpoint_triplet_s*		    get_position_setpoint_triplet() { return &_pos_sp_triplet; }
+	int		get_onboard_mission_sub() { return _onboard_mission_sub; }
+	int		get_offboard_mission_sub() { return _offboard_mission_sub; }
+	int		get_offboard_control_sp_sub() { return _offboard_control_sp_sub; }
+	Geofence&	get_geofence() { return _geofence; }
+	bool		get_can_loiter_at_sp() { return _can_loiter_at_sp; }
+	float		get_loiter_radius() { return _param_loiter_radius.get(); }
+	float		get_acceptance_radius() { return _param_acceptance_radius.get(); }
+	int		get_mavlink_fd() { return _mavlink_fd; }
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+	int		_navigator_task;		/**< task handle for sensor task */
+
+	int		_mavlink_fd;			/**< the file descriptor to send messages over mavlink */
+
+	int		_global_pos_sub;		/**< global position subscription */
+	int		_home_pos_sub;			/**< home position subscription */
+	int		_vstatus_sub;			/**< vehicle status subscription */
+	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
+	int		_offboard_control_sp_sub;	/*** offboard control subscription */
+	int		_control_mode_sub;		/**< vehicle control mode subscription */
+	int		_onboard_mission_sub;		/**< onboard mission subscription */
+	int		_offboard_mission_sub;		/**< offboard mission subscription */
+	int		_param_update_sub;		/**< param update subscription */
+
+	orb_advert_t	_pos_sp_triplet_pub;		/**< publish position setpoint triplet */
+
+	vehicle_status_s				_vstatus;		/**< vehicle status */
+	vehicle_control_mode_s				_control_mode;		/**< vehicle control mode */
+	vehicle_global_position_s			_global_pos;		/**< global vehicle position */
+	home_position_s					_home_pos;		/**< home position for RTL */
+	mission_item_s 					_mission_item;		/**< current mission item */
+	navigation_capabilities_s			_nav_caps;		/**< navigation capabilities */
+	position_setpoint_triplet_s			_pos_sp_triplet;	/**< triplet of position setpoints */
+
+	bool 		_mission_item_valid;		/**< flags if the current mission item is valid */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	Geofence	_geofence;			/**< class that handles the geofence */
+	bool		_geofence_violation_warning_sent; /**< prevents spaming to mavlink */
+
+	bool		_fence_valid;			/**< flag if fence is valid */
+	bool		_inside_fence;			/**< vehicle is inside fence */
+
+	NavigatorMode	*_navigation_mode;		/**< abstract pointer to current navigation mode class */
+	Mission		_mission;			/**< class that handles the missions */
+	Loiter		_loiter;			/**< class that handles loiter */
+	RTL 		_rtl;				/**< class that handles RTL */
+	Offboard	_offboard;			/**< class that handles offboard */
+
+	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
+
+	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
+	bool		_pos_sp_triplet_updated;		/**< flags if position SP triplet needs to be published */
+
+	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
+	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
+	/**
+	 * Retrieve global position
+	 */
+	void		global_position_update();
+
+	/**
+	 * Retrieve home position
+	 */
+	void		home_position_update();
+
+	/**
+	 * Retreive navigation capabilities
+	 */
+	void		navigation_capabilities_update();
+
+	/**
+	 * Retrieve vehicle status
+	 */
+	void		vehicle_status_update();
+
+	/**
+	 * Retrieve vehicle control mode
+	 */
+	void		vehicle_control_mode_update();
+
+	/**
+	 * Update parameters
+	 */
+	void		params_update();
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	static void	task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main task.
+	 */
+	void		task_main();
+
+	/**
+	 * Translate mission item to a position setpoint.
+	 */
+	void		mission_item_to_position_setpoint(const mission_item_s *item, position_setpoint_s *sp);
+
+	/**
+	 * Publish a new position setpoint triplet for position controllers
+	 */
+	void		publish_position_setpoint_triplet();
+
+	/* this class has ptr data members, so it should not be copied,
+	 * consequently the copy constructors are private.
+	 */
+	Navigator(const Navigator&);
+	Navigator operator=(const Navigator&);
+};
+#endif
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index c45cafc1b..331a9a728 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,19 +31,19 @@
  *
  ****************************************************************************/
 /**
- * @file navigator_main.c
- * Implementation of the main navigation state machine.
+ * @file navigator_main.cpp
  *
- * Handles missions, geo fencing and failsafe navigation behavior.
- * Published the mission item triplet for the position controller.
+ * Handles mission items, geo fencing and failsafe navigation behavior.
+ * Published the position setpoint triplet for the position controller.
  *
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Jean Cyr <jean.m.cyr@gmail.com>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <nuttx/config.h>
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -58,42 +54,29 @@
 #include <poll.h>
 #include <time.h>
 #include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
+
 #include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/home_position.h>
-#include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/fence.h>
 #include <uORB/topics/navigation_capabilities.h>
-#include <systemlib/param/param.h>
+#include <uORB/topics/offboard_control_setpoint.h>
+
 #include <systemlib/err.h>
-#include <systemlib/state_table.h>
-#include <systemlib/perf_counter.h>
 #include <systemlib/systemlib.h>
 #include <geo/geo.h>
-#include <mathlib/mathlib.h>
 #include <dataman/dataman.h>
+#include <mathlib/mathlib.h>
 #include <mavlink/mavlink_log.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-
-#include "navigator_state.h"
-#include "navigator_mission.h"
-#include "mission_feasibility_checker.h"
-#include "geofence.h"
-
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
+#include "navigator.h"
 
 /**
  * navigator app start / stop handling function
@@ -102,342 +85,58 @@ static const int ERROR = -1;
  */
 extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
 
-class Navigator : public StateTable
-{
-public:
-	/**
-	 * Constructor
-	 */
-	Navigator();
-
-	/**
-	 * Destructor, also kills the navigators task.
-	 */
-	~Navigator();
-
-	/**
-	* Start the navigator task.
-	 *
-	 * @return		OK on success.
-	 */
-	int		start();
-
-	/**
-	 * Display the navigator status.
-	 */
-	void		status();
-
-	/**
-	 * Add point to geofence
-	 */
-	void add_fence_point(int argc, char *argv[]);
-
-	/**
-	 * Load fence from file
-	 */
-	void load_fence_from_file(const char *filename);
-
-private:
-
-	bool		_task_should_exit;		/**< if true, sensor task should exit */
-	int		_navigator_task;		/**< task handle for sensor task */
-
-	int		_mavlink_fd;
-
-	int		_global_pos_sub;		/**< global position subscription */
-	int		_home_pos_sub;			/**< home position subscription */
-	int		_vstatus_sub;			/**< vehicle status subscription */
-	int		_params_sub;			/**< notification of parameter updates */
-	int		_offboard_mission_sub;		/**< notification of offboard mission updates */
-	int 		_onboard_mission_sub;		/**< notification of onboard mission updates */
-	int		_capabilities_sub;		/**< notification of vehicle capabilities updates */
-	int		_control_mode_sub;		/**< vehicle control mode subscription */
-
-	orb_advert_t	_pos_sp_triplet_pub;		/**< publish position setpoint triplet */
-	orb_advert_t	_mission_result_pub;		/**< publish mission result topic */
-
-	struct vehicle_status_s				_vstatus;		/**< vehicle status */
-	struct vehicle_control_mode_s			_control_mode;		/**< vehicle control mode */
-	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
-	struct home_position_s				_home_pos;		/**< home position for RTL */
-	struct position_setpoint_triplet_s		_pos_sp_triplet;	/**< triplet of position setpoints */
-	struct mission_result_s				_mission_result;	/**< mission result for commander/mavlink */
-	struct mission_item_s				_mission_item;		/**< current mission item */
-
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-
-	Geofence					_geofence;
-	bool						_geofence_violation_warning_sent;
-
-	bool						_fence_valid;		/**< flag if fence is valid */
-	bool						_inside_fence;		/**< vehicle is inside fence */
-
-	struct navigation_capabilities_s		_nav_caps;
-
-	class 		Mission				_mission;
-
-	bool		_mission_item_valid;		/**< current mission item valid */
-	bool		_global_pos_valid;		/**< track changes of global_position.global_valid flag */
-	bool		_reset_loiter_pos;		/**< if true then loiter position should be set to current position */
-	bool		_waypoint_position_reached;
-	bool		_waypoint_yaw_reached;
-	uint64_t	_time_first_inside_orbit;
-	bool		_need_takeoff;			/**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
-	bool		_do_takeoff;			/**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
-
-	MissionFeasibilityChecker missionFeasiblityChecker;
-
-	uint64_t	_set_nav_state_timestamp;	/**< timestamp of last handled navigation state request */
-
-	bool		_pos_sp_triplet_updated;
-
-	const char *nav_states_str[NAV_STATE_MAX];
-
-	struct {
-		float min_altitude;
-		float acceptance_radius;
-		float loiter_radius;
-		int onboard_mission_enabled;
-		float takeoff_alt;
-		float land_alt;
-		float rtl_alt;
-		float rtl_land_delay;
-	}		_parameters;			/**< local copies of parameters */
-
-	struct {
-		param_t min_altitude;
-		param_t acceptance_radius;
-		param_t loiter_radius;
-		param_t onboard_mission_enabled;
-		param_t takeoff_alt;
-		param_t land_alt;
-		param_t rtl_alt;
-		param_t rtl_land_delay;
-	}		_parameter_handles;		/**< handles for parameters */
-
-	enum Event {
-		EVENT_NONE_REQUESTED,
-		EVENT_READY_REQUESTED,
-		EVENT_LOITER_REQUESTED,
-		EVENT_MISSION_REQUESTED,
-		EVENT_RTL_REQUESTED,
-		EVENT_LAND_REQUESTED,
-		EVENT_MISSION_CHANGED,
-		EVENT_HOME_POSITION_CHANGED,
-		MAX_EVENT
-	};
-
-	/**
-	 * State machine transition table
-	 */
-	static StateTable::Tran const myTable[NAV_STATE_MAX][MAX_EVENT];
-
-	enum RTLState {
-		RTL_STATE_NONE = 0,
-		RTL_STATE_CLIMB,
-		RTL_STATE_RETURN,
-		RTL_STATE_DESCEND
-	};
-
-	enum RTLState _rtl_state;
-
-	/**
-	 * Update our local parameter cache.
-	 */
-	void		parameters_update();
-
-	/**
-	 * Retrieve global position
-	 */
-	void		global_position_update();
-
-	/**
-	 * Retrieve home position
-	 */
-	void		home_position_update();
-
-	/**
-	 * Retreive navigation capabilities
-	 */
-	void		navigation_capabilities_update();
-
-	/**
-	 * Retrieve offboard mission.
-	 */
-	void		offboard_mission_update(bool isrotaryWing);
-
-	/**
-	 * Retrieve onboard mission.
-	 */
-	void		onboard_mission_update();
-
-	/**
-	 * Retrieve vehicle status
-	 */
-	void		vehicle_status_update();
-
-	/**
-	 * Retrieve vehicle control mode
-	 */
-	void		vehicle_control_mode_update();
-
-	/**
-	 * Shim for calling task_main from task_create.
-	 */
-	static void	task_main_trampoline(int argc, char *argv[]);
-
-	/**
-	 * Main task.
-	 */
-	void		task_main();
-
-	void		publish_safepoints(unsigned points);
-
-	/**
-	 * Functions that are triggered when a new state is entered.
-	 */
-	void		start_none();
-	void		start_ready();
-	void		start_loiter();
-	void		start_mission();
-	void		start_rtl();
-	void		start_land();
-	void		start_land_home();
-
-	/**
-	 * Fork for state transitions
-	 */
-	void		request_loiter_or_ready();
-	void		request_mission_if_available();
-
-	/**
-	 * Guards offboard mission
-	 */
-	bool		offboard_mission_available(unsigned relative_index);
-
-	/**
-	 * Guards onboard mission
-	 */
-	bool		onboard_mission_available(unsigned relative_index);
-
-	/**
-	 * Reset all "reached" flags.
-	 */
-	void		reset_reached();
-
-	/**
-	 * Check if current mission item has been reached.
-	 */
-	bool		check_mission_item_reached();
-
-	/**
-	 * Perform actions when current mission item reached.
-	 */
-	void		on_mission_item_reached();
-
-	/**
-	 * Move to next waypoint
-	 */
-	void		set_mission_item();
-
-	/**
-	 * Switch to next RTL state
-	 */
-	void		set_rtl_item();
-
-	/**
-	 * Set position setpoint for mission item
-	 */
-	void		position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item);
-
-	/**
-	 * Helper function to get a takeoff item
-	 */
-	void		get_takeoff_setpoint(position_setpoint_s *pos_sp);
-
-	/**
-	 * Publish a new mission item triplet for position controller
-	 */
-	void		publish_position_setpoint_triplet();
-};
 
 namespace navigator
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 Navigator	*g_navigator;
 }
 
 Navigator::Navigator() :
-
-/* state machine transition table */
-	StateTable(&myTable[0][0], NAV_STATE_MAX, MAX_EVENT),
-
+	SuperBlock(NULL, "NAV"),
 	_task_should_exit(false),
 	_navigator_task(-1),
 	_mavlink_fd(-1),
-
-/* subscriptions */
 	_global_pos_sub(-1),
 	_home_pos_sub(-1),
 	_vstatus_sub(-1),
-	_params_sub(-1),
-	_offboard_mission_sub(-1),
-	_onboard_mission_sub(-1),
 	_capabilities_sub(-1),
+	_offboard_control_sp_sub(-1),
 	_control_mode_sub(-1),
-
-/* publications */
+	_onboard_mission_sub(-1),
+	_offboard_mission_sub(-1),
+	_param_update_sub(-1),
 	_pos_sp_triplet_pub(-1),
-
-/* performance counters */
+	_vstatus{},
+	_control_mode{},
+	_global_pos{},
+	_home_pos{},
+	_mission_item{},
+	_nav_caps{},
+	_pos_sp_triplet{},
+	_mission_item_valid(false),
 	_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
-
+	_geofence{},
 	_geofence_violation_warning_sent(false),
 	_fence_valid(false),
 	_inside_fence(true),
-	_mission(),
-	_mission_item_valid(false),
-	_global_pos_valid(false),
-	_reset_loiter_pos(true),
-	_waypoint_position_reached(false),
-	_waypoint_yaw_reached(false),
-	_time_first_inside_orbit(0),
-	_need_takeoff(true),
-	_do_takeoff(false),
-	_set_nav_state_timestamp(0),
+	_navigation_mode(nullptr),
+	_mission(this, "MIS"),
+	_loiter(this, "LOI"),
+	_rtl(this, "RTL"),
+	_offboard(this, "OFF"),
+	_can_loiter_at_sp(false),
 	_pos_sp_triplet_updated(false),
-/* states */
-	_rtl_state(RTL_STATE_NONE)
+	_param_loiter_radius(this, "LOITER_RAD"),
+	_param_acceptance_radius(this, "ACC_RAD")
 {
-	_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
-	_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
-	_parameter_handles.loiter_radius = param_find("NAV_LOITER_RAD");
-	_parameter_handles.onboard_mission_enabled = param_find("NAV_ONB_MIS_EN");
-	_parameter_handles.takeoff_alt = param_find("NAV_TAKEOFF_ALT");
-	_parameter_handles.land_alt = param_find("NAV_LAND_ALT");
-	_parameter_handles.rtl_alt = param_find("NAV_RTL_ALT");
-	_parameter_handles.rtl_land_delay = param_find("NAV_RTL_LAND_T");
-
-	memset(&_pos_sp_triplet, 0, sizeof(struct position_setpoint_triplet_s));
-	memset(&_mission_item, 0, sizeof(struct mission_item_s));
-
-	memset(&nav_states_str, 0, sizeof(nav_states_str));
-	nav_states_str[0] = "NONE";
-	nav_states_str[1] = "READY";
-	nav_states_str[2] = "LOITER";
-	nav_states_str[3] = "MISSION";
-	nav_states_str[4] = "RTL";
-	nav_states_str[5] = "LAND";
-
-	/* Initialize state machine */
-	myState = NAV_STATE_NONE;
-	start_none();
+	/* Create a list of our possible navigation types */
+	_navigation_mode_array[0] = &_mission;
+	_navigation_mode_array[1] = &_loiter;
+	_navigation_mode_array[2] = &_rtl;
+	_navigation_mode_array[3] = &_offboard;
+
+	updateParams();
 }
 
 Navigator::~Navigator()
@@ -466,27 +165,6 @@ Navigator::~Navigator()
 }
 
 void
-Navigator::parameters_update()
-{
-	/* read from param to clear updated flag */
-	struct parameter_update_s update;
-	orb_copy(ORB_ID(parameter_update), _params_sub, &update);
-
-	param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude));
-	param_get(_parameter_handles.acceptance_radius, &(_parameters.acceptance_radius));
-	param_get(_parameter_handles.loiter_radius, &(_parameters.loiter_radius));
-	param_get(_parameter_handles.onboard_mission_enabled, &(_parameters.onboard_mission_enabled));
-	param_get(_parameter_handles.takeoff_alt, &(_parameters.takeoff_alt));
-	param_get(_parameter_handles.land_alt, &(_parameters.land_alt));
-	param_get(_parameter_handles.rtl_alt, &(_parameters.rtl_alt));
-	param_get(_parameter_handles.rtl_land_delay, &(_parameters.rtl_land_delay));
-
-	_mission.set_onboard_mission_allowed((bool)_parameter_handles.onboard_mission_enabled);
-
-	_geofence.updateParams();
-}
-
-void
 Navigator::global_position_update()
 {
 	orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
@@ -504,56 +182,6 @@ Navigator::navigation_capabilities_update()
 	orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
 }
 
-
-void
-Navigator::offboard_mission_update(bool isrotaryWing)
-{
-	struct mission_s offboard_mission;
-
-	if (orb_copy(ORB_ID(mission), _offboard_mission_sub, &offboard_mission) == OK) {
-
-		/* Check mission feasibility, for now do not handle the return value,
-		 * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
-		dm_item_t dm_current;
-
-		if (offboard_mission.dataman_id == 0) {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
-
-		} else {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
-		}
-
-		missionFeasiblityChecker.checkMissionFeasible(isrotaryWing, dm_current, (size_t)offboard_mission.count, _geofence);
-
-		_mission.set_offboard_dataman_id(offboard_mission.dataman_id);
-
-		_mission.set_offboard_mission_count(offboard_mission.count);
-		_mission.set_current_offboard_mission_index(offboard_mission.current_index);
-
-	} else {
-		_mission.set_offboard_mission_count(0);
-		_mission.set_current_offboard_mission_index(0);
-	}
-
-	_mission.publish_mission_result();
-}
-
-void
-Navigator::onboard_mission_update()
-{
-	struct mission_s onboard_mission;
-
-	if (orb_copy(ORB_ID(mission), _onboard_mission_sub, &onboard_mission) == OK) {
-
-		_mission.set_onboard_mission_count(onboard_mission.count);
-		_mission.set_current_onboard_mission_index(onboard_mission.current_index);
-
-	} else {
-		_mission.set_onboard_mission_count(0);
-		_mission.set_current_onboard_mission_index(0);
-	}
-}
-
 void
 Navigator::vehicle_status_update()
 {
@@ -574,6 +202,13 @@ Navigator::vehicle_control_mode_update()
 }
 
 void
+Navigator::params_update()
+{
+	parameter_update_s param_update;
+	orb_copy(ORB_ID(parameter_update), _param_update_sub, &param_update);
+}
+
+void
 Navigator::task_main_trampoline(int argc, char *argv[])
 {
 	navigator::g_navigator->task_main();
@@ -584,16 +219,12 @@ Navigator::task_main()
 {
 	/* inform about start */
 	warnx("Initializing..");
-	fflush(stdout);
 
 	_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 
-	mavlink_log_info(_mavlink_fd, "[navigator] started");
-
 	/* Try to load the geofence:
 	 * if /fs/microsd/etc/geofence.txt load from this file
-	 * else clear geofence data in datamanager
-	 */
+	 * else clear geofence data in datamanager */
 	struct stat buffer;
 
 	if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
@@ -607,68 +238,59 @@ Navigator::task_main()
 			warnx("Could not clear geofence");
 	}
 
-	/*
-	 * do subscriptions
-	 */
+	/* do subscriptions */
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
-	_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
 	_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
 	_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
 	_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_home_pos_sub = orb_subscribe(ORB_ID(home_position));
+	_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
+	_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
+	_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
+	_offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
 
 	/* copy all topics first time */
 	vehicle_status_update();
 	vehicle_control_mode_update();
-	parameters_update();
 	global_position_update();
 	home_position_update();
 	navigation_capabilities_update();
-	offboard_mission_update(_vstatus.is_rotary_wing);
-	onboard_mission_update();
+	params_update();
 
 	/* rate limit position updates to 50 Hz */
 	orb_set_interval(_global_pos_sub, 20);
 
-	unsigned prevState = NAV_STATE_NONE;
 	hrt_abstime mavlink_open_time = 0;
 	const hrt_abstime mavlink_open_interval = 500000;
 
 	/* wakeup source(s) */
-	struct pollfd fds[8];
+	struct pollfd fds[6];
 
 	/* Setup of loop */
-	fds[0].fd = _params_sub;
+	fds[0].fd = _global_pos_sub;
 	fds[0].events = POLLIN;
-	fds[1].fd = _global_pos_sub;
+	fds[1].fd = _home_pos_sub;
 	fds[1].events = POLLIN;
-	fds[2].fd = _home_pos_sub;
+	fds[2].fd = _capabilities_sub;
 	fds[2].events = POLLIN;
-	fds[3].fd = _capabilities_sub;
+	fds[3].fd = _vstatus_sub;
 	fds[3].events = POLLIN;
-	fds[4].fd = _offboard_mission_sub;
+	fds[4].fd = _control_mode_sub;
 	fds[4].events = POLLIN;
-	fds[5].fd = _onboard_mission_sub;
+	fds[5].fd = _param_update_sub;
 	fds[5].events = POLLIN;
-	fds[6].fd = _vstatus_sub;
-	fds[6].events = POLLIN;
-	fds[7].fd = _control_mode_sub;
-	fds[7].events = POLLIN;
 
 	while (!_task_should_exit) {
 
 		/* wait for up to 100ms for data */
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
-		/* timed out - periodic check for _task_should_exit, etc. */
 		if (pret == 0) {
+			/* timed out - periodic check for _task_should_exit, etc. */
 			continue;
-		}
 
-		/* this is undesirable but not much we can do - might want to flag unhappy status */
-		if (pret < 0) {
+		} else if (pret < 0) {
+			/* this is undesirable but not much we can do - might want to flag unhappy status */
 			warn("poll error %d, %d", pret, errno);
 			continue;
 		}
@@ -681,188 +303,103 @@ Navigator::task_main()
 			_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 		}
 
+		/* parameters updated */
+		if (fds[5].revents & POLLIN) {
+			params_update();
+			updateParams();
+		}
+
 		/* vehicle control mode updated */
-		if (fds[7].revents & POLLIN) {
+		if (fds[4].revents & POLLIN) {
 			vehicle_control_mode_update();
 		}
 
 		/* vehicle status updated */
-		if (fds[6].revents & POLLIN) {
+		if (fds[3].revents & POLLIN) {
 			vehicle_status_update();
-
-			/* evaluate state machine from commander and set the navigator mode accordingly */
-			if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
-				bool stick_mode = false;
-
-				if (!_vstatus.rc_signal_lost) {
-					/* RC signal available, use control switches to set mode */
-					/* RETURN switch, overrides MISSION switch */
-					if (_vstatus.return_switch == RETURN_SWITCH_RETURN) {
-						/* switch to RTL if not already landed after RTL and home position set */
-						if (!(_rtl_state == RTL_STATE_DESCEND &&
-						      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
-						    _vstatus.condition_home_position_valid) {
-							dispatch(EVENT_RTL_REQUESTED);
-						}
-
-						stick_mode = true;
-
-					} else {
-						/* MISSION switch */
-						if (_vstatus.mission_switch == MISSION_SWITCH_LOITER) {
-							request_loiter_or_ready();
-							stick_mode = true;
-
-						} else if (_vstatus.mission_switch == MISSION_SWITCH_MISSION) {
-							request_mission_if_available();
-							stick_mode = true;
-						}
-
-						if (!stick_mode && _vstatus.return_switch == RETURN_SWITCH_NORMAL && myState == NAV_STATE_RTL) {
-							/* RETURN switch is in normal mode, no MISSION switch mapped, interrupt if in RTL state */
-							request_mission_if_available();
-							stick_mode = true;
-						}
-					}
-				}
-
-				if (!stick_mode) {
-					if (_vstatus.set_nav_state_timestamp != _set_nav_state_timestamp) {
-						/* commander requested new navigation mode, try to set it */
-						_set_nav_state_timestamp = _vstatus.set_nav_state_timestamp;
-
-						switch (_vstatus.set_nav_state) {
-						case NAV_STATE_NONE:
-							/* nothing to do */
-							break;
-
-						case NAV_STATE_LOITER:
-							request_loiter_or_ready();
-							break;
-
-						case NAV_STATE_MISSION:
-							request_mission_if_available();
-							break;
-
-						case NAV_STATE_RTL:
-							if (!(_rtl_state == RTL_STATE_DESCEND &&
-							      (myState == NAV_STATE_LAND || myState == NAV_STATE_LOITER)) &&
-							    _vstatus.condition_home_position_valid) {
-								dispatch(EVENT_RTL_REQUESTED);
-							}
-
-							break;
-
-						case NAV_STATE_LAND:
-							dispatch(EVENT_LAND_REQUESTED);
-
-							break;
-
-						default:
-							warnx("ERROR: Requested navigation state not supported");
-							break;
-						}
-
-					} else {
-						/* on first switch to AUTO try mission by default, if none is available fallback to loiter */
-						if (myState == NAV_STATE_NONE) {
-							request_mission_if_available();
-						}
-					}
-				}
-
-			} else {
-				/* navigator shouldn't act */
-				dispatch(EVENT_NONE_REQUESTED);
-			}
-		}
-
-		/* parameters updated */
-		if (fds[0].revents & POLLIN) {
-			parameters_update();
-			/* note that these new parameters won't be in effect until a mission triplet is published again */
 		}
 
 		/* navigation capabilities updated */
-		if (fds[3].revents & POLLIN) {
+		if (fds[2].revents & POLLIN) {
 			navigation_capabilities_update();
 		}
 
-		/* offboard mission updated */
-		if (fds[4].revents & POLLIN) {
-			offboard_mission_update(_vstatus.is_rotary_wing);
-			// XXX check if mission really changed
-			dispatch(EVENT_MISSION_CHANGED);
-		}
-
-		/* onboard mission updated */
-		if (fds[5].revents & POLLIN) {
-			onboard_mission_update();
-			// XXX check if mission really changed
-			dispatch(EVENT_MISSION_CHANGED);
-		}
-
 		/* home position updated */
-		if (fds[2].revents & POLLIN) {
+		if (fds[1].revents & POLLIN) {
 			home_position_update();
-			// XXX check if home position really changed
-			dispatch(EVENT_HOME_POSITION_CHANGED);
 		}
 
 		/* global position updated */
-		if (fds[1].revents & POLLIN) {
+		if (fds[0].revents & POLLIN) {
 			global_position_update();
 
-			/* publish position setpoint triplet on each position update if navigator active */
-			if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
-				_pos_sp_triplet_updated = true;
-
-				if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) {
-					/* got global position when landing, update setpoint */
-					start_land();
-				}
-
-				_global_pos_valid = _global_pos.global_valid;
-
-				/* check if waypoint has been reached in MISSION, RTL and LAND modes */
-				if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) {
-					if (check_mission_item_reached()) {
-						on_mission_item_reached();
-					}
-				}
-			}
-
 			/* Check geofence violation */
 			if (!_geofence.inside(&_global_pos)) {
-				//xxx: publish geofence violation here (or change local flag depending on which app handles the flight termination)
 
 				/* Issue a warning about the geofence violation once */
 				if (!_geofence_violation_warning_sent) {
 					mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
 					_geofence_violation_warning_sent = true;
 				}
-
 			} else {
 				/* Reset the _geofence_violation_warning_sent field */
 				_geofence_violation_warning_sent = false;
 			}
 		}
 
-		/* publish position setpoint triplet if updated */
-		if (_pos_sp_triplet_updated) {
-			_pos_sp_triplet_updated = false;
-			publish_position_setpoint_triplet();
+		/* Do stuff according to navigation state set by commander */
+		switch (_vstatus.nav_state) {
+			case NAVIGATION_STATE_MANUAL:
+			case NAVIGATION_STATE_ACRO:
+			case NAVIGATION_STATE_ALTCTL:
+			case NAVIGATION_STATE_POSCTL:
+				_navigation_mode = nullptr;
+				_can_loiter_at_sp = false;
+				break;
+			case NAVIGATION_STATE_AUTO_MISSION:
+				_navigation_mode = &_mission;
+				break;
+			case NAVIGATION_STATE_AUTO_LOITER:
+				_navigation_mode = &_loiter;
+				break;
+			case NAVIGATION_STATE_AUTO_RTL:
+				_navigation_mode = &_rtl;
+				break;
+			case NAVIGATION_STATE_AUTO_RTGS:
+				_navigation_mode = &_rtl; /* TODO: change this to something else */
+				break;
+			case NAVIGATION_STATE_LAND:
+			case NAVIGATION_STATE_TERMINATION:
+			case NAVIGATION_STATE_OFFBOARD:
+				_navigation_mode = &_offboard;
+				break;
+			default:
+				_navigation_mode = nullptr;
+				_can_loiter_at_sp = false;
+				break;
 		}
 
-		/* notify user about state changes */
-		if (myState != prevState) {
-			mavlink_log_info(_mavlink_fd, "#audio: navigation state: %s", nav_states_str[myState]);
-			prevState = myState;
+		/* iterate through navigation modes and set active/inactive for each */
+		for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
+			_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
+		}
+
+		/* if nothing is running, set position setpoint triplet invalid */
+		if (_navigation_mode == nullptr) {
+			// TODO publish empty sp only once
+			_pos_sp_triplet.previous.valid = false;
+			_pos_sp_triplet.current.valid = false;
+			_pos_sp_triplet.next.valid = false;
+			_pos_sp_triplet_updated = true;
+		}
+
+		if (_pos_sp_triplet_updated) {
+			publish_position_setpoint_triplet();
+			_pos_sp_triplet_updated = false;
 		}
 
 		perf_end(_loop_perf);
 	}
-
 	warnx("exiting.");
 
 	_navigator_task = -1;
@@ -878,7 +415,7 @@ Navigator::start()
 	_navigator_task = task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 2048,
+					 2000,
 					 (main_t)&Navigator::task_main_trampoline,
 					 nullptr);
 
@@ -893,19 +430,21 @@ Navigator::start()
 void
 Navigator::status()
 {
-	warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
-
-	if (_global_pos.global_valid) {
-		warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
-		warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
-		      (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
-		warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
-		      (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
-		warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
-	}
+	/* TODO: add this again */
+	// warnx("Global position is %svalid", _global_pos_valid ? "" : "in");
+
+	// if (_global_pos.global_valid) {
+	// 	warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
+	// 	warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
+	// 	      (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
+	// 	warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
+	// 	      (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
+	// 	warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
+	// }
 
 	if (_fence_valid) {
 		warnx("Geofence is valid");
+		/* TODO: needed? */
 //		warnx("Vertex longitude latitude");
 //		for (unsigned i = 0; i < _fence.count; i++)
 //		warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
@@ -913,741 +452,19 @@ Navigator::status()
 	} else {
 		warnx("Geofence not set");
 	}
-
-	switch (myState) {
-	case NAV_STATE_NONE:
-		warnx("State: None");
-		break;
-
-	case NAV_STATE_LOITER:
-		warnx("State: Loiter");
-		break;
-
-	case NAV_STATE_MISSION:
-		warnx("State: Mission");
-		break;
-
-	case NAV_STATE_RTL:
-		warnx("State: RTL");
-		break;
-
-	default:
-		warnx("State: Unknown");
-		break;
-	}
-}
-
-StateTable::Tran const Navigator::myTable[NAV_STATE_MAX][MAX_EVENT] = {
-	{
-		/* NAV_STATE_NONE */
-		/* EVENT_NONE_REQUESTED */		{NO_ACTION, NAV_STATE_NONE},
-		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
-		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
-		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
-		/* EVENT_LAND_REQUESTED */		{ACTION(&Navigator::start_land), NAV_STATE_LAND},
-		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_NONE},
-		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_NONE},
-	},
-	{
-		/* NAV_STATE_READY */
-		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
-		/* EVENT_READY_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
-		/* EVENT_LOITER_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
-		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
-		/* EVENT_LAND_REQUESTED */		{NO_ACTION, NAV_STATE_READY},
-		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_READY},
-		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_READY},
-	},
-	{
-		/* NAV_STATE_LOITER */
-		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
-		/* EVENT_READY_REQUESTED */		{NO_ACTION, NAV_STATE_LOITER},
-		/* EVENT_LOITER_REQUESTED */		{NO_ACTION, NAV_STATE_LOITER},
-		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
-		/* EVENT_LAND_REQUESTED */		{ACTION(&Navigator::start_land), NAV_STATE_LAND},
-		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_LOITER},
-		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_LOITER},
-	},
-	{
-		/* NAV_STATE_MISSION */
-		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
-		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
-		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
-		/* EVENT_MISSION_REQUESTED */		{NO_ACTION, NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
-		/* EVENT_LAND_REQUESTED */		{ACTION(&Navigator::start_land), NAV_STATE_LAND},
-		/* EVENT_MISSION_CHANGED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_MISSION},
-	},
-	{
-		/* NAV_STATE_RTL */
-		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
-		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
-		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
-		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{NO_ACTION, NAV_STATE_RTL},
-		/* EVENT_LAND_REQUESTED */		{ACTION(&Navigator::start_land_home), NAV_STATE_LAND},
-		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_RTL},
-		/* EVENT_HOME_POSITION_CHANGED */	{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},	// TODO need to reset rtl_state
-	},
-	{
-		/* NAV_STATE_LAND */
-		/* EVENT_NONE_REQUESTED */		{ACTION(&Navigator::start_none), NAV_STATE_NONE},
-		/* EVENT_READY_REQUESTED */		{ACTION(&Navigator::start_ready), NAV_STATE_READY},
-		/* EVENT_LOITER_REQUESTED */		{ACTION(&Navigator::start_loiter), NAV_STATE_LOITER},
-		/* EVENT_MISSION_REQUESTED */		{ACTION(&Navigator::start_mission), NAV_STATE_MISSION},
-		/* EVENT_RTL_REQUESTED */		{ACTION(&Navigator::start_rtl), NAV_STATE_RTL},
-		/* EVENT_LAND_REQUESTED */		{NO_ACTION, NAV_STATE_LAND},
-		/* EVENT_MISSION_CHANGED */		{NO_ACTION, NAV_STATE_LAND},
-		/* EVENT_HOME_POSITION_CHANGED */	{NO_ACTION, NAV_STATE_LAND},
-	},
-};
-
-void
-Navigator::start_none()
-{
-	reset_reached();
-
-	_pos_sp_triplet.previous.valid = false;
-	_pos_sp_triplet.current.valid = false;
-	_pos_sp_triplet.next.valid = false;
-	_mission_item_valid = false;
-
-	_reset_loiter_pos = true;
-	_do_takeoff = false;
-	_rtl_state = RTL_STATE_NONE;
-
-	_pos_sp_triplet_updated = true;
-}
-
-void
-Navigator::start_ready()
-{
-	reset_reached();
-
-	_pos_sp_triplet.previous.valid = false;
-	_pos_sp_triplet.current.valid = true;
-	_pos_sp_triplet.next.valid = false;
-
-	_pos_sp_triplet.current.type = SETPOINT_TYPE_IDLE;
-
-	_mission_item_valid = false;
-
-	_reset_loiter_pos = true;
-	_do_takeoff = false;
-
-	if (_rtl_state != RTL_STATE_DESCEND) {
-		/* reset RTL state if landed not at home */
-		_rtl_state = RTL_STATE_NONE;
-	}
-
-	_pos_sp_triplet_updated = true;
-}
-
-void
-Navigator::start_loiter()
-{
-	reset_reached();
-
-	_do_takeoff = false;
-
-	/* set loiter position if needed */
-	if (_reset_loiter_pos || !_pos_sp_triplet.current.valid) {
-		_reset_loiter_pos = false;
-
-		_pos_sp_triplet.current.lat = _global_pos.lat;
-		_pos_sp_triplet.current.lon = _global_pos.lon;
-		_pos_sp_triplet.current.yaw = NAN;	// NAN means to use current yaw
-
-		float min_alt_amsl = _parameters.min_altitude + _home_pos.alt;
-
-		/* use current altitude if above min altitude set by parameter */
-		if (_global_pos.alt < min_alt_amsl && !_vstatus.is_rotary_wing) {
-			_pos_sp_triplet.current.alt = min_alt_amsl;
-			mavlink_log_info(_mavlink_fd, "#audio: loiter %.1fm higher", (double)(min_alt_amsl - _global_pos.alt));
-
-		} else {
-			_pos_sp_triplet.current.alt = _global_pos.alt;
-			mavlink_log_info(_mavlink_fd, "#audio: loiter at current altitude");
-		}
-
-	}
-	_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
-	_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
-	_pos_sp_triplet.current.loiter_direction = 1;
-	_pos_sp_triplet.previous.valid = false;
-	_pos_sp_triplet.current.valid = true;
-	_pos_sp_triplet.next.valid = false;
-	_mission_item_valid = false;
-
-	_pos_sp_triplet_updated = true;
-}
-
-void
-Navigator::start_mission()
-{
-	_need_takeoff = true;
-
-	set_mission_item();
-}
-
-void
-Navigator::set_mission_item()
-{
-	reset_reached();
-
-	/* copy current mission to previous item */
-	memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-	_reset_loiter_pos = true;
-	_do_takeoff = false;
-
-	int ret;
-	bool onboard;
-	unsigned index;
-
-	ret = _mission.get_current_mission_item(&_mission_item, &onboard, &index);
-
-	if (ret == OK) {
-		_mission.report_current_offboard_mission_item();
-
-		_mission_item_valid = true;
-		position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
-
-		if (_mission_item.nav_cmd != NAV_CMD_RETURN_TO_LAUNCH &&
-		    _mission_item.nav_cmd != NAV_CMD_LOITER_TIME_LIMIT &&
-		    _mission_item.nav_cmd != NAV_CMD_LOITER_TURN_COUNT &&
-		    _mission_item.nav_cmd != NAV_CMD_LOITER_UNLIMITED) {
-			/* don't reset RTL state on RTL or LOITER items */
-			_rtl_state = RTL_STATE_NONE;
-		}
-
-		if (_vstatus.is_rotary_wing) {
-			if (_need_takeoff && (
-				    _mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
-				    _mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
-				    _mission_item.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH ||
-				    _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
-				    _mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
-				    _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED
-			    )) {
-				/* do special TAKEOFF handling for VTOL */
-				_need_takeoff = false;
-
-				/* calculate desired takeoff altitude AMSL */
-				float takeoff_alt_amsl = _pos_sp_triplet.current.alt;
-
-				if (_vstatus.condition_landed) {
-					/* takeoff to at least NAV_TAKEOFF_ALT from ground if landed */
-					takeoff_alt_amsl = fmaxf(takeoff_alt_amsl, _global_pos.alt + _parameters.takeoff_alt);
-				}
-
-				/* check if we really need takeoff */
-				if (_vstatus.condition_landed || _global_pos.alt < takeoff_alt_amsl - _mission_item.acceptance_radius) {
-					/* force TAKEOFF if landed or waypoint altitude is more than current */
-					_do_takeoff = true;
-
-					/* move current position setpoint to next */
-					memcpy(&_pos_sp_triplet.next, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-					/* set current setpoint to takeoff */
-
-					_pos_sp_triplet.current.lat = _global_pos.lat;
-					_pos_sp_triplet.current.lon = _global_pos.lon;
-					_pos_sp_triplet.current.alt = takeoff_alt_amsl;
-					_pos_sp_triplet.current.yaw = NAN;
-					_pos_sp_triplet.current.type = SETPOINT_TYPE_TAKEOFF;
-				}
-
-			} else if (_mission_item.nav_cmd == NAV_CMD_LAND) {
-				/* will need takeoff after landing */
-				_need_takeoff = true;
-			}
-		}
-
-		if (_do_takeoff) {
-			mavlink_log_info(_mavlink_fd, "#audio: takeoff to %.1fm above home", (double)(_pos_sp_triplet.current.alt - _home_pos.alt));
-
-		} else {
-			if (onboard) {
-				mavlink_log_info(_mavlink_fd, "#audio: heading to onboard WP %d", index);
-
-			} else {
-				mavlink_log_info(_mavlink_fd, "#audio: heading to offboard WP %d", index);
-			}
-		}
-
-	} else {
-		/* since a mission is not advanced without WPs available, this is not supposed to happen */
-		_mission_item_valid = false;
-		_pos_sp_triplet.current.valid = false;
-		warnx("ERROR: current WP can't be set");
-	}
-
-	if (!_do_takeoff) {
-		mission_item_s item_next;
-		ret = _mission.get_next_mission_item(&item_next);
-
-		if (ret == OK) {
-			position_setpoint_from_mission_item(&_pos_sp_triplet.next, &item_next);
-
-		} else {
-			/* this will fail for the last WP */
-			_pos_sp_triplet.next.valid = false;
-		}
-	}
-
-	_pos_sp_triplet_updated = true;
-}
-
-void
-Navigator::start_rtl()
-{
-	_do_takeoff = false;
-
-	/* decide if we need climb */
-	if (_rtl_state == RTL_STATE_NONE) {
-		if (_global_pos.alt < _home_pos.alt + _parameters.rtl_alt) {
-			_rtl_state = RTL_STATE_CLIMB;
-
-		} else {
-			_rtl_state = RTL_STATE_RETURN;
-		}
-	}
-
-	/* if switching directly to return state, reset altitude setpoint */
-	if (_rtl_state == RTL_STATE_RETURN) {
-		_mission_item.altitude_is_relative = false;
-		_mission_item.altitude = _global_pos.alt;
-	}
-
-	_reset_loiter_pos = true;
-	set_rtl_item();
-}
-
-void
-Navigator::start_land()
-{
-	reset_reached();
-
-	/* this state can be requested by commander even if no global position available,
-	 * in his case controller must perform landing without position control */
-	_do_takeoff = false;
-	_reset_loiter_pos = true;
-
-	memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-	_mission_item_valid = true;
-
-	_mission_item.lat = _global_pos.lat;
-	_mission_item.lon = _global_pos.lon;
-	_mission_item.altitude_is_relative = false;
-	_mission_item.altitude = _global_pos.alt;
-	_mission_item.yaw = NAN;
-	_mission_item.loiter_radius = _parameters.loiter_radius;
-	_mission_item.loiter_direction = 1;
-	_mission_item.nav_cmd = NAV_CMD_LAND;
-	_mission_item.acceptance_radius = _parameters.acceptance_radius;
-	_mission_item.time_inside = 0.0f;
-	_mission_item.pitch_min = 0.0f;
-	_mission_item.autocontinue = true;
-	_mission_item.origin = ORIGIN_ONBOARD;
-
-	position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
-
-	_pos_sp_triplet.next.valid = false;
-}
-
-void
-Navigator::start_land_home()
-{
-	reset_reached();
-
-	/* land to home position, should be called when hovering above home, from RTL state */
-	_do_takeoff = false;
-	_reset_loiter_pos = true;
-
-	memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-	_mission_item_valid = true;
-
-	_mission_item.lat = _home_pos.lat;
-	_mission_item.lon = _home_pos.lon;
-	_mission_item.altitude_is_relative = false;
-	_mission_item.altitude = _home_pos.alt;
-	_mission_item.yaw = NAN;
-	_mission_item.loiter_radius = _parameters.loiter_radius;
-	_mission_item.loiter_direction = 1;
-	_mission_item.nav_cmd = NAV_CMD_LAND;
-	_mission_item.acceptance_radius = _parameters.acceptance_radius;
-	_mission_item.time_inside = 0.0f;
-	_mission_item.pitch_min = 0.0f;
-	_mission_item.autocontinue = true;
-	_mission_item.origin = ORIGIN_ONBOARD;
-
-	position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
-
-	_pos_sp_triplet.next.valid = false;
-}
-
-void
-Navigator::set_rtl_item()
-{
-	reset_reached();
-
-	switch (_rtl_state) {
-	case RTL_STATE_CLIMB: {
-			memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-			float climb_alt = _home_pos.alt + _parameters.rtl_alt;
-
-			if (_vstatus.condition_landed) {
-				climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
-			}
-
-			_mission_item_valid = true;
-
-			_mission_item.lat = _global_pos.lat;
-			_mission_item.lon = _global_pos.lon;
-			_mission_item.altitude_is_relative = false;
-			_mission_item.altitude = climb_alt;
-			_mission_item.yaw = NAN;
-			_mission_item.loiter_radius = _parameters.loiter_radius;
-			_mission_item.loiter_direction = 1;
-			_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
-			_mission_item.acceptance_radius = _parameters.acceptance_radius;
-			_mission_item.time_inside = 0.0f;
-			_mission_item.pitch_min = 0.0f;
-			_mission_item.autocontinue = true;
-			_mission_item.origin = ORIGIN_ONBOARD;
-
-			position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
-
-			_pos_sp_triplet.next.valid = false;
-
-			mavlink_log_info(_mavlink_fd, "#audio: RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt));
-			break;
-		}
-
-	case RTL_STATE_RETURN: {
-			memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-			_mission_item_valid = true;
-
-			_mission_item.lat = _home_pos.lat;
-			_mission_item.lon = _home_pos.lon;
-			// don't change altitude
-			if (_pos_sp_triplet.previous.valid) {
-				/* if previous setpoint is valid then use it to calculate heading to home */
-				_mission_item.yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, _mission_item.lat, _mission_item.lon);
-
-			} else {
-				/* else use current position */
-				_mission_item.yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, _mission_item.lat, _mission_item.lon);
-			}
-			_mission_item.loiter_radius = _parameters.loiter_radius;
-			_mission_item.loiter_direction = 1;
-			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-			_mission_item.acceptance_radius = _parameters.acceptance_radius;
-			_mission_item.time_inside = 0.0f;
-			_mission_item.pitch_min = 0.0f;
-			_mission_item.autocontinue = true;
-			_mission_item.origin = ORIGIN_ONBOARD;
-
-			position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
-
-			_pos_sp_triplet.next.valid = false;
-
-			mavlink_log_info(_mavlink_fd, "#audio: RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
-			break;
-		}
-
-	case RTL_STATE_DESCEND: {
-			memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
-
-			_mission_item_valid = true;
-
-			_mission_item.lat = _home_pos.lat;
-			_mission_item.lon = _home_pos.lon;
-			_mission_item.altitude_is_relative = false;
-			_mission_item.altitude = _home_pos.alt + _parameters.land_alt;
-			_mission_item.yaw = NAN;
-			_mission_item.loiter_radius = _parameters.loiter_radius;
-			_mission_item.loiter_direction = 1;
-			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-			_mission_item.acceptance_radius = _parameters.acceptance_radius;
-			_mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 0.0f : _parameters.rtl_land_delay;
-			_mission_item.pitch_min = 0.0f;
-			_mission_item.autocontinue = _parameters.rtl_land_delay > -0.001f;
-			_mission_item.origin = ORIGIN_ONBOARD;
-
-			position_setpoint_from_mission_item(&_pos_sp_triplet.current, &_mission_item);
-
-			_pos_sp_triplet.next.valid = false;
-
-			mavlink_log_info(_mavlink_fd, "#audio: RTL: descend to %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
-			break;
-		}
-
-	default: {
-			mavlink_log_critical(_mavlink_fd, "#audio: [navigator] error: unknown RTL state: %d", _rtl_state);
-			start_loiter();
-			break;
-		}
-	}
-
-	_pos_sp_triplet_updated = true;
-}
-
-void
-Navigator::request_loiter_or_ready()
-{
-	/* XXX workaround: no landing detector for fixedwing yet */
-	if (_vstatus.condition_landed && _vstatus.is_rotary_wing) {
-		dispatch(EVENT_READY_REQUESTED);
-
-	} else {
-		dispatch(EVENT_LOITER_REQUESTED);
-	}
-}
-
-void
-Navigator::request_mission_if_available()
-{
-	if (_mission.current_mission_available()) {
-		dispatch(EVENT_MISSION_REQUESTED);
-
-	} else {
-		request_loiter_or_ready();
-	}
-}
-
-void
-Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_item_s *item)
-{
-	sp->valid = true;
-
-	if (item->nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
-		/* set home position for RTL item */
-		sp->lat = _home_pos.lat;
-		sp->lon = _home_pos.lon;
-		sp->alt = _home_pos.alt + _parameters.rtl_alt;
-
-		if (_pos_sp_triplet.previous.valid) {
-			/* if previous setpoint is valid then use it to calculate heading to home */
-			sp->yaw = get_bearing_to_next_waypoint(_pos_sp_triplet.previous.lat, _pos_sp_triplet.previous.lon, sp->lat, sp->lon);
-
-		} else {
-			/* else use current position */
-			sp->yaw = get_bearing_to_next_waypoint(_global_pos.lat, _global_pos.lon, sp->lat, sp->lon);
-		}
-		sp->loiter_radius = _parameters.loiter_radius;
-		sp->loiter_direction = 1;
-		sp->pitch_min = 0.0f;
-
-	} else {
-		sp->lat = item->lat;
-		sp->lon = item->lon;
-		sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.alt : item->altitude;
-		sp->yaw = item->yaw;
-		sp->loiter_radius = item->loiter_radius;
-		sp->loiter_direction = item->loiter_direction;
-		sp->pitch_min = item->pitch_min;
-	}
-
-	if (item->nav_cmd == NAV_CMD_TAKEOFF) {
-		sp->type = SETPOINT_TYPE_TAKEOFF;
-
-	} else if (item->nav_cmd == NAV_CMD_LAND) {
-		sp->type = SETPOINT_TYPE_LAND;
-
-	} else if (item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
-		   item->nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
-		   item->nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
-		sp->type = SETPOINT_TYPE_LOITER;
-
-	} else {
-		sp->type = SETPOINT_TYPE_NORMAL;
-	}
-}
-
-bool
-Navigator::check_mission_item_reached()
-{
-	/* only check if there is actually a mission item to check */
-	if (!_mission_item_valid) {
-		return false;
-	}
-
-	if (_mission_item.nav_cmd == NAV_CMD_LAND) {
-		return _vstatus.condition_landed;
-	}
-
-	/* XXX TODO count turns */
-	if ((_mission_item.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
-	     _mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
-	     _mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
-	    _mission_item.loiter_radius > 0.01f) {
-
-		return false;
-	}
-
-	uint64_t now = hrt_absolute_time();
-
-	if (!_waypoint_position_reached) {
-		float acceptance_radius;
-
-		if (_mission_item.nav_cmd == NAV_CMD_WAYPOINT && _mission_item.acceptance_radius > 0.01f) {
-			acceptance_radius = _mission_item.acceptance_radius;
-
-		} else {
-			acceptance_radius = _parameters.acceptance_radius;
-		}
-
-		float dist = -1.0f;
-		float dist_xy = -1.0f;
-		float dist_z = -1.0f;
-
-		/* calculate AMSL altitude for this waypoint */
-		float wp_alt_amsl = _mission_item.altitude;
-
-		if (_mission_item.altitude_is_relative)
-			wp_alt_amsl += _home_pos.alt;
-
-		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
-				(double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
-				&dist_xy, &dist_z);
-
-		if (_do_takeoff) {
-			if (_global_pos.alt > wp_alt_amsl - acceptance_radius) {
-				/* require only altitude for takeoff */
-				_waypoint_position_reached = true;
-			}
-
-		} else {
-			if (dist >= 0.0f && dist <= acceptance_radius) {
-				_waypoint_position_reached = true;
-			}
-		}
-	}
-
-	if (_waypoint_position_reached && !_waypoint_yaw_reached) {
-		if (_vstatus.is_rotary_wing && !_do_takeoff && isfinite(_mission_item.yaw)) {
-			/* check yaw if defined only for rotary wing except takeoff */
-			float yaw_err = _wrap_pi(_mission_item.yaw - _global_pos.yaw);
-
-			if (fabsf(yaw_err) < 0.05f) { /* XXX get rid of magic number */
-				_waypoint_yaw_reached = true;
-			}
-
-		} else {
-			_waypoint_yaw_reached = true;
-		}
-	}
-
-	/* check if the current waypoint was reached */
-	if (_waypoint_position_reached && _waypoint_yaw_reached) {
-		if (_time_first_inside_orbit == 0) {
-			_time_first_inside_orbit = now;
-
-			if (_mission_item.time_inside > 0.01f) {
-				mavlink_log_info(_mavlink_fd, "#audio: waypoint reached, wait for %.1fs", (double)_mission_item.time_inside);
-			}
-		}
-
-		/* check if the MAV was long enough inside the waypoint orbit */
-		if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item.time_inside * 1e6)
-		    || _mission_item.nav_cmd == NAV_CMD_TAKEOFF) {
-			reset_reached();
-			return true;
-		}
-	}
-
-	return false;
-
-}
-
-void
-Navigator::reset_reached()
-{
-	_time_first_inside_orbit = 0;
-	_waypoint_position_reached = false;
-	_waypoint_yaw_reached = false;
-
-}
-
-void
-Navigator::on_mission_item_reached()
-{
-	if (myState == NAV_STATE_MISSION) {
-
-		_mission.report_mission_item_reached();
-
-		if (_do_takeoff) {
-			/* takeoff completed */
-			_do_takeoff = false;
-			mavlink_log_info(_mavlink_fd, "#audio: takeoff completed");
-
-		} else {
-			/* advance by one mission item */
-			_mission.move_to_next();
-		}
-
-		if (_mission.current_mission_available()) {
-			set_mission_item();
-
-		} else {
-			/* if no more mission items available then finish mission */
-			/* loiter at last waypoint */
-			_reset_loiter_pos = false;
-			mavlink_log_info(_mavlink_fd, "[navigator] mission completed");
-			request_loiter_or_ready();
-		}
-
-	} else if (myState == NAV_STATE_RTL) {
-		/* RTL completed */
-		if (_rtl_state == RTL_STATE_DESCEND) {
-			/* hovering above home position, land if needed or loiter */
-			mavlink_log_info(_mavlink_fd, "[navigator] RTL completed");
-
-			if (_mission_item.autocontinue) {
-				dispatch(EVENT_LAND_REQUESTED);
-
-			} else {
-				_reset_loiter_pos = false;
-				dispatch(EVENT_LOITER_REQUESTED);
-			}
-
-		} else {
-			/* next RTL step */
-			_rtl_state = (RTLState)(_rtl_state + 1);
-			set_rtl_item();
-		}
-
-	} else if (myState == NAV_STATE_LAND) {
-		/* landing completed */
-		mavlink_log_info(_mavlink_fd, "[navigator] landing completed");
-		dispatch(EVENT_READY_REQUESTED);
-	}
-	_mission.publish_mission_result();
 }
 
 void
 Navigator::publish_position_setpoint_triplet()
 {
 	/* update navigation state */
-	_pos_sp_triplet.nav_state = static_cast<nav_state_t>(myState);
+	_pos_sp_triplet.nav_state = _vstatus.nav_state;
 
 	/* lazily publish the position setpoint triplet only once available */
 	if (_pos_sp_triplet_pub > 0) {
-		/* publish the position setpoint triplet */
 		orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
 
 	} else {
-		/* advertise and publish */
 		_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
 	}
 }
diff --git a/src/modules/navigator/navigator_mission.cpp b/src/modules/navigator/navigator_mission.cpp
deleted file mode 100644
index 72dddebfe..000000000
--- a/src/modules/navigator/navigator_mission.cpp
+++ /dev/null
@@ -1,318 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file navigator_mission.cpp
- * Helper class to access missions
- */
-
-#include <string.h>
-#include <stdlib.h>
-#include <dataman/dataman.h>
-#include <systemlib/err.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/mission_result.h>
-#include "navigator_mission.h"
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-
-Mission::Mission() :
-
-	_offboard_dataman_id(-1),
-	_current_offboard_mission_index(0),
-	_current_onboard_mission_index(0),
-	_offboard_mission_item_count(0),
-	_onboard_mission_item_count(0),
-	_onboard_mission_allowed(false),
-	_current_mission_type(MISSION_TYPE_NONE),
-	_mission_result_pub(-1)
-{
-	memset(&_mission_result, 0, sizeof(struct mission_result_s));
-}
-
-Mission::~Mission()
-{
-
-}
-
-void
-Mission::set_offboard_dataman_id(int new_id)
-{
-	_offboard_dataman_id = new_id;
-}
-
-void
-Mission::set_current_offboard_mission_index(int new_index)
-{
-	if (new_index != -1) {
-		warnx("specifically set to %d", new_index);
-		_current_offboard_mission_index = (unsigned)new_index;
-	} else {
-
-		/* if less WPs available, reset to first WP */
-		if (_current_offboard_mission_index >= _offboard_mission_item_count) {
-			_current_offboard_mission_index = 0;
-		}
-	}
-	report_current_offboard_mission_item();
-}
-
-void
-Mission::set_current_onboard_mission_index(int new_index)
-{
-	if (new_index != -1) {
-		_current_onboard_mission_index = (unsigned)new_index;
-	} else {
-
-		/* if less WPs available, reset to first WP */
-		if (_current_onboard_mission_index >= _onboard_mission_item_count) {
-			_current_onboard_mission_index = 0;
-		}
-	}
-	// TODO: implement this for onboard missions as well
-	// report_current_mission_item();
-}
-
-void
-Mission::set_offboard_mission_count(unsigned new_count)
-{
-	_offboard_mission_item_count = new_count;
-}
-
-void
-Mission::set_onboard_mission_count(unsigned new_count)
-{
-	_onboard_mission_item_count = new_count;
-}
-
-void
-Mission::set_onboard_mission_allowed(bool allowed)
-{
-	_onboard_mission_allowed = allowed;
-}
-
-bool
-Mission::current_mission_available()
-{
-	return (current_onboard_mission_available() || current_offboard_mission_available());
-
-}
-
-bool
-Mission::next_mission_available()
-{
-	return (next_onboard_mission_available() || next_offboard_mission_available());
-}
-
-int
-Mission::get_current_mission_item(struct mission_item_s *new_mission_item, bool *onboard, unsigned *index)
-{
-	/* try onboard mission first */
-	if (current_onboard_mission_available()) {
-
-		const ssize_t len = sizeof(struct mission_item_s);
-
-		if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index, new_mission_item, len) != len) {
-			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
-			return ERROR;
-		}
-
-		_current_mission_type = MISSION_TYPE_ONBOARD;
-		*onboard = true;
-		*index = _current_onboard_mission_index;
-
-		/* otherwise fallback to offboard */
-
-	} else if (current_offboard_mission_available()) {
-
-		dm_item_t dm_current;
-
-		if (_offboard_dataman_id == 0) {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
-
-		} else {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
-		}
-
-		const ssize_t len = sizeof(struct mission_item_s);
-
-		if (dm_read(dm_current, _current_offboard_mission_index, new_mission_item, len) != len) {
-			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
-			_current_mission_type = MISSION_TYPE_NONE;
-			return ERROR;
-		}
-
-		_current_mission_type = MISSION_TYPE_OFFBOARD;
-		*onboard = false;
-		*index = _current_offboard_mission_index;
-
-	} else {
-		/* happens when no more mission items can be added as a next item */
-		_current_mission_type = MISSION_TYPE_NONE;
-		return ERROR;
-	}
-
-	return OK;
-}
-
-int
-Mission::get_next_mission_item(struct mission_item_s *new_mission_item)
-{
-	/* try onboard mission first */
-	if (next_onboard_mission_available()) {
-
-		const ssize_t len = sizeof(struct mission_item_s);
-
-		if (dm_read(DM_KEY_WAYPOINTS_ONBOARD, _current_onboard_mission_index + 1, new_mission_item, len) != len) {
-			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
-			return ERROR;
-		}
-
-		/* otherwise fallback to offboard */
-
-	} else if (next_offboard_mission_available()) {
-
-		dm_item_t dm_current;
-
-		if (_offboard_dataman_id == 0) {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0;
-
-		} else {
-			dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1;
-		}
-
-		const ssize_t len = sizeof(struct mission_item_s);
-
-		if (dm_read(dm_current, _current_offboard_mission_index + 1, new_mission_item, len) != len) {
-			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
-			return ERROR;
-		}
-
-	} else {
-		/* happens when no more mission items can be added as a next item */
-		return ERROR;
-	}
-
-	return OK;
-}
-
-
-bool
-Mission::current_onboard_mission_available()
-{
-	return _onboard_mission_item_count > _current_onboard_mission_index && _onboard_mission_allowed;
-}
-
-bool
-Mission::current_offboard_mission_available()
-{
-	return _offboard_mission_item_count > _current_offboard_mission_index;
-}
-
-bool
-Mission::next_onboard_mission_available()
-{
-	unsigned next = 0;
-
-	if (_current_mission_type != MISSION_TYPE_ONBOARD) {
-		next = 1;
-	}
-
-	return _onboard_mission_item_count > (_current_onboard_mission_index + next) && _onboard_mission_allowed;
-}
-
-bool
-Mission::next_offboard_mission_available()
-{
-	unsigned next = 0;
-
-	if (_current_mission_type != MISSION_TYPE_OFFBOARD) {
-		next = 1;
-	}
-
-	return _offboard_mission_item_count > (_current_offboard_mission_index + next);
-}
-
-void
-Mission::move_to_next()
-{
-	switch (_current_mission_type) {
-	case MISSION_TYPE_ONBOARD:
-		_current_onboard_mission_index++;
-		break;
-
-	case MISSION_TYPE_OFFBOARD:
-		_current_offboard_mission_index++;
-		break;
-
-	case MISSION_TYPE_NONE:
-	default:
-		break;
-	}
-}
-
-void
-Mission::report_mission_item_reached()
-{
-	if (_current_mission_type == MISSION_TYPE_OFFBOARD) {
-		_mission_result.mission_reached = true;
-		_mission_result.mission_index_reached = _current_offboard_mission_index;
-	}
-}
-
-void
-Mission::report_current_offboard_mission_item()
-{
-	_mission_result.index_current_mission = _current_offboard_mission_index;
-}
-
-void
-Mission::publish_mission_result()
-{
-	/* lazily publish the mission result only once available */
-	if (_mission_result_pub > 0) {
-		/* publish mission result */
-		orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
-
-	} else {
-		/* advertise and publish */
-		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
-	}
-	/* reset reached bool */
-	_mission_result.mission_reached = false;
-}
diff --git a/src/modules/navigator/navigator_mission.h b/src/modules/navigator/navigator_mission.h
deleted file mode 100644
index 2bd4da82e..000000000
--- a/src/modules/navigator/navigator_mission.h
+++ /dev/null
@@ -1,104 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Julian Oes <joes@student.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-/**
- * @file navigator_mission.h
- * Helper class to access missions
- */
-
-#ifndef NAVIGATOR_MISSION_H
-#define NAVIGATOR_MISSION_H
-
-#include <uORB/topics/mission.h>
-#include <uORB/topics/mission_result.h>
-
-
-class __EXPORT Mission
-{
-public:
-	/**
-	 * Constructor
-	 */
-	Mission();
-
-	/**
-	 * Destructor, also kills the sensors task.
-	 */
-	~Mission();
-
-	void		set_offboard_dataman_id(int new_id);
-	void		set_current_offboard_mission_index(int new_index);
-	void		set_current_onboard_mission_index(int new_index);
-	void		set_offboard_mission_count(unsigned new_count);
-	void		set_onboard_mission_count(unsigned new_count);
-
-	void		set_onboard_mission_allowed(bool allowed);
-
-	bool		current_mission_available();
-	bool		next_mission_available();
-
-	int		get_current_mission_item(struct mission_item_s *mission_item, bool *onboard, unsigned *index);
-	int		get_next_mission_item(struct mission_item_s *mission_item);
-
-	void		move_to_next();
-
-	void		report_mission_item_reached();
-	void		report_current_offboard_mission_item();
-	void		publish_mission_result();
-
-private:
-	bool		current_onboard_mission_available();
-	bool		current_offboard_mission_available();
-	bool		next_onboard_mission_available();
-	bool		next_offboard_mission_available();
-
-	int 		_offboard_dataman_id;
-	unsigned	_current_offboard_mission_index;
-	unsigned	_current_onboard_mission_index;
-	unsigned	_offboard_mission_item_count;		/** number of offboard mission items available */
-	unsigned	_onboard_mission_item_count;		/** number of onboard mission items available */
-
-	bool		_onboard_mission_allowed;
-
-	enum {
-		MISSION_TYPE_NONE,
-		MISSION_TYPE_ONBOARD,
-		MISSION_TYPE_OFFBOARD,
-	} 		_current_mission_type;
-
-	int		_mission_result_pub;
-
-	struct mission_result_s _mission_result;
-};
-
-#endif
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.c b/src/modules/navigator/navigator_mode.cpp
index 72e5bc73b..f43215665 100755..100644
--- a/src/modules/position_estimator_mc/position_estimator_mc_params.c
+++ b/src/modules/navigator/navigator_mode.cpp
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,36 +30,66 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-
-/*
- * @file position_estimator_mc_params.c
- * 
- * Parameters for position_estimator_mc
+/**
+ * @file navigator_mode.cpp
+ *
+ * Base class for different modes in navigator
+ *
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include "position_estimator_mc_params.h"
+#include "navigator_mode.h"
+#include "navigator.h"
+
+NavigatorMode::NavigatorMode(Navigator *navigator, const char *name) :
+	SuperBlock(NULL, name),
+	_navigator(navigator),
+	_first_run(true)
+{
+	/* load initial params */
+	updateParams();
+	/* set initial mission items */
+	on_inactive();
+}
 
-/* Kalman Filter covariances */
-/* gps measurement noise standard deviation */
-PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f);
-PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f);
-PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
-PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f);
+NavigatorMode::~NavigatorMode()
+{
+}
+
+void
+NavigatorMode::run(bool active) {
+	if (active) {
+		if (_first_run) {
+			/* first run */
+			_first_run = false;
+			on_activation();
+
+		} else {
+			/* periodic updates when active */
+			on_active();
+		}
+
+	} else {
+		/* periodic updates when inactive */
+		_first_run = true;
+		on_inactive();
+	}
+}
+
+void
+NavigatorMode::on_inactive()
+{
+}
 
-int parameters_init(struct position_estimator_mc_param_handles *h)
+void
+NavigatorMode::on_activation()
 {
-	h->addNoise	= param_find("POS_EST_ADDN");
-	h->sigma = param_find("POS_EST_SIGMA");
-	h->r = param_find("POS_EST_R");
-	h->baro_param_handle = param_find("POS_EST_BARO");
-	return OK;
+	/* invalidate position setpoint by default */
+	_navigator->get_position_setpoint_triplet()->current.valid = false;
 }
 
-int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p)
+void
+NavigatorMode::on_active()
 {
-	param_get(h->addNoise, &(p->addNoise));
-	param_get(h->sigma, &(p->sigma));
-	param_get(h->r, &(p->R));
-	param_get(h->baro_param_handle, &(p->baro));
-	return OK;
 }
diff --git a/src/modules/navigator/navigator_mode.h b/src/modules/navigator/navigator_mode.h
new file mode 100644
index 000000000..de5545dcb
--- /dev/null
+++ b/src/modules/navigator/navigator_mode.h
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator_mode.h
+ *
+ * Base class for different modes in navigator
+ *
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef NAVIGATOR_MODE_H
+#define NAVIGATOR_MODE_H
+
+#include <drivers/drv_hrt.h>
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <dataman/dataman.h>
+
+#include <uORB/topics/position_setpoint_triplet.h>
+
+class Navigator;
+
+class NavigatorMode : public control::SuperBlock
+{
+public:
+	/**
+	 * Constructor
+	 */
+	NavigatorMode(Navigator *navigator, const char *name);
+
+	/**
+	 * Destructor
+	 */
+	virtual ~NavigatorMode();
+
+	void run(bool active);
+
+	/**
+	 * This function is called while the mode is inactive
+	 */
+	virtual void on_inactive();
+
+	/**
+	 * This function is called one time when mode become active, poos_sp_triplet must be initialized here
+	 */
+	virtual void on_activation();
+
+	/**
+	 * This function is called while the mode is active
+	 */
+	virtual void on_active();
+
+protected:
+	Navigator *_navigator;
+
+private:
+	bool _first_run;
+
+	/* this class has ptr data members, so it should not be copied,
+	 * consequently the copy constructors are private.
+	 */
+	NavigatorMode(const NavigatorMode&);
+	NavigatorMode operator=(const NavigatorMode&);
+};
+
+#endif
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index 9ef359c6d..084afe340 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -20,7 +17,7 @@
  *    without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
@@ -37,104 +34,33 @@
 /**
  * @file navigator_params.c
  *
- * Parameters defined by the navigator task.
+ * Parameters for navigator in general
  *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
- * @author Anton Babushkin <anton.babushkin@me.com>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #include <nuttx/config.h>
 
 #include <systemlib/param/param.h>
 
-/*
- * Navigator parameters, accessible via MAVLink
- */
-
-/**
- * Minimum altitude (fixed wing only)
- *
- * Minimum altitude above home for LOITER.
- *
- * @unit meters
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f);
-
-/**
- * Waypoint acceptance radius
- *
- * Default value of acceptance radius (if not specified in mission item).
- *
- * @unit meters
- * @min 0.0
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f);
-
 /**
- * Loiter radius (fixed wing only)
+ * Loiter radius (FW only)
  *
- * Default value of loiter radius (if not specified in mission item).
+ * Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).
  *
  * @unit meters
  * @min 0.0
- * @group Navigation
+ * @group Mission
  */
 PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
 
 /**
- * Enable onboard mission
- *
- * @group Navigation
- */
-PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0);
-
-/**
- * Take-off altitude
- *
- * Even if first waypoint has altitude less then NAV_TAKEOFF_ALT above home position, system will climb to NAV_TAKEOFF_ALT on takeoff, then go to waypoint.
- *
- * @unit meters
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f);
-
-/**
- * Landing altitude
- *
- * Stay at this altitude above home position after RTL descending. Land (i.e. slowly descend) from this altitude if autolanding allowed.
- *
- * @unit meters
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f);
-
-/**
- * Return-To-Launch altitude
+ * Acceptance Radius
  *
- * Minimum altitude above home position for going home in RTL mode.
+ * Default acceptance radius, overridden by acceptance radius of waypoint if set.
  *
  * @unit meters
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f);
-
-/**
- * Return-To-Launch delay
- *
- * Delay after descend before landing in RTL mode.
- * If set to -1 the system will not land but loiter at NAV_LAND_ALT.
- *
- * @unit seconds
- * @group Navigation
- */
-PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f);
-
-/**
- * Enable parachute deployment
- *
- * @group Navigation
+ * @min 1.0
+ * @group Mission
  */
-PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0);
+PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 25.0f);
diff --git a/src/modules/navigator/navigator_state.h b/src/modules/navigator/navigator_state.h
deleted file mode 100644
index 6a1475c9b..000000000
--- a/src/modules/navigator/navigator_state.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * navigator_state.h
- *
- *  Created on: 27.01.2014
- *      Author: ton
- */
-
-#ifndef NAVIGATOR_STATE_H_
-#define NAVIGATOR_STATE_H_
-
-typedef enum {
-	NAV_STATE_NONE = 0,
-	NAV_STATE_READY,
-	NAV_STATE_LOITER,
-	NAV_STATE_MISSION,
-	NAV_STATE_RTL,
-	NAV_STATE_LAND,
-	NAV_STATE_MAX
-} nav_state_t;
-
-#endif /* NAVIGATOR_STATE_H_ */
diff --git a/src/modules/navigator/offboard.cpp b/src/modules/navigator/offboard.cpp
new file mode 100644
index 000000000..dcb5c6000
--- /dev/null
+++ b/src/modules/navigator/offboard.cpp
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file offboard.cpp
+ *
+ * Helper class for offboard commands
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/position_setpoint_triplet.h>
+
+#include "navigator.h"
+#include "offboard.h"
+
+Offboard::Offboard(Navigator *navigator, const char *name) :
+	NavigatorMode(navigator, name),
+	_offboard_control_sp({0})
+{
+	/* load initial params */
+	updateParams();
+	/* initial reset */
+	on_inactive();
+}
+
+Offboard::~Offboard()
+{
+}
+
+void
+Offboard::on_inactive()
+{
+}
+
+void
+Offboard::on_activation()
+{
+}
+
+void
+Offboard::on_active()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	bool updated;
+	orb_check(_navigator->get_offboard_control_sp_sub(), &updated);
+	if (updated) {
+		update_offboard_control_setpoint();
+	}
+
+	/* copy offboard setpoints to the corresponding topics */
+	if (_navigator->get_control_mode()->flag_control_position_enabled
+	    && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_POSITION) {
+		/* position control */
+		pos_sp_triplet->current.x = _offboard_control_sp.p1;
+		pos_sp_triplet->current.y = _offboard_control_sp.p2;
+		pos_sp_triplet->current.yaw = _offboard_control_sp.p3;
+		pos_sp_triplet->current.z = -_offboard_control_sp.p4;
+
+		pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
+		pos_sp_triplet->current.valid = true;
+		pos_sp_triplet->current.position_valid = true;
+
+		_navigator->set_position_setpoint_triplet_updated();
+
+	} else if (_navigator->get_control_mode()->flag_control_velocity_enabled
+	           && _offboard_control_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY) {
+		/* velocity control */
+		pos_sp_triplet->current.vx = _offboard_control_sp.p2;
+		pos_sp_triplet->current.vy = _offboard_control_sp.p1;
+		pos_sp_triplet->current.yawspeed = _offboard_control_sp.p3;
+		pos_sp_triplet->current.vz = _offboard_control_sp.p4;
+
+		pos_sp_triplet->current.type = SETPOINT_TYPE_OFFBOARD;
+		pos_sp_triplet->current.valid = true;
+		pos_sp_triplet->current.velocity_valid = true;
+
+		_navigator->set_position_setpoint_triplet_updated();
+	}
+
+}
+
+
+void
+Offboard::update_offboard_control_setpoint()
+{
+	orb_copy(ORB_ID(offboard_control_setpoint), _navigator->get_offboard_control_sp_sub(), &_offboard_control_sp);
+
+}
diff --git a/src/modules/navigator/offboard.h b/src/modules/navigator/offboard.h
new file mode 100644
index 000000000..66b923bdb
--- /dev/null
+++ b/src/modules/navigator/offboard.h
@@ -0,0 +1,72 @@
+/***************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file offboard.h
+ *
+ * Helper class for offboard commands
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#ifndef NAVIGATOR_OFFBOARD_H
+#define NAVIGATOR_OFFBOARD_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/offboard_control_setpoint.h>
+
+#include "navigator_mode.h"
+
+class Navigator;
+
+class Offboard : public NavigatorMode
+{
+public:
+	Offboard(Navigator *navigator, const char *name);
+
+	~Offboard();
+
+	virtual void on_inactive();
+
+	virtual void on_activation();
+
+	virtual void on_active();
+private:
+	void update_offboard_control_setpoint();
+
+	struct offboard_control_setpoint_s _offboard_control_sp;
+};
+
+#endif
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
new file mode 100644
index 000000000..142a73409
--- /dev/null
+++ b/src/modules/navigator/rtl.cpp
@@ -0,0 +1,317 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator_rtl.cpp
+ * Helper class to access RTL
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <math.h>
+#include <fcntl.h>
+
+#include <mavlink/mavlink_log.h>
+#include <systemlib/err.h>
+#include <geo/geo.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/home_position.h>
+
+#include "navigator.h"
+#include "rtl.h"
+
+#define DELAY_SIGMA	0.01f
+
+RTL::RTL(Navigator *navigator, const char *name) :
+	MissionBlock(navigator, name),
+	_rtl_state(RTL_STATE_NONE),
+	_param_return_alt(this, "RETURN_ALT"),
+	_param_descend_alt(this, "DESCEND_ALT"),
+	_param_land_delay(this, "LAND_DELAY")
+{
+	/* load initial params */
+	updateParams();
+	/* initial reset */
+	on_inactive();
+}
+
+RTL::~RTL()
+{
+}
+
+void
+RTL::on_inactive()
+{
+	/* reset RTL state only if setpoint moved */
+	if (!_navigator->get_can_loiter_at_sp()) {
+		_rtl_state = RTL_STATE_NONE;
+	}
+}
+
+void
+RTL::on_activation()
+{
+	/* decide where to enter the RTL procedure when we switch into it */
+	if (_rtl_state == RTL_STATE_NONE) {
+		/* for safety reasons don't go into RTL if landed */
+		if (_navigator->get_vstatus()->condition_landed) {
+			_rtl_state = RTL_STATE_LANDED;
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
+
+		/* if lower than return altitude, climb up first */
+		} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
+			   + _param_return_alt.get()) {
+			_rtl_state = RTL_STATE_CLIMB;
+
+		/* otherwise go straight to return */
+		} else {
+			/* set altitude setpoint to current altitude */
+			_rtl_state = RTL_STATE_RETURN;
+			_mission_item.altitude_is_relative = false;
+			_mission_item.altitude = _navigator->get_global_position()->alt;
+		}
+	}
+
+	set_rtl_item();
+}
+
+void
+RTL::on_active()
+{
+	if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
+		advance_rtl();
+		set_rtl_item();
+	}
+}
+
+void
+RTL::set_rtl_item()
+{
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+	/* make sure we have the latest params */
+	updateParams();
+
+	set_previous_pos_setpoint();
+	_navigator->set_can_loiter_at_sp(false);
+
+	switch (_rtl_state) {
+	case RTL_STATE_CLIMB: {
+		float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
+
+		_mission_item.lat = _navigator->get_global_position()->lat;
+		_mission_item.lon = _navigator->get_global_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = climb_alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
+			(int)(climb_alt - _navigator->get_home_position()->alt));
+		break;
+	}
+
+	case RTL_STATE_RETURN: {
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		 // don't change altitude
+
+		 if (pos_sp_triplet->previous.valid) {
+		 	/* if previous setpoint is valid then use it to calculate heading to home */
+		 	_mission_item.yaw = get_bearing_to_next_waypoint(
+		 	        pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon,
+		 	        _mission_item.lat, _mission_item.lon);
+
+		 } else {
+		 	/* else use current position */
+		 	_mission_item.yaw = get_bearing_to_next_waypoint(
+		 	        _navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
+		 	        _mission_item.lat, _mission_item.lon);
+		 }
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
+			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
+		break;
+	}
+
+	case RTL_STATE_DESCEND: {
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = false;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
+			(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
+		break;
+	}
+
+	case RTL_STATE_LOITER: {
+		bool autoland = _param_land_delay.get() > -DELAY_SIGMA;
+
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = autoland;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		_navigator->set_can_loiter_at_sp(true);
+
+		if (autoland) {
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside);
+
+		} else {
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter");
+		}
+		break;
+	}
+
+	case RTL_STATE_LAND: {
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_LAND;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
+		break;
+	}
+
+	case RTL_STATE_LANDED: {
+		_mission_item.lat = _navigator->get_home_position()->lat;
+		_mission_item.lon = _navigator->get_home_position()->lon;
+		_mission_item.altitude_is_relative = false;
+		_mission_item.altitude = _navigator->get_home_position()->alt;
+		_mission_item.yaw = NAN;
+		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_direction = 1;
+		_mission_item.nav_cmd = NAV_CMD_IDLE;
+		_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+		_mission_item.time_inside = 0.0f;
+		_mission_item.pitch_min = 0.0f;
+		_mission_item.autocontinue = true;
+		_mission_item.origin = ORIGIN_ONBOARD;
+
+		mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, landed");
+		break;
+	}
+
+	default:
+		break;
+	}
+
+	reset_mission_item_reached();
+
+	/* convert mission item to current position setpoint and make it valid */
+	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
+	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_position_setpoint_triplet_updated();
+}
+
+void
+RTL::advance_rtl()
+{
+	switch (_rtl_state) {
+	case RTL_STATE_CLIMB:
+		_rtl_state = RTL_STATE_RETURN;
+		break;
+
+	case RTL_STATE_RETURN:
+		_rtl_state = RTL_STATE_DESCEND;
+		break;
+
+	case RTL_STATE_DESCEND:
+		/* only go to land if autoland is enabled */
+		if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
+			_rtl_state = RTL_STATE_LOITER;
+
+		} else {
+			_rtl_state = RTL_STATE_LAND;
+		}
+		break;
+
+	case RTL_STATE_LOITER:
+		_rtl_state = RTL_STATE_LAND;
+		break;
+
+	case RTL_STATE_LAND:
+		_rtl_state = RTL_STATE_LANDED;
+		break;
+
+	default:
+		break;
+	}
+}
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
new file mode 100644
index 000000000..5928f1f07
--- /dev/null
+++ b/src/modules/navigator/rtl.h
@@ -0,0 +1,96 @@
+/***************************************************************************
+ *
+ *   Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+/**
+ * @file navigator_rtl.h
+ * Helper class for RTL
+ *
+ * @author Julian Oes <julian@oes.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef NAVIGATOR_RTL_H
+#define NAVIGATOR_RTL_H
+
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/home_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+
+#include "navigator_mode.h"
+#include "mission_block.h"
+
+class Navigator;
+
+class RTL : public MissionBlock
+{
+public:
+	RTL(Navigator *navigator, const char *name);
+
+	~RTL();
+
+	virtual void on_inactive();
+
+	virtual void on_activation();
+
+	virtual void on_active();
+
+private:
+	/**
+	 * Set the RTL item
+	 */
+	void		set_rtl_item();
+
+	/**
+	 * Move to next RTL item
+	 */
+	void		advance_rtl();
+
+	enum RTLState {
+		RTL_STATE_NONE = 0,
+		RTL_STATE_CLIMB,
+		RTL_STATE_RETURN,
+		RTL_STATE_DESCEND,
+		RTL_STATE_LOITER,
+		RTL_STATE_LAND,
+		RTL_STATE_LANDED,
+	} _rtl_state;
+
+	control::BlockParamFloat _param_return_alt;
+	control::BlockParamFloat _param_descend_alt;
+	control::BlockParamFloat _param_land_delay;
+};
+
+#endif
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
new file mode 100644
index 000000000..bfe6ce7e1
--- /dev/null
+++ b/src/modules/navigator/rtl_params.c
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file rtl_params.c
+ *
+ * Parameters for RTL
+ *
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <nuttx/config.h>
+
+#include <systemlib/param/param.h>
+
+/*
+ * RTL parameters, accessible via MAVLink
+ */
+
+/**
+ * Loiter radius after RTL (FW only)
+ *
+ * Default value of loiter radius after RTL (fixedwing only).
+ *
+ * @unit meters
+ * @min 0.0
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
+
+/**
+ * RTL altitude
+ *
+ * Altitude to fly back in RTL in meters
+ *
+ * @unit meters
+ * @min 0
+ * @max 1
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);
+
+
+/**
+ * RTL loiter altitude
+ *
+ * Stay at this altitude above home position after RTL descending.
+ * Land (i.e. slowly descend) from this altitude if autolanding allowed.
+ *
+ * @unit meters
+ * @min 0
+ * @max 100
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
+
+/**
+ * RTL delay
+ *
+ * Delay after descend before landing in RTL mode.
+ * If set to -1 the system will not land but loiter at NAV_LAND_ALT.
+ *
+ * @unit seconds
+ * @min -1
+ * @max
+ * @group RTL
+ */
+PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
diff --git a/src/modules/position_estimator/position_estimator_main.c b/src/modules/position_estimator/position_estimator_main.c
deleted file mode 100644
index e84945299..000000000
--- a/src/modules/position_estimator/position_estimator_main.c
+++ /dev/null
@@ -1,423 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *			 Thomas Gubler <thomasgubler@student.ethz.ch>
- *           Julian Oes <joes@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file position_estimator_main.c
- * Model-identification based position estimator for multirotors
- */
-
-#include <nuttx/config.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <float.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <poll.h>
-
-#define N_STATES 6
-#define ERROR_COVARIANCE_INIT 3
-#define R_EARTH 6371000.0
-
-#define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000
-#define REPROJECTION_COUNTER_LIMIT 125
-
-__EXPORT int position_estimator_main(int argc, char *argv[]);
-
-static uint16_t position_estimator_counter_position_information;
-
-/* values for map projection */
-static double phi_1;
-static double sin_phi_1;
-static double cos_phi_1;
-static double lambda_0;
-static double scale;
-
-/**
- * Initializes the map transformation.
- *
- * Initializes the transformation between the geographic coordinate system and the azimuthal equidistant plane
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_init(double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
-{
-	/* notation and formulas according to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	phi_1 = lat_0 / 180.0 * M_PI;
-	lambda_0 = lon_0 / 180.0 * M_PI;
-
-	sin_phi_1 = sin(phi_1);
-	cos_phi_1 = cos(phi_1);
-
-	/* calculate local scale by using the relation of true distance and the distance on plane */ //TODO: this is a quick solution, there are probably easier ways to determine the scale
-
-	/* 1) calculate true distance d on sphere to a point: http://www.movable-type.co.uk/scripts/latlong.html */
-	const double r_earth = 6371000;
-
-	double lat1 = phi_1;
-	double lon1 = lambda_0;
-
-	double lat2 = phi_1 + 0.5 / 180 * M_PI;
-	double lon2 = lambda_0 + 0.5 / 180 * M_PI;
-	double sin_lat_2 = sin(lat2);
-	double cos_lat_2 = cos(lat2);
-	double d = acos(sin(lat1) * sin_lat_2 + cos(lat1) * cos_lat_2 * cos(lon2 - lon1)) * r_earth;
-
-	/* 2) calculate distance rho on plane */
-	double k_bar = 0;
-	double c =  acos(sin_phi_1 * sin_lat_2 + cos_phi_1 * cos_lat_2 * cos(lon2 - lambda_0));
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	double x2 = k_bar * (cos_lat_2 * sin(lon2 - lambda_0)); //Projection of point 2 on plane
-	double y2 = k_bar * ((cos_phi_1 * sin_lat_2 - sin_phi_1 * cos_lat_2 * cos(lon2 - lambda_0)));
-	double rho = sqrt(pow(x2, 2) + pow(y2, 2));
-
-	scale = d / rho;
-
-}
-
-/**
- * Transforms a point in the geographic coordinate system to the local azimuthal equidistant plane
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_project(double lat, double lon, float *x, float *y)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-	double phi = lat / 180.0 * M_PI;
-	double lambda = lon / 180.0 * M_PI;
-
-	double sin_phi = sin(phi);
-	double cos_phi = cos(phi);
-
-	double k_bar = 0;
-	/* using small angle approximation (formula in comment is without aproximation) */
-	double c =  acos(sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2)); //double c =  acos( sin_phi_1 * sin_phi + cos_phi_1 * cos_phi * cos(lambda - lambda_0) );
-
-	if (0 != c)
-		k_bar = c / sin(c);
-
-	/* using small angle approximation (formula in comment is without aproximation) */
-	*y = k_bar * (cos_phi * (lambda - lambda_0)) * scale;//*y = k_bar * (cos_phi * sin(lambda - lambda_0)) * scale;
-	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * (1 - pow((lambda - lambda_0), 2) / 2))) * scale; //	*x = k_bar * ((cos_phi_1 * sin_phi - sin_phi_1 * cos_phi * cos(lambda - lambda_0))) * scale;
-
-//	printf("%phi_1=%.10f, lambda_0 =%.10f\n", phi_1, lambda_0);
-}
-
-/**
- * Transforms a point in the local azimuthal equidistant plane to the geographic coordinate system
- *
- * @param x north
- * @param y east
- * @param lat in degrees (47.1234567°, not 471234567°)
- * @param lon in degrees (8.1234567°, not 81234567°)
- */
-static void map_projection_reproject(float x, float y, double *lat, double *lon)
-{
-	/* notation and formulas accoring to: http://mathworld.wolfram.com/AzimuthalEquidistantProjection.html */
-
-	double x_descaled = x / scale;
-	double y_descaled = y / scale;
-
-	double c = sqrt(pow(x_descaled, 2) + pow(y_descaled, 2));
-	double sin_c = sin(c);
-	double cos_c = cos(c);
-
-	double lat_sphere = 0;
-
-	if (c != 0)
-		lat_sphere = asin(cos_c * sin_phi_1 + (x_descaled * sin_c * cos_phi_1) / c);
-	else
-		lat_sphere = asin(cos_c * sin_phi_1);
-
-//	printf("lat_sphere = %.10f\n",lat_sphere);
-
-	double lon_sphere = 0;
-
-	if (phi_1  == M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 - y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(-y_descaled, x_descaled));
-
-	} else if (phi_1 == -M_PI / 2) {
-		//using small angle approximation (formula in comment is without aproximation)
-		lon_sphere = (lambda_0 + y_descaled / x_descaled); //lon_sphere = (lambda_0 + atan2(y_descaled, x_descaled));
-
-	} else {
-
-		lon_sphere = (lambda_0 + atan2(y_descaled * sin_c , c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c));
-		//using small angle approximation
-//    	double denominator = (c * cos_phi_1 * cos_c - x_descaled * sin_phi_1 * sin_c);
-//    	if(denominator != 0)
-//    	{
-//    		lon_sphere = (lambda_0 + (y_descaled * sin_c) / denominator);
-//    	}
-//    	else
-//    	{
-//    	...
-//    	}
-	}
-
-//	printf("lon_sphere = %.10f\n",lon_sphere);
-
-	*lat = lat_sphere * 180.0 / M_PI;
-	*lon = lon_sphere * 180.0 / M_PI;
-
-}
-
-/****************************************************************************
- * main
- ****************************************************************************/
-
-int position_estimator_main(int argc, char *argv[])
-{
-
-	/* welcome user */
-	printf("[multirotor position_estimator] started\n");
-
-	/* initialize values */
-	static float u[2] = {0, 0};
-	static float z[3] = {0, 0, 0};
-	static float xapo[N_STATES] = {0, 0, 0, 0, 0, 0};
-	static float Papo[N_STATES * N_STATES] = {ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0,
-			ERROR_COVARIANCE_INIT, 0, 0, 0, 0, 0
-						 };
-
-	static float xapo1[N_STATES];
-	static float Papo1[36];
-
-	static float gps_covariance[3] = {0.0f, 0.0f, 0.0f};
-
-	static uint16_t counter = 0;
-	position_estimator_counter_position_information = 0;
-
-	uint8_t predict_only = 1;
-
-	bool gps_valid = false;
-
-	bool new_initialization = true;
-
-	static double lat_current = 0.0d;//[°]] --> 47.0
-	static double lon_current = 0.0d; //[°]] -->8.5
-	float alt_current = 0.0f;
-
-
-	//TODO: handle flight without gps but with estimator
-
-	/* subscribe to vehicle status, attitude, gps */
-	struct vehicle_gps_position_s gps;
-	gps.fix_type = 0;
-	struct vehicle_status_s vstatus;
-	struct vehicle_attitude_s att;
-
-	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* subscribe to attitude at 100 Hz */
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-
-	/* wait until gps signal turns valid, only then can we initialize the projection */
-	while (gps.fix_type < 3) {
-		struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} };
-
-		/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
-		 * this choice is critical, since the vehicle status might not
-		 * actually change, if this app is started after GPS lock was
-		 * aquired.
-		 */
-		if (poll(fds, 1, 5000)) {
-			/* Wait for the GPS update to propagate (we have some time) */
-			usleep(5000);
-			/* Read wether the vehicle status changed */
-			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-			gps_valid = (gps.fix_type > 2);
-		}
-	}
-
-	/* get gps value for first initialization */
-	orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-	lat_current = ((double)(gps.lat)) * 1e-7;
-	lon_current = ((double)(gps.lon)) * 1e-7;
-	alt_current = gps.alt * 1e-3;
-
-	/* initialize coordinates */
-	map_projection_init(lat_current, lon_current);
-
-	/* publish global position messages only after first GPS message */
-	struct vehicle_local_position_s local_pos = {
-		.x = 0,
-		.y = 0,
-		.z = 0
-	};
-	orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
-
-	printf("[multirotor position estimator] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
-
-	while (1) {
-
-		/*This runs at the rate of the sensors, if we have also a new gps update this is used in the position_estimator function */
-		struct pollfd fds[1] = { {.fd = vehicle_attitude_sub, .events = POLLIN} };
-
-		if (poll(fds, 1, 5000) <= 0) {
-			/* error / timeout */
-		} else {
-
-			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-			/* got attitude, updating pos as well */
-			orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
-
-			/*copy attitude */
-			u[0] = att.roll;
-			u[1] = att.pitch;
-
-			/* initialize map projection with the last estimate (not at full rate) */
-			if (gps.fix_type > 2) {
-				/* Project gps lat lon (Geographic coordinate system) to plane*/
-				map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1]));
-
-				local_pos.x = z[0];
-				local_pos.y = z[1];
-				/* negative offset from initialization altitude */
-				local_pos.z = alt_current - (gps.alt) * 1e-3;
-
-
-				orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos);
-			}
-
-
-			// 	gps_covariance[0] = gps.eph; //TODO: needs scaling
-			// 	gps_covariance[1] = gps.eph;
-			// 	gps_covariance[2] = gps.epv;
-
-			// } else {
-			// 	/* we can not use the gps signal (it is of low quality) */
-			// 	predict_only = 1;
-			// }
-
-			// //		predict_only = 0;																//TODO: only for testing, removeme, XXX
-			// //		z[0] = sinf(((float)counter)/180.0f*3.14159265f);								//TODO: only for testing, removeme, XXX
-			// //		usleep(100000);																	//TODO: only for testing, removeme, XXX
-
-
-			// /*Get new estimation (this is calculated in the plane) */
-			// //TODO: if new_initialization == true: use 0,0,0, else use xapo
-			// if (true == new_initialization) {																								//TODO,XXX: uncomment!
-			// 	xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane
-			// 	xapo[2] = 0;
-			// 	xapo[4] = 0;
-			// 	position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
-
-			// } else {
-			// 	position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
-			// }
-
-
-
-			// /* Copy values from xapo1 to xapo */
-			// int i;
-
-			// for (i = 0; i < N_STATES; i++) {
-			// 	xapo[i] = xapo1[i];
-			// }
-
-			// if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) {
-			// 	/* Reproject from plane to geographic coordinate system */
-			// 	//		map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment!
-			// 	map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme
-			// 	//		//DEBUG
-			// 	//			if(counter%500 == 0)
-			// 	//			{
-			// 	//				printf("phi_1: %.10f\n", phi_1);
-			// 	//				printf("lambda_0: %.10f\n", lambda_0);
-			// 	//				printf("lat_estimated: %.10f\n", lat_current);
-			// 	//				printf("lon_estimated: %.10f\n", lon_current);
-			// 	//				printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]);
-			// 	//				fflush(stdout);
-			// 	//
-			// 	//			}
-
-			// 	//			if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5]))
-			// 	//			{
-			// 	/* send out */
-
-			// 	global_pos.lat = lat_current;
-			// 	global_pos.lon = lon_current;
-			// 	global_pos.alt = xapo1[4];
-			// 	global_pos.vx = xapo1[1];
-			// 	global_pos.vy = xapo1[3];
-			// 	global_pos.vz = xapo1[5];
-
-				/* publish current estimate */
-				// orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos);
-				//			}
-				//			else
-				//			{
-				//				printf("[position estimator] ERROR: nan values, lat_current=%.4f, lon_current=%.4f, z[0]=%.4f z[1]=%.4f\n", lat_current, lon_current, z[0], z[1]);
-				//				fflush(stdout);
-				//			}
-
-			// }
-
-			counter++;
-		}
-
-	}
-
-	return 0;
-}
-
-
diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c
index 2f1b3c014..a36a4688d 100644
--- a/src/modules/position_estimator_inav/inertial_filter.c
+++ b/src/modules/position_estimator_inav/inertial_filter.c
@@ -9,15 +9,18 @@
 
 #include "inertial_filter.h"
 
-void inertial_filter_predict(float dt, float x[3])
+void inertial_filter_predict(float dt, float x[2], float acc)
 {
 	if (isfinite(dt)) {
-		x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
-		x[1] += x[2] * dt;
+		if (!isfinite(acc)) {
+			acc = 0.0f;
+		}
+		x[0] += x[1] * dt + acc * dt * dt / 2.0f;
+		x[1] += acc * dt;
 	}
 }
 
-void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
+void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
 {
 	if (isfinite(e) && isfinite(w) && isfinite(dt)) {
 		float ewdt = e * w * dt;
@@ -25,10 +28,6 @@ void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
 
 		if (i == 0) {
 			x[1] += w * ewdt;
-			x[2] += w * w * ewdt / 3.0;
-
-		} else if (i == 1) {
-			x[2] += w * ewdt;
 		}
 	}
 }
diff --git a/src/modules/position_estimator_inav/inertial_filter.h b/src/modules/position_estimator_inav/inertial_filter.h
index 761c17097..cdeb4cfc6 100644
--- a/src/modules/position_estimator_inav/inertial_filter.h
+++ b/src/modules/position_estimator_inav/inertial_filter.h
@@ -8,6 +8,6 @@
 #include <stdbool.h>
 #include <drivers/drv_hrt.h>
 
-void inertial_filter_predict(float dt, float x[3]);
+void inertial_filter_predict(float dt, float x[3], float acc);
 
 void inertial_filter_correct(float e, float dt, float x[3], int i, float w);
diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk
index 939d76849..0658d3f09 100644
--- a/src/modules/position_estimator_inav/module.mk
+++ b/src/modules/position_estimator_inav/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	 	= position_estimator_inav
 SRCS		 	= position_estimator_inav_main.c \
 			position_estimator_inav_params.c \
 			inertial_filter.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 368fa6ee2..05eae047c 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
- *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ *   Copyright (C) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +34,8 @@
 /**
  * @file position_estimator_inav_main.c
  * Model-identification based position estimator for multirotors
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <unistd.h>
@@ -48,6 +49,7 @@
 #include <sys/prctl.h>
 #include <termios.h>
 #include <math.h>
+#include <float.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/actuator_controls.h>
@@ -57,6 +59,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/home_position.h>
 #include <uORB/topics/optical_flow.h>
 #include <mavlink/mavlink_log.h>
 #include <poll.h>
@@ -69,19 +72,20 @@
 #include "inertial_filter.h"
 
 #define MIN_VALID_W 0.00001f
+#define PUB_INTERVAL 10000	// limit publish rate to 100 Hz
+#define EST_BUF_SIZE 250000 / PUB_INTERVAL		// buffer size is 0.5s
 
 static bool thread_should_exit = false; /**< Deamon exit flag */
 static bool thread_running = false; /**< Deamon status flag */
 static int position_estimator_inav_task; /**< Handle of deamon task / thread */
 static bool verbose_mode = false;
 
-static const hrt_abstime gps_topic_timeout = 1000000;		// GPS topic timeout = 1s
+static const hrt_abstime gps_topic_timeout = 500000;		// GPS topic timeout = 0.5s
 static const hrt_abstime flow_topic_timeout = 1000000;	// optical flow topic timeout = 1s
 static const hrt_abstime sonar_timeout = 150000;	// sonar timeout = 150ms
 static const hrt_abstime sonar_valid_timeout = 1000000;	// estimate sonar distance during this time after sonar loss
 static const hrt_abstime xy_src_timeout = 2000000;	// estimate position during this time after position sources loss
 static const uint32_t updates_counter_len = 1000000;
-static const uint32_t pub_interval = 10000;	// limit publish rate to 100 Hz
 static const float max_flow = 1.0f;	// max flow value that can be used, rad/s
 
 __EXPORT int position_estimator_inav_main(int argc, char *argv[]);
@@ -90,13 +94,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[]);
 
 static void usage(const char *reason);
 
+static inline int min(int val1, int val2)
+{
+	return (val1 < val2) ? val1 : val2;
+}
+
+static inline int max(int val1, int val2)
+{
+	return (val1 > val2) ? val1 : val2;
+}
+
 /**
  * Print the correct usage.
  */
 static void usage(const char *reason)
 {
-	if (reason)
+	if (reason) {
 		fprintf(stderr, "%s\n", reason);
+	}
 
 	fprintf(stderr, "usage: position_estimator_inav {start|stop|status} [-v]\n\n");
 	exit(1);
@@ -112,8 +127,9 @@ static void usage(const char *reason)
  */
 int position_estimator_inav_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		usage("missing command");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 		if (thread_running) {
@@ -125,12 +141,13 @@ int position_estimator_inav_main(int argc, char *argv[])
 		verbose_mode = false;
 
 		if (argc > 1)
-			if (!strcmp(argv[2], "-v"))
+			if (!strcmp(argv[2], "-v")) {
 				verbose_mode = true;
+			}
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
-					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
+					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
 		exit(0);
@@ -163,16 +180,25 @@ int position_estimator_inav_main(int argc, char *argv[])
 	exit(1);
 }
 
-void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) {
+static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
+{
 	FILE *f = fopen("/fs/microsd/inav.log", "a");
+
 	if (f) {
 		char *s = malloc(256);
-		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]);
+		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n",
+                              hrt_absolute_time(), msg, (double)dt,
+                              (double)x_est[0], (double)x_est[1], (double)y_est[0], (double)y_est[1], (double)z_est[0], (double)z_est[1],
+                              (double)x_est_prev[0], (double)x_est_prev[1], (double)y_est_prev[0], (double)y_est_prev[1], (double)z_est_prev[0], (double)z_est_prev[1]);
 		fwrite(s, 1, n, f);
-		n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
+		n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n",
+                     (double)acc[0], (double)acc[1], (double)acc[2],
+                     (double)corr_gps[0][0], (double)corr_gps[1][0], (double)corr_gps[2][0], (double)corr_gps[0][1], (double)corr_gps[1][1], (double)corr_gps[2][1],
+                     (double)w_xy_gps_p, (double)w_xy_gps_v);
 		fwrite(s, 1, n, f);
 		free(s);
 	}
+
 	fsync(fileno(f));
 	fclose(f);
 }
@@ -187,9 +213,30 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
 	mavlink_log_info(mavlink_fd, "[inav] started");
 
-	float x_est[3] = { 0.0f, 0.0f, 0.0f };
-	float y_est[3] = { 0.0f, 0.0f, 0.0f };
-	float z_est[3] = { 0.0f, 0.0f, 0.0f };
+	float x_est[2] = { 0.0f, 0.0f };	// pos, vel
+	float y_est[2] = { 0.0f, 0.0f };	// pos, vel
+	float z_est[2] = { 0.0f, 0.0f };	// pos, vel
+
+	float est_buf[EST_BUF_SIZE][3][2];	// estimated position buffer
+	float R_buf[EST_BUF_SIZE][3][3];	// rotation matrix buffer
+	float R_gps[3][3];					// rotation matrix for GPS correction moment
+	memset(est_buf, 0, sizeof(est_buf));
+	memset(R_buf, 0, sizeof(R_buf));
+	memset(R_gps, 0, sizeof(R_gps));
+	int buf_ptr = 0;
+
+	static const float min_eph_epv = 2.0f;	// min EPH/EPV, used for weight calculation
+	static const float max_eph_epv = 20.0f;	// max EPH/EPV acceptable for estimation
+
+	float eph = max_eph_epv;
+	float epv = 1.0f;
+
+	float eph_flow = 1.0f;
+
+	float x_est_prev[2], y_est_prev[2], z_est_prev[2];
+	memset(x_est_prev, 0, sizeof(x_est_prev));
+	memset(y_est_prev, 0, sizeof(y_est_prev));
+	memset(z_est_prev, 0, sizeof(z_est_prev));
 
 	int baro_init_cnt = 0;
 	int baro_init_num = 200;
@@ -206,6 +253,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	bool ref_inited = false;
 	hrt_abstime ref_init_start = 0;
 	const hrt_abstime ref_init_delay = 1000000;	// wait for 1s after 3D fix
+	struct map_projection_reference_s ref;
+	memset(&ref, 0, sizeof(ref));
+	hrt_abstime home_timestamp = 0;
 
 	uint16_t accel_updates = 0;
 	uint16_t baro_updates = 0;
@@ -218,11 +268,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 	hrt_abstime t_prev = 0;
 
-	/* acceleration in NED frame */
-	float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
-
 	/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
-	float corr_acc[] = { 0.0f, 0.0f, 0.0f };	// N E D
+	float acc[] = { 0.0f, 0.0f, 0.0f };	// N E D
 	float acc_bias[] = { 0.0f, 0.0f, 0.0f };	// body frame
 	float corr_baro = 0.0f;		// D
 	float corr_gps[3][2] = {
@@ -239,9 +286,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	float w_flow = 0.0f;
 
 	float sonar_prev = 0.0f;
+	hrt_abstime flow_prev = 0;			// time of last flow measurement
 	hrt_abstime sonar_time = 0;			// time of last sonar measurement (not filtered)
 	hrt_abstime sonar_valid_time = 0;	// time of last sonar measurement used for correction (filtered)
-	hrt_abstime xy_src_time = 0;		// time of last available position data
 
 	bool gps_valid = false;			// GPS is valid
 	bool sonar_valid = false;		// sonar is valid
@@ -257,6 +304,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	memset(&sensor, 0, sizeof(sensor));
 	struct vehicle_gps_position_s gps;
 	memset(&gps, 0, sizeof(gps));
+	struct home_position_s home;
+	memset(&home, 0, sizeof(home));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
 	struct vehicle_local_position_s local_pos;
@@ -274,10 +323,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
 	int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	int home_position_sub = orb_subscribe(ORB_ID(home_position));
 
 	/* advertise */
 	orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
-	orb_advert_t vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
+	orb_advert_t vehicle_global_position_pub = -1;
 
 	struct position_estimator_inav_params params;
 	struct position_estimator_inav_param_handles pos_inav_param_handles;
@@ -315,17 +365,18 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 					/* mean calculation over several measurements */
 					if (baro_init_cnt < baro_init_num) {
-						baro_offset += sensor.baro_alt_meter;
-						baro_init_cnt++;
+						if (isfinite(sensor.baro_alt_meter)) {
+							baro_offset += sensor.baro_alt_meter;
+							baro_init_cnt++;
+						}
 
 					} else {
 						wait_baro = false;
 						baro_offset /= (float) baro_init_cnt;
-						warnx("baro offs: %.2f", baro_offset);
-						mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset);
+						warnx("baro offs: %.2f", (double)baro_offset);
+						mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset);
 						local_pos.z_valid = true;
 						local_pos.v_z_valid = true;
-						global_pos.baro_valid = true;
 					}
 				}
 			}
@@ -393,19 +444,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 						/* transform acceleration vector from body frame to NED frame */
 						for (int i = 0; i < 3; i++) {
-							accel_NED[i] = 0.0f;
+							acc[i] = 0.0f;
 
 							for (int j = 0; j < 3; j++) {
-								accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
+								acc[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
 							}
 						}
 
-						corr_acc[0] = accel_NED[0] - x_est[2];
-						corr_acc[1] = accel_NED[1] - y_est[2];
-						corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
+						acc[2] += CONSTANTS_ONE_G;
 
 					} else {
-						memset(corr_acc, 0, sizeof(corr_acc));
+						memset(acc, 0, sizeof(acc));
 					}
 
 					accel_timestamp = sensor.accelerometer_timestamp;
@@ -425,7 +474,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			if (updated) {
 				orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
 
-				if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) {
+				/* calculate time from previous update */
+				float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
+				flow_prev = flow.flow_timestamp;
+
+				if ((flow.ground_distance_m > 0.31f) &&
+					(flow.ground_distance_m < 4.0f) &&
+					(att.R[2][2] > 0.7f) &&
+					(fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) {
+
 					sonar_time = t;
 					sonar_prev = flow.ground_distance_m;
 					corr_sonar = flow.ground_distance_m + surface_offset + z_est[0];
@@ -447,7 +504,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							sonar_valid_time = t;
 							sonar_valid = true;
 							local_pos.surface_bottom_timestamp = t;
-							mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset);
+							mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset);
 						}
 
 					} else {
@@ -460,7 +517,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				float flow_q = flow.quality / 255.0f;
 				float dist_bottom = - z_est[0] - surface_offset;
 
-				if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7) {
+				if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7f) {
 					/* distance to surface */
 					float flow_dist = dist_bottom / att.R[2][2];
 					/* check if flow if too large for accurate measurements */
@@ -475,10 +532,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					flow_accurate = fabsf(body_v_est[1] / flow_dist - att.rollspeed) < max_flow &&
 							fabsf(body_v_est[0] / flow_dist + att.pitchspeed) < max_flow;
 
-					/* convert raw flow to angular flow */
+					/* convert raw flow to angular flow (rad/s) */
 					float flow_ang[2];
-					flow_ang[0] = flow.flow_raw_x * params.flow_k;
-					flow_ang[1] = flow.flow_raw_y * params.flow_k;
+					flow_ang[0] = flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
+					flow_ang[1] = flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
 					/* flow measurements vector */
 					float flow_m[3];
 					flow_m[0] = -flow_ang[0] * flow_dist;
@@ -503,8 +560,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 					/* if flow is not accurate, reduce weight for it */
 					// TODO make this more fuzzy
-					if (!flow_accurate)
+					if (!flow_accurate) {
 						w_flow *= 0.05f;
+					}
+
+					/* under ideal conditions, on 1m distance assume EPH = 10cm */
+					eph_flow = 0.1f / w_flow;
 
 					flow_valid = true;
 
@@ -516,32 +577,73 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				flow_updates++;
 			}
 
+			/* home position */
+			orb_check(home_position_sub, &updated);
+
+			if (updated) {
+				orb_copy(ORB_ID(home_position), home_position_sub, &home);
+
+				if (home.timestamp != home_timestamp) {
+					home_timestamp = home.timestamp;
+
+					double est_lat, est_lon;
+					float est_alt;
+
+					if (ref_inited) {
+						/* calculate current estimated position in global frame */
+						est_alt = local_pos.ref_alt - local_pos.z;
+						map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
+					}
+
+					/* update reference */
+					map_projection_init(&ref, home.lat, home.lon);
+
+					/* update baro offset */
+					baro_offset += home.alt - local_pos.ref_alt;
+
+					local_pos.ref_lat = home.lat;
+					local_pos.ref_lon = home.lon;
+					local_pos.ref_alt = home.alt;
+					local_pos.ref_timestamp = home.timestamp;
+
+					if (ref_inited) {
+						/* reproject position estimate with new reference */
+						map_projection_project(&ref, est_lat, est_lon, &x_est[0], &y_est[0]);
+						z_est[0] = -(est_alt - local_pos.ref_alt);
+					}
+
+					ref_inited = true;
+				}
+			}
+
 			/* vehicle GPS position */
 			orb_check(vehicle_gps_position_sub, &updated);
 
 			if (updated) {
 				orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
 
-				if (gps.fix_type >= 3) {
-					/* hysteresis for GPS quality */
-					if (gps_valid) {
-						if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) {
-							gps_valid = false;
-							mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
-						}
+				bool reset_est = false;
 
-					} else {
-						if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) {
-							gps_valid = true;
-							mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
-						}
+				/* hysteresis for GPS quality */
+				if (gps_valid) {
+					if (gps.eph > max_eph_epv || gps.epv > max_eph_epv || gps.fix_type < 3) {
+						gps_valid = false;
+						mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
 					}
 
 				} else {
-					gps_valid = false;
+					if (gps.eph < max_eph_epv * 0.7f && gps.epv < max_eph_epv * 0.7f && gps.fix_type >= 3) {
+						gps_valid = true;
+						reset_est = true;
+						mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
+					}
 				}
 
 				if (gps_valid) {
+					double lat = gps.lat * 1e-7;
+					double lon = gps.lon * 1e-7;
+					float alt = gps.alt * 1e-3;
+
 					/* initialize reference position if needed */
 					if (!ref_inited) {
 						if (ref_init_start == 0) {
@@ -549,37 +651,54 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 						} else if (t > ref_init_start + ref_init_delay) {
 							ref_inited = true;
-							/* reference GPS position */
-							double lat = gps.lat * 1e-7;
-							double lon = gps.lon * 1e-7;
-							float alt = gps.alt * 1e-3;
 
-							local_pos.ref_lat = gps.lat;
-							local_pos.ref_lon = gps.lon;
+							/* set position estimate to (0, 0, 0), use GPS velocity for XY */
+							x_est[0] = 0.0f;
+							x_est[1] = gps.vel_n_m_s;
+							y_est[0] = 0.0f;
+							y_est[1] = gps.vel_e_m_s;
+
+							local_pos.ref_lat = lat;
+							local_pos.ref_lon = lon;
 							local_pos.ref_alt = alt + z_est[0];
 							local_pos.ref_timestamp = t;
 
 							/* initialize projection */
-							map_projection_init(lat, lon);
-							warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
-							mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
+							map_projection_init(&ref, lat, lon);
+							warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
+							mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt);
 						}
 					}
 
 					if (ref_inited) {
 						/* project GPS lat lon to plane */
 						float gps_proj[2];
-						map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1]));
+						map_projection_project(&ref, lat, lon, &(gps_proj[0]), &(gps_proj[1]));
+
+						/* reset position estimate when GPS becomes good */
+						if (reset_est) {
+							x_est[0] = gps_proj[0];
+							x_est[1] = gps.vel_n_m_s;
+							y_est[0] = gps_proj[1];
+							y_est[1] = gps.vel_e_m_s;
+						}
+
+						/* calculate index of estimated values in buffer */
+						int est_i = buf_ptr - 1 - min(EST_BUF_SIZE - 1, max(0, (int)(params.delay_gps * 1000000.0f / PUB_INTERVAL)));
+						if (est_i < 0) {
+							est_i += EST_BUF_SIZE;
+						}
+
 						/* calculate correction for position */
-						corr_gps[0][0] = gps_proj[0] - x_est[0];
-						corr_gps[1][0] = gps_proj[1] - y_est[0];
-						corr_gps[2][0] = local_pos.ref_alt - gps.alt * 1e-3 - z_est[0];
+						corr_gps[0][0] = gps_proj[0] - est_buf[est_i][0][0];
+						corr_gps[1][0] = gps_proj[1] - est_buf[est_i][1][0];
+						corr_gps[2][0] = local_pos.ref_alt - alt - est_buf[est_i][2][0];
 
 						/* calculate correction for velocity */
 						if (gps.vel_ned_valid) {
-							corr_gps[0][1] = gps.vel_n_m_s - x_est[1];
-							corr_gps[1][1] = gps.vel_e_m_s - y_est[1];
-							corr_gps[2][1] = gps.vel_d_m_s - z_est[1];
+							corr_gps[0][1] = gps.vel_n_m_s - est_buf[est_i][0][1];
+							corr_gps[1][1] = gps.vel_e_m_s - est_buf[est_i][1][1];
+							corr_gps[2][1] = gps.vel_d_m_s - est_buf[est_i][2][1];
 
 						} else {
 							corr_gps[0][1] = 0.0f;
@@ -587,8 +706,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							corr_gps[2][1] = 0.0f;
 						}
 
-						w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m);
-						w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m);
+						/* save rotation matrix at this moment */
+						memcpy(R_gps, R_buf[est_i], sizeof(R_gps));
+
+						w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph);
+						w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv);
 					}
 
 				} else {
@@ -626,18 +748,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		dt = fmaxf(fminf(0.02, dt), 0.002);		// constrain dt from 2 to 20 ms
 		t_prev = t;
 
+		/* increase EPH/EPV on each step */
+		if (eph < max_eph_epv) {
+			eph *= 1.0f + dt;
+		}
+		if (epv < max_eph_epv) {
+			epv += 0.005f * dt;	// add 1m to EPV each 200s (baro drift)
+		}
+
 		/* use GPS if it's valid and reference position initialized */
 		bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
 		bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
 		/* use flow if it's valid and (accurate or no GPS available) */
 		bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);
 
-		/* try to estimate position during some time after position sources lost */
-		if (use_gps_xy || use_flow) {
-			xy_src_time = t;
-		}
-
-		bool can_estimate_xy = (t < xy_src_time + xy_src_timeout);
+		bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow;
 
 		bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
 
@@ -669,7 +794,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			corr_baro += offs_corr;
 		}
 
-		/* accelerometer bias correction */
+		/* accelerometer bias correction for GPS (use buffered rotation matrix) */
 		float accel_bias_corr[3] = { 0.0f, 0.0f, 0.0f };
 
 		if (use_gps_xy) {
@@ -683,6 +808,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p;
 		}
 
+		/* transform error vector from NED frame to body frame */
+		for (int i = 0; i < 3; i++) {
+			float c = 0.0f;
+
+			for (int j = 0; j < 3; j++) {
+				c += R_gps[j][i] * accel_bias_corr[j];
+			}
+
+			if (isfinite(c)) {
+				acc_bias[i] += c * params.w_acc_bias * dt;
+			}
+		}
+
+		/* accelerometer bias correction for flow and baro (assume that there is no delay) */
+		accel_bias_corr[0] = 0.0f;
+		accel_bias_corr[1] = 0.0f;
+		accel_bias_corr[2] = 0.0f;
+
 		if (use_flow) {
 			accel_bias_corr[0] -= corr_flow[0] * params.w_xy_flow;
 			accel_bias_corr[1] -= corr_flow[1] * params.w_xy_flow;
@@ -698,43 +841,60 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				c += att.R[j][i] * accel_bias_corr[j];
 			}
 
-			acc_bias[i] += c * params.w_acc_bias * dt;
+			if (isfinite(c)) {
+				acc_bias[i] += c * params.w_acc_bias * dt;
+			}
 		}
 
 		/* inertial filter prediction for altitude */
-		inertial_filter_predict(dt, z_est);
+		inertial_filter_predict(dt, z_est, acc[2]);
+
+		if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
+			write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			memcpy(z_est, z_est_prev, sizeof(z_est));
+		}
 
 		/* inertial filter correction for altitude */
 		inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
-		inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
-		inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
 
-		float x_est_prev[3], y_est_prev[3];
+		if (use_gps_z) {
+			epv = fminf(epv, gps.epv);
 
-		memcpy(x_est_prev, x_est, sizeof(x_est));
-		memcpy(y_est_prev, y_est, sizeof(y_est));
+			inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
+		}
+
+		if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
+			write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			memcpy(z_est, z_est_prev, sizeof(z_est));
+			memset(corr_gps, 0, sizeof(corr_gps));
+			corr_baro = 0;
+
+		} else {
+			memcpy(z_est_prev, z_est, sizeof(z_est));
+		}
 
 		if (can_estimate_xy) {
 			/* inertial filter prediction for position */
-			inertial_filter_predict(dt, x_est);
-			inertial_filter_predict(dt, y_est);
+			inertial_filter_predict(dt, x_est, acc[0]);
+			inertial_filter_predict(dt, y_est, acc[1]);
 
-			if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
-				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
+				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 				memcpy(x_est, x_est_prev, sizeof(x_est));
 				memcpy(y_est, y_est_prev, sizeof(y_est));
 			}
 
 			/* inertial filter correction for position */
-			inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc);
-			inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc);
-
 			if (use_flow) {
+				eph = fminf(eph, eph_flow);
+
 				inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow);
 				inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow);
 			}
 
 			if (use_gps_xy) {
+				eph = fminf(eph, gps.eph);
+
 				inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p);
 				inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_p);
 
@@ -744,14 +904,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				}
 			}
 
-			if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
-				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+			if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
+				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
 				memcpy(x_est, x_est_prev, sizeof(x_est));
 				memcpy(y_est, y_est_prev, sizeof(y_est));
-				memset(corr_acc, 0, sizeof(corr_acc));
 				memset(corr_gps, 0, sizeof(corr_gps));
 				memset(corr_flow, 0, sizeof(corr_flow));
+
+			} else {
+				memcpy(x_est_prev, x_est, sizeof(x_est));
+				memcpy(y_est_prev, y_est, sizeof(y_est));
 			}
+		} else {
+			/* gradually reset xy velocity estimates */
+			inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_res_v);
+			inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v);
 		}
 
 		/* detect land */
@@ -763,10 +930,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		float thrust = armed.armed ? actuator.control[3] : 0.0f;
 
 		if (landed) {
-			if (alt_disp2 > land_disp2 && thrust > params.land_thr) {
+			if (alt_disp2 > land_disp2 || thrust > params.land_thr) {
 				landed = false;
 				landed_time = 0;
 			}
+			/* reset xy velocity estimates when landed */
+			x_est[1] = 0.0f;
+			y_est[1] = 0.0f;
 
 		} else {
 			if (alt_disp2 < land_disp2 && thrust < params.land_thr) {
@@ -791,11 +961,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				float updates_dt = (t - updates_counter_start) * 0.000001f;
 				warnx(
 					"updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s",
-					accel_updates / updates_dt,
-					baro_updates / updates_dt,
-					gps_updates / updates_dt,
-					attitude_updates / updates_dt,
-					flow_updates / updates_dt);
+					(double)(accel_updates / updates_dt),
+					(double)(baro_updates / updates_dt),
+					(double)(gps_updates / updates_dt),
+					(double)(attitude_updates / updates_dt),
+					(double)(flow_updates / updates_dt));
 				updates_counter_start = t;
 				accel_updates = 0;
 				baro_updates = 0;
@@ -805,10 +975,27 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			}
 		}
 
-		if (t > pub_last + pub_interval) {
+		if (t > pub_last + PUB_INTERVAL) {
 			pub_last = t;
+
+			/* push current estimate to buffer */
+			est_buf[buf_ptr][0][0] = x_est[0];
+			est_buf[buf_ptr][0][1] = x_est[1];
+			est_buf[buf_ptr][1][0] = y_est[0];
+			est_buf[buf_ptr][1][1] = y_est[1];
+			est_buf[buf_ptr][2][0] = z_est[0];
+			est_buf[buf_ptr][2][1] = z_est[1];
+
+			/* push current rotation matrix to buffer */
+			memcpy(R_buf[buf_ptr], att.R, sizeof(att.R));
+
+			buf_ptr++;
+			if (buf_ptr >= EST_BUF_SIZE) {
+				buf_ptr = 0;
+			}
+
 			/* publish local position */
-			local_pos.xy_valid = can_estimate_xy && use_gps_xy;
+			local_pos.xy_valid = can_estimate_xy;
 			local_pos.v_xy_valid = can_estimate_xy;
 			local_pos.xy_global = local_pos.xy_valid && use_gps_xy;
 			local_pos.z_global = local_pos.z_valid && use_gps_z;
@@ -821,6 +1008,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			local_pos.landed = landed;
 			local_pos.yaw = att.yaw;
 			local_pos.dist_bottom_valid = dist_bottom_valid;
+			local_pos.eph = eph;
+			local_pos.epv = epv;
 
 			if (local_pos.dist_bottom_valid) {
 				local_pos.dist_bottom = -z_est[0] - surface_offset;
@@ -831,40 +1020,34 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 			orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos);
 
-			/* publish global position */
-			global_pos.global_valid = local_pos.xy_global;
+			if (local_pos.xy_global && local_pos.z_global) {
+				/* publish global position */
+				global_pos.timestamp = t;
+				global_pos.time_gps_usec = gps.time_gps_usec;
 
-			if (local_pos.xy_global) {
 				double est_lat, est_lon;
-				map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
+				map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
+
 				global_pos.lat = est_lat;
 				global_pos.lon = est_lon;
-				global_pos.time_gps_usec = gps.time_gps_usec;
-			}
+				global_pos.alt = local_pos.ref_alt - local_pos.z;
 
-			/* set valid values even if position is not valid */
-			if (local_pos.v_xy_valid) {
 				global_pos.vel_n = local_pos.vx;
 				global_pos.vel_e = local_pos.vy;
-			}
-
-			if (local_pos.z_global) {
-				global_pos.alt = local_pos.ref_alt - local_pos.z;
-			}
-
-			if (local_pos.z_valid) {
-				global_pos.baro_alt = baro_offset - local_pos.z;
-			}
-
-			if (local_pos.v_z_valid) {
 				global_pos.vel_d = local_pos.vz;
-			}
 
-			global_pos.yaw = local_pos.yaw;
+				global_pos.yaw = local_pos.yaw;
+
+				global_pos.eph = eph;
+				global_pos.epv = epv;
 
-			global_pos.timestamp = t;
+				if (vehicle_global_position_pub < 0) {
+					vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
 
-			orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos);
+				} else {
+					orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos);
+				}
+			}
 		}
 	}
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index b71f9472f..98b31d17b 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -40,34 +40,207 @@
 
 #include "position_estimator_inav_params.h"
 
+/**
+ * Z axis weight for barometer
+ *
+ * Weight (cutoff frequency) for barometer altitude measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
+
+/**
+ * Z axis weight for GPS
+ *
+ * Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
-PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
+
+/**
+ * Z axis weight for sonar
+ *
+ * Weight (cutoff frequency) for sonar measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
+
+/**
+ * XY axis weight for GPS position
+ *
+ * Weight (cutoff frequency) for GPS position measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
+
+/**
+ * XY axis weight for GPS velocity
+ *
+ * Weight (cutoff frequency) for GPS velocity measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
-PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f);
+
+/**
+ * XY axis weight for optical flow
+ *
+ * Weight (cutoff frequency) for optical flow (velocity) measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
+
+/**
+ * XY axis weight for resetting velocity
+ *
+ * When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
+
+/**
+ * XY axis weight factor for GPS when optical flow available
+ *
+ * When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
+
+/**
+ * Accelerometer bias estimation weight
+ *
+ * Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
+ *
+ * @min 0.0
+ * @max 0.1
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
-PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f);
+
+/**
+ * Optical flow scale factor
+ *
+ * Factor to convert raw optical flow (in pixels) to radians [rad/px].
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit rad/px
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
+
+/**
+ * Minimal acceptable optical flow quality
+ *
+ * 0 - lowest quality, 1 - best quality.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
+
+/**
+ * Weight for sonar filter
+ *
+ * Sonar filter detects spikes on sonar measurements and used to detect new surface level.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
+
+/**
+ * Sonar maximal error for new surface
+ *
+ * If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit m
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
+
+/**
+ * Land detector time
+ *
+ * Vehicle assumed landed if no altitude changes happened during this time on low throttle.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
+
+/**
+ * Land detector altitude dispersion threshold
+ *
+ * Dispersion threshold for triggering land detector.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @unit m
+ * @group Position Estimator INAV
+ */
 PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
-PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);
+
+/**
+ * Land detector throttle threshold
+ *
+ * Value should be lower than minimal hovering thrust. Half of it is good choice.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
+
+/**
+ * GPS delay
+ *
+ * GPS delay compensation
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
 
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");
 	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
-	h->w_z_acc = param_find("INAV_W_Z_ACC");
 	h->w_z_sonar = param_find("INAV_W_Z_SONAR");
 	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
 	h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
-	h->w_xy_acc = param_find("INAV_W_XY_ACC");
 	h->w_xy_flow = param_find("INAV_W_XY_FLOW");
+	h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
 	h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
 	h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
 	h->flow_k = param_find("INAV_FLOW_K");
@@ -77,6 +250,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
 	h->land_t = param_find("INAV_LAND_T");
 	h->land_disp = param_find("INAV_LAND_DISP");
 	h->land_thr = param_find("INAV_LAND_THR");
+	h->delay_gps = param_find("INAV_DELAY_GPS");
 
 	return OK;
 }
@@ -85,12 +259,11 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
 {
 	param_get(h->w_z_baro, &(p->w_z_baro));
 	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
-	param_get(h->w_z_acc, &(p->w_z_acc));
 	param_get(h->w_z_sonar, &(p->w_z_sonar));
 	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
 	param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
-	param_get(h->w_xy_acc, &(p->w_xy_acc));
 	param_get(h->w_xy_flow, &(p->w_xy_flow));
+	param_get(h->w_xy_res_v, &(p->w_xy_res_v));
 	param_get(h->w_gps_flow, &(p->w_gps_flow));
 	param_get(h->w_acc_bias, &(p->w_acc_bias));
 	param_get(h->flow_k, &(p->flow_k));
@@ -100,6 +273,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
 	param_get(h->land_t, &(p->land_t));
 	param_get(h->land_disp, &(p->land_disp));
 	param_get(h->land_thr, &(p->land_thr));
+	param_get(h->delay_gps, &(p->delay_gps));
 
 	return OK;
 }
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h
index e2be079d3..423f0d879 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.h
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h
@@ -43,12 +43,11 @@
 struct position_estimator_inav_params {
 	float w_z_baro;
 	float w_z_gps_p;
-	float w_z_acc;
 	float w_z_sonar;
 	float w_xy_gps_p;
 	float w_xy_gps_v;
-	float w_xy_acc;
 	float w_xy_flow;
+	float w_xy_res_v;
 	float w_gps_flow;
 	float w_acc_bias;
 	float flow_k;
@@ -58,17 +57,17 @@ struct position_estimator_inav_params {
 	float land_t;
 	float land_disp;
 	float land_thr;
+	float delay_gps;
 };
 
 struct position_estimator_inav_param_handles {
 	param_t w_z_baro;
 	param_t w_z_gps_p;
-	param_t w_z_acc;
 	param_t w_z_sonar;
 	param_t w_xy_gps_p;
 	param_t w_xy_gps_v;
-	param_t w_xy_acc;
 	param_t w_xy_flow;
+	param_t w_xy_res_v;
 	param_t w_gps_flow;
 	param_t w_acc_bias;
 	param_t flow_k;
@@ -78,6 +77,7 @@ struct position_estimator_inav_param_handles {
 	param_t land_t;
 	param_t land_disp;
 	param_t land_thr;
+	param_t delay_gps;
 };
 
 /**
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
deleted file mode 100755
index 977565b8e..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.c
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
- * kalman_dlqe1.c
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3],
-                  const real32_T x_aposteriori_k[3], real32_T z, real32_T
-                  x_aposteriori[3])
-{
-	printf("[dlqe input]: x_aposteriori_k %12.8f\t %12.8f\t %12.8f\t z:%12.8f\n", (double)(x_aposteriori_k[0]), (double)(x_aposteriori_k[1]), (double)(x_aposteriori_k[2]), (double)z);
-	printf("[dlqe input]: C[0]: %12.8f\tC[1] %12.8f\tC[2] %12.8f\n", (double)(C[0]), (double)(C[1]), (double)(C[2]));
-  real32_T y;
-  int32_T i0;
-  real32_T b_y[3];
-  int32_T i1;
-  real32_T f0;
-  y = 0.0F;
-  for (i0 = 0; i0 < 3; i0++) {
-    b_y[i0] = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      b_y[i0] += C[i1] * A[i1 + 3 * i0];
-    }
-
-    y += b_y[i0] * x_aposteriori_k[i0];
-  }
-
-  y = z - y;
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-    }
-
-    x_aposteriori[i0] = f0 + K[i0] * y;
-  }
-  //printf("[dlqe output]: x_aposteriori %12.8f\t %12.8f\t %12.8f\n", (double)(x_aposteriori[0]), (double)(x_aposteriori[1]), (double)(x_aposteriori[2]));
-}
-
-/* End of code generation (kalman_dlqe1.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
deleted file mode 100755
index 2f5330563..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1.h
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_H__
-#define __KALMAN_DLQE1_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1(const real32_T A[9], const real32_T C[3], const real32_T K[3], const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
-#endif
-/* End of code generation (kalman_dlqe1.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
deleted file mode 100755
index 6627f76e9..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe1_initialize.c
- *
- * Code generation for function 'kalman_dlqe1_initialize'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-#include "kalman_dlqe1_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (kalman_dlqe1_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
deleted file mode 100755
index a77eb5712..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_initialize.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1_initialize.h
- *
- * Code generation for function 'kalman_dlqe1_initialize'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_INITIALIZE_H__
-#define __KALMAN_DLQE1_INITIALIZE_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1_initialize(void);
-#endif
-/* End of code generation (kalman_dlqe1_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
deleted file mode 100755
index a65536f79..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe1_terminate.c
- *
- * Code generation for function 'kalman_dlqe1_terminate'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe1.h"
-#include "kalman_dlqe1_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe1_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (kalman_dlqe1_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
deleted file mode 100755
index 100c7f76c..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_terminate.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * kalman_dlqe1_terminate.h
- *
- * Code generation for function 'kalman_dlqe1_terminate'
- *
- * C source code generated on: Wed Feb 13 20:34:32 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_TERMINATE_H__
-#define __KALMAN_DLQE1_TERMINATE_H__
-/* Include files */
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "kalman_dlqe1_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe1_terminate(void);
-#endif
-/* End of code generation (kalman_dlqe1_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
deleted file mode 100755
index d4b2c2d61..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe1_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * kalman_dlqe1_types.h
- *
- * Code generation for function 'kalman_dlqe1'
- *
- * C source code generated on: Wed Feb 13 20:34:31 2013
- *
- */
-
-#ifndef __KALMAN_DLQE1_TYPES_H__
-#define __KALMAN_DLQE1_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (kalman_dlqe1_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
deleted file mode 100755
index 11b999064..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.c
+++ /dev/null
@@ -1,119 +0,0 @@
-/*
- * kalman_dlqe2.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1);
-
-/* Function Definitions */
-static real32_T rt_powf_snf(real32_T u0, real32_T u1)
-{
-  real32_T y;
-  real32_T f1;
-  real32_T f2;
-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {
-    y = ((real32_T)rtNaN);
-  } else {
-    f1 = (real32_T)fabs(u0);
-    f2 = (real32_T)fabs(u1);
-    if (rtIsInfF(u1)) {
-      if (f1 == 1.0F) {
-        y = ((real32_T)rtNaN);
-      } else if (f1 > 1.0F) {
-        if (u1 > 0.0F) {
-          y = ((real32_T)rtInf);
-        } else {
-          y = 0.0F;
-        }
-      } else if (u1 > 0.0F) {
-        y = 0.0F;
-      } else {
-        y = ((real32_T)rtInf);
-      }
-    } else if (f2 == 0.0F) {
-      y = 1.0F;
-    } else if (f2 == 1.0F) {
-      if (u1 > 0.0F) {
-        y = u0;
-      } else {
-        y = 1.0F / u0;
-      }
-    } else if (u1 == 2.0F) {
-      y = u0 * u0;
-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {
-      y = (real32_T)sqrt(u0);
-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {
-      y = ((real32_T)rtNaN);
-    } else {
-      y = (real32_T)pow(u0, u1);
-    }
-  }
-
-  return y;
-}
-
-void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const
-                  real32_T x_aposteriori_k[3], real32_T z, real32_T
-                  x_aposteriori[3])
-{
-	//printf("[dqle2] dt: %12.8f\tvk1 %12.8f\tk2: %12.8f\tk3: %12.8f\n", (double)(dt), (double)(k1), (double)(k2), (double)(k3));
-	//printf("[dqle2] dt: %8.4f\n", (double)(dt));//, (double)(k1), (double)(k2), (double)(k3));
-  real32_T A[9];
-  real32_T y;
-  int32_T i0;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real32_T b_k1[3];
-  int32_T i1;
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T f0;
-  A[0] = 1.0F;
-  A[3] = dt;
-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = dt;
-  y = 0.0F;
-  for (i0 = 0; i0 < 3; i0++) {
-    A[2 + 3 * i0] = (real32_T)iv0[i0];
-    b_k1[i0] = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      b_k1[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];
-    }
-
-    y += b_k1[i0] * x_aposteriori_k[i0];
-  }
-
-  y = z - y;
-  b_k1[0] = k1;
-  b_k1[1] = k2;
-  b_k1[2] = k3;
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (i1 = 0; i1 < 3; i1++) {
-      f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];
-    }
-
-    x_aposteriori[i0] = f0 + b_k1[i0] * y;
-  }
-}
-
-/* End of code generation (kalman_dlqe2.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
deleted file mode 100755
index 30170ae22..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_H__
-#define __KALMAN_DLQE2_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T x_aposteriori[3]);
-#endif
-/* End of code generation (kalman_dlqe2.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
deleted file mode 100755
index de5a1d8aa..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe2_initialize.c
- *
- * Code generation for function 'kalman_dlqe2_initialize'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-#include "kalman_dlqe2_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe2_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (kalman_dlqe2_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
deleted file mode 100755
index 3d507ff31..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_initialize.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2_initialize.h
- *
- * Code generation for function 'kalman_dlqe2_initialize'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_INITIALIZE_H__
-#define __KALMAN_DLQE2_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2_initialize(void);
-#endif
-/* End of code generation (kalman_dlqe2_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
deleted file mode 100755
index 0757c878c..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * kalman_dlqe2_terminate.c
- *
- * Code generation for function 'kalman_dlqe2_terminate'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "kalman_dlqe2.h"
-#include "kalman_dlqe2_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void kalman_dlqe2_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (kalman_dlqe2_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
deleted file mode 100755
index 23995020b..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_terminate.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * kalman_dlqe2_terminate.h
- *
- * Code generation for function 'kalman_dlqe2_terminate'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_TERMINATE_H__
-#define __KALMAN_DLQE2_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include "rt_nonfinite.h"
-
-#include "rtwtypes.h"
-#include "kalman_dlqe2_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void kalman_dlqe2_terminate(void);
-#endif
-/* End of code generation (kalman_dlqe2_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
deleted file mode 100755
index f7a04d908..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe2_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * kalman_dlqe2_types.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:28 2013
- *
- */
-
-#ifndef __KALMAN_DLQE2_TYPES_H__
-#define __KALMAN_DLQE2_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (kalman_dlqe2_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
deleted file mode 100755
index 9efe2ea7a..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.c
+++ /dev/null
@@ -1,137 +0,0 @@
-/*

- * kalman_dlqe3.c

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "randn.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-static real32_T rt_powf_snf(real32_T u0, real32_T u1);

-

-/* Function Definitions */

-static real32_T rt_powf_snf(real32_T u0, real32_T u1)

-{

-  real32_T y;

-  real32_T f1;

-  real32_T f2;

-  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

-    y = ((real32_T)rtNaN);

-  } else {

-    f1 = (real32_T)fabs(u0);

-    f2 = (real32_T)fabs(u1);

-    if (rtIsInfF(u1)) {

-      if (f1 == 1.0F) {

-        y = ((real32_T)rtNaN);

-      } else if (f1 > 1.0F) {

-        if (u1 > 0.0F) {

-          y = ((real32_T)rtInf);

-        } else {

-          y = 0.0F;

-        }

-      } else if (u1 > 0.0F) {

-        y = 0.0F;

-      } else {

-        y = ((real32_T)rtInf);

-      }

-    } else if (f2 == 0.0F) {

-      y = 1.0F;

-    } else if (f2 == 1.0F) {

-      if (u1 > 0.0F) {

-        y = u0;

-      } else {

-        y = 1.0F / u0;

-      }

-    } else if (u1 == 2.0F) {

-      y = u0 * u0;

-    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {

-      y = (real32_T)sqrt(u0);

-    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {

-      y = ((real32_T)rtNaN);

-    } else {

-      y = (real32_T)pow(u0, u1);

-    }

-  }

-

-  return y;

-}

-

-void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const

-                  real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate,

-                  real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3])

-{

-  real32_T A[9];

-  int32_T i0;

-  static const int8_T iv0[3] = { 0, 0, 1 };

-

-  real_T b;

-  real32_T y;

-  real32_T b_y[3];

-  int32_T i1;

-  static const int8_T iv1[3] = { 1, 0, 0 };

-

-  real32_T b_k1[3];

-  real32_T f0;

-  A[0] = 1.0F;

-  A[3] = dt;

-  A[6] = 0.5F * rt_powf_snf(dt, 2.0F);

-  A[1] = 0.0F;

-  A[4] = 1.0F;

-  A[7] = dt;

-  for (i0 = 0; i0 < 3; i0++) {

-    A[2 + 3 * i0] = (real32_T)iv0[i0];

-  }

-

-  if (addNoise == 1.0F) {

-    b = randn();

-    z += sigma * (real32_T)b;

-  }

-

-  if (posUpdate != 0.0F) {

-    y = 0.0F;

-    for (i0 = 0; i0 < 3; i0++) {

-      b_y[i0] = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        b_y[i0] += (real32_T)iv1[i1] * A[i1 + 3 * i0];

-      }

-

-      y += b_y[i0] * x_aposteriori_k[i0];

-    }

-

-    y = z - y;

-    b_k1[0] = k1;

-    b_k1[1] = k2;

-    b_k1[2] = k3;

-    for (i0 = 0; i0 < 3; i0++) {

-      f0 = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        f0 += A[i0 + 3 * i1] * x_aposteriori_k[i1];

-      }

-

-      x_aposteriori[i0] = f0 + b_k1[i0] * y;

-    }

-  } else {

-    for (i0 = 0; i0 < 3; i0++) {

-      x_aposteriori[i0] = 0.0F;

-      for (i1 = 0; i1 < 3; i1++) {

-        x_aposteriori[i0] += A[i0 + 3 * i1] * x_aposteriori_k[i1];

-      }

-    }

-  }

-}

-

-/* End of code generation (kalman_dlqe3.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
deleted file mode 100755
index 9bbffbbb3..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3.h

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_H__

-#define __KALMAN_DLQE3_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3(real32_T dt, real32_T k1, real32_T k2, real32_T k3, const real32_T x_aposteriori_k[3], real32_T z, real32_T posUpdate, real32_T addNoise, real32_T sigma, real32_T x_aposteriori[3]);

-#endif

-/* End of code generation (kalman_dlqe3.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
deleted file mode 100755
index 8f2275c13..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.c
+++ /dev/null
@@ -1,32 +0,0 @@
-/*

- * kalman_dlqe3_data.c

- *

- * Code generation for function 'kalman_dlqe3_data'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-uint32_T method;

-uint32_T state[2];

-uint32_T b_method;

-uint32_T b_state;

-uint32_T c_state[2];

-boolean_T state_not_empty;

-

-/* Function Declarations */

-

-/* Function Definitions */

-/* End of code generation (kalman_dlqe3_data.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
deleted file mode 100755
index 952eb7b89..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_data.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*

- * kalman_dlqe3_data.h

- *

- * Code generation for function 'kalman_dlqe3_data'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_DATA_H__

-#define __KALMAN_DLQE3_DATA_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-extern uint32_T method;

-extern uint32_T state[2];

-extern uint32_T b_method;

-extern uint32_T b_state;

-extern uint32_T c_state[2];

-extern boolean_T state_not_empty;

-

-/* Variable Definitions */

-

-/* Function Declarations */

-#endif

-/* End of code generation (kalman_dlqe3_data.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
deleted file mode 100755
index b87d604c4..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/*

- * kalman_dlqe3_initialize.c

- *

- * Code generation for function 'kalman_dlqe3_initialize'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_initialize.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-

-/* Function Definitions */

-void kalman_dlqe3_initialize(void)

-{

-  int32_T i;

-  static const uint32_T uv0[2] = { 362436069U, 0U };

-

-  rt_InitInfAndNaN(8U);

-  state_not_empty = FALSE;

-  b_state = 1144108930U;

-  b_method = 7U;

-  method = 0U;

-  for (i = 0; i < 2; i++) {

-    c_state[i] = 362436069U + 158852560U * (uint32_T)i;

-    state[i] = uv0[i];

-  }

-

-  if (state[1] == 0U) {

-    state[1] = 521288629U;

-  }

-}

-

-/* End of code generation (kalman_dlqe3_initialize.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
deleted file mode 100755
index 9dee90f9e..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_initialize.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3_initialize.h

- *

- * Code generation for function 'kalman_dlqe3_initialize'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_INITIALIZE_H__

-#define __KALMAN_DLQE3_INITIALIZE_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3_initialize(void);

-#endif

-/* End of code generation (kalman_dlqe3_initialize.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
deleted file mode 100755
index b00858205..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*

- * kalman_dlqe3_terminate.c

- *

- * Code generation for function 'kalman_dlqe3_terminate'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "kalman_dlqe3_terminate.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-

-/* Function Definitions */

-void kalman_dlqe3_terminate(void)

-{

-  /* (no terminate code required) */

-}

-

-/* End of code generation (kalman_dlqe3_terminate.c) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
deleted file mode 100755
index 69cc85c76..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_terminate.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * kalman_dlqe3_terminate.h

- *

- * Code generation for function 'kalman_dlqe3_terminate'

- *

- * C source code generated on: Tue Feb 19 15:26:31 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_TERMINATE_H__

-#define __KALMAN_DLQE3_TERMINATE_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern void kalman_dlqe3_terminate(void);

-#endif

-/* End of code generation (kalman_dlqe3_terminate.h) */

diff --git a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h b/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
deleted file mode 100755
index f36ea4557..000000000
--- a/src/modules/position_estimator_mc/codegen/kalman_dlqe3_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*

- * kalman_dlqe3_types.h

- *

- * Code generation for function 'kalman_dlqe3'

- *

- * C source code generated on: Tue Feb 19 15:26:30 2013

- *

- */

-

-#ifndef __KALMAN_DLQE3_TYPES_H__

-#define __KALMAN_DLQE3_TYPES_H__

-

-/* Type Definitions */

-

-#endif

-/* End of code generation (kalman_dlqe3_types.h) */

diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
deleted file mode 100755
index 5139848bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
- * positionKalmanFilter1D.c
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const
-  real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T
-  P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T
-  Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3],
-  real32_T P_aposteriori[9])
-{
-  int32_T i0;
-  real32_T f0;
-  int32_T k;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  real32_T y;
-  real32_T K[3];
-  real32_T S;
-  int8_T I[9];
-
-  /* prediction */
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (k = 0; k < 3; k++) {
-      f0 += A[i0 + 3 * k] * x_aposteriori_k[k];
-    }
-
-    x_aposteriori[i0] = f0 + B[i0] * u;
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      b_A[i0 + 3 * k] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k];
-      }
-    }
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1];
-      }
-
-      P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    y = 0.0F;
-    for (k = 0; k < 3; k++) {
-      y += C[k] * x_aposteriori[k];
-      K[k] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        K[k] += C[i0] * P_apriori[i0 + 3 * k];
-      }
-    }
-
-    y = z - y;
-    S = 0.0F;
-    for (k = 0; k < 3; k++) {
-      S += K[k] * C[k];
-    }
-
-    S += R;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (k = 0; k < 3; k++) {
-        f0 += P_apriori[i0 + 3 * k] * C[k];
-      }
-
-      K[i0] = f0 / S;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      x_aposteriori[i0] += K[i0] * y;
-    }
-
-    for (i0 = 0; i0 < 9; i0++) {
-      I[i0] = 0;
-    }
-
-    for (k = 0; k < 3; k++) {
-      I[k + 3 * k] = 1;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0];
-      }
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        P_aposteriori[i0 + 3 * k] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k];
-        }
-      }
-    }
-  } else {
-    for (i0 = 0; i0 < 9; i0++) {
-      P_aposteriori[i0] = P_apriori[i0];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
deleted file mode 100755
index 205c8eb4e..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D.h
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_H__
-#define __POSITIONKALMANFILTER1D_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
-#endif
-/* End of code generation (positionKalmanFilter1D.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
deleted file mode 100755
index 4c535618a..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
- * positionKalmanFilter1D_dT.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3],
-  const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update,
-  const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T
-  x_aposteriori[3], real32_T P_aposteriori[9])
-{
-  real32_T A[9];
-  int32_T i;
-  static const int8_T iv0[3] = { 0, 0, 1 };
-
-  real32_T K[3];
-  real32_T f0;
-  int32_T i0;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  static const int8_T iv1[3] = { 1, 0, 0 };
-
-  real32_T fv0[3];
-  real32_T y;
-  static const int8_T iv2[3] = { 1, 0, 0 };
-
-  real32_T S;
-  int8_T I[9];
-
-  /* dynamics */
-  A[0] = 1.0F;
-  A[3] = dT;
-  A[6] = -0.5F * dT * dT;
-  A[1] = 0.0F;
-  A[4] = 1.0F;
-  A[7] = -dT;
-  for (i = 0; i < 3; i++) {
-    A[2 + 3 * i] = (real32_T)iv0[i];
-  }
-
-  /* prediction */
-  K[0] = 0.5F * dT * dT;
-  K[1] = dT;
-  K[2] = 0.0F;
-  for (i = 0; i < 3; i++) {
-    f0 = 0.0F;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 += A[i + 3 * i0] * x_aposteriori_k[i0];
-    }
-
-    x_aposteriori[i] = f0 + K[i] * u;
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (i0 = 0; i0 < 3; i0++) {
-      b_A[i + 3 * i0] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i + 3 * i0] += A[i + 3 * i1] * P_aposteriori_k[i1 + 3 * i0];
-      }
-    }
-  }
-
-  for (i = 0; i < 3; i++) {
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i + 3 * i1] * A[i0 + 3 * i1];
-      }
-
-      P_apriori[i + 3 * i0] = f0 + Q[i + 3 * i0];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    f0 = 0.0F;
-    for (i = 0; i < 3; i++) {
-      f0 += (real32_T)iv1[i] * x_aposteriori[i];
-      fv0[i] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        fv0[i] += (real32_T)iv1[i0] * P_apriori[i0 + 3 * i];
-      }
-    }
-
-    y = z - f0;
-    f0 = 0.0F;
-    for (i = 0; i < 3; i++) {
-      f0 += fv0[i] * (real32_T)iv2[i];
-    }
-
-    S = f0 + (real32_T)R;
-    for (i = 0; i < 3; i++) {
-      f0 = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        f0 += P_apriori[i + 3 * i0] * (real32_T)iv2[i0];
-      }
-
-      K[i] = f0 / S;
-    }
-
-    for (i = 0; i < 3; i++) {
-      x_aposteriori[i] += K[i] * y;
-    }
-
-    for (i = 0; i < 9; i++) {
-      I[i] = 0;
-    }
-
-    for (i = 0; i < 3; i++) {
-      I[i + 3 * i] = 1;
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (i0 = 0; i0 < 3; i0++) {
-        A[i0 + 3 * i] = (real32_T)I[i0 + 3 * i] - K[i0] * (real32_T)iv1[i];
-      }
-    }
-
-    for (i = 0; i < 3; i++) {
-      for (i0 = 0; i0 < 3; i0++) {
-        P_aposteriori[i + 3 * i0] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i + 3 * i0] += A[i + 3 * i1] * P_apriori[i1 + 3 * i0];
-        }
-      }
-    }
-  } else {
-    for (i = 0; i < 9; i++) {
-      P_aposteriori[i] = P_apriori[i];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D_dT.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
deleted file mode 100755
index 94cbe2ce6..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_H__
-#define __POSITIONKALMANFILTER1D_DT_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT(real32_T dT, const real32_T x_aposteriori_k[3], const real32_T P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T Q[9], real_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3], real32_T P_aposteriori[9]);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
deleted file mode 100755
index aa89f8a9d..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_initialize.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT_initialize'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-#include "positionKalmanFilter1D_dT_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (positionKalmanFilter1D_dT_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
deleted file mode 100755
index 8d358a9a3..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_initialize.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_initialize.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT_initialize'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
-#define __POSITIONKALMANFILTER1D_DT_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT_initialize(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
deleted file mode 100755
index 20ed2edbb..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_terminate.c
- *
- * Code generation for function 'positionKalmanFilter1D_dT_terminate'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D_dT.h"
-#include "positionKalmanFilter1D_dT_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_dT_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (positionKalmanFilter1D_dT_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
deleted file mode 100755
index 5eb5807a0..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_terminate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_terminate.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT_terminate'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
-#define __POSITIONKALMANFILTER1D_DT_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_dT_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_dT_terminate(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
deleted file mode 100755
index 43e5f016c..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_dT_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * positionKalmanFilter1D_dT_types.h
- *
- * Code generation for function 'positionKalmanFilter1D_dT'
- *
- * C source code generated on: Fri Nov 30 17:37:33 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_DT_TYPES_H__
-#define __POSITIONKALMANFILTER1D_DT_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (positionKalmanFilter1D_dT_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
deleted file mode 100755
index 5bd87c390..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_initialize.c
- *
- * Code generation for function 'positionKalmanFilter1D_initialize'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-#include "positionKalmanFilter1D_initialize.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_initialize(void)
-{
-  rt_InitInfAndNaN(8U);
-}
-
-/* End of code generation (positionKalmanFilter1D_initialize.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
deleted file mode 100755
index 44bce472f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_initialize.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_initialize.h
- *
- * Code generation for function 'positionKalmanFilter1D_initialize'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_INITIALIZE_H__
-#define __POSITIONKALMANFILTER1D_INITIALIZE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_initialize(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_initialize.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
deleted file mode 100755
index 41e11936f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.c
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_terminate.c
- *
- * Code generation for function 'positionKalmanFilter1D_terminate'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-#include "positionKalmanFilter1D_terminate.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D_terminate(void)
-{
-  /* (no terminate code required) */
-}
-
-/* End of code generation (positionKalmanFilter1D_terminate.c) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
deleted file mode 100755
index e84ea01bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_terminate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * positionKalmanFilter1D_terminate.h
- *
- * Code generation for function 'positionKalmanFilter1D_terminate'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_TERMINATE_H__
-#define __POSITIONKALMANFILTER1D_TERMINATE_H__
-/* Include files */
-#include <math.h>
-#include <stddef.h>
-#include <stdlib.h>
-
-#include "rtwtypes.h"
-#include "positionKalmanFilter1D_types.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void positionKalmanFilter1D_terminate(void);
-#endif
-/* End of code generation (positionKalmanFilter1D_terminate.h) */
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
deleted file mode 100755
index 4b473f56f..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D_types.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * positionKalmanFilter1D_types.h
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-#ifndef __POSITIONKALMANFILTER1D_TYPES_H__
-#define __POSITIONKALMANFILTER1D_TYPES_H__
-
-/* Type Definitions */
-
-#endif
-/* End of code generation (positionKalmanFilter1D_types.h) */
diff --git a/src/modules/position_estimator_mc/codegen/randn.c b/src/modules/position_estimator_mc/codegen/randn.c
deleted file mode 100755
index 51aef7b76..000000000
--- a/src/modules/position_estimator_mc/codegen/randn.c
+++ /dev/null
@@ -1,524 +0,0 @@
-/*

- * randn.c

- *

- * Code generation for function 'randn'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-/* Include files */

-#include "rt_nonfinite.h"

-#include "kalman_dlqe3.h"

-#include "randn.h"

-#include "kalman_dlqe3_data.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-static uint32_T d_state[625];

-

-/* Function Declarations */

-static real_T b_genrandu(uint32_T mt[625]);

-static real_T eml_rand_mt19937ar(uint32_T e_state[625]);

-static real_T eml_rand_shr3cong(uint32_T e_state[2]);

-static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2]);

-static void genrandu(uint32_T s, uint32_T *e_state, real_T *r);

-static void twister_state_vector(uint32_T mt[625], real_T seed);

-

-/* Function Definitions */

-static real_T b_genrandu(uint32_T mt[625])

-{

-  real_T r;

-  int32_T exitg1;

-  uint32_T u[2];

-  boolean_T isvalid;

-  int32_T k;

-  boolean_T exitg2;

-

-  /* <LEGAL>   This is a uniform (0,1) pseudorandom number generator based on: */

-  /* <LEGAL> */

-  /* <LEGAL>    A C-program for MT19937, with initialization improved 2002/1/26. */

-  /* <LEGAL>    Coded by Takuji Nishimura and Makoto Matsumoto. */

-  /* <LEGAL> */

-  /* <LEGAL>    Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, */

-  /* <LEGAL>    All rights reserved. */

-  /* <LEGAL> */

-  /* <LEGAL>    Redistribution and use in source and binary forms, with or without */

-  /* <LEGAL>    modification, are permitted provided that the following conditions */

-  /* <LEGAL>    are met: */

-  /* <LEGAL> */

-  /* <LEGAL>      1. Redistributions of source code must retain the above copyright */

-  /* <LEGAL>         notice, this list of conditions and the following disclaimer. */

-  /* <LEGAL> */

-  /* <LEGAL>      2. Redistributions in binary form must reproduce the above copyright */

-  /* <LEGAL>         notice, this list of conditions and the following disclaimer in the */

-  /* <LEGAL>         documentation and/or other materials provided with the distribution. */

-  /* <LEGAL> */

-  /* <LEGAL>      3. The names of its contributors may not be used to endorse or promote */

-  /* <LEGAL>         products derived from this software without specific prior written */

-  /* <LEGAL>         permission. */

-  /* <LEGAL> */

-  /* <LEGAL>    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS */

-  /* <LEGAL>    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT */

-  /* <LEGAL>    LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR */

-  /* <LEGAL>    A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR */

-  /* <LEGAL>    CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, */

-  /* <LEGAL>    EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, */

-  /* <LEGAL>    PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR */

-  /* <LEGAL>    PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */

-  /* <LEGAL>    LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */

-  /* <LEGAL>    NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS */

-  /* <LEGAL>    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */

-  do {

-    exitg1 = 0;

-    genrand_uint32_vector(mt, u);

-    r = 1.1102230246251565E-16 * ((real_T)(u[0] >> 5U) * 6.7108864E+7 + (real_T)

-                                  (u[1] >> 6U));

-    if (r == 0.0) {

-      if ((mt[624] >= 1U) && (mt[624] < 625U)) {

-        isvalid = TRUE;

-      } else {

-        isvalid = FALSE;

-      }

-

-      if (isvalid) {

-        isvalid = FALSE;

-        k = 1;

-        exitg2 = FALSE;

-        while ((exitg2 == FALSE) && (k < 625)) {

-          if (mt[k - 1] == 0U) {

-            k++;

-          } else {

-            isvalid = TRUE;

-            exitg2 = TRUE;

-          }

-        }

-      }

-

-      if (!isvalid) {

-        twister_state_vector(mt, 5489.0);

-      }

-    } else {

-      exitg1 = 1;

-    }

-  } while (exitg1 == 0);

-

-  return r;

-}

-

-static real_T eml_rand_mt19937ar(uint32_T e_state[625])

-{

-  real_T r;

-  int32_T exitg1;

-  uint32_T u32[2];

-  int32_T i;

-  static const real_T dv1[257] = { 0.0, 0.215241895984875, 0.286174591792068,

-    0.335737519214422, 0.375121332878378, 0.408389134611989, 0.43751840220787,

-    0.46363433679088, 0.487443966139235, 0.50942332960209, 0.529909720661557,

-    0.549151702327164, 0.567338257053817, 0.584616766106378, 0.601104617755991,

-    0.61689699000775, 0.63207223638606, 0.646695714894993, 0.660822574244419,

-    0.674499822837293, 0.687767892795788, 0.700661841106814, 0.713212285190975,

-    0.725446140909999, 0.737387211434295, 0.749056662017815, 0.760473406430107,

-    0.771654424224568, 0.782615023307232, 0.793369058840623, 0.80392911698997,

-    0.814306670135215, 0.824512208752291, 0.834555354086381, 0.844444954909153,

-    0.854189171008163, 0.863795545553308, 0.87327106808886, 0.882622229585165,

-    0.891855070732941, 0.900975224461221, 0.909987953496718, 0.91889818364959,

-    0.927710533401999, 0.936429340286575, 0.945058684468165, 0.953602409881086,

-    0.96206414322304, 0.970447311064224, 0.978755155294224, 0.986990747099062,

-    0.99515699963509, 1.00325667954467, 1.01129241744, 1.01926671746548,

-    1.02718196603564, 1.03504043983344, 1.04284431314415, 1.05059566459093,

-    1.05829648333067, 1.06594867476212, 1.07355406579244, 1.0811144097034,

-    1.08863139065398, 1.09610662785202, 1.10354167942464, 1.11093804601357,

-    1.11829717411934, 1.12562045921553, 1.13290924865253, 1.14016484436815,

-    1.14738850542085, 1.15458145035993, 1.16174485944561, 1.16887987673083,

-    1.17598761201545, 1.18306914268269, 1.19012551542669, 1.19715774787944,

-    1.20416683014438, 1.2111537262437, 1.21811937548548, 1.22506469375653,

-    1.23199057474614, 1.23889789110569, 1.24578749554863, 1.2526602218949,

-    1.25951688606371, 1.26635828701823, 1.27318520766536, 1.27999841571382,

-    1.28679866449324, 1.29358669373695, 1.30036323033084, 1.30712898903073,

-    1.31388467315022, 1.32063097522106, 1.32736857762793, 1.33409815321936,

-    1.3408203658964, 1.34753587118059, 1.35424531676263, 1.36094934303328,

-    1.36764858359748, 1.37434366577317, 1.38103521107586, 1.38772383568998,

-    1.39441015092814, 1.40109476367925, 1.4077782768464, 1.41446128977547,

-    1.42114439867531, 1.42782819703026, 1.43451327600589, 1.44120022484872,

-    1.44788963128058, 1.45458208188841, 1.46127816251028, 1.46797845861808,

-    1.47468355569786, 1.48139403962819, 1.48811049705745, 1.49483351578049,

-    1.50156368511546, 1.50830159628131, 1.51504784277671, 1.521803020761,

-    1.52856772943771, 1.53534257144151, 1.542128153229, 1.54892508547417,

-    1.55573398346918, 1.56255546753104, 1.56939016341512, 1.57623870273591,

-    1.58310172339603, 1.58997987002419, 1.59687379442279, 1.60378415602609,

-    1.61071162236983, 1.61765686957301, 1.62462058283303, 1.63160345693487,

-    1.63860619677555, 1.64562951790478, 1.65267414708306, 1.65974082285818,

-    1.66683029616166, 1.67394333092612, 1.68108070472517, 1.68824320943719,

-    1.69543165193456, 1.70264685479992, 1.7098896570713, 1.71716091501782,

-    1.72446150294804, 1.73179231405296, 1.73915426128591, 1.74654827828172,

-    1.75397532031767, 1.76143636531891, 1.76893241491127, 1.77646449552452,

-    1.78403365954944, 1.79164098655216, 1.79928758454972, 1.80697459135082,

-    1.81470317596628, 1.82247454009388, 1.83028991968276, 1.83815058658281,

-    1.84605785028518, 1.8540130597602, 1.86201760539967, 1.87007292107127,

-    1.878180486293, 1.88634182853678, 1.8945585256707, 1.90283220855043,

-    1.91116456377125, 1.91955733659319, 1.92801233405266, 1.93653142827569,

-    1.94511656000868, 1.95376974238465, 1.96249306494436, 1.97128869793366,

-    1.98015889690048, 1.98910600761744, 1.99813247135842, 2.00724083056053,

-    2.0164337349062, 2.02571394786385, 2.03508435372962, 2.04454796521753,

-    2.05410793165065, 2.06376754781173, 2.07353026351874, 2.0833996939983,

-    2.09337963113879, 2.10347405571488, 2.11368715068665, 2.12402331568952,

-    2.13448718284602, 2.14508363404789, 2.15581781987674, 2.16669518035431,

-    2.17772146774029, 2.18890277162636, 2.20024554661128, 2.21175664288416,

-    2.22344334009251, 2.23531338492992, 2.24737503294739, 2.25963709517379,

-    2.27210899022838, 2.28480080272449, 2.29772334890286, 2.31088825060137,

-    2.32430801887113, 2.33799614879653, 2.35196722737914, 2.36623705671729,

-    2.38082279517208, 2.39574311978193, 2.41101841390112, 2.42667098493715,

-    2.44272531820036, 2.4592083743347, 2.47614993967052, 2.49358304127105,

-    2.51154444162669, 2.53007523215985, 2.54922155032478, 2.56903545268184,

-    2.58957598670829, 2.61091051848882, 2.63311639363158, 2.65628303757674,

-    2.68051464328574, 2.70593365612306, 2.73268535904401, 2.76094400527999,

-    2.79092117400193, 2.82287739682644, 2.85713873087322, 2.89412105361341,

-    2.93436686720889, 2.97860327988184, 3.02783779176959, 3.08352613200214,

-    3.147889289518, 3.2245750520478, 3.32024473383983, 3.44927829856143,

-    3.65415288536101, 3.91075795952492 };

-

-  real_T u;

-  static const real_T dv2[257] = { 1.0, 0.977101701267673, 0.959879091800108,

-    0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131,

-    0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857,

-    0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884,

-    0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964,

-    0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187,

-    0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157,

-    0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863,

-    0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512,

-    0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774,

-    0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697,

-    0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624,

-    0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914,

-    0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987,

-    0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354,

-    0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766,

-    0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952,

-    0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322,

-    0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468,

-    0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458,

-    0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773,

-    0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716,

-    0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804,

-    0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022,

-    0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188,

-    0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832,

-    0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393,

-    0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032,

-    0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077,

-    0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522,

-    0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601,

-    0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337,

-    0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803,

-    0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183,

-    0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668,

-    0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261,

-    0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942,

-    0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501,

-    0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681,

-    0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331,

-    0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881,

-    0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135,

-    0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268,

-    0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839,

-    0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366,

-    0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263,

-    0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514,

-    0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669,

-    0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597,

-    0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839,

-    0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487,

-    0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009,

-    0.093365311912691, 0.0911136480663738, 0.0888735920682759,

-    0.0866451944505581, 0.0844285095703535, 0.082223595813203,

-    0.0800305158146631, 0.0778493367020961, 0.0756801303589272,

-    0.0735229737139814, 0.0713779490588905, 0.0692451443970068,

-    0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954,

-    0.0587679529209339, 0.0567106901062031, 0.0546664613248891,

-    0.0526354182767924, 0.0506177238609479, 0.0486135532158687,

-    0.0466230949019305, 0.0446465522512946, 0.0426841449164746,

-    0.0407361106559411, 0.0388027074045262, 0.0368842156885674,

-    0.0349809414617162, 0.0330932194585786, 0.0312214171919203,

-    0.0293659397581334, 0.0275272356696031, 0.0257058040085489,

-    0.0239022033057959, 0.0221170627073089, 0.0203510962300445,

-    0.0186051212757247, 0.0168800831525432, 0.0151770883079353,

-    0.0134974506017399, 0.0118427578579079, 0.0102149714397015,

-    0.00861658276939875, 0.00705087547137324, 0.00552240329925101,

-    0.00403797259336304, 0.00260907274610216, 0.0012602859304986,

-    0.000477467764609386 };

-

-  real_T x;

-  do {

-    exitg1 = 0;

-    genrand_uint32_vector(e_state, u32);

-    i = (int32_T)((u32[1] >> 24U) + 1U);

-    r = (((real_T)(u32[0] >> 3U) * 1.6777216E+7 + (real_T)((int32_T)u32[1] &

-           16777215)) * 2.2204460492503131E-16 - 1.0) * dv1[i];

-    if (fabs(r) <= dv1[i - 1]) {

-      exitg1 = 1;

-    } else if (i < 256) {

-      u = b_genrandu(e_state);

-      if (dv2[i] + u * (dv2[i - 1] - dv2[i]) < exp(-0.5 * r * r)) {

-        exitg1 = 1;

-      }

-    } else {

-      do {

-        u = b_genrandu(e_state);

-        x = log(u) * 0.273661237329758;

-        u = b_genrandu(e_state);

-      } while (!(-2.0 * log(u) > x * x));

-

-      if (r < 0.0) {

-        r = x - 3.65415288536101;

-      } else {

-        r = 3.65415288536101 - x;

-      }

-

-      exitg1 = 1;

-    }

-  } while (exitg1 == 0);

-

-  return r;

-}

-

-static real_T eml_rand_shr3cong(uint32_T e_state[2])

-{

-  real_T r;

-  uint32_T icng;

-  uint32_T jsr;

-  uint32_T ui;

-  int32_T j;

-  static const real_T dv0[65] = { 0.340945, 0.4573146, 0.5397793, 0.6062427,

-    0.6631691, 0.7136975, 0.7596125, 0.8020356, 0.8417227, 0.8792102, 0.9148948,

-    0.9490791, 0.9820005, 1.0138492, 1.044781, 1.0749254, 1.1043917, 1.1332738,

-    1.161653, 1.189601, 1.2171815, 1.2444516, 1.2714635, 1.298265, 1.3249008,

-    1.3514125, 1.3778399, 1.4042211, 1.4305929, 1.4569915, 1.4834527, 1.5100122,

-    1.5367061, 1.5635712, 1.5906454, 1.617968, 1.6455802, 1.6735255, 1.7018503,

-    1.7306045, 1.7598422, 1.7896223, 1.8200099, 1.851077, 1.8829044, 1.9155831,

-    1.9492166, 1.9839239, 2.0198431, 2.0571356, 2.095993, 2.136645, 2.1793713,

-    2.2245175, 2.2725186, 2.3239338, 2.3795008, 2.4402218, 2.5075117, 2.5834658,

-    2.6713916, 2.7769942, 2.7769942, 2.7769942, 2.7769942 };

-

-  real_T x;

-  real_T y;

-  real_T s;

-  icng = 69069U * e_state[0] + 1234567U;

-  jsr = e_state[1] ^ e_state[1] << 13U;

-  jsr ^= jsr >> 17U;

-  jsr ^= jsr << 5U;

-  ui = icng + jsr;

-  j = (int32_T)(ui & 63U);

-  r = (real_T)(int32_T)ui * 4.6566128730773926E-10 * dv0[j + 1];

-  if (fabs(r) <= dv0[j]) {

-  } else {

-    x = (fabs(r) - dv0[j]) / (dv0[j + 1] - dv0[j]);

-    icng = 69069U * icng + 1234567U;

-    jsr ^= jsr << 13U;

-    jsr ^= jsr >> 17U;

-    jsr ^= jsr << 5U;

-    y = (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10;

-    s = x + (0.5 + y);

-    if (s > 1.301198) {

-      if (r < 0.0) {

-        r = 0.4878992 * x - 0.4878992;

-      } else {

-        r = 0.4878992 - 0.4878992 * x;

-      }

-    } else if (s <= 0.9689279) {

-    } else {

-      s = 0.4878992 * x;

-      x = 0.4878992 - 0.4878992 * x;

-      if (0.5 + y > 12.67706 - 12.37586 * exp(-0.5 * (0.4878992 - s) * x)) {

-        if (r < 0.0) {

-          r = -(0.4878992 - s);

-        } else {

-          r = 0.4878992 - s;

-        }

-      } else if (exp(-0.5 * dv0[j + 1] * dv0[j + 1]) + (0.5 + y) * 0.01958303 /

-                 dv0[j + 1] <= exp(-0.5 * r * r)) {

-      } else {

-        do {

-          icng = 69069U * icng + 1234567U;

-          jsr ^= jsr << 13U;

-          jsr ^= jsr >> 17U;

-          jsr ^= jsr << 5U;

-          x = log(0.5 + (real_T)(int32_T)(icng + jsr) * 2.328306436538696E-10) /

-            2.776994;

-          icng = 69069U * icng + 1234567U;

-          jsr ^= jsr << 13U;

-          jsr ^= jsr >> 17U;

-          jsr ^= jsr << 5U;

-        } while (!(-2.0 * log(0.5 + (real_T)(int32_T)(icng + jsr) *

-                              2.328306436538696E-10) > x * x));

-

-        if (r < 0.0) {

-          r = x - 2.776994;

-        } else {

-          r = 2.776994 - x;

-        }

-      }

-    }

-  }

-

-  e_state[0] = icng;

-  e_state[1] = jsr;

-  return r;

-}

-

-static void genrand_uint32_vector(uint32_T mt[625], uint32_T u[2])

-{

-  int32_T i;

-  uint32_T mti;

-  int32_T kk;

-  uint32_T y;

-  uint32_T b_y;

-  uint32_T c_y;

-  uint32_T d_y;

-  for (i = 0; i < 2; i++) {

-    u[i] = 0U;

-  }

-

-  for (i = 0; i < 2; i++) {

-    mti = mt[624] + 1U;

-    if (mti >= 625U) {

-      for (kk = 0; kk < 227; kk++) {

-        y = (mt[kk] & 2147483648U) | (mt[1 + kk] & 2147483647U);

-        if ((int32_T)(y & 1U) == 0) {

-          b_y = y >> 1U;

-        } else {

-          b_y = y >> 1U ^ 2567483615U;

-        }

-

-        mt[kk] = mt[397 + kk] ^ b_y;

-      }

-

-      for (kk = 0; kk < 396; kk++) {

-        y = (mt[227 + kk] & 2147483648U) | (mt[228 + kk] & 2147483647U);

-        if ((int32_T)(y & 1U) == 0) {

-          c_y = y >> 1U;

-        } else {

-          c_y = y >> 1U ^ 2567483615U;

-        }

-

-        mt[227 + kk] = mt[kk] ^ c_y;

-      }

-

-      y = (mt[623] & 2147483648U) | (mt[0] & 2147483647U);

-      if ((int32_T)(y & 1U) == 0) {

-        d_y = y >> 1U;

-      } else {

-        d_y = y >> 1U ^ 2567483615U;

-      }

-

-      mt[623] = mt[396] ^ d_y;

-      mti = 1U;

-    }

-

-    y = mt[(int32_T)mti - 1];

-    mt[624] = mti;

-    y ^= y >> 11U;

-    y ^= y << 7U & 2636928640U;

-    y ^= y << 15U & 4022730752U;

-    y ^= y >> 18U;

-    u[i] = y;

-  }

-}

-

-static void genrandu(uint32_T s, uint32_T *e_state, real_T *r)

-{

-  int32_T hi;

-  uint32_T test1;

-  uint32_T test2;

-  hi = (int32_T)(s / 127773U);

-  test1 = 16807U * (s - (uint32_T)hi * 127773U);

-  test2 = 2836U * (uint32_T)hi;

-  if (test1 < test2) {

-    *e_state = (test1 - test2) + 2147483647U;

-  } else {

-    *e_state = test1 - test2;

-  }

-

-  *r = (real_T)*e_state * 4.6566128752457969E-10;

-}

-

-static void twister_state_vector(uint32_T mt[625], real_T seed)

-{

-  uint32_T r;

-  int32_T mti;

-  if (seed < 4.294967296E+9) {

-    if (seed >= 0.0) {

-      r = (uint32_T)seed;

-    } else {

-      r = 0U;

-    }

-  } else if (seed >= 4.294967296E+9) {

-    r = MAX_uint32_T;

-  } else {

-    r = 0U;

-  }

-

-  mt[0] = r;

-  for (mti = 0; mti < 623; mti++) {

-    r = (r ^ r >> 30U) * 1812433253U + (uint32_T)(1 + mti);

-    mt[1 + mti] = r;

-  }

-

-  mt[624] = 624U;

-}

-

-real_T randn(void)

-{

-  real_T r;

-  uint32_T e_state;

-  real_T t;

-  real_T b_r;

-  uint32_T f_state;

-  if (method == 0U) {

-    if (b_method == 4U) {

-      do {

-        genrandu(b_state, &e_state, &r);

-        genrandu(e_state, &b_state, &t);

-        b_r = 2.0 * r - 1.0;

-        t = 2.0 * t - 1.0;

-        t = t * t + b_r * b_r;

-      } while (!(t <= 1.0));

-

-      r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

-    } else if (b_method == 5U) {

-      r = eml_rand_shr3cong(c_state);

-    } else {

-      if (!state_not_empty) {

-        memset(&d_state[0], 0, 625U * sizeof(uint32_T));

-        twister_state_vector(d_state, 5489.0);

-        state_not_empty = TRUE;

-      }

-

-      r = eml_rand_mt19937ar(d_state);

-    }

-  } else if (method == 4U) {

-    e_state = state[0];

-    do {

-      genrandu(e_state, &f_state, &r);

-      genrandu(f_state, &e_state, &t);

-      b_r = 2.0 * r - 1.0;

-      t = 2.0 * t - 1.0;

-      t = t * t + b_r * b_r;

-    } while (!(t <= 1.0));

-

-    state[0] = e_state;

-    r = (2.0 * r - 1.0) * sqrt(-2.0 * log(t) / t);

-  } else {

-    r = eml_rand_shr3cong(state);

-  }

-

-  return r;

-}

-

-/* End of code generation (randn.c) */

diff --git a/src/modules/position_estimator_mc/codegen/randn.h b/src/modules/position_estimator_mc/codegen/randn.h
deleted file mode 100755
index 8a2aa9277..000000000
--- a/src/modules/position_estimator_mc/codegen/randn.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*

- * randn.h

- *

- * Code generation for function 'randn'

- *

- * C source code generated on: Tue Feb 19 15:26:32 2013

- *

- */

-

-#ifndef __RANDN_H__

-#define __RANDN_H__

-/* Include files */

-#include <math.h>

-#include <stddef.h>

-#include <stdlib.h>

-#include <string.h>

-#include "rt_nonfinite.h"

-

-#include "rtwtypes.h"

-#include "kalman_dlqe3_types.h"

-

-/* Type Definitions */

-

-/* Named Constants */

-

-/* Variable Declarations */

-

-/* Variable Definitions */

-

-/* Function Declarations */

-extern real_T randn(void);

-#endif

-/* End of code generation (randn.h) */

diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.c b/src/modules/position_estimator_mc/codegen/rtGetInf.c
deleted file mode 100755
index c6fa7884e..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetInf.c
+++ /dev/null
@@ -1,139 +0,0 @@
-/*
- * rtGetInf.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *       MATLAB for code generation function to initialize non-finite, Inf and MinusInf
- */
-#include "rtGetInf.h"
-#define NumBitsPerChar	8U
-
-/* Function: rtGetInf ==================================================
- * Abstract:
- * Initialize rtInf needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetInf(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T inf = 0.0;
-  if (bitsPerReal == 32U) {
-    inf = rtGetInfF();
-  } else {
-    uint16_T one = 1U;
-    enum {
-      LittleEndian,
-      BigEndian
-    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-    switch (machByteOrder) {
-     case LittleEndian:
-      {
-        union {
-          LittleEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        inf = tmpVal.fltVal;
-        break;
-      }
-
-     case BigEndian:
-      {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        inf = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return inf;
-}
-
-/* Function: rtGetInfF ==================================================
- * Abstract:
- * Initialize rtInfF needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetInfF(void)
-{
-  IEEESingle infF;
-  infF.wordL.wordLuint = 0x7F800000U;
-  return infF.wordL.wordLreal;
-}
-
-/* Function: rtGetMinusInf ==================================================
- * Abstract:
- * Initialize rtMinusInf needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetMinusInf(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T minf = 0.0;
-  if (bitsPerReal == 32U) {
-    minf = rtGetMinusInfF();
-  } else {
-    uint16_T one = 1U;
-    enum {
-      LittleEndian,
-      BigEndian
-    } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-    switch (machByteOrder) {
-     case LittleEndian:
-      {
-        union {
-          LittleEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0xFFF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        minf = tmpVal.fltVal;
-        break;
-      }
-
-     case BigEndian:
-      {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0xFFF00000U;
-        tmpVal.bitVal.words.wordL = 0x00000000U;
-        minf = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return minf;
-}
-
-/* Function: rtGetMinusInfF ==================================================
- * Abstract:
- * Initialize rtMinusInfF needed by the generated code.
- * Inf is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetMinusInfF(void)
-{
-  IEEESingle minfF;
-  minfF.wordL.wordLuint = 0xFF800000U;
-  return minfF.wordL.wordLreal;
-}
-
-/* End of code generation (rtGetInf.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetInf.h b/src/modules/position_estimator_mc/codegen/rtGetInf.h
deleted file mode 100755
index e7b2a2d1c..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetInf.h
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * rtGetInf.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTGETINF_H__
-#define __RTGETINF_H__
-
-#include <stddef.h>
-#include "rtwtypes.h"
-#include "rt_nonfinite.h"
-
-extern real_T rtGetInf(void);
-extern real32_T rtGetInfF(void);
-extern real_T rtGetMinusInf(void);
-extern real32_T rtGetMinusInfF(void);
-
-#endif
-/* End of code generation (rtGetInf.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.c b/src/modules/position_estimator_mc/codegen/rtGetNaN.c
deleted file mode 100755
index 552770149..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetNaN.c
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * rtGetNaN.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *       MATLAB for code generation function to initialize non-finite, NaN
- */
-#include "rtGetNaN.h"
-#define NumBitsPerChar	8U
-
-/* Function: rtGetNaN ==================================================
- * Abstract:
- * Initialize rtNaN needed by the generated code.
- * NaN is initialized as non-signaling. Assumes IEEE.
- */
-real_T rtGetNaN(void)
-{
-  size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
-  real_T nan = 0.0;
-  if (bitsPerReal == 32U) {
-    nan = rtGetNaNF();
-  } else {
-  uint16_T one = 1U;
-  enum {
-    LittleEndian,
-    BigEndian
-  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-  switch (machByteOrder) {
-   case LittleEndian:
-    {
-      union {
-        LittleEndianIEEEDouble bitVal;
-        real_T fltVal;
-      } tmpVal;
-
-      tmpVal.bitVal.words.wordH = 0xFFF80000U;
-      tmpVal.bitVal.words.wordL = 0x00000000U;
-      nan = tmpVal.fltVal;
-      break;
-    }
-
-   case BigEndian:
-    {
-        union {
-          BigEndianIEEEDouble bitVal;
-          real_T fltVal;
-        } tmpVal;
-
-        tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
-        tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
-        nan = tmpVal.fltVal;
-        break;
-      }
-    }
-  }
-
-  return nan;
-}
-
-/* Function: rtGetNaNF ==================================================
- * Abstract:
- * Initialize rtNaNF needed by the generated code.
- * NaN is initialized as non-signaling. Assumes IEEE.
- */
-real32_T rtGetNaNF(void)
-{
-  IEEESingle nanF = { { 0 } };
-  uint16_T one = 1U;
-  enum {
-    LittleEndian,
-    BigEndian
-  } machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
-  switch (machByteOrder) {
-   case LittleEndian:
-    {
-      nanF.wordL.wordLuint = 0xFFC00000U;
-      break;
-    }
-
-   case BigEndian:
-    {
-      nanF.wordL.wordLuint = 0x7FFFFFFFU;
-      break;
-    }
-  }
-
-  return nanF.wordL.wordLreal;
-}
-
-/* End of code generation (rtGetNaN.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rtGetNaN.h b/src/modules/position_estimator_mc/codegen/rtGetNaN.h
deleted file mode 100755
index 5acdd9790..000000000
--- a/src/modules/position_estimator_mc/codegen/rtGetNaN.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * rtGetNaN.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTGETNAN_H__
-#define __RTGETNAN_H__
-
-#include <stddef.h>
-#include "rtwtypes.h"
-#include "rt_nonfinite.h"
-
-extern real_T rtGetNaN(void);
-extern real32_T rtGetNaNF(void);
-
-#endif
-/* End of code generation (rtGetNaN.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c b/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
deleted file mode 100755
index de121c4a0..000000000
--- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.c
+++ /dev/null
@@ -1,87 +0,0 @@
-/*
- * rt_nonfinite.c
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-/*
- * Abstract:
- *      MATLAB for code generation function to initialize non-finites,
- *      (Inf, NaN and -Inf).
- */
-#include "rt_nonfinite.h"
-#include "rtGetNaN.h"
-#include "rtGetInf.h"
-
-real_T rtInf;
-real_T rtMinusInf;
-real_T rtNaN;
-real32_T rtInfF;
-real32_T rtMinusInfF;
-real32_T rtNaNF;
-
-/* Function: rt_InitInfAndNaN ==================================================
- * Abstract:
- * Initialize the rtInf, rtMinusInf, and rtNaN needed by the
- * generated code. NaN is initialized as non-signaling. Assumes IEEE.
- */
-void rt_InitInfAndNaN(size_t realSize)
-{
-  (void) (realSize);
-  rtNaN = rtGetNaN();
-  rtNaNF = rtGetNaNF();
-  rtInf = rtGetInf();
-  rtInfF = rtGetInfF();
-  rtMinusInf = rtGetMinusInf();
-  rtMinusInfF = rtGetMinusInfF();
-}
-
-/* Function: rtIsInf ==================================================
- * Abstract:
- * Test if value is infinite
- */
-boolean_T rtIsInf(real_T value)
-{
-  return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
-}
-
-/* Function: rtIsInfF =================================================
- * Abstract:
- * Test if single-precision value is infinite
- */
-boolean_T rtIsInfF(real32_T value)
-{
-  return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
-}
-
-/* Function: rtIsNaN ==================================================
- * Abstract:
- * Test if value is not a number
- */
-boolean_T rtIsNaN(real_T value)
-{
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-  return _isnan(value)? TRUE:FALSE;
-#else
-  return (value!=value)? 1U:0U;
-#endif
-}
-
-/* Function: rtIsNaNF =================================================
- * Abstract:
- * Test if single-precision value is not a number
- */
-boolean_T rtIsNaNF(real32_T value)
-{
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-  return _isnan((real_T)value)? true:false;
-#else
-  return (value!=value)? 1U:0U;
-#endif
-}
-
-
-/* End of code generation (rt_nonfinite.c) */
diff --git a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h b/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
deleted file mode 100755
index 3bbcfd087..000000000
--- a/src/modules/position_estimator_mc/codegen/rt_nonfinite.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * rt_nonfinite.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RT_NONFINITE_H__
-#define __RT_NONFINITE_H__
-
-#if defined(_MSC_VER) && (_MSC_VER <= 1200)
-#include <float.h>
-#endif
-#include <stddef.h>
-#include "rtwtypes.h"
-
-extern real_T rtInf;
-extern real_T rtMinusInf;
-extern real_T rtNaN;
-extern real32_T rtInfF;
-extern real32_T rtMinusInfF;
-extern real32_T rtNaNF;
-extern void rt_InitInfAndNaN(size_t realSize);
-extern boolean_T rtIsInf(real_T value);
-extern boolean_T rtIsInfF(real32_T value);
-extern boolean_T rtIsNaN(real_T value);
-extern boolean_T rtIsNaNF(real32_T value);
-
-typedef struct {
-  struct {
-    uint32_T wordH;
-    uint32_T wordL;
-  } words;
-} BigEndianIEEEDouble;
-
-typedef struct {
-  struct {
-    uint32_T wordL;
-    uint32_T wordH;
-  } words;
-} LittleEndianIEEEDouble;
-
-typedef struct {
-  union {
-    real32_T wordLreal;
-    uint32_T wordLuint;
-  } wordL;
-} IEEESingle;
-
-#endif
-/* End of code generation (rt_nonfinite.h) */
diff --git a/src/modules/position_estimator_mc/codegen/rtwtypes.h b/src/modules/position_estimator_mc/codegen/rtwtypes.h
deleted file mode 100755
index 8916e8572..000000000
--- a/src/modules/position_estimator_mc/codegen/rtwtypes.h
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
- * rtwtypes.h
- *
- * Code generation for function 'kalman_dlqe2'
- *
- * C source code generated on: Thu Feb 14 12:52:29 2013
- *
- */
-
-#ifndef __RTWTYPES_H__
-#define __RTWTYPES_H__
-#ifndef TRUE
-# define TRUE (1U)
-#endif
-#ifndef FALSE
-# define FALSE (0U)
-#endif
-#ifndef __TMWTYPES__
-#define __TMWTYPES__
-
-#include <limits.h>
-
-/*=======================================================================* 
- * Target hardware information
- *   Device type: Generic->MATLAB Host Computer
- *   Number of bits:     char:   8    short:   16    int:  32
- *                       long:  32      native word size:  32
- *   Byte ordering: LittleEndian
- *   Signed integer division rounds to: Undefined
- *   Shift right on a signed integer as arithmetic shift: off
- *=======================================================================*/
-
-/*=======================================================================* 
- * Fixed width word size data types:                                     * 
- *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
- *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
- *   real32_T, real64_T           - 32 and 64 bit floating point numbers * 
- *=======================================================================*/
-
-typedef signed char int8_T;
-typedef unsigned char uint8_T;
-typedef short int16_T;
-typedef unsigned short uint16_T;
-typedef int int32_T;
-typedef unsigned int uint32_T;
-typedef float real32_T;
-typedef double real64_T;
-
-/*===========================================================================* 
- * Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T,       * 
- *                           ulong_T, char_T and byte_T.                     * 
- *===========================================================================*/
-
-typedef double real_T;
-typedef double time_T;
-typedef unsigned char boolean_T;
-typedef int int_T;
-typedef unsigned int uint_T;
-typedef unsigned long ulong_T;
-typedef char char_T;
-typedef char_T byte_T;
-
-/*===========================================================================* 
- * Complex number type definitions                                           * 
- *===========================================================================*/
-#define CREAL_T	
-   typedef struct {  
-     real32_T re;  
-     real32_T im;  
-   } creal32_T;  
-
-   typedef struct {  
-     real64_T re;  
-     real64_T im;  
-   } creal64_T;  
-
-   typedef struct {  
-     real_T re;  
-     real_T im;  
-   } creal_T;  
-
-   typedef struct {  
-     int8_T re;  
-     int8_T im;  
-   } cint8_T;  
-
-   typedef struct {  
-     uint8_T re;  
-     uint8_T im;  
-   } cuint8_T;  
-
-   typedef struct {  
-     int16_T re;  
-     int16_T im;  
-   } cint16_T;  
-
-   typedef struct {  
-     uint16_T re;  
-     uint16_T im;  
-   } cuint16_T;  
-
-   typedef struct {  
-     int32_T re;  
-     int32_T im;  
-   } cint32_T;  
-
-   typedef struct {  
-     uint32_T re;  
-     uint32_T im;  
-   } cuint32_T;  
-
-
-/*=======================================================================* 
- * Min and Max:                                                          * 
- *   int8_T, int16_T, int32_T     - signed 8, 16, or 32 bit integers     * 
- *   uint8_T, uint16_T, uint32_T  - unsigned 8, 16, or 32 bit integers   * 
- *=======================================================================*/
-
-#define MAX_int8_T  	((int8_T)(127))
-#define MIN_int8_T  	((int8_T)(-128))
-#define MAX_uint8_T 	((uint8_T)(255))
-#define MIN_uint8_T 	((uint8_T)(0))
-#define MAX_int16_T 	((int16_T)(32767))
-#define MIN_int16_T 	((int16_T)(-32768))
-#define MAX_uint16_T	((uint16_T)(65535))
-#define MIN_uint16_T	((uint16_T)(0))
-#define MAX_int32_T 	((int32_T)(2147483647))
-#define MIN_int32_T 	((int32_T)(-2147483647-1))
-#define MAX_uint32_T	((uint32_T)(0xFFFFFFFFU))
-#define MIN_uint32_T	((uint32_T)(0))
-
-/* Logical type definitions */
-#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
-#  ifndef false
-#   define false (0U)
-#  endif
-#  ifndef true
-#   define true (1U)
-#  endif
-#endif
-
-/*
- * MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
- * for signed integer values.
- */
-#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
-#error "This code must be compiled using a 2's complement representation for signed integer values"
-#endif
-
-/*
- * Maximum length of a MATLAB identifier (function/variable)
- * including the null-termination character. Referenced by
- * rt_logging.c and rt_matrx.c.
- */
-#define TMW_NAME_LENGTH_MAX	64
-
-#endif
-#endif
-/* End of code generation (rtwtypes.h) */
diff --git a/src/modules/position_estimator_mc/kalman_dlqe1.m b/src/modules/position_estimator_mc/kalman_dlqe1.m
deleted file mode 100755
index ff939d029..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe1.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z)
-    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe2.m b/src/modules/position_estimator_mc/kalman_dlqe2.m
deleted file mode 100755
index 2a50164ef..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe2.m
+++ /dev/null
@@ -1,9 +0,0 @@
-function [x_aposteriori] = kalman_dlqe2(dt,k1,k2,k3,x_aposteriori_k,z)
-    st = 1/2*dt^2;
-    A = [1,dt,st;
-        0,1,dt;
-        0,0,1];
-    C=[1,0,0];
-    K = [k1;k2;k3];
-    x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);      
-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/kalman_dlqe3.m b/src/modules/position_estimator_mc/kalman_dlqe3.m
deleted file mode 100755
index 4c6421b7f..000000000
--- a/src/modules/position_estimator_mc/kalman_dlqe3.m
+++ /dev/null
@@ -1,17 +0,0 @@
-function [x_aposteriori] = kalman_dlqe3(dt,k1,k2,k3,x_aposteriori_k,z,posUpdate,addNoise,sigma)

-    st = 1/2*dt^2;

-    A = [1,dt,st;

-        0,1,dt;

-        0,0,1];

-    C=[1,0,0];

-    K = [k1;k2;k3];

-    if addNoise==1

-        noise = sigma*randn(1,1);

-        z = z + noise;

-    end

-    if(posUpdate)

-        x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k);

-    else

-        x_aposteriori=A*x_aposteriori_k;

-    end

-end
\ No newline at end of file
diff --git a/src/modules/position_estimator_mc/module.mk b/src/modules/position_estimator_mc/module.mk
deleted file mode 100644
index 40b135ea4..000000000
--- a/src/modules/position_estimator_mc/module.mk
+++ /dev/null
@@ -1,60 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Makefile to build the position estimator
-#
-
-MODULE_COMMAND	 = position_estimator_mc
-
-SRCS		 = position_estimator_mc_main.c \
-			   position_estimator_mc_params.c \
-			   codegen/positionKalmanFilter1D_initialize.c \
-			   codegen/positionKalmanFilter1D_terminate.c \
-			   codegen/positionKalmanFilter1D.c \
-			   codegen/rt_nonfinite.c \
-			   codegen/rtGetInf.c \
-			   codegen/rtGetNaN.c \
-			   codegen/positionKalmanFilter1D_dT_initialize.c \
-			   codegen/positionKalmanFilter1D_dT_terminate.c \
-			   codegen/kalman_dlqe1.c \
-			   codegen/kalman_dlqe1_initialize.c \
-			   codegen/kalman_dlqe1_terminate.c \
-			   codegen/kalman_dlqe2.c \
-			   codegen/kalman_dlqe2_initialize.c \
-			   codegen/kalman_dlqe2_terminate.c \
-			   codegen/kalman_dlqe3.c \
-			   codegen/kalman_dlqe3_initialize.c \
-			   codegen/kalman_dlqe3_terminate.c \
-			   codegen/kalman_dlqe3_data.c \
-			   codegen/randn.c
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D.m b/src/modules/position_estimator_mc/positionKalmanFilter1D.m
deleted file mode 100755
index 144ff8c7c..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D.m
+++ /dev/null
@@ -1,19 +0,0 @@
-function [x_aposteriori,P_aposteriori]=positionKalmanFilter1D(A,B,C,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
-%prediction
-    x_apriori=A*x_aposteriori_k+B*u;
-    P_apriori=A*P_aposteriori_k*A'+Q;
-    if abs(u)<thresh
-        x_apriori(2)=decay*x_apriori(2);
-    end
-    %update
-    if gps_update==1
-        y=z-C*x_apriori;
-        S=C*P_apriori*C'+R;
-        K=(P_apriori*C')/S;
-        x_aposteriori=x_apriori+K*y;
-        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
-    else
-        x_aposteriori=x_apriori;
-        P_aposteriori=P_apriori;
-    end
-end
diff --git a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m b/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
deleted file mode 100755
index f94cce1fb..000000000
--- a/src/modules/position_estimator_mc/positionKalmanFilter1D_dT.m
+++ /dev/null
@@ -1,26 +0,0 @@
-function  [x_aposteriori,P_aposteriori]=positionKalmanFilter1D_dT(dT,x_aposteriori_k,P_aposteriori_k,u,z,gps_update,Q,R,thresh,decay)
-    %dynamics
-    A = [1 dT -0.5*dT*dT;
-         0 1 -dT;
-         0 0 1];
-    B = [0.5*dT*dT; dT; 0];
-    C = [1 0 0];
-    %prediction
-    x_apriori=A*x_aposteriori_k+B*u;
-    P_apriori=A*P_aposteriori_k*A'+Q;
-    if abs(u)<thresh
-        x_apriori(2)=decay*x_apriori(2);
-    end
-    %update
-    if gps_update==1
-        y=z-C*x_apriori;
-        S=C*P_apriori*C'+R;
-        K=(P_apriori*C')/S;
-        x_aposteriori=x_apriori+K*y;
-        P_aposteriori=(eye(size(P_apriori))-K*C)*P_apriori;
-    else
-        x_aposteriori=x_apriori;
-        P_aposteriori=P_apriori;
-    end
-end
-
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_main.c b/src/modules/position_estimator_mc/position_estimator_mc_main.c
deleted file mode 100755
index 363961819..000000000
--- a/src/modules/position_estimator_mc/position_estimator_mc_main.c
+++ /dev/null
@@ -1,515 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger	<daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
-* 				Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file position_estimator_main.c
- * Model-identification based position estimator for multirotors
- */
-
-#include <unistd.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <stdbool.h>
-#include <fcntl.h>
-#include <float.h>
-#include <string.h>
-#include <nuttx/config.h>
-#include <nuttx/sched.h>
-#include <sys/prctl.h>
-#include <termios.h>
-#include <errno.h>
-#include <limits.h>
-#include <math.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <mavlink/mavlink_log.h>
-#include <poll.h>
-#include <systemlib/geo/geo.h>
-#include <systemlib/err.h>
-#include <systemlib/systemlib.h>
-
-#include <drivers/drv_hrt.h>
-
-#include "position_estimator_mc_params.h"
-//#include <uORB/topics/debug_key_value.h>
-#include "codegen/kalman_dlqe2.h"
-#include "codegen/kalman_dlqe2_initialize.h"
-#include "codegen/kalman_dlqe3.h"
-#include "codegen/kalman_dlqe3_initialize.h"
-
-static bool thread_should_exit = false;	/**< Deamon exit flag */
-static bool thread_running = false;	/**< Deamon status flag */
-static int position_estimator_mc_task;	/**< Handle of deamon task / thread */
-
-__EXPORT int position_estimator_mc_main(int argc, char *argv[]);
-
-int position_estimator_mc_thread_main(int argc, char *argv[]);
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		warnx("%s\n", reason);
-	warnx("usage: position_estimator_mc {start|stop|status}");
-	exit(1);
-}
-
-/**
- * The position_estimator_mc_thread only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_create().
- */
-int position_estimator_mc_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("position_estimator_mc already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		position_estimator_mc_task = task_spawn_cmd("position_estimator_mc",
-					 SCHED_RR,
-					 SCHED_PRIORITY_MAX - 5,
-					 4096,
-					 position_estimator_mc_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			warnx("position_estimator_mc is running");
-		} else {
-			warnx("position_estimator_mc not started");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-/****************************************************************************
- * main
- ****************************************************************************/
-int position_estimator_mc_thread_main(int argc, char *argv[])
-{
-	/* welcome user */
-	warnx("[position_estimator_mc] started");
-	int mavlink_fd;
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-	mavlink_log_info(mavlink_fd, "[position_estimator_mc] started");
-
-	/* initialize values */
-	float z[3] = {0, 0, 0}; /* output variables from tangent plane mapping */
-	// float rotMatrix[4] = {1.0f,  0.0f, 0.0f,  1.0f};
-	float x_x_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_y_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_z_aposteriori_k[3] = {1.0f, 0.0f, 0.0f};
-	float x_x_aposteriori[3] = {0.0f, 0.0f, 0.0f};
-	float x_y_aposteriori[3] = {1.0f, 0.0f, 0.0f};
-	float x_z_aposteriori[3] = {1.0f, 0.0f, 0.0f};
-
-	// XXX this is terribly wrong and should actual dT instead
-	const float dT_const_50 = 1.0f/50.0f;
-
-	float addNoise = 0.0f;
-	float sigma = 0.0f;
-	//computed from dlqe in matlab
-	const float K_vicon_50Hz[3] = {0.5297f, 0.9873f, 0.9201f};
-	// XXX implement baro filter
-	const float K_baro[3] = {0.0248f, 0.0377f, 0.0287f};
-	float K[3] = {0.0f, 0.0f, 0.0f};
-	int baro_loop_cnt = 0;
-	int baro_loop_end = 70; /* measurement for 1 second */
-	float p0_Pa = 0.0f; /* to determin while start up */
-	float rho0 = 1.293f; /* standard pressure */
-	const float const_earth_gravity = 9.81f;
-
-	float posX = 0.0f;
-	float posY = 0.0f;
-	float posZ = 0.0f;
-
-	double lat_current;
-	double lon_current;
-	float alt_current;
-
-	float gps_origin_altitude = 0.0f;
-
-	/* Initialize filter */
-	kalman_dlqe2_initialize();
-	kalman_dlqe3_initialize();
-
-	/* declare and safely initialize all structs */
-	struct sensor_combined_s sensor;
-	memset(&sensor, 0, sizeof(sensor));
-	struct vehicle_attitude_s att;
-	memset(&att, 0, sizeof(att));
-	struct vehicle_status_s vehicle_status;
-	memset(&vehicle_status, 0, sizeof(vehicle_status)); /* make sure that baroINITdone = false */
-	struct vehicle_vicon_position_s vicon_pos;
-	memset(&vicon_pos, 0, sizeof(vicon_pos));
-	struct actuator_controls_effective_s act_eff;
-	memset(&act_eff, 0, sizeof(act_eff));
-	struct vehicle_gps_position_s gps;
-	memset(&gps, 0, sizeof(gps));
-	struct vehicle_local_position_s local_pos_est;
-	memset(&local_pos_est, 0, sizeof(local_pos_est));
-	struct vehicle_global_position_s global_pos_est;
-	memset(&global_pos_est, 0, sizeof(global_pos_est));
-
-	/* subscribe */
-	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	int sub_params = orb_subscribe(ORB_ID(parameter_update));
-	int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	int vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	int actuator_eff_sub = orb_subscribe(ORB_ID(actuator_controls_effective_0));
-	int vehicle_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-
-	/* advertise */
-	orb_advert_t local_pos_est_pub = 0;
-	orb_advert_t global_pos_est_pub = 0;
-
-	struct position_estimator_mc_params pos1D_params;
-	struct position_estimator_mc_param_handles pos1D_param_handles;
-	/* initialize parameter handles */
-	parameters_init(&pos1D_param_handles);
-
-	bool flag_use_gps = false;
-	bool flag_use_baro = false;
-	bool flag_baro_initialized = false; /* in any case disable baroINITdone */
-	/* FIRST PARAMETER READ at START UP*/
-	struct parameter_update_s update;
-	orb_copy(ORB_ID(parameter_update), sub_params, &update); /* read from param to clear updated flag */
-	/* FIRST PARAMETER UPDATE */
-	parameters_update(&pos1D_param_handles, &pos1D_params);
-	flag_use_baro = pos1D_params.baro;
-	sigma = pos1D_params.sigma;
-	addNoise = pos1D_params.addNoise;
-	/* END FIRST PARAMETER UPDATE */
-
-	/* try to grab a vicon message - if it fails, go for GPS. */
-
-	/* make sure the next orb_check() can't return true unless we get a timely update */
-	orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
-	/* allow 200 ms for vicon to come in */
-	usleep(200000);
-	/* check if we got vicon */
-	bool update_check;
-	orb_check(vicon_pos_sub, &update_check);
-	/* if no update was available, use GPS */
-	flag_use_gps = !update_check;
-
-	if (flag_use_gps) {
-		mavlink_log_info(mavlink_fd, "[pos_est_mc] GPS locked");
-		/* wait until gps signal turns valid, only then can we initialize the projection */
-
-		// XXX magic number
-		float hdop_threshold_m = 4.0f;
-		float vdop_threshold_m = 8.0f;
-
-		/*
-		 * If horizontal dilution of precision (hdop / eph)
-		 * and vertical diluation of precision (vdop / epv)
-		 * are below a certain threshold (e.g. 4 m), AND
-		 * home position is not yet set AND the last GPS
-		 * GPS measurement is not older than two seconds AND
-		 * the system is currently not armed, set home
-		 * position to the current position.
-		 */
-
-		while (!(gps.fix_type == 3
-			&& (gps.eph_m < hdop_threshold_m)
-			&& (gps.epv_m < vdop_threshold_m)
-			&& (hrt_absolute_time() - gps.timestamp_position < 2000000))) {
-
-			struct pollfd fds1[2] = {
-					{ .fd = vehicle_gps_sub, .events = POLLIN },
-					{ .fd = sub_params,   .events = POLLIN },
-			};
-
-			/* wait for GPS updates, BUT READ VEHICLE STATUS (!)
-			 * this choice is critical, since the vehicle status might not
-			 * actually change, if this app is started after GPS lock was
-			 * aquired.
-			 */
-			if (poll(fds1, 2, 5000)) {
-				if (fds1[0].revents & POLLIN){
-					/* Read gps position */
-					orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-				}
-				if (fds1[1].revents & POLLIN){
-					/* Read out parameters to check for an update there, e.g. useGPS variable */
-					/* read from param to clear updated flag */
-					struct parameter_update_s updated;
-					orb_copy(ORB_ID(parameter_update), sub_params, &updated);
-					/* update parameters */
-					parameters_update(&pos1D_param_handles, &pos1D_params);
-				}
-			}
-			static int printcounter = 0;
-			if (printcounter == 100) {
-				printcounter = 0;
-				warnx("[pos_est_mc] wait for GPS fix");
-			}
-			printcounter++;
-		}
-
-		/* get gps value for first initialization */
-		orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-		lat_current = ((double)(gps.lat)) * 1e-7d;
-		lon_current = ((double)(gps.lon)) * 1e-7d;
-		alt_current = gps.alt * 1e-3f;
-		gps_origin_altitude = alt_current;
-		/* initialize coordinates */
-		map_projection_init(lat_current, lon_current);
-		/* publish global position messages only after first GPS message */
-		printf("[pos_est_mc] initialized projection with: lat: %.10f,  lon:%.10f\n", lat_current, lon_current);
-
-	} else {
-		mavlink_log_info(mavlink_fd, "[pos_est_mc] I'm NOT using GPS - I use VICON");
-		/* onboard calculated position estimations */
-	}
-	thread_running = true;
-
-	struct pollfd fds2[3] = {
-		{ .fd = vehicle_gps_sub,   .events = POLLIN },
-		{ .fd = vicon_pos_sub,   .events = POLLIN },
-		{ .fd = sub_params,   .events = POLLIN },
-	};
-
-	bool vicon_updated = false;
-	bool gps_updated = false;
-
-	/**< main_loop */
-	while (!thread_should_exit) {
-		int ret = poll(fds2, 3, 20);  //wait maximal this 20 ms = 50 Hz minimum rate
-		if (ret < 0) {
-			/* poll error */
-		} else {
-			if (fds2[2].revents & POLLIN){
-				/* new parameter */
-				/* read from param to clear updated flag */
-				struct parameter_update_s updated;
-				orb_copy(ORB_ID(parameter_update), sub_params, &updated);
-				/* update parameters */
-				parameters_update(&pos1D_param_handles, &pos1D_params);
-				flag_use_baro = pos1D_params.baro;
-				sigma = pos1D_params.sigma;
-				addNoise = pos1D_params.addNoise;
-			}
-			vicon_updated = false; /* default is no vicon_updated */
-			if (fds2[1].revents & POLLIN) {
-				/* new vicon position */
-				orb_copy(ORB_ID(vehicle_vicon_position), vicon_pos_sub, &vicon_pos);
-				posX = vicon_pos.x;
-				posY = vicon_pos.y;
-				posZ = vicon_pos.z;
-				vicon_updated = true; /* set flag for vicon update */
-			} /* end of poll call for vicon updates */
-			gps_updated = false;
-			if (fds2[0].revents & POLLIN) {
-				/* new GPS value */
-				orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
-				/* Project gps lat lon (Geographic coordinate system) to plane*/
-				map_projection_project(((double)(gps.lat)) * 1e-7d, ((double)(gps.lon)) * 1e-7d, &(z[0]), &(z[1]));
-				posX = z[0];
-				posY = z[1];
-				posZ = (float)(gps.alt * 1e-3f);
-				gps_updated = true;
-			}
-
-			/* Main estimator loop */
-			orb_copy(ORB_ID(actuator_controls_effective_0), actuator_eff_sub, &act_eff);
-			orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
-			orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
-			orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor);
-			// barometric pressure estimation at start up
-			if (!flag_baro_initialized){
-				// mean calculation over several measurements
-				if (baro_loop_cnt<baro_loop_end) {
-					p0_Pa += (sensor.baro_pres_mbar*100);
-					baro_loop_cnt++;
-				} else {
-					p0_Pa /= (float)(baro_loop_cnt);
-					flag_baro_initialized = true;
-					char *baro_m_start = "barometer initialized with p0 = ";
-					char p0_char[15];
-					sprintf(p0_char, "%8.2f", (double)(p0_Pa/100));
-					char *baro_m_end = " mbar";
-					char str[80];
-					strcpy(str,baro_m_start);
-					strcat(str,p0_char);
-					strcat(str,baro_m_end);
-					mavlink_log_info(mavlink_fd, str);
-				}
-			}
-			if (flag_use_gps) {
-				/* initialize map projection with the last estimate (not at full rate) */
-				if (gps.fix_type > 2) {
-					/* x-y-position/velocity estimation in earth frame = gps frame */
-					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,gps_updated,0.0f,0.0f,x_x_aposteriori);
-					memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
-					kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,gps_updated,0.0f,0.0f,x_y_aposteriori);
-					memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
-					/* z-position/velocity estimation in earth frame = vicon frame */
-					float z_est = 0.0f;
-					if (flag_baro_initialized && flag_use_baro) {
-						z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100))/(rho0*const_earth_gravity);
-						K[0] = K_vicon_50Hz[0];
-						K[1] = K_vicon_50Hz[1];
-						K[2] = K_vicon_50Hz[2];
-						gps_updated = 1.0f; /* always enable the update, cause baro update = 200 Hz */
-					} else {
-						z_est = posZ;
-						K[0] = K_vicon_50Hz[0];
-						K[1] = K_vicon_50Hz[1];
-						K[2] = K_vicon_50Hz[2];
-					}
-
-					kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,gps_updated,0.0f,0.0f,x_z_aposteriori);
-					memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
-					local_pos_est.x = x_x_aposteriori_k[0];
-					local_pos_est.vx = x_x_aposteriori_k[1];
-					local_pos_est.y = x_y_aposteriori_k[0];
-					local_pos_est.vy = x_y_aposteriori_k[1];
-					local_pos_est.z = x_z_aposteriori_k[0];
-					local_pos_est.vz = x_z_aposteriori_k[1];
-					local_pos_est.timestamp = hrt_absolute_time();
-					if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))) {
-						/* publish local position estimate */
-						if (local_pos_est_pub > 0) {
-							orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
-						} else {
-							local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
-						}
-						/* publish on GPS updates */
-						if (gps_updated) {
-
-							double lat, lon;
-							float alt = z_est + gps_origin_altitude;
-
-							map_projection_reproject(local_pos_est.x, local_pos_est.y, &lat, &lon);
-
-							global_pos_est.lat = lat;
-							global_pos_est.lon = lon;
-							global_pos_est.alt = alt;
-
-							if (global_pos_est_pub > 0) {
-								orb_publish(ORB_ID(vehicle_global_position), global_pos_est_pub, &global_pos_est);
-							} else {
-								global_pos_est_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos_est);
-							}
-						}
-					}
-				}
-			} else {
-				/* x-y-position/velocity estimation in earth frame = vicon frame */
-				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_x_aposteriori_k,posX,vicon_updated,addNoise,sigma,x_x_aposteriori);
-				memcpy(x_x_aposteriori_k, x_x_aposteriori, sizeof(x_x_aposteriori));
-				kalman_dlqe3(dT_const_50,K_vicon_50Hz[0],K_vicon_50Hz[1],K_vicon_50Hz[2],x_y_aposteriori_k,posY,vicon_updated,addNoise,sigma,x_y_aposteriori);
-				memcpy(x_y_aposteriori_k, x_y_aposteriori, sizeof(x_y_aposteriori));
-				/* z-position/velocity estimation in earth frame = vicon frame */
-				float z_est = 0.0f;
-				float local_sigma = 0.0f;
-				if (flag_baro_initialized && flag_use_baro) {
-					z_est = -p0_Pa*logf(p0_Pa/(sensor.baro_pres_mbar*100.0f))/(rho0*const_earth_gravity);
-					K[0] = K_vicon_50Hz[0];
-					K[1] = K_vicon_50Hz[1];
-					K[2] = K_vicon_50Hz[2];
-					vicon_updated = 1; /* always enable the update, cause baro update = 200 Hz */
-					local_sigma = 0.0f; /* don't add noise on barometer in any case */
-				} else {
-					z_est = posZ;
-					K[0] = K_vicon_50Hz[0];
-					K[1] = K_vicon_50Hz[1];
-					K[2] = K_vicon_50Hz[2];
-					local_sigma = sigma;
-				}
-				kalman_dlqe3(dT_const_50,K[0],K[1],K[2],x_z_aposteriori_k,z_est,vicon_updated,addNoise,local_sigma,x_z_aposteriori);
-				memcpy(x_z_aposteriori_k, x_z_aposteriori, sizeof(x_z_aposteriori));
-				local_pos_est.x = x_x_aposteriori_k[0];
-				local_pos_est.vx = x_x_aposteriori_k[1];
-				local_pos_est.y = x_y_aposteriori_k[0];
-				local_pos_est.vy = x_y_aposteriori_k[1];
-				local_pos_est.z = x_z_aposteriori_k[0];
-				local_pos_est.vz = x_z_aposteriori_k[1];
-				local_pos_est.timestamp = hrt_absolute_time();
-				if ((isfinite(x_x_aposteriori_k[0])) && (isfinite(x_x_aposteriori_k[1])) && (isfinite(x_y_aposteriori_k[0])) && (isfinite(x_y_aposteriori_k[1])) && (isfinite(x_z_aposteriori_k[0])) && (isfinite(x_z_aposteriori_k[1]))){
-					if(local_pos_est_pub > 0)
-						orb_publish(ORB_ID(vehicle_local_position), local_pos_est_pub, &local_pos_est);
-					else
-						local_pos_est_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos_est);
-					//char buf[0xff]; sprintf(buf,"[pos_est_mc] x:%f, y:%f, z:%f",x_x_aposteriori_k[0],x_y_aposteriori_k[0],x_z_aposteriori_k[0]);
-					//mavlink_log_info(mavlink_fd, buf);
-				}
-			}
-		} /* end of poll return value check */
-	}
-
-	printf("[pos_est_mc] exiting.\n");
-	mavlink_log_info(mavlink_fd, "[pos_est_mc] exiting");
-	thread_running = false;
-	return 0;
-}
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 941500f0d..185cb20dd 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -47,8 +47,8 @@
 #include "px4io.h"
 
 #define RC_FAILSAFE_TIMEOUT		2000000		/**< two seconds failsafe timeout */
-#define RC_CHANNEL_HIGH_THRESH		5000
-#define RC_CHANNEL_LOW_THRESH		-5000
+#define RC_CHANNEL_HIGH_THRESH		5000	/* 75% threshold */
+#define RC_CHANNEL_LOW_THRESH		-8000	/* 10% threshold */
 
 static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
 
@@ -134,8 +134,6 @@ controls_tick() {
 
 	perf_begin(c_gather_sbus);
 
-	bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS);
-
 	bool sbus_failsafe, sbus_frame_drop;
 	bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS);
 
@@ -201,94 +199,105 @@ controls_tick() {
 		/* update RC-received timestamp */
 		system_state.rc_channels_timestamp_received = hrt_absolute_time();
 
-		/* do not command anything in failsafe, kick in the RC loss counter */
-		if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
-
-			/* update RC-received timestamp */
-			system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
-
-			/* map raw inputs to mapped inputs */
-			/* XXX mapping should be atomic relative to protocol */
-			for (unsigned i = 0; i < r_raw_rc_count; i++) {
-
-				/* map the input channel */
-				uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
-
-				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
-
-					uint16_t raw = r_raw_rc_values[i];
-
-					int16_t scaled;
-
-					/*
-					 * 1) Constrain to min/max values, as later processing depends on bounds.
-					 */
-					if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
-						raw = conf[PX4IO_P_RC_CONFIG_MIN];
-					if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
-						raw = conf[PX4IO_P_RC_CONFIG_MAX];
-
-					/*
-					 * 2) Scale around the mid point differently for lower and upper range.
-					 *
-					 * This is necessary as they don't share the same endpoints and slope.
-					 *
-					 * First normalize to 0..1 range with correct sign (below or above center),
-					 * then scale to 20000 range (if center is an actual center, -10000..10000,
-					 * if parameters only support half range, scale to 10000 range, e.g. if
-					 * center == min 0..10000, if center == max -10000..0).
-					 *
-					 * As the min and max bounds were enforced in step 1), division by zero
-					 * cannot occur, as for the case of center == min or center == max the if
-					 * statement is mutually exclusive with the arithmetic NaN case.
-					 *
-					 * DO NOT REMOVE OR ALTER STEP 1!
-					 */
-					if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-						scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
-
-					} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
-						scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
-
-					} else {
-						/* in the configured dead zone, output zero */
-						scaled = 0;
-					}
-
-					/* invert channel if requested */
-					if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
-						scaled = -scaled;
+		/* update RC-received timestamp */
+		system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
+
+		/* map raw inputs to mapped inputs */
+		/* XXX mapping should be atomic relative to protocol */
+		for (unsigned i = 0; i < r_raw_rc_count; i++) {
+
+			/* map the input channel */
+			uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
+
+			if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
+
+				uint16_t raw = r_raw_rc_values[i];
+
+				int16_t scaled;
+
+				/*
+				 * 1) Constrain to min/max values, as later processing depends on bounds.
+				 */
+				if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
+					raw = conf[PX4IO_P_RC_CONFIG_MIN];
+				if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
+					raw = conf[PX4IO_P_RC_CONFIG_MAX];
+
+				/*
+				 * 2) Scale around the mid point differently for lower and upper range.
+				 *
+				 * This is necessary as they don't share the same endpoints and slope.
+				 *
+				 * First normalize to 0..1 range with correct sign (below or above center),
+				 * then scale to 20000 range (if center is an actual center, -10000..10000,
+				 * if parameters only support half range, scale to 10000 range, e.g. if
+				 * center == min 0..10000, if center == max -10000..0).
+				 *
+				 * As the min and max bounds were enforced in step 1), division by zero
+				 * cannot occur, as for the case of center == min or center == max the if
+				 * statement is mutually exclusive with the arithmetic NaN case.
+				 *
+				 * DO NOT REMOVE OR ALTER STEP 1!
+				 */
+				if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
+
+				} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
+					scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
+
+				} else {
+					/* in the configured dead zone, output zero */
+					scaled = 0;
+				}
 
-					/* and update the scaled/mapped version */
-					unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
-					if (mapped < PX4IO_CONTROL_CHANNELS) {
+				/* invert channel if requested */
+				if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) {
+					scaled = -scaled;
+				}
 
-						/* invert channel if pitch - pulling the lever down means pitching up by convention */
-						if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
-							scaled = -scaled;
+				/* and update the scaled/mapped version */
+				unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
+				if (mapped < PX4IO_CONTROL_CHANNELS) {
 
-						r_rc_values[mapped] = SIGNED_TO_REG(scaled);
-						assigned_channels |= (1 << mapped);
+					/* invert channel if pitch - pulling the lever down means pitching up by convention */
+					if (mapped == 1) {
+						/* roll, pitch, yaw, throttle, override is the standard order */
+						scaled = -scaled;
+					}
 
+					if (mapped == 3 && r_setup_rc_thr_failsafe) {
+						/* throttle failsafe detection */
+						if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
+						    ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
+							r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
+						} else {
+							r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+						}
 					}
+
+					r_rc_values[mapped] = SIGNED_TO_REG(scaled);
+					assigned_channels |= (1 << mapped);
+
 				}
 			}
+		}
 
-			/* set un-assigned controls to zero */
-			for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
-				if (!(assigned_channels & (1 << i)))
-					r_rc_values[i] = 0;
+		/* set un-assigned controls to zero */
+		for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
+			if (!(assigned_channels & (1 << i))) {
+				r_rc_values[i] = 0;
 			}
+		}
 
-			/* set RC OK flag, as we got an update */
-			r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+		/* set RC OK flag, as we got an update */
+		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
+		r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
 
-			/* if we have enough channels (5) to control the vehicle, the mapping is ok */
-			if (assigned_channels > 4) {
-				r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
-			} else {
-				r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
-			}
+		/* if we have enough channels (5) to control the vehicle, the mapping is ok */
+		if (assigned_channels > 4) {
+			r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
+		} else {
+			r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
 		}
 
 		/*
@@ -316,37 +325,42 @@ controls_tick() {
 	 * Handle losing RC input
 	 */
 
-	/* this kicks in if the receiver is gone or the system went to failsafe */
-	if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
+	/* if we are in failsafe, clear the override flag */
+	if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) {
+		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
+	}
+
+	/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
+	if (rc_input_lost) {
 		/* Clear the RC input status flag, clear manual override flag */
 		r_status_flags &= ~(
 			PX4IO_P_STATUS_FLAGS_OVERRIDE |
 			PX4IO_P_STATUS_FLAGS_RC_OK);
 
+		/* flag raw RC as lost */
+		r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
+
 		/* Mark all channels as invalid, as we just lost the RX */
 		r_rc_valid = 0;
 
+		/* Set raw channel count to zero */
+		r_raw_rc_count = 0;
+
 		/* Set the RC_LOST alarm */
 		r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
 	}
 
-	/* this kicks in if the receiver is completely gone */
-	if (rc_input_lost) {
-
-		/* Set channel count to zero */
-		r_raw_rc_count = 0;
-	}
-
 	/*
 	 * Check for manual override.
 	 *
 	 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
-	 * must have R/C input.
+	 * must have R/C input (NO FAILSAFE!).
 	 * Override is enabled if either the hardcoded channel / value combination
 	 * is selected, or the AP has requested it.
 	 */
 	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
-		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
+		(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
+		!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
 
 		bool override = false;
 
@@ -369,10 +383,10 @@ controls_tick() {
 				mixer_tick();
 
 		} else {
-			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+			r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
 		}
 	} else {
-		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+		r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
 	}
 }
 
@@ -395,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 		if (*num_values > PX4IO_RC_INPUT_CHANNELS)
 			*num_values = PX4IO_RC_INPUT_CHANNELS;
 
-		for (unsigned i = 0; i < *num_values; i++)
+		for (unsigned i = 0; i < *num_values; i++) {
 			values[i] = ppm_buffer[i];
+		}
 
 		/* clear validity */
 		ppm_last_valid_decode = 0;
diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c
index 79b6546b3..6d1d1fc2d 100644
--- a/src/modules/px4iofirmware/i2c.c
+++ b/src/modules/px4iofirmware/i2c.c
@@ -64,12 +64,15 @@
 #define rCCR		REG(STM32_I2C_CCR_OFFSET)
 #define rTRISE		REG(STM32_I2C_TRISE_OFFSET)
 
+void			i2c_reset(void);
 static int		i2c_interrupt(int irq, void *context);
 static void		i2c_rx_setup(void);
 static void		i2c_tx_setup(void);
 static void		i2c_rx_complete(void);
 static void		i2c_tx_complete(void);
+#ifdef DEBUG
 static void		i2c_dump(void);
+#endif
 
 static DMA_HANDLE	rx_dma;
 static DMA_HANDLE	tx_dma;
@@ -331,6 +334,7 @@ i2c_tx_complete(void)
 	i2c_tx_setup();
 }
 
+#ifdef DEBUG
 static void
 i2c_dump(void)
 {
@@ -339,3 +343,4 @@ i2c_dump(void)
 	debug("CCR   0x%08x  TRISE 0x%08x", rCCR,  rTRISE);
 	debug("SR1   0x%08x  SR2   0x%08x", rSR1,  rSR2);
 }
+#endif
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 9558198f3..606c639f9 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -111,7 +111,7 @@ mixer_tick(void)
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
 	}
 
-	/* default to failsafe mixing */
+	/* default to failsafe mixing - it will be forced below if flag is set */
 	source = MIX_FAILSAFE;
 
 	/*
@@ -155,6 +155,13 @@ mixer_tick(void)
 	}
 
 	/*
+	 * Check if we should force failsafe - and do it if we have to
+	 */
+	if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
+		source = MIX_FAILSAFE;
+	}
+
+	/*
 	 * Set failsafe status flag depending on mixing source
 	 */
 	if (source == MIX_FAILSAFE) {
@@ -213,6 +220,7 @@ mixer_tick(void)
 		mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
 		in_mixer = false;
 
+		/* the pwm limit call takes care of out of band errors */
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
@@ -254,10 +262,25 @@ mixer_tick(void)
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servos[i]);
 
+		/* set S.BUS1 or S.BUS2 outputs */
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
+		} else if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+		}
+
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
 		/* set the disarmed servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
+
+		/* set S.BUS1 or S.BUS2 outputs */
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
+			sbus1_output(r_page_servos, PX4IO_SERVO_COUNT);
+
+		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT)
+			sbus2_output(r_page_servos, PX4IO_SERVO_COUNT);
 	}
 }
 
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index d48c6c529..050783687 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -142,6 +142,7 @@
 #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE		(1 << 1) /* receiver is in failsafe mode */
 #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11		(1 << 2) /* DSM decoding is 11 bit mode */
 #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK		(1 << 3) /* Channel mapping is ok */
+#define PX4IO_P_RAW_RC_FLAGS_RC_OK		(1 << 4) /* RC reception ok */
 
 #define PX4IO_P_RAW_RC_NRSSI			2	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
 #define PX4IO_P_RAW_RC_DATA			3	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
@@ -164,10 +165,10 @@
 /* setup page */
 #define PX4IO_PAGE_SETUP		50
 #define PX4IO_P_SETUP_FEATURES			0
-#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT	(1 << 0) /* enable S.Bus v1 output */
-#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT	(1 << 1) /* enable S.Bus v2 output */
-#define PX4IO_P_SETUP_FEATURES_PWM_RSSI		(1 << 2) /* enable PWM RSSI parsing */
-#define PX4IO_P_SETUP_FEATURES_ADC_RSSI		(1 << 3) /* enable ADC RSSI parsing */
+#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT	(1 << 0) /**< enable S.Bus v1 output */
+#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT	(1 << 1) /**< enable S.Bus v2 output */
+#define PX4IO_P_SETUP_FEATURES_PWM_RSSI		(1 << 2) /**< enable PWM RSSI parsing */
+#define PX4IO_P_SETUP_FEATURES_ADC_RSSI		(1 << 3) /**< enable ADC RSSI parsing */
 
 #define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
 #define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
@@ -178,6 +179,7 @@
 #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE	(1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
 #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED	(1 << 6) /* Disable the IO-internal evaluation of the RC */
 #define PX4IO_P_SETUP_ARMING_LOCKDOWN		(1 << 7) /* If set, the system operates normally, but won't actuate any servos */
+#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE	(1 << 8) /* If set, the system will always output the failsafe values */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
 #define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
@@ -189,6 +191,8 @@
 #define PX4IO_P_SETUP_RELAYS_POWER2		(1<<1)	/* hardware rev [1] power relay 2 */
 #define PX4IO_P_SETUP_RELAYS_ACC1		(1<<2)	/* hardware rev [1] accessory power 1 */
 #define PX4IO_P_SETUP_RELAYS_ACC2		(1<<3)	/* hardware rev [1] accessory power 2 */
+#else
+#define PX4IO_P_SETUP_RELAYS_PAD		5
 #endif
 
 #define PX4IO_P_SETUP_VBATT_SCALE		6	/* hardware rev [1] battery voltage correction factor (float) */
@@ -201,26 +205,33 @@ enum {							/* DSM bind states */
 	dsm_bind_send_pulses,
 	dsm_bind_reinit_uart
 };
- 					     /*	8 */
-#define PX4IO_P_SETUP_SET_DEBUG			9		/* debug level for IO board */
+						/* 8 */
+#define PX4IO_P_SETUP_SET_DEBUG			9	/* debug level for IO board */
 
-#define PX4IO_P_SETUP_REBOOT_BL		       10	/* reboot IO into bootloader */
-#define PX4IO_REBOOT_BL_MAGIC               14662       /* required argument for reboot (random) */
+#define PX4IO_P_SETUP_REBOOT_BL			10	/* reboot IO into bootloader */
+#define PX4IO_REBOOT_BL_MAGIC			14662	/* required argument for reboot (random) */
 
-#define PX4IO_P_SETUP_CRC		       11	/* get CRC of IO firmware */
+#define PX4IO_P_SETUP_CRC			11	/* get CRC of IO firmware */
+						/* storage space of 12 occupied by CRC */
+#define PX4IO_P_SETUP_FORCE_SAFETY_OFF		12	/* force safety switch into
+                                                           'armed' (PWM enabled) state - this is a non-data write and
+                                                           hence index 12 can safely be used. */
+#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US	13	/**< the throttle failsafe pulse length in microseconds */
+
+#define PX4IO_FORCE_SAFETY_MAGIC		22027	/* required argument for force safety (random) */
 
 /* autopilot control values, -10000..10000 */
-#define PX4IO_PAGE_CONTROLS			51		/**< actuator control groups, one after the other, 8 wide */
+#define PX4IO_PAGE_CONTROLS			51	/**< actuator control groups, one after the other, 8 wide */
 #define PX4IO_P_CONTROLS_GROUP_0		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 0)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
 #define PX4IO_P_CONTROLS_GROUP_1		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 1)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
 #define PX4IO_P_CONTROLS_GROUP_2		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 2)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
 #define PX4IO_P_CONTROLS_GROUP_3		(PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3)	/**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
 
 #define PX4IO_P_CONTROLS_GROUP_VALID		64
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /* group 0 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /* group 1 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /* group 2 is valid / received */
-#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /* group 3 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0	(1 << 0) /**< group 0 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1	(1 << 1) /**< group 1 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2	(1 << 2) /**< group 2 is valid / received */
+#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3	(1 << 3) /**< group 3 is valid / received */
 
 /* raw text load to the mixer parser - ignores offset */
 #define PX4IO_PAGE_MIXERLOAD			52
@@ -243,6 +254,10 @@ enum {							/* DSM bind states */
 /* PWM failsafe values - zero disables the output */
 #define PX4IO_PAGE_FAILSAFE_PWM			55		/**< 0..CONFIG_ACTUATOR_COUNT-1 */
 
+/* PWM failsafe values - zero disables the output */
+#define PX4IO_PAGE_SENSORS			56		/**< Sensors connected to PX4IO */
+#define PX4IO_P_SENSORS_ALTITUDE		0		/**< Altitude of an external sensor (HoTT or S.BUS2) */
+
 /* Debug and test page - not used in normal operation */
 #define PX4IO_PAGE_TEST				127
 #define PX4IO_P_TEST_LED			0		/**< set the amber LED on/off */
@@ -302,7 +317,7 @@ struct IOPacket {
 
 #define PKT_COUNT(_p)	((_p).count_code & PKT_COUNT_MASK)
 #define PKT_CODE(_p)	((_p).count_code & PKT_CODE_MASK)
-#define PKT_SIZE(_p)	((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
+#define PKT_SIZE(_p)	((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
 
 static const uint8_t crc8_tab[256] __attribute__((unused)) =
 {
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index d4c25911e..cd134ccb4 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -37,6 +37,7 @@
  */
 
 #include <nuttx/config.h>
+#include <nuttx/arch.h>
 
 #include <stdio.h>	// required for task_create
 #include <stdbool.h>
@@ -303,14 +304,12 @@ user_start(int argc, char *argv[])
 		 */
 		if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
 
-			struct mallinfo minfo = mallinfo();
-
 			isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u", 
 				  (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
 				  (unsigned)r_status_flags,
 				  (unsigned)r_setup_arming,
 				  (unsigned)r_setup_features,
-				  (unsigned)minfo.mxordblk);
+				  (unsigned)mallinfo().mxordblk);
 			last_debug_time = hrt_absolute_time();
 		}
 	}
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 54c5663a5..b00a96717 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -108,6 +108,7 @@ extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 #define r_setup_relays		r_page_setup[PX4IO_P_SETUP_RELAYS]
 #endif
+#define r_setup_rc_thr_failsafe	r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US]
 
 #define r_control_values	(&r_page_controls[0])
 
@@ -218,6 +219,8 @@ extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
 extern void	dsm_bind(uint16_t cmd, int pulses);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
+extern void	sbus1_output(uint16_t *values, uint16_t num_values);
+extern void	sbus2_output(uint16_t *values, uint16_t num_values);
 
 /** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 97d25bbfa..43161aa70 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -119,7 +119,6 @@ uint16_t		r_page_raw_rc_input[] =
 	[PX4IO_P_RAW_RC_DATA]			= 0,
 	[PX4IO_P_RAW_FRAME_COUNT]		= 0,
 	[PX4IO_P_RAW_LOST_FRAME_COUNT]		= 0,
-	[PX4IO_P_RAW_RC_DATA]			= 0,
 	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
 };
 
@@ -160,6 +159,9 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V1
 	[PX4IO_P_SETUP_RELAYS]			= 0,
+#else
+	/* this is unused, but we will pad it for readability (the compiler pads it automatically) */
+	[PX4IO_P_SETUP_RELAYS_PAD]		= 0,
 #endif
 #ifdef ADC_VSERVO
 	[PX4IO_P_SETUP_VSERVO_SCALE]		= 10000,
@@ -169,6 +171,7 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 	[PX4IO_P_SETUP_REBOOT_BL]		= 0,
 	[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
+	[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
 };
 
 #ifdef CONFIG_ARCH_BOARD_PX4IO_V2
@@ -186,7 +189,8 @@ volatile uint16_t	r_page_setup[] =
 					 PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
 					 PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
 					 PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
-					 PX4IO_P_SETUP_ARMING_LOCKDOWN)
+					 PX4IO_P_SETUP_ARMING_LOCKDOWN | \
+					 PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE)
 #define PX4IO_P_SETUP_RATES_VALID	((1 << PX4IO_SERVO_COUNT) - 1)
 #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
 
@@ -462,9 +466,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			#ifdef ENABLE_SBUS_OUT
 			ENABLE_SBUS_OUT(value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT));
 
-			/* disable the conflicting options */
-			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
-				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI | PX4IO_P_SETUP_FEATURES_ADC_RSSI);
+			/* disable the conflicting options with SBUS 1 */
+			if (value & (PX4IO_P_SETUP_FEATURES_SBUS1_OUT)) {
+				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
+					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
+					PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
+			}
+
+			/* disable the conflicting options with SBUS 2 */
+			if (value & (PX4IO_P_SETUP_FEATURES_SBUS2_OUT)) {
+				value &= ~(PX4IO_P_SETUP_FEATURES_PWM_RSSI |
+					PX4IO_P_SETUP_FEATURES_ADC_RSSI |
+					PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
 			}
 			#endif
 
@@ -513,18 +526,22 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			break;
 
 		case PX4IO_P_SETUP_PWM_DEFAULTRATE:
-			if (value < 50)
+			if (value < 50) {
 				value = 50;
-			if (value > 400)
+			}
+			if (value > 400) {
 				value = 400;
+			}
 			pwm_configure_rates(r_setup_pwm_rates, value, r_setup_pwm_altrate);
 			break;
 
 		case PX4IO_P_SETUP_PWM_ALTRATE:
-			if (value < 50)
+			if (value < 50) {
 				value = 50;
-			if (value > 400)
+			}
+			if (value > 400) {
 				value = 400;
+			}
 			pwm_configure_rates(r_setup_pwm_rates, r_setup_pwm_defaultrate, value);
 			break;
 
@@ -556,8 +573,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			}
 
 			// check the magic value
-			if (value != PX4IO_REBOOT_BL_MAGIC)
+			if (value != PX4IO_REBOOT_BL_MAGIC) {
 				break;
+			}
 
                         // we schedule a reboot rather than rebooting
                         // immediately to allow the IO board to ACK
@@ -569,6 +587,18 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
 			break;
 
+		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
+			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
+				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+			}
+			break;
+
+		case PX4IO_P_SETUP_RC_THR_FAILSAFE_US:
+			if (value > 650 && value < 2350) {
+				r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = value;
+			}
+			break;
+
 		default:
 			return -1;
 		}
@@ -640,7 +670,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 
 				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
 					disabled = true;
-				} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+				} else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 
@@ -682,7 +712,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 {
 #define SELECT_PAGE(_page_name)							\
 	do {									\
-		*values = &_page_name[0];					\
+		*values = (uint16_t *)&_page_name[0];				\
 		*num_values = sizeof(_page_name) / sizeof(_page_name[0]);	\
 	} while(0)
 
@@ -709,30 +739,19 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 		{
 			/*
 			 * Coefficients here derived by measurement of the 5-16V
-			 * range on one unit:
+			 * range on one unit, validated on sample points of another unit
 			 *
-			 * V   counts
-			 *  5  1001
-			 *  6  1219
-			 *  7  1436
-			 *  8  1653
-			 *  9  1870
-			 * 10  2086
-			 * 11  2303
-			 * 12  2522
-			 * 13  2738
-			 * 14  2956
-			 * 15  3172
-			 * 16  3389
+			 * Data in Tools/tests-host/data folder.
 			 *
-			 * slope = 0.0046067
-			 * intercept = 0.3863
+			 * measured slope = 0.004585267878277 (int: 4585)
+			 * nominal theoretic slope: 0.00459340659 (int: 4593)
+			 * intercept = 0.016646394188076 (int: 16646)
+			 * nominal theoretic intercept: 0.00 (int: 0)
 			 *
-			 * Intercept corrected for best results @ 12V.
 			 */
 			unsigned counts = adc_measure(ADC_VBATT);
 			if (counts != 0xffff) {
-				unsigned mV = (4150 + (counts * 46)) / 10 - 200;
+				unsigned mV = (166460 + (counts * 45934)) / 10000;
 				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
 
 				r_page_status[PX4IO_P_STATUS_VBATT] = corrected;
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index f6ec542eb..0f0414148 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -93,7 +93,7 @@ int
 sbus_init(const char *device)
 {
 	if (sbus_fd < 0)
-		sbus_fd = open(device, O_RDONLY | O_NONBLOCK);
+		sbus_fd = open(device, O_RDWR | O_NONBLOCK);
 
 	if (sbus_fd >= 0) {
 		struct termios t;
@@ -113,10 +113,23 @@ sbus_init(const char *device)
 	} else {
 		debug("S.Bus: open failed");
 	}
-
 	return sbus_fd;
 }
 
+void
+sbus1_output(uint16_t *values, uint16_t num_values)
+{
+	char a = 'A';
+	write(sbus_fd, &a, 1);
+}
+
+void
+sbus2_output(uint16_t *values, uint16_t num_values)
+{
+	char b = 'B';
+	write(sbus_fd, &b, 1);
+}
+
 bool
 sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
 {
diff --git a/src/modules/sdlog/module.mk b/src/modules/sdlog/module.mk
deleted file mode 100644
index 89da2d827..000000000
--- a/src/modules/sdlog/module.mk
+++ /dev/null
@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# sdlog Application
-#
-
-MODULE_COMMAND	 = sdlog
-# The main thread only buffers to RAM, needs a high priority
-MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
-
-SRCS		 = sdlog.c \
-		   sdlog_ringbuffer.c
diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
deleted file mode 100644
index c22523bf2..000000000
--- a/src/modules/sdlog/sdlog.c
+++ /dev/null
@@ -1,840 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sdlog.c
- * @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * Simple SD logger for flight data. Buffers new sensor values and
- * does the heavy SD I/O in a low-priority worker thread.
- */
-
-#include <nuttx/config.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/prctl.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <string.h>
-#include <ctype.h>
-#include <systemlib/err.h>
-#include <unistd.h>
-#include <drivers/drv_hrt.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_controls_effective.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_gps_position.h>
-#include <uORB/topics/vehicle_vicon_position.h>
-#include <uORB/topics/optical_flow.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/differential_pressure.h>
-#include <uORB/topics/airspeed.h>
-
-#include <systemlib/systemlib.h>
-
-#include <mavlink/mavlink_log.h>
-
-#include "sdlog_ringbuffer.h"
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int deamon_task;				/**< Handle of deamon task / thread */
-static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
-
-static const char *mountpoint = "/fs/microsd";
-static const char *mfile_in = "/etc/logging/logconv.m";
-int sysvector_file = -1;
-int mavlink_fd = -1;
-struct sdlog_logbuffer lb;
-
-/* mutex / condition to synchronize threads */
-pthread_mutex_t sysvector_mutex;
-pthread_cond_t sysvector_cond;
-
-/**
- * System state vector log buffer writing
- */
-static void *sdlog_sysvector_write_thread(void *arg);
-
-/**
- * Create the thread to write the system vector
- */
-pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
-
-/**
- * SD log management function.
- */
-__EXPORT int sdlog_main(int argc, char *argv[]);
-
-/**
- * Mainloop of sd log deamon.
- */
-int sdlog_thread_main(int argc, char *argv[]);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static int file_exist(const char *filename);
-
-static int file_copy(const char *file_old, const char *file_new);
-
-static void handle_command(struct vehicle_command_s *cmd);
-
-/**
- * Print the current status.
- */
-static void print_sdlog_status(void);
-
-/**
- * Create folder for current logging session.
- */
-static int create_logfolder(char *folder_path);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-
-	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
-}
-
-// XXX turn this into a C++ class
-unsigned sensor_combined_bytes = 0;
-unsigned actuator_outputs_bytes = 0;
-unsigned actuator_controls_bytes = 0;
-unsigned sysvector_bytes = 0;
-unsigned blackbox_file_bytes = 0;
-uint64_t starttime = 0;
-
-/* logging on or off, default to true */
-bool logging_enabled = true;
-
-/**
- * The sd log deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- *
- * The actual stack size should be set in the call
- * to task_spawn_cmd().
- */
-int sdlog_main(int argc, char *argv[])
-{
-	if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("sdlog already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("sdlog",
-					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_DEFAULT - 30,
-					 4096,
-					 sdlog_thread_main,
-					 (const char **)argv);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		if (!thread_running) {
-			printf("\tsdlog is not started\n");
-		}
-
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			print_sdlog_status();
-
-		} else {
-			printf("\tsdlog not started\n");
-		}
-
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-int create_logfolder(char *folder_path)
-{
-	/* make folder on sdcard */
-	uint16_t foldernumber = 1; // start with folder 0001
-	int mkdir_ret;
-
-	/* look for the next folder that does not exist */
-	while (foldernumber < MAX_NO_LOGFOLDER) {
-		/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
-		sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
-		mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
-		/* the result is -1 if the folder exists */
-
-		if (mkdir_ret == 0) {
-			/* folder does not exist, success */
-
-			/* now copy the Matlab/Octave file */
-			char mfile_out[100];
-			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
-			int ret = file_copy(mfile_in, mfile_out);
-
-			if (!ret) {
-				warnx("copied m file to %s", mfile_out);
-
-			} else {
-				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
-			}
-
-			break;
-
-		} else if (mkdir_ret == -1) {
-			/* folder exists already */
-			foldernumber++;
-			continue;
-
-		} else {
-			warn("failed creating new folder");
-			return -1;
-		}
-	}
-
-	if (foldernumber >= MAX_NO_LOGFOLDER) {
-		/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
-		warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
-		return -1;
-	}
-
-	return 0;
-}
-
-
-static void *
-sdlog_sysvector_write_thread(void *arg)
-{
-	/* set name */
-	prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
-
-	struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
-
-	int poll_count = 0;
-	struct sdlog_sysvector sysvect;
-	memset(&sysvect, 0, sizeof(sysvect));
-
-	while (!thread_should_exit) {
-		
-		/* make sure threads are synchronized */
-		pthread_mutex_lock(&sysvector_mutex);
-
-		/* only wait if no data is available to process */
-		if (sdlog_logbuffer_is_empty(logbuf)) {
-			/* blocking wait for new data at this line */
-			pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
-		}
-
-		/* only quickly load data, do heavy I/O a few lines down */
-		int ret = sdlog_logbuffer_read(logbuf, &sysvect);
-		/* continue */
-		pthread_mutex_unlock(&sysvector_mutex);
-
-		if (ret == OK) {
-			sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
-		}
-
-		if (poll_count % 100 == 0) {
-			fsync(sysvector_file);
-		}
-
-		poll_count++;
-	}
-
-	fsync(sysvector_file);
-
-	return OK;
-}
-
-pthread_t
-sysvector_write_start(struct sdlog_logbuffer *logbuf)
-{
-	pthread_attr_t receiveloop_attr;
-	pthread_attr_init(&receiveloop_attr);
-
-	struct sched_param param;
-	/* low priority, as this is expensive disk I/O */
-	param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
-	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
-
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
-
-	pthread_t thread;
-	pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
-	return thread;
-
-	// XXX we have to destroy the attr at some point
-}
-
-
-int sdlog_thread_main(int argc, char *argv[])
-{
-	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
-
-	if (mavlink_fd < 0) {
-		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
-	}
-
-	/* log every n'th value (skip three per default) */
-	int skip_value = 3;
-
-	/* work around some stupidity in task_create's argv handling */
-	argc -= 2;
-	argv += 2;
-	int ch;
-
-	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
-		switch (ch) {
-		case 's':
-			{
-			/* log only every n'th (gyro clocked) value */
-			unsigned s = strtoul(optarg, NULL, 10);
-
-			if (s < 1 || s > 250) {
-				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
-			} else {
-				skip_value = s;
-			}
-			}
-			break;
-
-		case 'r':
-			/* log only on request, disable logging per default */
-			logging_enabled = false;
-			break;
-
-		case '?':
-			if (optopt == 'c') {
-				warnx("Option -%c requires an argument.\n", optopt);
-			} else if (isprint(optopt)) {
-				warnx("Unknown option `-%c'.\n", optopt);
-			} else {
-				warnx("Unknown option character `\\x%x'.\n", optopt);
-			}
-
-		default:
-			usage("unrecognized flag");
-			errx(1, "exiting.");
-		}
-	}
-
-	if (file_exist(mountpoint) != OK) {
-		errx(1, "logging mount point %s not present, exiting.", mountpoint);
-	}
-
-	char folder_path[64];
-
-	if (create_logfolder(folder_path))
-		errx(1, "unable to create logging folder, exiting.");
-
-	FILE *gpsfile;
-	FILE *blackbox_file;
-
-	/* string to hold the path to the sensorfile */
-	char path_buf[64] = "";
-
-	/* only print logging path, important to find log file later */
-	warnx("logging to directory %s\n", folder_path);
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
-	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
-
-	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
-	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
-
-	if (NULL == (gpsfile = fopen(path_buf, "w"))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	int gpsfile_no = fileno(gpsfile);
-
-	/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
-	sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
-
-	if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
-		errx(1, "opening %s failed.\n", path_buf);
-	}
-
-	// XXX for fsync() calls
-	int blackbox_file_no = fileno(blackbox_file);
-
-	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
-	/* number of messages */
-	const ssize_t fdsc = 25;
-	/* Sanity check variable and index */
-	ssize_t fdsc_count = 0;
-	/* file descriptors to wait for */
-	struct pollfd fds[fdsc];
-
-
-	struct {
-		struct sensor_combined_s raw;
-		struct vehicle_attitude_s att;
-		struct vehicle_attitude_setpoint_s att_sp;
-		struct actuator_outputs_s act_outputs;
-		struct actuator_controls_s act_controls;
-		struct actuator_controls_effective_s act_controls_effective;
-		struct vehicle_command_s cmd;
-		struct vehicle_local_position_s local_pos;
-		struct vehicle_global_position_s global_pos;
-		struct vehicle_gps_position_s gps_pos;
-		struct vehicle_vicon_position_s vicon_pos;
-		struct optical_flow_s flow;
-		struct battery_status_s batt;
-		struct differential_pressure_s diff_pres;
-		struct airspeed_s airspeed;
-	} buf;
-	memset(&buf, 0, sizeof(buf));
-
-	struct {
-		int cmd_sub;
-		int sensor_sub;
-		int att_sub;
-		int spa_sub;
-		int act_0_sub;
-		int controls_0_sub;
-		int controls_effective_0_sub;
-		int local_pos_sub;
-		int global_pos_sub;
-		int gps_pos_sub;
-		int vicon_pos_sub;
-		int flow_sub;
-		int batt_sub;
-		int diff_pres_sub;
-		int airspeed_sub;
-	} subs;
-
-	/* --- MANAGEMENT - LOGGING COMMAND --- */
-	/* subscribe to ORB for vehicle command */
-	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	fds[fdsc_count].fd = subs.cmd_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GPS POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	fds[fdsc_count].fd = subs.gps_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- SENSORS RAW VALUE --- */
-	/* subscribe to ORB for sensors raw */
-	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	fds[fdsc_count].fd = subs.sensor_sub;
-	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE VALUE --- */
-	/* subscribe to ORB for attitude */
-	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	fds[fdsc_count].fd = subs.att_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE SETPOINT VALUE --- */
-	/* subscribe to ORB for attitude setpoint */
-	/* struct already allocated */
-	subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	fds[fdsc_count].fd = subs.spa_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/** --- ACTUATOR OUTPUTS --- */
-	subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
-	fds[fdsc_count].fd = subs.act_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	fds[fdsc_count].fd = subs.controls_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
-	fds[fdsc_count].fd = subs.controls_effective_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL POSITION --- */
-	/* subscribe to ORB for local position */
-	subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	fds[fdsc_count].fd = subs.local_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL POSITION --- */
-	/* subscribe to ORB for global position */
-	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	fds[fdsc_count].fd = subs.global_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- VICON POSITION --- */
-	/* subscribe to ORB for vicon position */
-	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
-	fds[fdsc_count].fd = subs.vicon_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- FLOW measurements --- */
-	/* subscribe to ORB for flow measurements */
-	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
-	fds[fdsc_count].fd = subs.flow_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- BATTERY STATUS --- */
-	/* subscribe to ORB for flow measurements */
-	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
-	fds[fdsc_count].fd = subs.batt_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- DIFFERENTIAL PRESSURE --- */
-	/* subscribe to ORB for flow measurements */
-	subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
-	fds[fdsc_count].fd = subs.diff_pres_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- AIRSPEED --- */
-	/* subscribe to ORB for airspeed */
-	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
-	fds[fdsc_count].fd = subs.airspeed_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;	
-
-	/* WARNING: If you get the error message below,
-	 * then the number of registered messages (fdsc)
-	 * differs from the number of messages in the above list.
-	 */
-	if (fdsc_count > fdsc) {
-		warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
-		fdsc_count = fdsc;
-	}
-
-	/*
-	 * set up poll to block for new data,
-	 * wait for a maximum of 1000 ms (1 second)
-	 */
-	// const int timeout = 1000;
-
-	thread_running = true;
-
-	/* initialize log buffer with a size of 10 */
-	sdlog_logbuffer_init(&lb, 10);
-
-	/* initialize thread synchronization */
-	pthread_mutex_init(&sysvector_mutex, NULL);
-  	pthread_cond_init(&sysvector_cond, NULL);
-
-	/* start logbuffer emptying thread */
-	pthread_t sysvector_pthread = sysvector_write_start(&lb);
-
-	starttime = hrt_absolute_time();
-
-	/* track skipping */
-	int skip_count = 0;
-
-	while (!thread_should_exit) {
-
-		/* only poll for commands, gps and sensor_combined */
-		int poll_ret = poll(fds, 3, 1000);
-
-		/* handle the poll result */
-		if (poll_ret == 0) {
-			/* XXX this means none of our providers is giving us data - might be an error? */
-		} else if (poll_ret < 0) {
-			/* XXX this is seriously bad - should be an emergency */
-		} else {
-
-			int ifds = 0;
-
-			/* --- VEHICLE COMMAND VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy command into local buffer */
-				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
-
-				/* always log to blackbox, even when logging disabled */
-				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
-					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
-					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
-
-				handle_command(&buf.cmd);
-			}
-
-			/* --- VEHICLE GPS VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy gps position into local buffer */
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-
-				/* if logging disabled, continue */
-				if (logging_enabled) {
-
-				/* write KML line */
-				}
-			}
-
-			/* --- SENSORS RAW VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-
-				// /* copy sensors raw data into local buffer */
-				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-				// /* write out */
-				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
-
-				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
-				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
-				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
-				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
-				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
-				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
-				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
-				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
-				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-				orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres);
-				orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
-				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
-
-				/* if skipping is on or logging is disabled, ignore */
-				if (skip_count < skip_value || !logging_enabled) {
-					skip_count++;
-					/* do not log data */
-					continue;
-				} else {
-					/* log data, reset */
-					skip_count = 0;
-				}
-
-				struct sdlog_sysvector sysvect = {
-					.timestamp = buf.raw.timestamp,
-					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
-					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
-					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
-					.baro = buf.raw.baro_pres_mbar,
-					.baro_alt = buf.raw.baro_alt_meter,
-					.baro_temp = buf.raw.baro_temp_celcius,
-					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
-					.actuators = {
-						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
-						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
-					},
-					.vbat = buf.batt.voltage_v,
-					.bat_current = buf.batt.current_a,
-					.bat_discharged = buf.batt.discharged_mah,
-					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
-					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
-					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
-					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
-					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
-					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
-					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
-					.diff_pressure = buf.diff_pres.differential_pressure_pa,
-					.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
-					.true_airspeed = buf.airspeed.true_airspeed_m_s
-				};
-
-				/* put into buffer for later IO */
-				pthread_mutex_lock(&sysvector_mutex);
-				sdlog_logbuffer_write(&lb, &sysvect);
-				/* signal the other thread new data, but not yet unlock */
-				if ((unsigned)lb.count > (lb.size / 2)) {
-					/* only request write if several packets can be written at once */
-					pthread_cond_signal(&sysvector_cond);
-				}
-				/* unlock, now the writer thread may run */
-				pthread_mutex_unlock(&sysvector_mutex);
-			}
-
-		}
-
-	}
-
-	print_sdlog_status();
-
-	/* wake up write thread one last time */
-	pthread_mutex_lock(&sysvector_mutex);
-	pthread_cond_signal(&sysvector_cond);
-	/* unlock, now the writer thread may return */
-	pthread_mutex_unlock(&sysvector_mutex);
-
-	/* wait for write thread to return */
-	(void)pthread_join(sysvector_pthread, NULL);
-
-  	pthread_mutex_destroy(&sysvector_mutex);
-  	pthread_cond_destroy(&sysvector_cond);
-
-	warnx("exiting.\n\n");
-
-	/* finish KML file */
-	// XXX
-	fclose(gpsfile);
-	fclose(blackbox_file);
-
-	thread_running = false;
-
-	return 0;
-}
-
-void print_sdlog_status()
-{
-	unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
-	float mebibytes = bytes / 1024.0f / 1024.0f;
-	float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
-
-	warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
-}
-
-/**
- * @return 0 if file exists
- */
-int file_exist(const char *filename)
-{
-	struct stat buffer;
-	return stat(filename, &buffer);
-}
-
-int file_copy(const char *file_old, const char *file_new)
-{
-	FILE *source, *target;
-	source = fopen(file_old, "r");
-	int ret = 0;
-
-	if (source == NULL) {
-		warnx("failed opening input file to copy");
-		return 1;
-	}
-
-	target = fopen(file_new, "w");
-
-	if (target == NULL) {
-		fclose(source);
-		warnx("failed to open output file to copy");
-		return 1;
-	}
-
-	char buf[128];
-	int nread;
-
-	while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
-		int ret = fwrite(buf, 1, nread, target);
-
-		if (ret <= 0) {
-			warnx("error writing file");
-			ret = 1;
-			break;
-		}
-	}
-
-	fsync(fileno(target));
-
-	fclose(source);
-	fclose(target);
-
-	return ret;
-}
-
-void handle_command(struct vehicle_command_s *cmd)
-{
-	/* result of the command */
-	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
-
-	/* request to set different system mode */
-	switch (cmd->command) {
-
-	case VEHICLE_CMD_PREFLIGHT_STORAGE:
-
-		if (((int)(cmd->param3)) == 1)	{
-
-			/* enable logging */
-			mavlink_log_info(mavlink_fd, "[log] file:");
-			mavlink_log_info(mavlink_fd, "logdir");
-			logging_enabled = true;
-		}
-		if (((int)(cmd->param3)) == 0)	{
-
-			/* disable logging */
-			mavlink_log_info(mavlink_fd, "[log] stopped.");
-			logging_enabled = false;
-		}
-		break;
-
-	default:
-		/* silently ignore */
-		break;
-	}
-
-}
diff --git a/src/modules/sdlog/sdlog_ringbuffer.h b/src/modules/sdlog/sdlog_ringbuffer.h
deleted file mode 100644
index b65916459..000000000
--- a/src/modules/sdlog/sdlog_ringbuffer.h
+++ /dev/null
@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file sdlog_ringbuffer.h
- * microSD logging
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef SDLOG_RINGBUFFER_H_
-#define SDLOG_RINGBUFFER_H_
-
-#pragma pack(push, 1)
-struct sdlog_sysvector {
-	uint64_t timestamp;		/**<  time [us] */
-	float gyro[3];			/**< [rad/s] */
-	float accel[3];			/**< [m/s^2] */
-	float mag[3];			/**< [gauss] */
-	float baro;			/**< pressure [millibar] */
-	float baro_alt;			/**< altitude above MSL [meter] */
-	float baro_temp;		/**< [degree celcius] */
-	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
-	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
-	float vbat;			/**< battery voltage in [volt] */
-	float bat_current;		/**< battery discharge current */
-	float bat_discharged;		/**< discharged energy in mAh */
-	float adc[4];			/**< ADC ports [volt] */
-	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
-	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
-	float attitude[3];		/**< roll, pitch, yaw [rad] */
-	float rotMatrix[9];		/**< unitvectors */
-	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
-	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
-	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
-	float diff_pressure;		/**< differential pressure */
-	float ind_airspeed;		/**< indicated airspeed */
-	float true_airspeed;		/**< true airspeed */
-};
-#pragma pack(pop)
-
-struct sdlog_logbuffer {
-	unsigned int start;
-	// unsigned int end;
-	unsigned int size;
-	int count;
-	struct sdlog_sysvector *elems;
-};
-
-void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
-
-int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
-
-int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
-
-void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
-
-int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
-
-#endif
diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index f53129688..a28d43e72 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -41,3 +41,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
 
 SRCS = sdlog2.c \
        logbuffer.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 3f07eea53..6c4b49452 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -74,6 +74,7 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
 #include <uORB/topics/optical_flow.h>
@@ -84,9 +85,14 @@
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/estimator_status.h>
+#include <uORB/topics/tecs_status.h>
+#include <uORB/topics/system_power.h>
+#include <uORB/topics/servorail_status.h>
+#include <uORB/topics/wind_estimate.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
 #include <version/version.h>
 
 #include <mavlink/mavlink_log.h>
@@ -95,6 +101,36 @@
 #include "sdlog2_format.h"
 #include "sdlog2_messages.h"
 
+/**
+ * Logging rate.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 sets the minimum rate,
+ * any other value is interpreted as rate in Hertz. This
+ * parameter is only read out before logging starts (which
+ * commonly is before arming).
+ *
+ * @min -1
+ * @max  1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_RATE, -1);
+
+/**
+ * Enable extended logging mode.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 disables extended
+ * logging mode, a value of 1 enables it. This
+ * parameter is only read out before logging starts
+ * (which commonly is before arming).
+ *
+ * @min -1
+ * @max  1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_EXT, -1);
+
 #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
 		log_msgs_written++; \
 	} else { \
@@ -106,16 +142,20 @@
 	fds[fdsc_count].events = POLLIN; \
 	fdsc_count++;
 
+#define MIN(X,Y) ((X) < (Y) ? (X) : (Y))
+
 static bool main_thread_should_exit = false;		/**< Deamon exit flag */
 static bool thread_running = false;			/**< Deamon status flag */
 static int deamon_task;						/**< Handle of deamon task / thread */
 static bool logwriter_should_exit = false;	/**< Logwriter thread exit flag */
-static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log dirs */
-static const int MAX_NO_LOGFILE = 999;		/**< Maximum number of log files */
+static const unsigned MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log dirs */
+static const unsigned MAX_NO_LOGFILE = 999;		/**< Maximum number of log files */
 static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
 static const int MAX_WRITE_CHUNK = 512;
 static const int MIN_BYTES_TO_WRITE = 512;
 
+static bool _extended_logging = false;
+
 static const char *log_root = "/fs/microsd/log";
 static int mavlink_fd = -1;
 struct logbuffer_s lb;
@@ -216,6 +256,8 @@ static int create_log_dir(void);
  */
 static int open_log_file(void);
 
+static int open_perf_file(const char* str);
+
 static void
 sdlog2_usage(const char *reason)
 {
@@ -223,12 +265,13 @@ sdlog2_usage(const char *reason)
 		fprintf(stderr, "%s\n", reason);
 	}
 
-	errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
-	     "\t-r\tLog rate in Hz, 0 means unlimited rate\n"
-	     "\t-b\tLog buffer size in KiB, default is 8\n"
-	     "\t-e\tEnable logging by default (if not, can be started by command)\n"
-	     "\t-a\tLog only when armed (can be still overriden by command)\n"
-	     "\t-t\tUse date/time for naming log directories and files\n");
+	errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
+		 "\t-r\tLog rate in Hz, 0 means unlimited rate\n"
+		 "\t-b\tLog buffer size in KiB, default is 8\n"
+		 "\t-e\tEnable logging by default (if not, can be started by command)\n"
+		 "\t-a\tLog only when armed (can be still overriden by command)\n"
+		 "\t-t\tUse date/time for naming log directories and files\n"
+		 "\t-x\tExtended logging");
 }
 
 /**
@@ -255,11 +298,11 @@ int sdlog2_main(int argc, char *argv[])
 
 		main_thread_should_exit = false;
 		deamon_task = task_spawn_cmd("sdlog2",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_DEFAULT - 30,
-					     3000,
-					     sdlog2_thread_main,
-					     (const char **)argv);
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_DEFAULT - 30,
+						 3000,
+						 sdlog2_thread_main,
+						 (const char **)argv);
 		exit(0);
 	}
 
@@ -347,8 +390,8 @@ int create_log_dir()
 int open_log_file()
 {
 	/* string to hold the path to the log */
-	char log_file_name[16] = "";
-	char log_file_path[48] = "";
+	char log_file_name[32] = "";
+	char log_file_path[64] = "";
 
 	if (log_name_timestamp && gps_time != 0) {
 		/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
@@ -376,7 +419,58 @@ int open_log_file()
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			warnx("all %d possible files exist already", MAX_NO_LOGFILE);
+			mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+			return -1;
+		}
+	}
+
+	int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
+
+	if (fd < 0) {
+		warn("failed opening log: %s", log_file_name);
+		mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+
+	} else {
+		warnx("log file: %s", log_file_name);
+		mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
+	}
+
+	return fd;
+}
+
+int open_perf_file(const char* str)
+{
+	/* string to hold the path to the log */
+	char log_file_name[32] = "";
+	char log_file_path[64] = "";
+
+	if (log_name_timestamp && gps_time != 0) {
+		/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+		time_t gps_time_sec = gps_time / 1000000;
+		struct tm t;
+		gmtime_r(&gps_time_sec, &t);
+		strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t);
+		snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+	} else {
+		unsigned file_number = 1; // start with file log001
+
+		/* look for the next file that does not exist */
+		while (file_number <= MAX_NO_LOGFILE) {
+			/* format log file path: e.g. /fs/microsd/sess001/log001.bin */
+			snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number);
+			snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+			if (!file_exist(log_file_path)) {
+				break;
+			}
+
+			file_number++;
+		}
+
+		if (file_number > MAX_NO_LOGFILE) {
+			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
+			mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -385,7 +479,7 @@ int open_log_file()
 
 	if (fd < 0) {
 		warn("failed opening log: %s", log_file_name);
-		mavlink_log_info(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+		mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
 
 	} else {
 		warnx("log file: %s", log_file_name);
@@ -527,6 +621,12 @@ void sdlog2_start_log()
 		errx(1, "error creating logwriter thread");
 	}
 
+	/* write all performance counters */
+	int perf_fd = open_perf_file("preflight");
+	dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n");
+	perf_print_all(perf_fd);
+	close(perf_fd);
+
 	logging_enabled = true;
 }
 
@@ -554,6 +654,12 @@ void sdlog2_stop_log()
 	logwriter_pthread = 0;
 	pthread_attr_destroy(&logwriter_attr);
 
+	/* write all performance counters */
+	int perf_fd = open_perf_file("postflight");
+	dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n");
+	perf_print_all(perf_fd);
+	close(perf_fd);
+
 	sdlog2_status();
 }
 
@@ -570,7 +676,7 @@ int write_formats(int fd)
 	int written = 0;
 
 	/* fill message format packet for each format and write it */
-	for (int i = 0; i < log_formats_num; i++) {
+	for (unsigned i = 0; i < log_formats_num; i++) {
 		log_msg_format.body = log_formats[i];
 		written += write(fd, &log_msg_format, sizeof(log_msg_format));
 	}
@@ -677,12 +783,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	 * set error flag instead */
 	bool err_flag = false;
 
-	while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
+	while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) {
 		switch (ch) {
 		case 'r': {
 				unsigned long r = strtoul(optarg, NULL, 10);
 
-				if (r <= 0) {
+				if (r == 0) {
 					r = 1;
 				}
 
@@ -713,6 +819,10 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_name_timestamp = true;
 			break;
 
+		case 'x':
+			_extended_logging = true;
+			break;
+
 		case '?':
 			if (optopt == 'c') {
 				warnx("option -%c requires an argument", optopt);
@@ -739,6 +849,44 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	gps_time = 0;
 
+	/* interpret logging params */
+
+	param_t log_rate_ph = param_find("SDLOG_RATE");
+
+	if (log_rate_ph != PARAM_INVALID) {
+		int32_t param_log_rate;
+		param_get(log_rate_ph, &param_log_rate);
+
+		if (param_log_rate > 0) {
+
+			/* we can't do more than ~ 500 Hz, even with a massive buffer */
+			if (param_log_rate > 500) {
+				param_log_rate = 500;
+			}
+
+			sleep_delay = 1000000 / param_log_rate;
+		} else if (param_log_rate == 0) {
+			/* we need at minimum 10 Hz to be able to see anything */
+			sleep_delay = 1000000 / 10;
+		}
+	}
+
+	param_t log_ext_ph = param_find("SDLOG_EXT");
+
+	if (log_ext_ph != PARAM_INVALID) {
+
+		int32_t param_log_extended;
+		param_get(log_ext_ph, &param_log_extended);
+
+		if (param_log_extended > 0) {
+			_extended_logging = true;
+		} else if (param_log_extended == 0) {
+			_extended_logging = false;
+		}
+		/* any other value means to ignore the parameter, so no else case */
+
+	}
+
 	/* create log root dir */
 	int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
 
@@ -796,6 +944,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct telemetry_status_s telemetry;
 		struct range_finder_report range_finder;
 		struct estimator_status_report estimator_status;
+		struct tecs_status_s tecs_status;
+		struct system_power_s system_power;
+		struct servorail_status_s servorail_status;
+		struct satellite_info_s sat_info;
+		struct wind_estimate_s wind_estimate;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -826,8 +979,17 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GVSP_s log_GVSP;
 			struct log_BATT_s log_BATT;
 			struct log_DIST_s log_DIST;
-			struct log_TELE_s log_TELE;
-			struct log_ESTM_s log_ESTM;
+			struct log_TEL_s log_TEL;
+			struct log_EST0_s log_EST0;
+			struct log_EST1_s log_EST1;
+			struct log_PWR_s log_PWR;
+			struct log_VICN_s log_VICN;
+			struct log_GS0A_s log_GS0A;
+			struct log_GS0B_s log_GS0B;
+			struct log_GS1A_s log_GS1A;
+			struct log_GS1B_s log_GS1B;
+			struct log_TECS_s log_TECS;
+			struct log_WIND_s log_WIND;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -849,6 +1011,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int global_pos_sub;
 		int triplet_sub;
 		int gps_pos_sub;
+		int sat_info_sub;
 		int vicon_pos_sub;
 		int flow_sub;
 		int rc_sub;
@@ -856,14 +1019,19 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int esc_sub;
 		int global_vel_sp_sub;
 		int battery_sub;
-		int telemetry_sub;
+		int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
 		int range_finder_sub;
 		int estimator_status_sub;
+		int tecs_status_sub;
+		int system_power_sub;
+		int servorail_status_sub;
+		int wind_sub;
 	} subs;
 
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
 	subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
 	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
 	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@@ -881,9 +1049,17 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
 	subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
 	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
-	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
+	for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+	}
 	subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 	subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
+	subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
+	subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
+	subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
+	subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
+	/* we need to rate-limit wind, as we do not need the full update rate */
+	orb_set_interval(subs.wind_sub, 90);
 
 	thread_running = true;
 
@@ -897,15 +1073,21 @@ int sdlog2_thread_main(int argc, char *argv[])
 	hrt_abstime magnetometer_timestamp = 0;
 	hrt_abstime barometer_timestamp = 0;
 	hrt_abstime differential_pressure_timestamp = 0;
+	hrt_abstime gyro1_timestamp = 0;
+	hrt_abstime accelerometer1_timestamp = 0;
+	hrt_abstime magnetometer1_timestamp = 0;
+	hrt_abstime gyro2_timestamp = 0;
+	hrt_abstime accelerometer2_timestamp = 0;
+	hrt_abstime magnetometer2_timestamp = 0;
 
-	/* track changes in distance status */
-	bool dist_bottom_present = false;
+	/* initialize calculated mean SNR */
+	float snr_mean = 0.0f;
 
 	/* enable logging on start if needed */
 	if (log_on_start) {
 		/* check GPS topic to get GPS time */
 		if (log_name_timestamp) {
-			if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
+			if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
 				gps_time = buf_gps_pos.time_gps_usec;
 			}
 		}
@@ -953,19 +1135,21 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_STAT_MSG;
 			log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
 			log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
+			log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe;
 			log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
 			log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
 			log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
 			LOGBUFFER_WRITE_AND_COUNT(STAT);
 		}
 
-		/* --- GPS POSITION --- */
+		/* --- GPS POSITION - UNIT #1 --- */
 		if (gps_pos_updated) {
+
 			log_msg.msg_type = LOG_GPS_MSG;
 			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
 			log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
-			log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
-			log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
+			log_msg.body.log_GPS.eph = buf_gps_pos.eph;
+			log_msg.body.log_GPS.epv = buf_gps_pos.epv;
 			log_msg.body.log_GPS.lat = buf_gps_pos.lat;
 			log_msg.body.log_GPS.lon = buf_gps_pos.lon;
 			log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
@@ -973,12 +1157,66 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
 			log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
 			log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
+			log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used;
+			log_msg.body.log_GPS.snr_mean = snr_mean;
+			log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms;
+			log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator;
 			LOGBUFFER_WRITE_AND_COUNT(GPS);
 		}
 
+		/* --- SATELLITE INFO - UNIT #1 --- */
+		if (_extended_logging) {
+
+			if (copy_if_updated(ORB_ID(satellite_info), subs.sat_info_sub, &buf.sat_info)) {
+
+				/* log the SNR of each satellite for a detailed view of signal quality */
+				unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
+				unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
+
+				log_msg.msg_type = LOG_GS0A_MSG;
+				memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
+				snr_mean = 0.0f;
+
+				/* fill set A and calculate mean SNR */
+				for (unsigned i = 0; i < sat_info_count; i++) {
+
+					snr_mean += buf.sat_info.snr[i];
+
+					int satindex = buf.sat_info.svid[i] - 1;
+
+					/* handles index exceeding and wraps to to arithmetic errors */
+					if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
+						/* map satellites by their ID so that logs from two receivers can be compared */
+						log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i];
+					}
+				}
+				LOGBUFFER_WRITE_AND_COUNT(GS0A);
+				snr_mean /= sat_info_count;
+
+				log_msg.msg_type = LOG_GS0B_MSG;
+				memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
+
+				/* fill set B */
+				for (unsigned i = 0; i < sat_info_count; i++) {
+
+					/* get second bank of satellites, thus deduct bank size from index */
+					int satindex = buf.sat_info.svid[i] - 1 - log_max_snr;
+
+					/* handles index exceeding and wraps to to arithmetic errors */
+					if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
+						/* map satellites by their ID so that logs from two receivers can be compared */
+						log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i];
+					}
+				}
+				LOGBUFFER_WRITE_AND_COUNT(GS0B);
+			}
+		}
+
 		/* --- SENSOR COMBINED --- */
 		if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
 			bool write_IMU = false;
+			bool write_IMU1 = false;
+			bool write_IMU2 = false;
 			bool write_SENS = false;
 
 			if (buf.sensor.timestamp != gyro_timestamp) {
@@ -1030,6 +1268,64 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(SENS);
 			}
 
+			if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
+				accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (buf.sensor.gyro1_timestamp != gyro1_timestamp) {
+				gyro1_timestamp = buf.sensor.gyro1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) {
+				magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp;
+				write_IMU1 = true;
+			}
+
+			if (write_IMU1) {
+				log_msg.msg_type = LOG_IMU1_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
+			if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) {
+				accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (buf.sensor.gyro2_timestamp != gyro2_timestamp) {
+				gyro2_timestamp = buf.sensor.gyro2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) {
+				magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp;
+				write_IMU2 = true;
+			}
+
+			if (write_IMU2) {
+				log_msg.msg_type = LOG_IMU2_MSG;
+				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0];
+				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1];
+				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2];
+				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0];
+				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1];
+				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2];
+				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
+				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
+				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
+				LOGBUFFER_WRITE_AND_COUNT(IMU);
+			}
+
 		}
 
 		/* --- ATTITUDE --- */
@@ -1089,28 +1385,25 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.x = buf.local_pos.x;
 			log_msg.body.log_LPOS.y = buf.local_pos.y;
 			log_msg.body.log_LPOS.z = buf.local_pos.z;
+			log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom;
+			log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate;
 			log_msg.body.log_LPOS.vx = buf.local_pos.vx;
 			log_msg.body.log_LPOS.vy = buf.local_pos.vy;
 			log_msg.body.log_LPOS.vz = buf.local_pos.vz;
-			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
-			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
+			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
+			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
 			log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
-			log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
-			log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
+			log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
+											  (buf.local_pos.z_valid ? 2 : 0) |
+											  (buf.local_pos.v_xy_valid ? 4 : 0) |
+											  (buf.local_pos.v_z_valid ? 8 : 0) |
+											  (buf.local_pos.xy_global ? 16 : 0) |
+											  (buf.local_pos.z_global ? 32 : 0);
 			log_msg.body.log_LPOS.landed = buf.local_pos.landed;
+			log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
+			log_msg.body.log_LPOS.eph = buf.local_pos.eph;
+			log_msg.body.log_LPOS.epv = buf.local_pos.epv;
 			LOGBUFFER_WRITE_AND_COUNT(LPOS);
-
-			if (buf.local_pos.dist_bottom_valid) {
-				dist_bottom_present = true;
-			}
-
-			if (dist_bottom_present) {
-				log_msg.msg_type = LOG_DIST_MSG;
-				log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
-				log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
-				log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
-				LOGBUFFER_WRITE_AND_COUNT(DIST);
-			}
 		}
 
 		/* --- LOCAL POSITION SETPOINT --- */
@@ -1132,29 +1425,39 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
 			log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
 			log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
-			log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt;
-			log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0);
+			log_msg.body.log_GPOS.eph = buf.global_pos.eph;
+			log_msg.body.log_GPOS.epv = buf.global_pos.epv;
 			LOGBUFFER_WRITE_AND_COUNT(GPOS);
 		}
 
 		/* --- GLOBAL POSITION SETPOINT --- */
 		if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
-			log_msg.msg_type = LOG_GPSP_MSG;
-			log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
-			log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
-			log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
-			log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
-			log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
-			log_msg.body.log_GPSP.type = buf.triplet.current.type;
-			log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
-			log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
-			log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
-			LOGBUFFER_WRITE_AND_COUNT(GPSP);
+
+			if (buf.triplet.current.valid) {
+				log_msg.msg_type = LOG_GPSP_MSG;
+				log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+				log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
+				log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
+				log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
+				log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+				log_msg.body.log_GPSP.type = buf.triplet.current.type;
+				log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
+				log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
+				log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
+				LOGBUFFER_WRITE_AND_COUNT(GPSP);
+			}
 		}
 
 		/* --- VICON POSITION --- */
 		if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
-			// TODO not implemented yet
+			log_msg.msg_type = LOG_VICN_MSG;
+			log_msg.body.log_VICN.x = buf.vicon_pos.x;
+			log_msg.body.log_VICN.y = buf.vicon_pos.y;
+			log_msg.body.log_VICN.z = buf.vicon_pos.z;
+			log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch;
+			log_msg.body.log_VICN.roll = buf.vicon_pos.roll;
+			log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
+			LOGBUFFER_WRITE_AND_COUNT(VICN);
 		}
 
 		/* --- FLOW --- */
@@ -1174,8 +1477,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 		if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
 			log_msg.msg_type = LOG_RC_MSG;
 			/* Copy only the first 8 channels of 14 */
-			memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
-			log_msg.body.log_RC.channel_count = buf.rc.chan_count;
+			memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
+			log_msg.body.log_RC.channel_count = buf.rc.channel_count;
+			log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
 			LOGBUFFER_WRITE_AND_COUNT(RC);
 		}
 
@@ -1184,6 +1488,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_AIRS_MSG;
 			log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
 			log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
+			log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
 			LOGBUFFER_WRITE_AND_COUNT(AIRS);
 		}
 
@@ -1226,17 +1531,38 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(BATT);
 		}
 
+		/* --- SYSTEM POWER RAILS --- */
+		if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) {
+			log_msg.msg_type = LOG_PWR_MSG;
+			log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v;
+			log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
+			log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid;
+			log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid;
+			log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC;
+			log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC;
+
+			/* copy servo rail status topic here too */
+			orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status);
+			log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v;
+			log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v;
+
+			LOGBUFFER_WRITE_AND_COUNT(PWR);
+		}
+
 		/* --- TELEMETRY --- */
-		if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
-			log_msg.msg_type = LOG_TELE_MSG;
-			log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
-			log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
-			log_msg.body.log_TELE.noise = buf.telemetry.noise;
-			log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
-			log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
-			log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
-			log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
-			LOGBUFFER_WRITE_AND_COUNT(TELE);
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
+				log_msg.msg_type = LOG_TEL0_MSG + i;
+				log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
+				log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
+				log_msg.body.log_TEL.noise = buf.telemetry.noise;
+				log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
+				log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
+				log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
+				log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
+				log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
+				LOGBUFFER_WRITE_AND_COUNT(TEL);
+			}
 		}
 
 		/* --- BOTTOM DISTANCE --- */
@@ -1250,15 +1576,51 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- ESTIMATOR STATUS --- */
 		if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
-			log_msg.msg_type = LOG_ESTM_MSG;
-			unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
-			memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
-			memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
-			log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
-			log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
-			log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
-			log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
-			LOGBUFFER_WRITE_AND_COUNT(DIST);
+			log_msg.msg_type = LOG_EST0_MSG;
+			unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
+			memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
+			memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
+			log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
+			log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
+			log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags;
+			log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
+			LOGBUFFER_WRITE_AND_COUNT(EST0);
+
+			log_msg.msg_type = LOG_EST1_MSG;
+			unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
+			memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
+			memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1);
+			LOGBUFFER_WRITE_AND_COUNT(EST1);
+		}
+
+		/* --- TECS STATUS --- */
+		if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) {
+			log_msg.msg_type = LOG_TECS_MSG;
+			log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
+			log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
+			log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
+			log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
+			log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
+			log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
+			log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered;
+			log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
+			log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
+			log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;
+			log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate;
+			log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp;
+			log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate;
+			log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
+			LOGBUFFER_WRITE_AND_COUNT(TECS);
+		}
+
+		/* --- WIND ESTIMATE --- */
+		if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.wind_estimate)) {
+			log_msg.msg_type = LOG_WIND_MSG;
+			log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
+			log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
+			log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
+			log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
+			LOGBUFFER_WRITE_AND_COUNT(WIND);
 		}
 
 		/* signal the other thread new data, but not yet unlock */
@@ -1294,6 +1656,7 @@ void sdlog2_status()
 	float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
 
 	warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped);
+	warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
 	mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped);
 }
 
diff --git a/src/modules/sdlog2/sdlog2_format.h b/src/modules/sdlog2/sdlog2_format.h
index dc5e6c8bd..aff0e3f48 100644
--- a/src/modules/sdlog2/sdlog2_format.h
+++ b/src/modules/sdlog2/sdlog2_format.h
@@ -91,6 +91,14 @@ struct log_format_s {
 						    .labels = _labels \
 	}
 
+#define LOG_FORMAT_S(_name, _struct_name, _format, _labels) { \
+		.type = LOG_##_name##_MSG, \
+			.length = sizeof(struct log_##_struct_name##_s) + LOG_PACKET_HEADER_LEN, \
+				  .name = #_name, \
+					  .format = _format, \
+						    .labels = _labels \
+	}
+
 #define LOG_FORMAT_MSG	  0x80
 
 #define LOG_PACKET_SIZE(_name)	LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 2b41755de..fb7609435 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -73,6 +73,8 @@ struct log_ATSP_s {
 
 /* --- IMU - IMU SENSORS --- */
 #define LOG_IMU_MSG 4
+#define LOG_IMU1_MSG 22
+#define LOG_IMU2_MSG 23
 struct log_IMU_s {
 	float acc_x;
 	float acc_y;
@@ -101,15 +103,19 @@ struct log_LPOS_s {
 	float x;
 	float y;
 	float z;
+	float ground_dist;
+	float ground_dist_rate;
 	float vx;
 	float vy;
 	float vz;
 	int32_t ref_lat;
 	int32_t ref_lon;
 	float ref_alt;
-	uint8_t xy_flags;
-	uint8_t z_flags;
+	uint8_t pos_flags;
 	uint8_t landed;
+	uint8_t ground_dist_flags;
+	float eph;
+	float epv;
 };
 
 /* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -135,6 +141,10 @@ struct log_GPS_s {
 	float vel_e;
 	float vel_d;
 	float cog;
+	uint8_t sats;
+	uint16_t snr_mean;
+	uint16_t noise_per_ms;
+	uint16_t jamming_indicator;
 };
 
 /* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
@@ -151,6 +161,7 @@ struct log_ATTC_s {
 struct log_STAT_s {
 	uint8_t main_state;
 	uint8_t arming_state;
+	uint8_t failsafe_state;
 	float battery_remaining;
 	uint8_t battery_warning;
 	uint8_t landed;
@@ -161,6 +172,7 @@ struct log_STAT_s {
 struct log_RC_s {
 	float channel[8];
 	uint8_t channel_count;
+	uint8_t signal_lost;
 };
 
 /* --- OUT0 - ACTUATOR_0 OUTPUT --- */
@@ -174,6 +186,7 @@ struct log_OUT0_s {
 struct log_AIRS_s {
 	float indicated_airspeed;
 	float true_airspeed;
+	float air_temperature_celsius;
 };
 
 /* --- ARSP - ATTITUDE RATE SET POINT --- */
@@ -205,8 +218,8 @@ struct log_GPOS_s {
 	float vel_n;
 	float vel_e;
 	float vel_d;
-	float baro_alt;
-	uint8_t flags;
+	float eph;
+	float epv;
 };
 
 /* --- GPSP - GLOBAL POSITION SETPOINT --- */
@@ -265,9 +278,109 @@ struct log_DIST_s {
 	uint8_t flags;
 };
 
-/* --- TELE - TELEMETRY STATUS --- */
-#define LOG_TELE_MSG 22
-struct log_TELE_s {
+/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
+
+
+/* --- PWR - ONBOARD POWER SYSTEM --- */
+#define LOG_PWR_MSG 24
+struct log_PWR_s {
+	float peripherals_5v;
+	float servo_rail_5v;
+	float servo_rssi;
+	uint8_t usb_ok;
+	uint8_t brick_ok;
+	uint8_t servo_ok;
+	uint8_t low_power_rail_overcurrent;
+	uint8_t high_power_rail_overcurrent;
+};
+
+/* --- VICN - VICON POSITION --- */
+#define LOG_VICN_MSG 25
+struct log_VICN_s {
+	float x;
+	float y;
+	float z;
+	float roll;
+	float pitch;
+	float yaw;
+};
+
+/* --- GS0A - GPS SNR #0, SAT GROUP A --- */
+#define LOG_GS0A_MSG 26
+struct log_GS0A_s {
+	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- GS0B - GPS SNR #0, SAT GROUP B --- */
+#define LOG_GS0B_MSG 27
+struct log_GS0B_s {
+	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- GS1A - GPS SNR #1, SAT GROUP A --- */
+#define LOG_GS1A_MSG 28
+struct log_GS1A_s {
+	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- GS1B - GPS SNR #1, SAT GROUP B --- */
+#define LOG_GS1B_MSG 29
+struct log_GS1B_s {
+	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
+};
+
+/* --- TECS - TECS STATUS --- */
+#define LOG_TECS_MSG 30
+struct log_TECS_s {
+	float altitudeSp;
+	float altitudeFiltered;
+	float flightPathAngleSp;
+	float flightPathAngle;
+	float flightPathAngleFiltered;
+	float airspeedSp;
+	float airspeedFiltered;
+	float airspeedDerivativeSp;
+	float airspeedDerivative;
+
+	float totalEnergyRateSp;
+	float totalEnergyRate;
+	float energyDistributionRateSp;
+	float energyDistributionRate;
+
+	uint8_t mode;
+};
+
+/* --- WIND - WIND ESTIMATE --- */
+#define LOG_WIND_MSG 31
+struct log_WIND_s {
+	float x;
+	float y;
+	float cov_x;
+	float cov_y;
+};
+
+/* --- EST0 - ESTIMATOR STATUS --- */
+#define LOG_EST0_MSG 32
+struct log_EST0_s {
+	float s[12];
+	uint8_t n_states;
+	uint8_t nan_flags;
+	uint8_t health_flags;
+	uint8_t timeout_flags;
+};
+
+/* --- EST1 - ESTIMATOR STATUS --- */
+#define LOG_EST1_MSG 33
+struct log_EST1_s {
+	float s[16];
+};
+
+/* --- TEL0..3 - TELEMETRY STATUS --- */
+#define LOG_TEL0_MSG 34
+#define LOG_TEL1_MSG 35
+#define LOG_TEL2_MSG 36
+#define LOG_TEL3_MSG 37
+struct log_TEL_s {
 	uint8_t rssi;
 	uint8_t remote_rssi;
 	uint8_t noise;
@@ -275,8 +388,10 @@ struct log_TELE_s {
 	uint16_t rxerrors;
 	uint16_t fixed;
 	uint8_t txbuf;
+	uint64_t heartbeat_time;
 };
 
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -299,51 +414,55 @@ struct log_PARM_s {
 	float value;
 };
 
-/* --- ESTM - ESTIMATOR STATUS --- */
-#define LOG_ESTM_MSG 132
-struct log_ESTM_s {
-	float s[32];
-	uint8_t n_states;
-	uint8_t states_nan;
-	uint8_t covariance_nan;
-	uint8_t kalman_gain_nan;
-};
-
 #pragma pack(pop)
 
 /* construct list of all message formats */
 static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
-	LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
-	LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
-	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
-	LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
-	LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
-	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
-	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
-	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
-	LOG_FORMAT(STAT, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"),
-	LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
-	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
-	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
-	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
-	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
-	LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"),
-	LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
-	LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
-	LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
-	LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
-	LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
-	LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+	LOG_FORMAT(ATT, "fffffffff",		"Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
+	LOG_FORMAT(ATSP, "ffff",		"RollSP,PitchSP,YawSP,ThrustSP"),
+	LOG_FORMAT_S(IMU, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT_S(IMU1, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT_S(IMU2, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT(SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
+	LOG_FORMAT(LPOS, "ffffffffLLfBBBff",	"X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
+	LOG_FORMAT(LPSP, "ffff",		"X,Y,Z,Yaw"),
+	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
+	LOG_FORMAT(ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
+	LOG_FORMAT(STAT, "BBBfBB",		"MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
+	LOG_FORMAT(RC, "ffffffffBB",		"Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
+	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
+	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
+	LOG_FORMAT(FLOW, "hhfffBB",		"RawX,RawY,CompX,CompY,Dist,Q,SensID"),
+	LOG_FORMAT(GPOS, "LLffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
+	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
+	LOG_FORMAT(ESC, "HBBBHHHHHHfH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
+	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
+	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
+	LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT(EST0, "ffffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
+	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
+	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
+	LOG_FORMAT(VICN, "ffffff",		"X,Y,Z,Roll,Pitch,Yaw"),
+	LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
+	LOG_FORMAT(TECS, "fffffffffffffB",	"ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
+	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
 
 	/* system-level messages, ID >= 0x80 */
-	// FMT: don't write format of format message, it's useless
+	/* FMT: don't write format of format message, it's useless */
 	LOG_FORMAT(TIME, "Q", "StartTime"),
 	LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
-	LOG_FORMAT(PARM, "Nf", "Name,Value"),
-	LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
+	LOG_FORMAT(PARM, "Nf", "Name,Value")
 };
 
-static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
+static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
 
 #endif /* SDLOG2_MESSAGES_H_ */
diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp
index 96a443c6e..91230a37c 100644
--- a/src/modules/segway/BlockSegwayController.cpp
+++ b/src/modules/segway/BlockSegwayController.cpp
@@ -35,8 +35,8 @@ void BlockSegwayController::update() {
 
 	// handle autopilot modes
 	if (_status.main_state == MAIN_STATE_AUTO ||
-	    _status.main_state == MAIN_STATE_SEATBELT ||
-	    _status.main_state == MAIN_STATE_EASY) {
+	    _status.main_state == MAIN_STATE_ALTCTL ||
+	    _status.main_state == MAIN_STATE_POSCTL) {
 		_actuators.control[0] = spdCmd;
 		_actuators.control[1] = spdCmd;
 
diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk
index aa538fd6b..5b1bc5e86 100644
--- a/src/modules/sensors/module.mk
+++ b/src/modules/sensors/module.mk
@@ -40,3 +40,5 @@ MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 
 SRCS		= sensors.cpp \
 		  sensor_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 288c6e00a..7ce6ef5ef 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -194,16 +194,25 @@ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f);
 /**
  * Differential pressure sensor offset
  *
+ * The offset (zero-reading) in Pascal
+ *
  * @group Sensor Calibration
  */
 PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
 
 /**
- * Differential pressure sensor analog enabled
+ * Differential pressure sensor analog scaling
+ *
+ * Pick the appropriate scaling from the datasheet.
+ * this number defines the (linear) conversion from voltage
+ * to Pascal (pa). For the MPXV7002DP this is 1000.
+ *
+ * NOTE: If the sensor always registers zero, try switching
+ * the static and dynamic tubes.
  *
  * @group Sensor Calibration
  */
-PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
+PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
 
 
 /**
@@ -243,6 +252,36 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
 /**
+ * Board rotation Y (Pitch) offset
+ *
+ * This parameter defines a rotational offset in degrees around the Y (Pitch) axis. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+ PARAM_DEFINE_FLOAT(SENS_BOARD_Y_OFF, 0.0f);
+
+/**
+ * Board rotation X (Roll) offset
+ *
+ * This parameter defines a rotational offset in degrees around the X (Roll) axis It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_X_OFF, 0.0f);
+
+/**
+ * Board rotation Z (YAW) offset
+ *
+ * This parameter defines a rotational offset in degrees around the Z (Yaw) axis. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_Z_OFF, 0.0f);
+
+/**
  * External magnetometer rotation
  *
  * This parameter defines the rotation of the external magnetometer relative
@@ -253,6 +292,19 @@ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
  */
 PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0);
 
+/**
+* Set usage of external magnetometer
+*
+*  * Set to 0 (default) to auto-detect (will try to get the external as primary)
+*  * Set to 1 to force the external magnetometer as primary
+*  * Set to 2 to force the internal magnetometer as primary
+*
+* @min 0
+* @max 2
+* @group Sensor Calibration
+*/
+PARAM_DEFINE_INT32(SENS_EXT_MAG, 0);
+
 
 /**
  * RC Channel 1 Minimum
@@ -488,6 +540,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
  * @group Battery Calibration
  */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
+#elif CONFIG_ARCH_BOARD_AEROCORE
+/**
+ * Scaling factor for battery voltage sensor on AeroCore.
+ *
+ * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
 #else
 /**
  * Scaling factor for battery voltage sensor on FMU v1.
@@ -536,6 +597,20 @@ PARAM_DEFINE_INT32(RC_MAP_ROLL, 1);
 PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
 
 /**
+ * Failsafe channel mapping.
+ *
+ * The RC mapping index indicates which channel is used for failsafe
+ * If 0, whichever channel is mapped to throttle is used
+ * otherwise the value indicates the specific rc channel to use
+ *
+ * @min 0
+ * @max 18
+ *
+ *
+ */
+PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0);  //Default to throttle function
+
+/**
  * Throttle control channel mapping.
  *
  * The channel index (starting from 1 for channel 1) indicates
@@ -585,24 +660,40 @@ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0);
 
 /**
- * Assist switch channel mapping.
+ * Posctl switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_POSCTL_SW, 0);
+
+/**
+ * Loiter switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_LOITER_SW, 0);
 
 /**
- * Mission switch channel mapping.
+ * Acro switch channel mapping.
  *
  * @min 0
  * @max 18
  * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
+PARAM_DEFINE_INT32(RC_MAP_ACRO_SW, 0);
 
-//PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
+/**
+ * Offboard switch channel mapping.
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Calibration
+ */
+PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
 
 /**
  * Flaps channel mapping.
@@ -648,53 +739,123 @@ PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
 
 
 /**
- * Roll scaling factor
+ * Failsafe channel PWM threshold.
  *
+ * @min 800
+ * @max 2200
  * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
+PARAM_DEFINE_INT32(RC_FAILS_THR, 0);
 
 /**
- * Pitch scaling factor
+ * Threshold for selecting assist mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
+PARAM_DEFINE_FLOAT(RC_ASSIST_TH, 0.25f);
 
 /**
- * Yaw scaling factor
+ * Threshold for selecting auto mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_AUTO_TH, 0.75f);
+
+/**
+ * Threshold for selecting posctl mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f);
+PARAM_DEFINE_FLOAT(RC_POSCTL_TH, 0.5f);
 
+/**
+ * Threshold for selecting return to launch mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ */
+PARAM_DEFINE_FLOAT(RC_RETURN_TH, 0.5f);
 
 /**
- * Failsafe channel mapping.
+ * Threshold for selecting loiter mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 18
- * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_FS_CH, 0);
+PARAM_DEFINE_FLOAT(RC_LOITER_TH, 0.5f);
 
 /**
- * Failsafe channel mode.
+ * Threshold for selecting acro mode
  *
- * 0 = too low means signal loss,
- * 1 = too high means signal loss
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 1
- * @group Radio Calibration
  */
-PARAM_DEFINE_INT32(RC_FS_MODE, 0);
+PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
+
 
 /**
- * Failsafe channel PWM threshold.
+ * Threshold for selecting offboard mode
+ *
+ * min:-1
+ * max:+1
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
  *
- * @min 0
- * @max 1
- * @group Radio Calibration
  */
-PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
+PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f890c4c7f..4e8a8c01d 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -126,8 +126,14 @@
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+#define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	-1
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	-1
+#endif
+
 #define BATT_V_LOWPASS 0.001f
-#define BATT_V_IGNORE_THRESHOLD 3.5f
+#define BATT_V_IGNORE_THRESHOLD 4.8f
 
 /**
  * HACK - true temperature is much less than indicated temperature in baro,
@@ -135,7 +141,7 @@
  */
 #define PCB_TEMP_ESTIMATE_DEG 5.0f
 
-#define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
+#define STICK_ON_OFF_LIMIT 0.75f
 
 /**
  * Sensor app start / stop handling function
@@ -167,7 +173,16 @@ public:
 private:
 	static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS;	/**< maximum number of r/c channels we handle */
 
-	hrt_abstime	_rc_last_valid;		/**< last time we got a valid RC signal */
+	/**
+	 * Get and limit value for specified RC function. Returns NAN if not mapped.
+	 */
+	float		get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value);
+
+	/**
+	 * Get switch position for specified function.
+	 */
+	switch_pos_t	get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
+	switch_pos_t	get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
 
 	/**
 	 * Gather and publish RC input data.
@@ -184,9 +199,15 @@ private:
 	bool		_hil_enabled;			/**< if true, HIL is active */
 	bool		_publishing;			/**< if true, we are publishing sensor data */
 
-	int		_gyro_sub;			/**< raw gyro data subscription */
-	int		_accel_sub;			/**< raw accel data subscription */
-	int		_mag_sub;			/**< raw mag data subscription */
+	int		_gyro_sub;			/**< raw gyro0 data subscription */
+	int		_accel_sub;			/**< raw accel0 data subscription */
+	int		_mag_sub;			/**< raw mag0 data subscription */
+	int		_gyro1_sub;			/**< raw gyro1 data subscription */
+	int		_accel1_sub;			/**< raw accel1 data subscription */
+	int		_mag1_sub;			/**< raw mag1 data subscription */
+	int		_gyro2_sub;			/**< raw gyro2 data subscription */
+	int		_accel2_sub;			/**< raw accel2 data subscription */
+	int		_mag2_sub;			/**< raw mag2 data subscription */
 	int 		_rc_sub;			/**< raw rc channels data subscription */
 	int		_baro_sub;			/**< raw baro data subscription */
 	int		_airspeed_sub;			/**< airspeed subscription */
@@ -211,10 +232,10 @@ private:
 	struct differential_pressure_s _diff_pres;
 	struct airspeed_s _airspeed;
 
-	math::Matrix<3,3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
-	math::Matrix<3,3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
+	math::Matrix<3, 3>	_board_rotation;		/**< rotation matrix for the orientation that the board is mounted */
+	math::Matrix<3, 3>	_external_mag_rotation;		/**< rotation matrix for the orientation that an external mag is mounted */
 	bool		_mag_is_external;		/**< true if the active mag is on an external board */
-
+	
 	uint64_t _battery_discharged;			/**< battery discharged current in mA*ms */
 	hrt_abstime _battery_current_timestamp;	/**< timestamp of last battery current reading */
 
@@ -233,22 +254,25 @@ private:
 		float accel_offset[3];
 		float accel_scale[3];
 		float diff_pres_offset_pa;
-		float diff_pres_analog_enabled;
+		float diff_pres_analog_scale;
 
 		int board_rotation;
 		int external_mag_rotation;
+		
+		float board_offset[3];
 
 		int rc_map_roll;
 		int rc_map_pitch;
 		int rc_map_yaw;
 		int rc_map_throttle;
+		int rc_map_failsafe;
 
 		int rc_map_mode_sw;
 		int rc_map_return_sw;
-		int rc_map_assisted_sw;
-		int rc_map_mission_sw;
-
-//		int rc_map_offboard_ctrl_mode_sw;
+		int rc_map_posctl_sw;
+		int rc_map_loiter_sw;
+		int rc_map_acro_sw;
+		int rc_map_offboard_sw;
 
 		int rc_map_flaps;
 
@@ -258,14 +282,21 @@ private:
 		int rc_map_aux4;
 		int rc_map_aux5;
 
-		float rc_scale_roll;
-		float rc_scale_pitch;
-		float rc_scale_yaw;
-		float rc_scale_flaps;
-
-		int rc_fs_ch;
-		int rc_fs_mode;
-		float rc_fs_thr;
+		int32_t rc_fails_thr;
+		float rc_assist_th;
+		float rc_auto_th;
+		float rc_posctl_th;
+		float rc_return_th;
+		float rc_loiter_th;
+		float rc_acro_th;
+		float rc_offboard_th;
+		bool rc_assist_inv;
+		bool rc_auto_inv;
+		bool rc_posctl_inv;
+		bool rc_return_inv;
+		bool rc_loiter_inv;
+		bool rc_acro_inv;
+		bool rc_offboard_inv;
 
 		float battery_voltage_scaling;
 		float battery_current_scaling;
@@ -286,19 +317,20 @@ private:
 		param_t mag_offset[3];
 		param_t mag_scale[3];
 		param_t diff_pres_offset_pa;
-		param_t diff_pres_analog_enabled;
+		param_t diff_pres_analog_scale;
 
 		param_t rc_map_roll;
 		param_t rc_map_pitch;
 		param_t rc_map_yaw;
 		param_t rc_map_throttle;
+		param_t rc_map_failsafe;
 
 		param_t rc_map_mode_sw;
 		param_t rc_map_return_sw;
-		param_t rc_map_assisted_sw;
-		param_t rc_map_mission_sw;
-
-//		param_t rc_map_offboard_ctrl_mode_sw;
+		param_t rc_map_posctl_sw;
+		param_t rc_map_loiter_sw;
+		param_t rc_map_acro_sw;
+		param_t rc_map_offboard_sw;
 
 		param_t rc_map_flaps;
 
@@ -308,20 +340,22 @@ private:
 		param_t rc_map_aux4;
 		param_t rc_map_aux5;
 
-		param_t rc_scale_roll;
-		param_t rc_scale_pitch;
-		param_t rc_scale_yaw;
-		param_t rc_scale_flaps;
-
-		param_t rc_fs_ch;
-		param_t rc_fs_mode;
-		param_t rc_fs_thr;
+		param_t rc_fails_thr;
+		param_t rc_assist_th;
+		param_t rc_auto_th;
+		param_t rc_posctl_th;
+		param_t rc_return_th;
+		param_t rc_loiter_th;
+		param_t rc_acro_th;
+		param_t rc_offboard_th;
 
 		param_t battery_voltage_scaling;
 		param_t battery_current_scaling;
 
 		param_t board_rotation;
 		param_t external_mag_rotation;
+		
+		param_t board_offset[3];
 
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
@@ -422,7 +456,7 @@ private:
 	/**
 	 * Main sensor collection task.
 	 */
-	void		task_main() __attribute__((noreturn));
+	void		task_main();
 };
 
 namespace sensors
@@ -438,8 +472,6 @@ Sensors	*g_sensors = nullptr;
 }
 
 Sensors::Sensors() :
-	_rc_last_valid(0),
-
 	_fd_adc(-1),
 	_last_adc(0),
 
@@ -452,6 +484,12 @@ Sensors::Sensors() :
 	_gyro_sub(-1),
 	_accel_sub(-1),
 	_mag_sub(-1),
+	_gyro1_sub(-1),
+	_accel1_sub(-1),
+	_mag1_sub(-1),
+	_gyro2_sub(-1),
+	_accel2_sub(-1),
+	_mag2_sub(-1),
 	_rc_sub(-1),
 	_baro_sub(-1),
 	_vcontrol_mode_sub(-1),
@@ -474,6 +512,8 @@ Sensors::Sensors() :
 	_battery_discharged(0),
 	_battery_current_timestamp(0)
 {
+	memset(&_rc, 0, sizeof(_rc));
+	memset(&_diff_pres, 0, sizeof(_diff_pres));
 
 	/* basic r/c parameters */
 	for (unsigned i = 0; i < _rc_max_chan_count; i++) {
@@ -506,6 +546,7 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
 	_parameter_handles.rc_map_yaw 	= param_find("RC_MAP_YAW");
 	_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
+	_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
 
 	/* mandatory mode switches, mapped to channel 5 and 6 per default */
 	_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
@@ -514,10 +555,10 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
 
 	/* optional mode switches, not mapped per default */
-	_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
-	_parameter_handles.rc_map_mission_sw = param_find("RC_MAP_MISSIO_SW");
-
-//	_parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
+	_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
+	_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
+	_parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
+	_parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
 
 	_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
 	_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
@@ -525,15 +566,15 @@ Sensors::Sensors() :
 	_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
 	_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
 
-	_parameter_handles.rc_scale_roll = param_find("RC_SCALE_ROLL");
-	_parameter_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH");
-	_parameter_handles.rc_scale_yaw = param_find("RC_SCALE_YAW");
-	_parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS");
-
-	/* RC failsafe */
-	_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
-	_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
-	_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
+	/* RC thresholds */
+	_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
+	_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
+	_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
+	_parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
+	_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
+	_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
+	_parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
+	_parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
 
 	/* gyro offsets */
 	_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@@ -562,7 +603,7 @@ Sensors::Sensors() :
 
 	/* Differential pressure offset */
 	_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
-	_parameter_handles.diff_pres_analog_enabled = param_find("SENS_DPRES_ANA");
+	_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
 
 	_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
 	_parameter_handles.battery_current_scaling = param_find("BAT_C_SCALING");
@@ -570,6 +611,11 @@ Sensors::Sensors() :
 	/* rotations */
 	_parameter_handles.board_rotation = param_find("SENS_BOARD_ROT");
 	_parameter_handles.external_mag_rotation = param_find("SENS_EXT_MAG_ROT");
+	
+	/* rotation offsets */
+	_parameter_handles.board_offset[0] = param_find("SENS_BOARD_X_OFF");
+	_parameter_handles.board_offset[1] = param_find("SENS_BOARD_Y_OFF");
+	_parameter_handles.board_offset[2] = param_find("SENS_BOARD_Z_OFF");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -623,7 +669,7 @@ Sensors::parameters_update()
 		if (!isfinite(tmpScaleFactor) ||
 		    (tmpRevFactor < 0.000001f) ||
 		    (tmpRevFactor > 0.2f)) {
-			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
+			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
 			/* scaling factors do not make sense, lock them down */
 			_parameters.scaling_factor[i] = 0.0f;
 			rc_valid = false;
@@ -634,64 +680,88 @@ Sensors::parameters_update()
 	}
 
 	/* handle wrong values */
-	if (!rc_valid)
+	if (!rc_valid) {
 		warnx("WARNING     WARNING     WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
+	}
 
 	const char *paramerr = "FAIL PARM LOAD";
 
 	/* channel mapping */
 	if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
+	}
+
+	if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
-		warnx(paramerr);
+	if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) {
+		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
-		warnx(paramerr);
+	if (param_get(_parameter_handles.rc_map_loiter_sw, &(_parameters.rc_map_loiter_sw)) != OK) {
+		warnx("%s", paramerr);
 	}
 
-	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
-		warnx(paramerr);
+	if (param_get(_parameter_handles.rc_map_acro_sw, &(_parameters.rc_map_acro_sw)) != OK) {
+		warnx("%s", paramerr);
+	}
+
+	if (param_get(_parameter_handles.rc_map_offboard_sw, &(_parameters.rc_map_offboard_sw)) != OK) {
+		warnx("%s", paramerr);
 	}
 
-//	if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
-//		warnx("Failed getting offboard control mode sw chan index");
-//	}
+	if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
+		warnx("%s", paramerr);
+	}
 
 	param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
 	param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
 	param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
 	param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
 	param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
-	param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll));
-	param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch));
-	param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw));
-	param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps));
-	param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
-	param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
-	param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
+	param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
+	param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
+	_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
+	_parameters.rc_assist_th = fabs(_parameters.rc_assist_th);
+	param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
+	_parameters.rc_auto_inv = (_parameters.rc_auto_th < 0);
+	_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
+	param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th));
+	_parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0);
+	_parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th);
+	param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
+	_parameters.rc_return_inv = (_parameters.rc_return_th < 0);
+	_parameters.rc_return_th = fabs(_parameters.rc_return_th);
+	param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
+	_parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0);
+	_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
+	param_get(_parameter_handles.rc_acro_th, &(_parameters.rc_acro_th));
+	_parameters.rc_acro_inv = (_parameters.rc_acro_th < 0);
+	_parameters.rc_acro_th = fabs(_parameters.rc_acro_th);
+	param_get(_parameter_handles.rc_offboard_th, &(_parameters.rc_offboard_th));
+	_parameters.rc_offboard_inv = (_parameters.rc_offboard_th < 0);
+	_parameters.rc_offboard_th = fabs(_parameters.rc_offboard_th);
 
 	/* update RC function mappings */
 	_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
@@ -701,13 +771,13 @@ Sensors::parameters_update()
 
 	_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
 	_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
-	_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
-	_rc.function[MISSION] = _parameters.rc_map_mission_sw - 1;
+	_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
+	_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
+	_rc.function[ACRO] = _parameters.rc_map_acro_sw - 1;
+	_rc.function[OFFBOARD] = _parameters.rc_map_offboard_sw - 1;
 
 	_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
 
-//	_rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1;
-
 	_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
 	_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
 	_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
@@ -741,16 +811,16 @@ Sensors::parameters_update()
 
 	/* Airspeed offset */
 	param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
-	param_get(_parameter_handles.diff_pres_analog_enabled, &(_parameters.diff_pres_analog_enabled));
+	param_get(_parameter_handles.diff_pres_analog_scale, &(_parameters.diff_pres_analog_scale));
 
 	/* scaling of ADC ticks to battery voltage */
 	if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	/* scaling of ADC ticks to battery current */
 	if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
-		warnx(paramerr);
+		warnx("%s", paramerr);
 	}
 
 	param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@@ -758,6 +828,18 @@ Sensors::parameters_update()
 
 	get_rot_matrix((enum Rotation)_parameters.board_rotation, &_board_rotation);
 	get_rot_matrix((enum Rotation)_parameters.external_mag_rotation, &_external_mag_rotation);
+	
+	param_get(_parameter_handles.board_offset[0], &(_parameters.board_offset[0]));
+	param_get(_parameter_handles.board_offset[1], &(_parameters.board_offset[1]));
+	param_get(_parameter_handles.board_offset[2], &(_parameters.board_offset[2]));
+	
+	/** fine tune board offset on parameter update **/
+	math::Matrix<3, 3> board_rotation_offset; 
+	board_rotation_offset.from_euler( M_DEG_TO_RAD_F * _parameters.board_offset[0],
+							 M_DEG_TO_RAD_F * _parameters.board_offset[1],
+							 M_DEG_TO_RAD_F * _parameters.board_offset[2]);
+	
+	_board_rotation = _board_rotation * board_rotation_offset;
 
 	return OK;
 }
@@ -785,7 +867,7 @@ Sensors::accel_init()
 		/* set the driver to poll at 1000Hz */
 		ioctl(fd, SENSORIOCSPOLLRATE, 1000);
 
-#elif CONFIG_ARCH_BOARD_PX4FMU_V2
+#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE
 
 		/* set the accel internal sampling rate up to at leat 800Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@@ -794,7 +876,7 @@ Sensors::accel_init()
 		ioctl(fd, SENSORIOCSPOLLRATE, 800);
 
 #else
-#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
+#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE
 
 #endif
 
@@ -820,12 +902,14 @@ Sensors::gyro_init()
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 
 		/* set the gyro internal sampling rate up to at least 1000Hz */
-		if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
+		if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) {
 			ioctl(fd, GYROIOCSSAMPLERATE, 800);
+		}
 
 		/* set the driver to poll at 1000Hz */
-		if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
+		if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) {
 			ioctl(fd, SENSORIOCSPOLLRATE, 800);
+		}
 
 #else
 
@@ -880,12 +964,15 @@ Sensors::mag_init()
 
 	ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
 
-	if (ret < 0)
+	if (ret < 0) {
 		errx(1, "FATAL: unknown if magnetometer is external or onboard");
-	else if (ret == 1)
+
+	} else if (ret == 1) {
 		_mag_is_external = true;
-	else
+
+	} else {
 		_mag_is_external = false;
+	}
 
 	close(fd);
 }
@@ -929,7 +1016,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 	if (accel_updated) {
 		struct accel_report	accel_report;
 
-		orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
+		orb_copy(ORB_ID(sensor_accel0), _accel_sub, &accel_report);
 
 		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
 		vect = _board_rotation * vect;
@@ -944,6 +1031,48 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 
 		raw.accelerometer_timestamp = accel_report.timestamp;
 	}
+
+	orb_check(_accel1_sub, &accel_updated);
+
+	if (accel_updated) {
+		struct accel_report	accel_report;
+
+		orb_copy(ORB_ID(sensor_accel1), _accel_sub, &accel_report);
+
+		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
+		vect = _board_rotation * vect;
+
+		raw.accelerometer1_m_s2[0] = vect(0);
+		raw.accelerometer1_m_s2[1] = vect(1);
+		raw.accelerometer1_m_s2[2] = vect(2);
+
+		raw.accelerometer1_raw[0] = accel_report.x_raw;
+		raw.accelerometer1_raw[1] = accel_report.y_raw;
+		raw.accelerometer1_raw[2] = accel_report.z_raw;
+
+		raw.accelerometer1_timestamp = accel_report.timestamp;
+	}
+
+	orb_check(_accel2_sub, &accel_updated);
+
+	if (accel_updated) {
+		struct accel_report	accel_report;
+
+		orb_copy(ORB_ID(sensor_accel2), _accel_sub, &accel_report);
+
+		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
+		vect = _board_rotation * vect;
+
+		raw.accelerometer2_m_s2[0] = vect(0);
+		raw.accelerometer2_m_s2[1] = vect(1);
+		raw.accelerometer2_m_s2[2] = vect(2);
+
+		raw.accelerometer2_raw[0] = accel_report.x_raw;
+		raw.accelerometer2_raw[1] = accel_report.y_raw;
+		raw.accelerometer2_raw[2] = accel_report.z_raw;
+
+		raw.accelerometer2_timestamp = accel_report.timestamp;
+	}
 }
 
 void
@@ -955,7 +1084,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 	if (gyro_updated) {
 		struct gyro_report	gyro_report;
 
-		orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
+		orb_copy(ORB_ID(sensor_gyro0), _gyro_sub, &gyro_report);
 
 		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
 		vect = _board_rotation * vect;
@@ -970,6 +1099,48 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 
 		raw.timestamp = gyro_report.timestamp;
 	}
+
+	orb_check(_gyro1_sub, &gyro_updated);
+
+	if (gyro_updated) {
+		struct gyro_report	gyro_report;
+
+		orb_copy(ORB_ID(sensor_gyro1), _gyro1_sub, &gyro_report);
+
+		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
+		vect = _board_rotation * vect;
+
+		raw.gyro1_rad_s[0] = vect(0);
+		raw.gyro1_rad_s[1] = vect(1);
+		raw.gyro1_rad_s[2] = vect(2);
+
+		raw.gyro1_raw[0] = gyro_report.x_raw;
+		raw.gyro1_raw[1] = gyro_report.y_raw;
+		raw.gyro1_raw[2] = gyro_report.z_raw;
+
+		raw.gyro1_timestamp = gyro_report.timestamp;
+	}
+
+	orb_check(_gyro2_sub, &gyro_updated);
+
+	if (gyro_updated) {
+		struct gyro_report	gyro_report;
+
+		orb_copy(ORB_ID(sensor_gyro2), _gyro_sub, &gyro_report);
+
+		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
+		vect = _board_rotation * vect;
+
+		raw.gyro2_rad_s[0] = vect(0);
+		raw.gyro2_rad_s[1] = vect(1);
+		raw.gyro2_rad_s[2] = vect(2);
+
+		raw.gyro2_raw[0] = gyro_report.x_raw;
+		raw.gyro2_raw[1] = gyro_report.y_raw;
+		raw.gyro2_raw[2] = gyro_report.z_raw;
+
+		raw.gyro2_timestamp = gyro_report.timestamp;
+	}
 }
 
 void
@@ -981,14 +1152,18 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 	if (mag_updated) {
 		struct mag_report	mag_report;
 
-		orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag_report);
+		orb_copy(ORB_ID(sensor_mag0), _mag_sub, &mag_report);
 
 		math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
 
-		if (_mag_is_external)
+		// XXX we need device-id based handling here
+
+		if (_mag_is_external) {
 			vect = _external_mag_rotation * vect;
-		else
+
+		} else {
 			vect = _board_rotation * vect;
+		}
 
 		raw.magnetometer_ga[0] = vect(0);
 		raw.magnetometer_ga[1] = vect(1);
@@ -1010,7 +1185,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
 
 	if (baro_updated) {
 
-		orb_copy(ORB_ID(sensor_baro), _baro_sub, &_barometer);
+		orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_barometer);
 
 		raw.baro_pres_mbar = _barometer.pressure; // Pressure in mbar
 		raw.baro_alt_meter = _barometer.altitude; // Altitude in meters
@@ -1033,12 +1208,13 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 		raw.differential_pressure_timestamp = _diff_pres.timestamp;
 		raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
 
-		float air_temperature_celcius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
+		float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
 
 		_airspeed.timestamp = _diff_pres.timestamp;
 		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
 		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
-					      raw.baro_pres_mbar * 1e2f, air_temperature_celcius);
+					      raw.baro_pres_mbar * 1e2f, air_temperature_celsius);
+		_airspeed.air_temperature_celsius = air_temperature_celsius;
 
 		/* announce the airspeed if needed, just publish else */
 		if (_airspeed_pub > 0) {
@@ -1105,8 +1281,9 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.gyro_scale[2],
 		};
 
-		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
+		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) {
 			warn("WARNING: failed to set scale / offsets for gyro");
+		}
 
 		close(fd);
 
@@ -1120,8 +1297,9 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.accel_scale[2],
 		};
 
-		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
+		if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) {
 			warn("WARNING: failed to set scale / offsets for accel");
+		}
 
 		close(fd);
 
@@ -1135,8 +1313,9 @@ Sensors::parameter_update_poll(bool forced)
 			_parameters.mag_scale[2],
 		};
 
-		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
+		if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) {
 			warn("WARNING: failed to set scale / offsets for mag");
+		}
 
 		close(fd);
 
@@ -1150,15 +1329,17 @@ Sensors::parameter_update_poll(bool forced)
 				1.0f,
 			};
 
-			if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
+			if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 				warn("WARNING: failed to set scale / offsets for airspeed sensor");
+			}
+
 			close(fd);
 		}
 
 #if 0
-		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
-		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
-		printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
+		printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.channels[0].scaling_factor * 10000), (int)(_rc.channels[0].mid), (int)_rc.function[0]);
+		printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.channels[1].scaling_factor * 10000), (int)(_rc.channels[1].mid), (int)_rc.function[1]);
+		printf("MAN: %d %d\n", (int)(_rc.channels[0] * 100), (int)(_rc.channels[1] * 100));
 		fflush(stdout);
 		usleep(5000);
 #endif
@@ -1169,10 +1350,12 @@ void
 Sensors::adc_poll(struct sensor_combined_s &raw)
 {
 	/* only read if publishing */
-	if (!_publishing)
+	if (!_publishing) {
 		return;
+	}
 
 	hrt_abstime t = hrt_absolute_time();
+
 	/* rate limit to 100 Hz */
 	if (t - _last_adc >= 10000) {
 		/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
@@ -1197,6 +1380,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 
 					if (voltage > BATT_V_IGNORE_THRESHOLD) {
 						_battery_status.voltage_v = voltage;
+
 						/* one-time initialization of low-pass value to avoid long init delays */
 						if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) {
 							_battery_status.voltage_filtered_v = voltage;
@@ -1215,40 +1399,46 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 					/* handle current only if voltage is valid */
 					if (_battery_status.voltage_v > 0.0f) {
 						float current = (buf_adc[i].am_data * _parameters.battery_current_scaling);
+
 						/* check measured current value */
 						if (current >= 0.0f) {
 							_battery_status.timestamp = t;
 							_battery_status.current_a = current;
+
 							if (_battery_current_timestamp != 0) {
 								/* initialize discharged value */
-								if (_battery_status.discharged_mah < 0.0f)
+								if (_battery_status.discharged_mah < 0.0f) {
 									_battery_status.discharged_mah = 0.0f;
+								}
+
 								_battery_discharged += current * (t - _battery_current_timestamp);
 								_battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f;
 							}
 						}
 					}
+
 					_battery_current_timestamp = t;
 
 				} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
 
 					/* calculate airspeed, raw is the difference from */
-					float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f;  //V_ref/4096 * (voltage divider factor)
+					float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f * 2.0f;  // V_ref/4096 * (voltage divider factor)
 
 					/**
 					 * The voltage divider pulls the signal down, only act on
 					 * a valid voltage from a connected sensor. Also assume a non-
 					 * zero offset from the sensor if its connected.
 					 */
-					if (voltage > 0.4f && _parameters.diff_pres_analog_enabled) {
+					if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) {
 
-						float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor
+						float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
+						float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f;
 
 						_diff_pres.timestamp = t;
 						_diff_pres.differential_pressure_pa = diff_pres_pa;
-						_diff_pres.differential_pressure_filtered_pa = diff_pres_pa;
+						_diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw;
+						_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f);
 						_diff_pres.temperature = -1000.0f;
-						_diff_pres.voltage = voltage;
 
 						/* announce the airspeed if needed, just publish else */
 						if (_diff_pres_pub > 0) {
@@ -1260,8 +1450,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 					}
 				}
 			}
+
 			_last_adc = t;
-			if (_battery_status.voltage_v > 0.0f) {
+
+			if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
 				/* announce the battery status if needed, just publish else */
 				if (_battery_pub > 0) {
 					orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
@@ -1274,6 +1466,66 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 	}
 }
 
+float
+Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max_value)
+{
+	if (_rc.function[func] >= 0) {
+		float value = _rc.channels[_rc.function[func]];
+
+		if (value < min_value) {
+			return min_value;
+
+		} else if (value > max_value) {
+			return max_value;
+
+		} else {
+			return value;
+		}
+
+	} else {
+		return 0.0f;
+	}
+}
+
+switch_pos_t
+Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
+{
+	if (_rc.function[func] >= 0) {
+		float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
+
+		if (on_inv ? value < on_th : value > on_th) {
+			return SWITCH_POS_ON;
+
+		} else if (mid_inv ? value < mid_th : value > mid_th) {
+			return SWITCH_POS_MIDDLE;
+
+		} else {
+			return SWITCH_POS_OFF;
+		}
+
+	} else {
+		return SWITCH_POS_NONE;
+	}
+}
+
+switch_pos_t
+Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
+{
+	if (_rc.function[func] >= 0) {
+		float value = 0.5f * _rc.channels[_rc.function[func]] + 0.5f;
+
+		if (on_inv ? value < on_th : value > on_th) {
+			return SWITCH_POS_ON;
+
+		} else {
+			return SWITCH_POS_OFF;
+		}
+
+	} else {
+		return SWITCH_POS_NONE;
+	}
+}
+
 void
 Sensors::rc_poll()
 {
@@ -1282,70 +1534,58 @@ Sensors::rc_poll()
 
 	if (rc_updated) {
 		/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
-		struct rc_input_values	rc_input;
+		struct rc_input_values rc_input;
 
 		orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
 
-		if (rc_input.rc_lost)
-			return;
-
-		struct manual_control_setpoint_s manual_control;
-		struct actuator_controls_s actuator_group_3;
-
-		/* initialize to default values */
-		manual_control.roll = NAN;
-		manual_control.pitch = NAN;
-		manual_control.yaw = NAN;
-		manual_control.throttle = NAN;
-
-		manual_control.mode_switch = NAN;
-		manual_control.return_switch = NAN;
-		manual_control.assisted_switch = NAN;
-		manual_control.mission_switch = NAN;
-//		manual_control.auto_offboard_input_switch = NAN;
-
-		manual_control.flaps = NAN;
-		manual_control.aux1 = NAN;
-		manual_control.aux2 = NAN;
-		manual_control.aux3 = NAN;
-		manual_control.aux4 = NAN;
-		manual_control.aux5 = NAN;
-
-		/* require at least four channels to consider the signal valid */
-		if (rc_input.channel_count < 4)
-			return;
-
-		/* failsafe check */
-		if (_parameters.rc_fs_ch != 0) {
-			if (_parameters.rc_fs_mode == 0) {
-				if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr)
-					return;
-
-			} else if (_parameters.rc_fs_mode == 1) {
-				if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr)
-					return;
+		/* detect RC signal loss */
+		bool signal_lost;
+
+		/* check flags and require at least four channels to consider the signal valid */
+		if (rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4) {
+			/* signal is lost or no enough channels */
+			signal_lost = true;
+
+		} else {
+			/* signal looks good */
+			signal_lost = false;
+
+			/* check failsafe */
+			int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
+
+			if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
+				fs_ch = _parameters.rc_map_failsafe - 1;
+			}
+
+			if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
+				/* failsafe configured */
+				if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
+				    (_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
+					/* failsafe triggered, signal is lost by receiver */
+					signal_lost = true;
+				}
 			}
 		}
 
 		unsigned channel_limit = rc_input.channel_count;
 
-		if (channel_limit > _rc_max_chan_count)
+		if (channel_limit > _rc_max_chan_count) {
 			channel_limit = _rc_max_chan_count;
+		}
 
-		/* we are accepting this message */
-		_rc_last_valid = rc_input.timestamp_last_signal;
-
-		/* Read out values from raw message */
+		/* read out and scale values from raw message even if signal is invalid */
 		for (unsigned int i = 0; i < channel_limit; i++) {
 
 			/*
 			 * 1) Constrain to min/max values, as later processing depends on bounds.
 			 */
-			if (rc_input.values[i] < _parameters.min[i])
+			if (rc_input.values[i] < _parameters.min[i]) {
 				rc_input.values[i] = _parameters.min[i];
+			}
 
-			if (rc_input.values[i] > _parameters.max[i])
+			if (rc_input.values[i] > _parameters.max[i]) {
 				rc_input.values[i] = _parameters.max[i];
+			}
 
 			/*
 			 * 2) Scale around the mid point differently for lower and upper range.
@@ -1364,148 +1604,96 @@ Sensors::rc_poll()
 			 * DO NOT REMOVE OR ALTER STEP 1!
 			 */
 			if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
-				_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
+				_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] - _parameters.dz[i]) / (float)(_parameters.max[i] - _parameters.trim[i] - _parameters.dz[i]);
 
 			} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
-				_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
+				_rc.channels[i] = (rc_input.values[i] - _parameters.trim[i] + _parameters.dz[i]) / (float)(_parameters.trim[i] - _parameters.min[i] - _parameters.dz[i]);
 
 			} else {
 				/* in the configured dead zone, output zero */
-				_rc.chan[i].scaled = 0.0f;
+				_rc.channels[i] = 0.0f;
 			}
 
-			_rc.chan[i].scaled *= _parameters.rev[i];
+			_rc.channels[i] *= _parameters.rev[i];
 
 			/* handle any parameter-induced blowups */
-			if (!isfinite(_rc.chan[i].scaled))
-				_rc.chan[i].scaled = 0.0f;
-		}
-
-		_rc.chan_count = rc_input.channel_count;
-		_rc.timestamp = rc_input.timestamp_last_signal;
-
-		manual_control.timestamp = rc_input.timestamp_last_signal;
-
-		/* roll input - rolling right is stick-wise and rotation-wise positive */
-		manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);
-		/*
-		 * pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
-		 * so reverse sign.
-		 */
-		manual_control.pitch = limit_minus_one_to_one(-1.0f * _rc.chan[_rc.function[PITCH]].scaled);
-		/* yaw input - stick right is positive and positive rotation */
-		manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
-		/* throttle input */
-		manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
-
-		if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
-
-		if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
-
-		/* scale output */
-		if (isfinite(_parameters.rc_scale_roll) && _parameters.rc_scale_roll > 0.0f) {
-			manual_control.roll *= _parameters.rc_scale_roll;
-		}
-
-		if (isfinite(_parameters.rc_scale_pitch) && _parameters.rc_scale_pitch > 0.0f) {
-			manual_control.pitch *= _parameters.rc_scale_pitch;
-		}
-
-		if (isfinite(_parameters.rc_scale_yaw) && _parameters.rc_scale_yaw > 0.0f) {
-			manual_control.yaw *= _parameters.rc_scale_yaw;
-		}
-
-		/* flaps */
-		if (_rc.function[FLAPS] >= 0) {
-
-			manual_control.flaps = limit_minus_one_to_one(_rc.chan[_rc.function[FLAPS]].scaled);
-
-			if (isfinite(_parameters.rc_scale_flaps) && _parameters.rc_scale_flaps > 0.0f) {
-				manual_control.flaps *= _parameters.rc_scale_flaps;
+			if (!isfinite(_rc.channels[i])) {
+				_rc.channels[i] = 0.0f;
 			}
 		}
 
-		/* mode switch input */
-		if (_rc.function[MODE] >= 0) {
-			manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
-		}
-
-		/* assisted switch input */
-		if (_rc.function[ASSISTED] >= 0) {
-			manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
-		}
-
-		/* mission switch input */
-		if (_rc.function[MISSION] >= 0) {
-			manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
-		}
-
-		/* return switch input */
-		if (_rc.function[RETURN] >= 0) {
-			manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
-		}
-
-//		if (_rc.function[OFFBOARD_MODE] >= 0) {
-//			manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
-//		}
-
-		/* aux functions, only assign if valid mapping is present */
-		if (_rc.function[AUX_1] >= 0) {
-			manual_control.aux1 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_1]].scaled);
-		}
-
-		if (_rc.function[AUX_2] >= 0) {
-			manual_control.aux2 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_2]].scaled);
-		}
-
-		if (_rc.function[AUX_3] >= 0) {
-			manual_control.aux3 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_3]].scaled);
-		}
-
-		if (_rc.function[AUX_4] >= 0) {
-			manual_control.aux4 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_4]].scaled);
-		}
-
-		if (_rc.function[AUX_5] >= 0) {
-			manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
-		}
+		_rc.channel_count = rc_input.channel_count;
+		_rc.rssi = rc_input.rssi;
+		_rc.signal_lost = signal_lost;
+		_rc.timestamp = rc_input.timestamp_last_signal;
 
-		/* copy from mapped manual control to control group 3 */
-		actuator_group_3.control[0] = manual_control.roll;
-		actuator_group_3.control[1] = manual_control.pitch;
-		actuator_group_3.control[2] = manual_control.yaw;
-		actuator_group_3.control[3] = manual_control.throttle;
-		actuator_group_3.control[4] = manual_control.flaps;
-		actuator_group_3.control[5] = manual_control.aux1;
-		actuator_group_3.control[6] = manual_control.aux2;
-		actuator_group_3.control[7] = manual_control.aux3;
-
-		/* check if ready for publishing */
+		/* publish rc_channels topic even if signal is invalid, for debug */
 		if (_rc_pub > 0) {
 			orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
 
 		} else {
-			/* advertise the rc topic */
 			_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
 		}
 
-		/* check if ready for publishing */
-		if (_manual_control_pub > 0) {
-			orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
+		if (!signal_lost) {
+			struct manual_control_setpoint_s manual;
+			memset(&manual, 0 , sizeof(manual));
+
+			/* fill values in manual_control_setpoint topic only if signal is valid */
+			manual.timestamp = rc_input.timestamp_last_signal;
+
+			/* limit controls */
+			manual.y = get_rc_value(ROLL, -1.0, 1.0);
+			manual.x = get_rc_value(PITCH, -1.0, 1.0);
+			manual.r = get_rc_value(YAW, -1.0, 1.0);
+			manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
+			manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
+			manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
+			manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
+			manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
+			manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
+			manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
+
+			/* mode switches */
+			manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
+			manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
+			manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
+			manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
+			manual.acro_switch = get_rc_sw2pos_position(ACRO, _parameters.rc_acro_th, _parameters.rc_acro_inv);
+			manual.offboard_switch = get_rc_sw2pos_position(OFFBOARD, _parameters.rc_offboard_th, _parameters.rc_offboard_inv);
+
+			/* publish manual_control_setpoint topic */
+			if (_manual_control_pub > 0) {
+				orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual);
 
-		} else {
-			_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
-		}
+			} else {
+				_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
+			}
 
-		/* check if ready for publishing */
-		if (_actuator_group_3_pub > 0) {
-			orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
+			/* copy from mapped manual control to control group 3 */
+			struct actuator_controls_s actuator_group_3;
+			memset(&actuator_group_3, 0 , sizeof(actuator_group_3));
 
-		} else {
-			_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
+			actuator_group_3.timestamp = rc_input.timestamp_last_signal;
+
+			actuator_group_3.control[0] = manual.y;
+			actuator_group_3.control[1] = manual.x;
+			actuator_group_3.control[2] = manual.r;
+			actuator_group_3.control[3] = manual.z;
+			actuator_group_3.control[4] = manual.flaps;
+			actuator_group_3.control[5] = manual.aux1;
+			actuator_group_3.control[6] = manual.aux2;
+			actuator_group_3.control[7] = manual.aux3;
+
+			/* publish actuator_controls_3 topic */
+			if (_actuator_group_3_pub > 0) {
+				orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
+
+			} else {
+				_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
+			}
 		}
 	}
-
 }
 
 void
@@ -1528,11 +1716,17 @@ Sensors::task_main()
 	/*
 	 * do subscriptions
 	 */
-	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
-	_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
-	_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
+	_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro0));
+	_accel_sub = orb_subscribe(ORB_ID(sensor_accel0));
+	_mag_sub = orb_subscribe(ORB_ID(sensor_mag0));
+	_gyro1_sub = orb_subscribe(ORB_ID(sensor_gyro1));
+	_accel1_sub = orb_subscribe(ORB_ID(sensor_accel1));
+	_mag1_sub = orb_subscribe(ORB_ID(sensor_mag1));
+	_gyro2_sub = orb_subscribe(ORB_ID(sensor_gyro2));
+	_accel2_sub = orb_subscribe(ORB_ID(sensor_accel2));
+	_mag2_sub = orb_subscribe(ORB_ID(sensor_mag2));
 	_rc_sub = orb_subscribe(ORB_ID(input_rc));
-	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -1582,12 +1776,10 @@ Sensors::task_main()
 
 	while (!_task_should_exit) {
 
-		/* wait for up to 100ms for data */
-		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
+		/* wait for up to 50ms for data */
+		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
 
-		/* timed out - periodic check for _task_should_exit, etc. */
-		if (pret == 0)
-			continue;
+		/* if pret == 0 it timed out - periodic check for _task_should_exit, etc. */
 
 		/* this is undesirable but not much we can do - might want to flag unhappy status */
 		if (pret < 0) {
@@ -1617,8 +1809,9 @@ Sensors::task_main()
 		diff_pres_poll(raw);
 
 		/* Inform other processes that new data is available to copy */
-		if (_publishing)
+		if (_publishing) {
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
+		}
 
 		/* Look for new r/c input data */
 		rc_poll();
@@ -1626,7 +1819,7 @@ Sensors::task_main()
 		perf_end(_loop_perf);
 	}
 
-	printf("[sensors] exiting.\n");
+	warnx("[sensors] exiting.");
 
 	_sensors_task = -1;
 	_exit(0);
@@ -1641,7 +1834,7 @@ Sensors::start()
 	_sensors_task = task_spawn_cmd("sensors_task",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&Sensors::task_main_trampoline,
 				       nullptr);
 
@@ -1655,18 +1848,21 @@ Sensors::start()
 
 int sensors_main(int argc, char *argv[])
 {
-	if (argc < 1)
+	if (argc < 1) {
 		errx(1, "usage: sensors {start|stop|status}");
+	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (sensors::g_sensors != nullptr)
+		if (sensors::g_sensors != nullptr) {
 			errx(0, "already running");
+		}
 
 		sensors::g_sensors = new Sensors;
 
-		if (sensors::g_sensors == nullptr)
+		if (sensors::g_sensors == nullptr) {
 			errx(1, "alloc failed");
+		}
 
 		if (OK != sensors::g_sensors->start()) {
 			delete sensors::g_sensors;
@@ -1678,8 +1874,9 @@ int sensors_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		if (sensors::g_sensors == nullptr)
+		if (sensors::g_sensors == nullptr) {
 			errx(1, "not running");
+		}
 
 		delete sensors::g_sensors;
 		sensors::g_sensors = nullptr;
@@ -1698,4 +1895,3 @@ int sensors_main(int argc, char *argv[])
 	warnx("unrecognized command");
 	return 1;
 }
-
diff --git a/src/modules/systemlib/board_serial.c b/src/modules/systemlib/board_serial.c
index ad8c2bf83..182fd15c6 100644
--- a/src/modules/systemlib/board_serial.c
+++ b/src/modules/systemlib/board_serial.c
@@ -44,11 +44,11 @@
 #include "board_config.h"
 #include "board_serial.h"
 
-int get_board_serial(char *serialid)
+int get_board_serial(uint8_t *serialid)
 {
-	const volatile unsigned *udid_ptr = (const unsigned *)UDID_START;
+	const volatile uint32_t *udid_ptr = (const uint32_t *)UDID_START;
 	union udid id;
-	val_read((unsigned *)&id, udid_ptr, sizeof(id));
+	val_read((uint32_t *)&id, udid_ptr, sizeof(id));
 
 
 	/* Copy the serial from the chips non-write memory and swap endianess */
@@ -57,4 +57,4 @@ int get_board_serial(char *serialid)
 	serialid[8] = id.data[11];   serialid[9] = id.data[10];  serialid[10] = id.data[9];  serialid[11] = id.data[8];
 
 	return 0;
-}
\ No newline at end of file
+}
diff --git a/src/modules/systemlib/board_serial.h b/src/modules/systemlib/board_serial.h
index b14bb4376..873d9657b 100644
--- a/src/modules/systemlib/board_serial.h
+++ b/src/modules/systemlib/board_serial.h
@@ -44,6 +44,6 @@
 
 __BEGIN_DECLS
 
-__EXPORT int get_board_serial(char *serialid);
+__EXPORT int get_board_serial(uint8_t *serialid);
 
 __END_DECLS
diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c
new file mode 100644
index 000000000..64317a18a
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.c
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file circuit_breaker.c
+ *
+ * Circuit breaker parameters.
+ * Analog to real aviation circuit breakers these parameters
+ * allow to disable subsystems. They are not supported as standard
+ * operation procedure and are only provided for development purposes.
+ * To ensure they are not activated accidentally, the associated
+ * parameter needs to set to the key (magic).
+ */
+
+#include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
+
+/**
+ * Circuit breaker for power supply check
+ *
+ * Setting this parameter to 894281 will disable the power valid
+ * checks in the commander.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 894281
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
+
+/**
+ * Circuit breaker for rate controller output
+ *
+ * Setting this parameter to 140253 will disable the rate
+ * controller uORB publication.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 140253
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_RATE_CTRL, 0);
+
+/**
+ * Circuit breaker for IO safety
+ *
+ * Setting this parameter to 894281 will disable IO safety.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 22027
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0);
+
+/**
+ * Circuit breaker for airspeed sensor
+ *
+ * Setting this parameter to 162128 will disable the check for an airspeed sensor.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @min 0
+ * @max 162128
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
+
+bool circuit_breaker_enabled(const char* breaker, int32_t magic)
+{
+	int32_t val;
+	(void)param_get(param_find(breaker), &val);
+
+	return (val == magic);
+}
+
diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h
new file mode 100644
index 000000000..b60584608
--- /dev/null
+++ b/src/modules/systemlib/circuit_breaker.h
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file circuit_breaker.h
+ *
+ * Circuit breaker functionality.
+ */
+
+#ifndef CIRCUIT_BREAKER_H_
+#define CIRCUIT_BREAKER_H_
+
+/* SAFETY WARNING  --  SAFETY WARNING  --  SAFETY WARNING
+ *
+ * OBEY THE DOCUMENTATION FOR ALL CIRCUIT BREAKERS HERE,
+ * ENSURE TO READ CAREFULLY ALL SAFETY WARNINGS.
+ * http://pixhawk.org/dev/circuit_breakers
+ *
+ * CIRCUIT BREAKERS ARE NOT PART OF THE STANDARD OPERATION PROCEDURE
+ * AND MAY DISABLE CHECKS THAT ARE VITAL FOR SAFE FLIGHT.
+ */
+#define CBRK_SUPPLY_CHK_KEY	894281
+#define CBRK_RATE_CTRL_KEY	140253
+#define CBRK_IO_SAFETY_KEY	22027
+#define CBRK_AIRSPD_CHK_KEY	162128
+
+#include <stdbool.h>
+
+__BEGIN_DECLS
+
+__EXPORT bool circuit_breaker_enabled(const char* breaker, int32_t magic);
+
+__END_DECLS
+
+#endif /* CIRCUIT_BREAKER_H_ */
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index ccc516f39..7aa2f3a5f 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -67,7 +67,7 @@ __EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pT
 
 __EXPORT struct system_load_s system_load;
 
-extern FAR struct _TCB *sched_gettcb(pid_t pid);
+extern FAR struct tcb_s *sched_gettcb(pid_t pid);
 
 void cpuload_initialize_once()
 {
diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c
index 6c0e876d1..998b5ac7d 100644
--- a/src/modules/systemlib/err.c
+++ b/src/modules/systemlib/err.c
@@ -86,7 +86,7 @@ warnerr_core(int errcode, const char *fmt, va_list args)
 	fprintf(stderr, "\n");
 #elif CONFIG_ARCH_LOWPUTC
 	lowsyslog("%s: ", getprogname());
-	lowvyslog(fmt, args);
+	lowvsyslog(fmt, args);
 
 	/* convenience as many parts of NuttX use negative errno */
 	if (errcode < 0)
diff --git a/src/modules/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c
index 8e9c2bfcf..52ae77de5 100644
--- a/src/modules/systemlib/hx_stream.c
+++ b/src/modules/systemlib/hx_stream.c
@@ -63,7 +63,7 @@ struct hx_stream {
 	/* TX state */
 	int			fd;
 	bool			tx_error;
-	uint8_t			*tx_buf;
+	const uint8_t		*tx_buf;
 	unsigned		tx_resid;
 	uint32_t		tx_crc;
 	enum {
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index 1c889a811..cdf60febc 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -231,6 +231,10 @@ protected:
 	static const char *		skipline(const char *buf, unsigned &buflen);
 
 private:
+
+	/* do not allow to copy due to prt data members */
+	Mixer(const Mixer&);
+	Mixer& operator=(const Mixer&);
 };
 
 /**
@@ -307,6 +311,10 @@ public:
 
 private:
 	Mixer				*_first;	/**< linked list of mixers */
+
+	/* do not allow to copy due to pointer data members */
+	MixerGroup(const MixerGroup&);
+	MixerGroup operator=(const MixerGroup&);
 };
 
 /**
@@ -424,6 +432,10 @@ private:
 			mixer_scaler_s &scaler,
 			uint8_t &control_group,
 			uint8_t &control_index);
+
+	/* do not allow to copy due to ptr data members */
+	SimpleMixer(const SimpleMixer&);
+	SimpleMixer operator=(const SimpleMixer&);
 };
 
 /**
@@ -447,6 +459,7 @@ public:
 		QUAD_WIDE,	/**< quad in wide configuration */
 		HEX_X,		/**< hex in X configuration */
 		HEX_PLUS,	/**< hex in + configuration */
+		HEX_COX,
 		OCTA_X,
 		OCTA_PLUS,
 		OCTA_COX,
@@ -516,11 +529,14 @@ private:
 	float				_roll_scale;
 	float				_pitch_scale;
 	float				_yaw_scale;
-	float				_deadband;
+	float				_idle_speed;
 
 	unsigned			_rotor_count;
 	const Rotor			*_rotors;
 
+	/* do not allow to copy due to ptr data members */
+	MultirotorMixer(const MultirotorMixer&);
+	MultirotorMixer operator=(const MultirotorMixer&);
 };
 
 #endif
diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c
index b05273c0d..bf3428a50 100644
--- a/src/modules/systemlib/mixer/mixer_load.c
+++ b/src/modules/systemlib/mixer/mixer_load.c
@@ -41,6 +41,7 @@
 #include <string.h>
 #include <stdio.h>
 #include <ctype.h>
+#include <systemlib/err.h>
 
 #include "mixer_load.h"
 
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index bf77795d5..4b22a46d0 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -67,6 +67,11 @@
 namespace
 {
 
+float constrain(float val, float min, float max)
+{
+	return (val < min) ? min : ((val > max) ? max : val);
+}
+
 /*
  * These tables automatically generated by multi_tables - do not edit.
  */
@@ -110,6 +115,14 @@ const MultirotorMixer::Rotor _config_hex_plus[] = {
 	{  0.866025,  0.500000,  1.00 },
 	{ -0.866025, -0.500000, -1.00 },
 };
+const MultirotorMixer::Rotor _config_hex_cox[] = {
+	{ -0.866025,  0.500000, -1.00 },
+	{ -0.866025,  0.500000,  1.00 },
+	{ -0.000000, -1.000000, -1.00 },
+	{ -0.000000, -1.000000,  1.00 },
+	{  0.866025,  0.500000, -1.00 },
+	{  0.866025,  0.500000,  1.00 },
+};
 const MultirotorMixer::Rotor _config_octa_x[] = {
 	{ -0.382683,  0.923880, -1.00 },
 	{  0.382683, -0.923880, -1.00 },
@@ -147,6 +160,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::MAX_GEOMETRY] = {
 	&_config_quad_wide[0],
 	&_config_hex_x[0],
 	&_config_hex_plus[0],
+	&_config_hex_cox[0],
 	&_config_octa_x[0],
 	&_config_octa_plus[0],
 	&_config_octa_cox[0],
@@ -158,6 +172,7 @@ const unsigned _config_rotor_count[MultirotorMixer::MAX_GEOMETRY] = {
 	4, /* quad_wide */
 	6, /* hex_x */
 	6, /* hex_plus */
+	6, /* hex_cox */
 	8, /* octa_x */
 	8, /* octa_plus */
 	8, /* octa_cox */
@@ -171,12 +186,12 @@ MultirotorMixer::MultirotorMixer(ControlCallback control_cb,
 				 float roll_scale,
 				 float pitch_scale,
 				 float yaw_scale,
-				 float deadband) :
+				 float idle_speed) :
 	Mixer(control_cb, cb_handle),
 	_roll_scale(roll_scale),
 	_pitch_scale(pitch_scale),
 	_yaw_scale(yaw_scale),
-	_deadband(-1.0f + deadband),	/* shift to output range here to avoid runtime calculation */
+	_idle_speed(-1.0f + idle_speed * 2.0f),	/* shift to output range here to avoid runtime calculation */
 	_rotor_count(_config_rotor_count[geometry]),
 	_rotors(_config_index[geometry])
 {
@@ -193,7 +208,6 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	char geomname[8];
 	int s[4];
 	int used;
-	const char *end = buf + buflen;
 
 	/* enforce that the mixer ends with space or a new line */
 	for (int i = buflen - 1; i >= 0; i--) {
@@ -247,6 +261,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	} else if (!strcmp(geomname, "6x")) {
 		geometry = MultirotorMixer::HEX_X;
 
+	} else if (!strcmp(geomname, "6c")) {
+		geometry = MultirotorMixer::HEX_COX;
+
 	} else if (!strcmp(geomname, "8+")) {
 		geometry = MultirotorMixer::OCTA_PLUS;
 
@@ -276,67 +293,66 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 unsigned
 MultirotorMixer::mix(float *outputs, unsigned space)
 {
-	float		roll    = get_control(0, 0) * _roll_scale;
+	float		roll    = constrain(get_control(0, 0) * _roll_scale, -1.0f, 1.0f);
 	//lowsyslog("roll: %d, get_control0: %d, %d\n", (int)(roll), (int)(get_control(0, 0)), (int)(_roll_scale));
-	float		pitch   = get_control(0, 1) * _pitch_scale;
-	float		yaw     = get_control(0, 2) * _yaw_scale;
-	float		thrust  = get_control(0, 3);
+	float		pitch   = constrain(get_control(0, 1) * _pitch_scale, -1.0f, 1.0f);
+	float		yaw     = constrain(get_control(0, 2) * _yaw_scale, -1.0f, 1.0f);
+	float		thrust  = constrain(get_control(0, 3), 0.0f, 1.0f);
 	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
-	float		max     = 0.0f;
-	float		fixup_scale;
+	float		min_out = 0.0f;
+	float		max_out = 0.0f;
 
-	/* use an output factor to prevent too strong control signals at low throttle */
-	float min_thrust = 0.05f;
-	float max_thrust = 1.0f;
-	float startpoint_full_control = 0.40f;
-	float output_factor;
+	/* perform initial mix pass yielding unbounded outputs, ignore yaw */
+	for (unsigned i = 0; i < _rotor_count; i++) {
+		float out = roll * _rotors[i].roll_scale +
+			    pitch * _rotors[i].pitch_scale +
+			    thrust;
 
-	/* keep roll, pitch and yaw control to 0 below min thrust */
-	if (thrust <= min_thrust) {
-		output_factor = 0.0f;
-		/* linearly increase the output factor from 0 to 1 between min_thrust and startpoint_full_control */
+		/* limit yaw if it causes outputs clipping */
+		if (out >= 0.0f && out < -yaw * _rotors[i].yaw_scale) {
+			yaw = -out / _rotors[i].yaw_scale;
+		}
 
-	} else if (thrust < startpoint_full_control && thrust > min_thrust) {
-		output_factor = (thrust / max_thrust) / (startpoint_full_control - min_thrust);
-		/* and then stay at full control */
+		/* calculate min and max output values */
+		if (out < min_out) {
+			min_out = out;
+		}
+		if (out > max_out) {
+			max_out = out;
+		}
 
-	} else {
-		output_factor = max_thrust;
+		outputs[i] = out;
 	}
 
-	roll *= output_factor;
-	pitch *= output_factor;
-	yaw *= output_factor;
-
-
-	/* perform initial mix pass yielding un-bounded outputs */
-	for (unsigned i = 0; i < _rotor_count; i++) {
-		float tmp = roll  * _rotors[i].roll_scale +
-			    pitch * _rotors[i].pitch_scale +
-			    yaw   * _rotors[i].yaw_scale +
-			    thrust;
+	/* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */
+	if (min_out < 0.0f) {
+		float scale_in = thrust / (thrust - min_out);
 
-		if (tmp > max)
-			max = tmp;
+		/* mix again with adjusted controls */
+		for (unsigned i = 0; i < _rotor_count; i++) {
+			outputs[i] = scale_in * (roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) + thrust;
+		}
 
-		outputs[i] = tmp;
+	} else {
+		/* roll/pitch mixed without limiting, add yaw control */
+		for (unsigned i = 0; i < _rotor_count; i++) {
+			outputs[i] += yaw * _rotors[i].yaw_scale;
+		}
 	}
 
-	/* scale values into the -1.0 - 1.0 range */
-	if (max > 1.0f) {
-		fixup_scale = 2.0f / max;
+	/* scale down all outputs if some outputs are too large, reduce total thrust */
+	float scale_out;
+	if (max_out > 1.0f) {
+		scale_out = 1.0f / max_out;
 
 	} else {
-		fixup_scale = 2.0f;
+		scale_out = 1.0f;
 	}
 
-	for (unsigned i = 0; i < _rotor_count; i++)
-		outputs[i] = -1.0f + (outputs[i] * fixup_scale);
-
-	/* ensure outputs are out of the deadband */
-	for (unsigned i = 0; i < _rotor_count; i++)
-		if (outputs[i] < _deadband)
-			outputs[i] = _deadband;
+	/* scale outputs to range _idle_speed..1, and do final limiting */
+	for (unsigned i = 0; i < _rotor_count; i++) {
+		outputs[i] = constrain(_idle_speed + (outputs[i] * (1.0f - _idle_speed) * scale_out), _idle_speed, 1.0f);
+	}
 
 	return _rotor_count;
 }
diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables
index 050bf2f47..b5698036e 100755
--- a/src/modules/systemlib/mixer/multi_tables
+++ b/src/modules/systemlib/mixer/multi_tables
@@ -52,6 +52,15 @@ set hex_plus {
 	 120 CW
 }
 
+set hex_cox {
+	  60 CW
+	  60 CCW
+	 180 CW
+	 180 CCW
+	 -60 CW
+	 -60 CCW
+}
+
 set octa_x {
 	  22.5 CW
 	-157.5 CW
@@ -85,7 +94,7 @@ set octa_cox {
 	-135 CW
 }
 
-set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus octa_cox}
+set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus hex_cox octa_x octa_plus octa_cox}
 
 proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}
 
@@ -104,13 +113,13 @@ foreach table $tables {
 	puts "};"
 }
 
-puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
+puts "const MultirotorMixer::Rotor *_config_index\[MultirotorMixer::MAX_GEOMETRY\] = {"
 foreach table $tables {
 	puts [format "\t&_config_%s\[0\]," $table]
 }
 puts "};"
 
-puts "const unsigned _config_rotor_count\[MultirotorMixer::Geometry::MAX_GEOMETRY\] = {"
+puts "const unsigned _config_rotor_count\[MultirotorMixer::MAX_GEOMETRY\] = {"
 foreach table $tables {
 	upvar #0 $table angles
 	puts [format "\t%u, /* %s */" [expr [llength $angles] / 2] $table]
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index 3953b757d..147903aa0 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -52,5 +52,6 @@ SRCS		 = err.c \
 		   rc_check.c \
 		   otp.c \
 		   board_serial.c \
-		   pwm_limit/pwm_limit.c
+		   pwm_limit/pwm_limit.c \
+		   circuit_breaker.c
 
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
index 695574fdc..0548a9f7d 100644
--- a/src/modules/systemlib/otp.c
+++ b/src/modules/systemlib/otp.c
@@ -133,7 +133,7 @@ int lock_otp(void)
 
 
 // COMPLETE, BUSY, or other flash error?
-int F_GetStatus(void)
+static int F_GetStatus(void)
 {
 	int fs = F_COMPLETE;
 
diff --git a/src/modules/systemlib/otp.h b/src/modules/systemlib/otp.h
index f10e129d8..273b064f0 100644
--- a/src/modules/systemlib/otp.h
+++ b/src/modules/systemlib/otp.h
@@ -125,7 +125,7 @@ struct otp_lock {
 #pragma pack(push, 1)
 union udid {
 	uint32_t	serial[3];
-	char  data[12];
+	uint8_t  data[12];
 };
 #pragma pack(pop)
 
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 2d773fd25..e44e6cdb0 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -96,8 +96,6 @@ ORB_DEFINE(parameter_update, struct parameter_update_s);
 /** parameter update topic handle */
 static orb_advert_t param_topic = -1;
 
-static sem_t param_sem = { .semcount = 1 };
-
 /** lock the parameter store */
 static void
 param_lock(void)
@@ -521,73 +519,15 @@ param_save_default(void)
 		return ERROR;
 	}
 
-	if (res == OK) {
-		res = param_export(fd, false);
+	res = param_export(fd, false);
 
-	        if (res != OK) {
-	            warnx("failed to write parameters to file: %s", filename);
-	        }
+	if (res != OK) {
+		warnx("failed to write parameters to file: %s", filename);
 	}
 
 	close(fd);
 
 	return res;
-
-#if 0
-	const char *filename_tmp = malloc(strlen(filename) + 5);
-	sprintf(filename_tmp, "%s.tmp", filename);
-
-	/* delete temp file if exist */
-	res = unlink(filename_tmp);
-
-	if (res != OK && errno == ENOENT)
-		res = OK;
-
-	if (res != OK)
-		warn("failed to delete temp file: %s", filename_tmp);
-
-	if (res == OK) {
-		/* write parameters to temp file */
-		fd = open(filename_tmp, O_WRONLY | O_CREAT | O_EXCL);
-
-		if (fd < 0) {
-			warn("failed to open temp file: %s", filename_tmp);
-			res = ERROR;
-		}
-
-		if (res == OK) {
-			res = param_export(fd, false);
-
-			if (res != OK)
-				warnx("failed to write parameters to file: %s", filename_tmp);
-		}
-
-		close(fd);
-	}
-
-	if (res == OK) {
-		/* delete parameters file */
-		res = unlink(filename);
-
-		if (res != OK && errno == ENOENT)
-			res = OK;
-
-		if (res != OK)
-			warn("failed to delete parameters file: %s", filename);
-	}
-
-	if (res == OK) {
-		/* rename temp file to parameters */
-		res = rename(filename_tmp, filename);
-
-		if (res != OK)
-			warn("failed to rename %s to %s", filename_tmp, filename);
-	}
-
-	free(filename_tmp);
-
-	return res;
-#endif
 }
 
 /**
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index b4ca0ed3e..d6d8284d2 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -282,12 +282,18 @@ perf_reset(perf_counter_t handle)
 void
 perf_print_counter(perf_counter_t handle)
 {
+	perf_print_counter_fd(0, handle);
+}
+
+void
+perf_print_counter_fd(int fd, perf_counter_t handle)
+{
 	if (handle == NULL)
 		return;
 
 	switch (handle->type) {
 	case PC_COUNT:
-		printf("%s: %llu events\n",
+		dprintf(fd, "%s: %llu events\n",
 		       handle->name,
 		       ((struct perf_ctr_count *)handle)->event_count);
 		break;
@@ -295,7 +301,7 @@ perf_print_counter(perf_counter_t handle)
 	case PC_ELAPSED: {
 		struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
 
-		printf("%s: %llu events, %lluus elapsed, %llu avg, min %lluus max %lluus\n",
+		dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus\n",
 		       handle->name,
 		       pce->event_count,
 		       pce->time_total,
@@ -308,7 +314,7 @@ perf_print_counter(perf_counter_t handle)
 	case PC_INTERVAL: {
 		struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
 
-		printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
+		dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus\n",
 		       handle->name,
 		       pci->event_count,
 		       (pci->time_last - pci->time_first) / pci->event_count,
@@ -349,12 +355,12 @@ perf_event_count(perf_counter_t handle)
 }
 
 void
-perf_print_all(void)
+perf_print_all(int fd)
 {
 	perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
 
 	while (handle != NULL) {
-		perf_print_counter(handle);
+		perf_print_counter_fd(fd, handle);
 		handle = (perf_counter_t)sq_next(&handle->link);
 	}
 }
diff --git a/src/modules/systemlib/perf_counter.h b/src/modules/systemlib/perf_counter.h
index d8f69fdbf..668d9dfdf 100644
--- a/src/modules/systemlib/perf_counter.h
+++ b/src/modules/systemlib/perf_counter.h
@@ -75,7 +75,7 @@ __EXPORT extern void		perf_free(perf_counter_t handle);
 /**
  * Count a performance event.
  *
- * This call only affects counters that take single events; PC_COUNT etc.
+ * This call only affects counters that take single events; PC_COUNT, PC_INTERVAL etc.
  *
  * @param handle		The handle returned from perf_alloc.
  */
@@ -121,16 +121,26 @@ __EXPORT extern void		perf_cancel(perf_counter_t handle);
 __EXPORT extern void		perf_reset(perf_counter_t handle);
 
 /**
- * Print one performance counter.
+ * Print one performance counter to stdout
  *
  * @param handle		The counter to print.
  */
 __EXPORT extern void		perf_print_counter(perf_counter_t handle);
 
 /**
+ * Print one performance counter to a fd.
+ *
+ * @param fd			File descriptor to print to - e.g. 0 for stdout
+ * @param handle		The counter to print.
+ */
+__EXPORT extern void		perf_print_counter_fd(int fd, perf_counter_t handle);
+
+/**
  * Print all of the performance counters.
+ *
+ * @param fd			File descriptor to print to - e.g. 0 for stdout
  */
-__EXPORT extern void		perf_print_all(void);
+__EXPORT extern void		perf_print_all(int fd);
 
 /**
  * Reset all of the performance counters.
diff --git a/src/modules/systemlib/pid/pid.c b/src/modules/systemlib/pid/pid.c
index 6a4e9392a..45f218a5b 100644
--- a/src/modules/systemlib/pid/pid.c
+++ b/src/modules/systemlib/pid/pid.c
@@ -53,7 +53,7 @@
 
 #define SIGMA 0.000001f
 
-__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min)
+__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min)
 {
 	pid->mode = mode;
 	pid->dt_min = dt_min;
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
index 190b315f1..c733a53d7 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -97,7 +97,6 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 	}
 
 	unsigned progress;
-	uint16_t temp_pwm;
 
 	/* then set effective_pwm based on state */
 	switch (limit->state) {
@@ -136,12 +135,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 					}
 
 					effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
+
+					/* last line of defense against invalid inputs */
+					if (effective_pwm[i] < ramp_min_pwm) {
+						effective_pwm[i] = ramp_min_pwm;
+					} else if (effective_pwm[i] > max_pwm[i]) {
+						effective_pwm[i] = max_pwm[i];
+					}
 				}
 			}
 			break;
 		case PWM_LIMIT_STATE_ON:
 			for (unsigned i=0; i<num_channels; i++) {
 				effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
+
+				/* last line of defense against invalid inputs */
+				if (effective_pwm[i] < min_pwm[i]) {
+					effective_pwm[i] = min_pwm[i];
+				} else if (effective_pwm[i] > max_pwm[i]) {
+					effective_pwm[i] = max_pwm[i];
+				}
 			}
 			break;
 		default:
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index 21e15ec56..b35b333af 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -42,6 +42,7 @@
 #include <stdio.h>
 #include <fcntl.h>
 
+#include <systemlib/err.h>
 #include <systemlib/rc_check.h>
 #include <systemlib/param/param.h>
 #include <mavlink/mavlink_log.h>
@@ -98,32 +99,32 @@ int rc_calibration_check(int mavlink_fd) {
 		/* assert min..center..max ordering */
 		if (param_min < 500) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MIN < 500", i+1);
+			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MIN < 500", i+1);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
 		if (param_max > 2500) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_MAX > 2500", i+1);
+			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_MAX > 2500", i+1);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
 		if (param_trim < param_min) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min);
+			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM < MIN (%d/%d)", i+1, (int)param_trim, (int)param_min);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
 		if (param_trim > param_max) {
 			count++;
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max);
+			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_TRIM > MAX (%d/%d)", i+1, (int)param_trim, (int)param_max);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 		}
 
 		/* assert deadzone is sane */
 		if (param_dz > 500) {
-			mavlink_log_critical(mavlink_fd, "ERR: RC_%d_DZ > 500", i+1);
+			mavlink_log_critical(mavlink_fd, "#audio ERR: RC_%d_DZ > 500", i+1);
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
 			count++;
@@ -139,8 +140,8 @@ int rc_calibration_check(int mavlink_fd) {
 
 		/* sanity checks pass, enable channel */
 		if (count) {
-			mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
-			warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
+			mavlink_log_critical(mavlink_fd, "#audio ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
+			warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
 			usleep(100000);
 		}
 
diff --git a/src/modules/systemlib/state_table.h b/src/modules/systemlib/state_table.h
index f2709d29f..e6011fdef 100644
--- a/src/modules/systemlib/state_table.h
+++ b/src/modules/systemlib/state_table.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,8 +33,9 @@
 
 /**
  * @file state_table.h
- * 
+ *
  * Finite-State-Machine helper class for state table
+ * @author: Julian Oes <julian@oes.ch>
  */
 
 #ifndef __SYSTEMLIB_STATE_TABLE_H
@@ -48,22 +49,28 @@ public:
 		Action action;
 		unsigned nextState;
 	};
-	
+
 	StateTable(Tran const *table, unsigned nStates, unsigned nSignals)
 	: myTable(table), myNsignals(nSignals), myNstates(nStates) {}
-	
+
 	#define NO_ACTION &StateTable::doNothing
-	#define ACTION(_target) static_cast<StateTable::Action>(_target)
+	#define ACTION(_target) StateTable::Action(_target)
 
 	virtual ~StateTable() {}
-	
+
 	void dispatch(unsigned const sig) {
-		register Tran const *t = myTable + myState*myNsignals + sig;
-		(this->*(t->action))();
+		/* get transition using state table */
+		Tran const *t = myTable + myState*myNsignals + sig;
 
+		/* accept new state */
 		myState = t->nextState;
+
+		/*  */
+		(this->*(t->action))();
+	}
+	void doNothing() {
+		return;
 	}
-	void doNothing() {}
 protected:
 	unsigned myState;
 private:
@@ -72,4 +79,4 @@ private:
 	unsigned myNstates;
 };
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index ec2bc3a9a..702e435ac 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -62,12 +62,23 @@ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);
 PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
 
 /**
- * Set usage of IO board
- *
- * Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
- *
- * @min 0
- * @max 1
- * @group System
- */
+* Set usage of IO board
+*
+* Can be used to use a standard startup script but with a FMU only set-up. Set to 0 to force the FMU only set-up.
+*
+* @min 0
+* @max 1
+* @group System
+*/
 PARAM_DEFINE_INT32(SYS_USE_IO, 1);
+
+/**
+* Set restart type
+*
+* Set by px4io to indicate type of restart
+*
+* @min 0
+* @max 2
+* @group System
+*/
+PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 57a751e1c..90d8dd77c 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -54,6 +54,9 @@
 
 #include "systemlib.h"
 
+// Didn't seem right to include up_internal.h, so direct extern instead.
+extern void up_systemreset(void) noreturn_function;
+
 void
 systemreset(bool to_bootloader)
 {
@@ -64,6 +67,9 @@ systemreset(bool to_bootloader)
 		*(uint32_t *)0x40002850 = 0xb007b007;
 	}
 	up_systemreset();
+
+	/* lock up here */
+	while(true);
 }
 
 static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
diff --git a/src/modules/uORB/Publication.cpp b/src/modules/uORB/Publication.cpp
index 5a5981617..cd0b30dd6 100644
--- a/src/modules/uORB/Publication.cpp
+++ b/src/modules/uORB/Publication.cpp
@@ -47,6 +47,7 @@
 #include "topics/vehicle_rates_setpoint.h"
 #include "topics/actuator_outputs.h"
 #include "topics/encoders.h"
+#include "topics/tecs_status.h"
 
 namespace uORB {
 
@@ -76,5 +77,6 @@ template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
 template class __EXPORT Publication<vehicle_rates_setpoint_s>;
 template class __EXPORT Publication<actuator_outputs_s>;
 template class __EXPORT Publication<encoders_s>;
+template class __EXPORT Publication<tecs_status_s>;
 
 }
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index c1d1a938f..44b6debc7 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -40,6 +40,7 @@
 #include "topics/parameter_update.h"
 #include "topics/actuator_controls.h"
 #include "topics/vehicle_gps_position.h"
+#include "topics/satellite_info.h"
 #include "topics/sensor_combined.h"
 #include "topics/vehicle_attitude.h"
 #include "topics/vehicle_global_position.h"
@@ -88,6 +89,7 @@ T Subscription<T>::getData() {
 template class __EXPORT Subscription<parameter_update_s>;
 template class __EXPORT Subscription<actuator_controls_s>;
 template class __EXPORT Subscription<vehicle_gps_position_s>;
+template class __EXPORT Subscription<satellite_info_s>;
 template class __EXPORT Subscription<sensor_combined_s>;
 template class __EXPORT Subscription<vehicle_attitude_s>;
 template class __EXPORT Subscription<vehicle_global_position_s>;
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 4b31cc8a4..08c3ce1ac 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -46,16 +46,23 @@
 #include <drivers/drv_orb_dev.h>
 
 #include <drivers/drv_mag.h>
-ORB_DEFINE(sensor_mag, struct mag_report);
+ORB_DEFINE(sensor_mag0, struct mag_report);
+ORB_DEFINE(sensor_mag1, struct mag_report);
+ORB_DEFINE(sensor_mag2, struct mag_report);
 
 #include <drivers/drv_accel.h>
-ORB_DEFINE(sensor_accel, struct accel_report);
+ORB_DEFINE(sensor_accel0, struct accel_report);
+ORB_DEFINE(sensor_accel1, struct accel_report);
+ORB_DEFINE(sensor_accel2, struct accel_report);
 
 #include <drivers/drv_gyro.h>
-ORB_DEFINE(sensor_gyro, struct gyro_report);
+ORB_DEFINE(sensor_gyro0, struct gyro_report);
+ORB_DEFINE(sensor_gyro1, struct gyro_report);
+ORB_DEFINE(sensor_gyro2, struct gyro_report);
 
 #include <drivers/drv_baro.h>
-ORB_DEFINE(sensor_baro, struct baro_report);
+ORB_DEFINE(sensor_baro0, struct baro_report);
+ORB_DEFINE(sensor_baro1, struct baro_report);
 
 #include <drivers/drv_range_finder.h>
 ORB_DEFINE(sensor_range_finder, struct range_finder_report);
@@ -75,6 +82,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
 #include "topics/vehicle_gps_position.h"
 ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
 
+#include "topics/satellite_info.h"
+ORB_DEFINE(satellite_info, struct satellite_info_s);
+
 #include "topics/home_position.h"
 ORB_DEFINE(home_position, struct home_position_s);
 
@@ -90,6 +100,9 @@ ORB_DEFINE(battery_status, struct battery_status_s);
 #include "topics/servorail_status.h"
 ORB_DEFINE(servorail_status, struct servorail_status_s);
 
+#include "topics/system_power.h"
+ORB_DEFINE(system_power, struct system_power_s);
+
 #include "topics/vehicle_global_position.h"
 ORB_DEFINE(vehicle_global_position, struct vehicle_global_position_s);
 
@@ -124,7 +137,7 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
 ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
 
 #include "topics/mission.h"
-ORB_DEFINE(mission, struct mission_s);
+ORB_DEFINE(offboard_mission, struct mission_s);
 ORB_DEFINE(onboard_mission, struct mission_s);
 
 #include "topics/mission_result.h"
@@ -180,7 +193,10 @@ ORB_DEFINE(actuator_outputs_2, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
 
 #include "topics/telemetry_status.h"
-ORB_DEFINE(telemetry_status, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_0, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_1, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_2, struct telemetry_status_s);
+ORB_DEFINE(telemetry_status_3, struct telemetry_status_s);
 
 #include "topics/debug_key_value.h"
 ORB_DEFINE(debug_key_value, struct debug_key_value_s);
@@ -196,3 +212,12 @@ ORB_DEFINE(encoders, struct encoders_s);
 
 #include "topics/estimator_status.h"
 ORB_DEFINE(estimator_status, struct estimator_status_report);
+
+#include "topics/vehicle_force_setpoint.h"
+ORB_DEFINE(vehicle_force_setpoint, struct vehicle_force_setpoint_s);
+
+#include "topics/tecs_status.h"
+ORB_DEFINE(tecs_status, struct tecs_status_s);
+
+#include "topics/wind_estimate.h"
+ORB_DEFINE(wind_estimate, struct wind_estimate_s);
diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h
index 6e944ffee..0f6c9aca1 100644
--- a/src/modules/uORB/topics/actuator_armed.h
+++ b/src/modules/uORB/topics/actuator_armed.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -44,15 +44,26 @@
 #include <stdint.h>
 #include "../uORB.h"
 
+/**
+ * @addtogroup topics
+ * @{
+ */
+
 /** global 'actuator output is live' control. */
 struct actuator_armed_s {
 
-	uint64_t	timestamp;
-	bool	armed;		/**< Set to true if system is armed */
-	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
-	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	uint64_t	timestamp;	/**< Microseconds since system boot */
+	bool		armed;		/**< Set to true if system is armed */
+	bool		ready_to_arm;	/**< Set to true if system is ready to be armed */
+	bool		lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
+	bool		force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */
 };
 
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
 ORB_DECLARE(actuator_armed);
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h
index a3da3758f..d2ee754cd 100644
--- a/src/modules/uORB/topics/airspeed.h
+++ b/src/modules/uORB/topics/airspeed.h
@@ -52,9 +52,10 @@
  * Airspeed
  */
 struct airspeed_s {
-	uint64_t	timestamp;					/**< microseconds since system boot, needed to integrate */
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
 	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
-	float		true_airspeed_m_s;			/**< true airspeed in meters per second, -1 if unknown */
+	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+	float		air_temperature_celsius;	/**< air temperature in degrees celsius, -1000 if unknown */
 };
 
 /**
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index ff88b04c6..cd48d3cb2 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -52,13 +52,13 @@
  * Differential pressure.
  */
 struct differential_pressure_s {
-	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
-	uint64_t	error_count;
+	uint64_t	timestamp;			/**< Microseconds since system boot, needed to integrate */
+	uint64_t	error_count;			/**< Number of errors detected by driver */
 	float	differential_pressure_pa;		/**< Differential pressure reading */
+	float	differential_pressure_raw_pa;		/**< Raw differential pressure reading (may be negative) */
 	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
 	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */
-	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */
-	float		temperature;			/**< Temperature provided by sensor, -1000.0f if unknown */
+	float	temperature;				/**< Temperature provided by sensor, -1000.0f if unknown */
 
 };
 
diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h
index 5530cdb21..7f26b505b 100644
--- a/src/modules/uORB/topics/estimator_status.h
+++ b/src/modules/uORB/topics/estimator_status.h
@@ -64,9 +64,9 @@ struct estimator_status_report {
 	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
 	float states[32];			/**< Internal filter states */
 	float n_states;				/**< Number of states effectively used */
-	bool states_nan;			/**< If set to true, one of the states is NaN */
-	bool covariance_nan;			/**< If set to true, the covariance matrix went NaN */
-	bool kalman_gain_nan;			/**< If set to true, the Kalman gain matrix went NaN */
+	uint8_t nan_flags;			/**< Bitmask to indicate NaN states */
+	uint8_t health_flags;			/**< Bitmask to indicate sensor health states (vel, pos, hgt) */
+	uint8_t timeout_flags;			/**< Bitmask to indicate timeout flags (vel, pos, hgt) */
 
 };
 
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 08d11abae..70071130d 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -59,10 +59,13 @@ struct home_position_s
 {
 	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
 
-	//bool altitude_is_relative;	// TODO what means home relative altitude? we need clear definition of reference altitude then
 	double lat;				/**< Latitude in degrees 			*/
 	double lon;				/**< Longitude in degrees			*/
 	float alt;				/**< Altitude in meters				*/
+
+	float x;				/**< X coordinate in meters			*/
+	float y;				/**< Y coordinate in meters			*/
+	float z;				/**< Z coordinate in meters			*/
 };
 
 /**
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h
index eac6d6e98..dde237adc 100644
--- a/src/modules/uORB/topics/manual_control_setpoint.h
+++ b/src/modules/uORB/topics/manual_control_setpoint.h
@@ -44,6 +44,16 @@
 #include "../uORB.h"
 
 /**
+ * Switch position
+ */
+typedef enum {
+	SWITCH_POS_NONE = 0,	/**< switch is not mapped */
+	SWITCH_POS_ON,			/**< switch activated (value = 1) */
+	SWITCH_POS_MIDDLE,		/**< middle position (value = 0) */
+	SWITCH_POS_OFF			/**< switch not activated (value = -1) */
+} switch_pos_t;
+
+/**
  * @addtogroup topics
  * @{
  */
@@ -51,32 +61,44 @@
 struct manual_control_setpoint_s {
 	uint64_t timestamp;
 
-	float roll;			 	/**< ailerons roll / roll rate input */
-	float pitch;				/**< elevator / pitch / pitch rate */
-	float yaw;				/**< rudder / yaw rate / yaw */
-	float throttle;				/**< throttle / collective thrust / altitude */
-
-	float mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
-	float return_switch;			/**< land 2 position switch (mandatory): land, no effect */
-	float assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
-	float mission_switch;		/**< mission 2 position switch (optional): mission, loiter */
-
 	/**
-	 * Any of the channels below may not be available and be set to NaN
+	 * Any of the channels may not be available and be set to NaN
 	 * to indicate that it does not contain valid data.
+	 * The variable names follow the definition of the
+	 * MANUAL_CONTROL mavlink message.
+	 * The default range is from -1 to 1 (mavlink message -1000 to 1000)
+	 * The range for the z variable is defined from 0 to 1. (The z field of
+	 * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
 	 */
+	float x;			/**< stick position in x direction -1..1
+					  in general corresponds to forward/back motion or pitch of vehicle,
+					  in general a positive value means forward or negative pitch and
+					  a negative value means backward or positive pitch */
+	float y;			/**< stick position in y direction -1..1
+					  in general corresponds to right/left motion or roll of vehicle,
+					  in general a positive value means right or positive roll and
+					  a negative value means left or negative roll */
+	float z;			/**< throttle stick position 0..1
+					  in general corresponds to up/down motion or thrust of vehicle,
+					  in general the value corresponds to the demanded throttle by the user,
+					  if the input is used for setting the setpoint of a vertical position
+					  controller any value > 0.5 means up and any value < 0.5 means down */
+	float r;			/**< yaw stick/twist positon, -1..1
+					  in general corresponds to the righthand rotation around the vertical
+					  (downwards) axis of the vehicle */
+	float flaps;			/**< flap position */
+	float aux1;			/**< default function: camera yaw / azimuth */
+	float aux2;			/**< default function: camera pitch / tilt */
+	float aux3;			/**< default function: camera trigger */
+	float aux4;			/**< default function: camera roll */
+	float aux5;			/**< default function: payload drop */
 
-	// XXX needed or parameter?
-	//float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */
-
-	float flaps;				/**< flap position */
-
-	float aux1;				/**< default function: camera yaw / azimuth */
-	float aux2;				/**< default function: camera pitch / tilt */
-	float aux3;				/**< default function: camera trigger */
-	float aux4;				/**< default function: camera roll */
-	float aux5;				/**< default function: payload drop */
-
+	switch_pos_t mode_switch;			/**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
+	switch_pos_t return_switch;			/**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
+	switch_pos_t posctl_switch;			/**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
+	switch_pos_t loiter_switch;			/**< loiter 2 position switch (optional): _MISSION_, LOITER */
+	switch_pos_t acro_switch;			/**< acro 2 position switch (optional): _MANUAL_, ACRO */
+	switch_pos_t offboard_switch;		/**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
 }; /**< manual control inputs */
 
 /**
diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h
index 9594c4c6a..e4b72f87c 100644
--- a/src/modules/uORB/topics/mission.h
+++ b/src/modules/uORB/topics/mission.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,9 @@
 /**
  * @file mission.h
  * Definition of a mission consisting of mission items.
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef TOPIC_MISSION_H_
@@ -50,6 +50,7 @@
 
 /* compatible to mavlink MAV_CMD */
 enum NAV_CMD {
+	NAV_CMD_IDLE=0,
 	NAV_CMD_WAYPOINT=16,
 	NAV_CMD_LOITER_UNLIMITED=17,
 	NAV_CMD_LOITER_TURN_COUNT=18,
@@ -58,7 +59,8 @@ enum NAV_CMD {
 	NAV_CMD_LAND=21,
 	NAV_CMD_TAKEOFF=22,
 	NAV_CMD_ROI=80,
-	NAV_CMD_PATHPLANNING=81
+	NAV_CMD_PATHPLANNING=81,
+	NAV_CMD_DO_JUMP=177
 };
 
 enum ORIGIN {
@@ -91,13 +93,20 @@ struct mission_item_s {
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
 	bool autocontinue;		/**< true if next waypoint should follow after this one */
 	enum ORIGIN origin;		/**< where the waypoint has been generated		*/
+	int do_jump_mission_index;	/**< index where the do jump will go to                 */
+	unsigned do_jump_repeat_count;	/**< how many times do jump needs to be done            */
+	unsigned do_jump_current_count;	/**< count how many times the jump has been done	*/
 };
 
+/**
+ * This topic used to notify navigator about mission changes, mission itself and new mission state
+ * must be stored in dataman before publication.
+ */
 struct mission_s
 {
-	int dataman_id;			/**< default -1, there are two offboard storage places in the dataman: 0 or 1 */
-	unsigned count;			/**< count of the missions stored in the datamanager */
-	int current_index;		/**< default -1, start at the one changed latest */
+	int dataman_id;			/**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
+	unsigned count;			/**< count of the missions stored in the dataman */
+	int current_seq;				/**< default -1, start at the one changed latest */
 };
 
 /**
@@ -105,7 +114,7 @@ struct mission_s
  */
 
 /* register this as object request broker structure */
-ORB_DECLARE(mission);
+ORB_DECLARE(offboard_mission);
 ORB_DECLARE(onboard_mission);
 
 #endif
diff --git a/src/modules/uORB/topics/mission_result.h b/src/modules/uORB/topics/mission_result.h
index 7c3921198..beb797e62 100644
--- a/src/modules/uORB/topics/mission_result.h
+++ b/src/modules/uORB/topics/mission_result.h
@@ -53,9 +53,10 @@
 
 struct mission_result_s
 {
-	bool mission_reached;		/**< true if mission has been reached			*/
-	unsigned mission_index_reached;	/**< index of the mission which has been reached	*/
-	unsigned index_current_mission; /**< index of the current mission			*/
+	unsigned seq_reached;		/**< Sequence of the mission item which has been reached */
+	unsigned seq_current;		/**< Sequence of the current mission item				 */
+	bool reached;				/**< true if mission has been reached					 */
+	bool finished;				/**< true if mission has been completed					 */
 };
 
 /**
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 68d3e494b..d7b131e3c 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -69,7 +69,7 @@ struct offboard_control_setpoint_s {
 	uint64_t timestamp;
 
 	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
-	bool armed;	/**< Armed flag set, yes / no */
+
 	float p1;	/**< ailerons roll / roll rate input */
 	float p2;	/**< elevator / pitch / pitch rate */
 	float p3;	/**< rudder / yaw rate / yaw */
diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h
index 98f0e3fa2..0196ae86b 100644
--- a/src/modules/uORB/topics/optical_flow.h
+++ b/src/modules/uORB/topics/optical_flow.h
@@ -57,6 +57,7 @@ struct optical_flow_s {
 
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
+	uint64_t flow_timestamp;		/**< timestamp from flow sensor */
 	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
 	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 34aaa30dd..4a1932180 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file mission_item_triplet.h
  * Definition of the global WGS84 position setpoint uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
@@ -45,7 +46,6 @@
 #include <stdint.h>
 #include <stdbool.h>
 #include "../uORB.h"
-#include <navigator/navigator_state.h>
 
 /**
  * @addtogroup topics
@@ -54,21 +54,32 @@
 
 enum SETPOINT_TYPE
 {
-	SETPOINT_TYPE_NORMAL = 0,		/**< normal setpoint */
-	SETPOINT_TYPE_LOITER,			/**< loiter setpoint */
-	SETPOINT_TYPE_TAKEOFF,			/**< takeoff setpoint */
-	SETPOINT_TYPE_LAND,			/**< land setpoint, altitude must be ignored, vehicle must descend until landing */
-	SETPOINT_TYPE_IDLE,			/**< do nothing, switch off motors or keep at idle speed (MC) */
+	SETPOINT_TYPE_POSITION = 0,	/**< position setpoint */
+	SETPOINT_TYPE_VELOCITY,		/**< velocity setpoint */
+	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
+	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
+	SETPOINT_TYPE_LAND,		/**< land setpoint, altitude must be ignored, descend until landing */
+	SETPOINT_TYPE_IDLE,		/**< do nothing, switch off motors or keep at idle speed (MC) */
+	SETPOINT_TYPE_OFFBOARD, 	/**< setpoint set by offboard */
 };
 
 struct position_setpoint_s
 {
 	bool valid;			/**< true if setpoint is valid */
 	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
+	float x;			/**< local position setpoint in m in NED */
+	float y;			/**< local position setpoint in m in NED */
+	float z;			/**< local position setpoint in m in NED */
+	bool position_valid;	/**< true if local position setpoint valid */
+	float vx;			/**< local velocity setpoint in m in NED */
+	float vy;			/**< local velocity setpoint in m in NED */
+	float vz;			/**< local velocity setpoint in m in NED */
+	bool velocity_valid;		/**< true if local velocity setpoint valid */
 	double lat;			/**< latitude, in deg */
 	double lon;			/**< longitude, in deg */
 	float alt;			/**< altitude AMSL, in m */
 	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
 	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
 	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
@@ -85,7 +96,7 @@ struct position_setpoint_triplet_s
 	struct position_setpoint_s current;
 	struct position_setpoint_s next;
 
-	nav_state_t nav_state;			/**< navigation state */
+	unsigned nav_state;				/**< report the navigation state */
 };
 
 /**
diff --git a/src/modules/uORB/topics/rc_channels.h b/src/modules/uORB/topics/rc_channels.h
index 6eb20efd1..8978de471 100644
--- a/src/modules/uORB/topics/rc_channels.h
+++ b/src/modules/uORB/topics/rc_channels.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -43,57 +43,43 @@
 #include "../uORB.h"
 
 /**
- * The number of RC channel inputs supported.
- * Current (Q4/2013) radios support up to 18 channels,
- * leaving at a sane value of 15.
- * This number can be greater then number of RC channels,
- * because single RC channel can be mapped to multiple
- * functions, e.g. for various mode switches.
- */
-#define RC_CHANNELS_MAPPED_MAX   15
-
-/**
  * This defines the mapping of the RC functions.
  * The value assigned to the specific function corresponds to the entry of
- * the channel array chan[].
+ * the channel array channels[].
  */
 enum RC_CHANNELS_FUNCTION {
 	THROTTLE = 0,
-	ROLL     = 1,
-	PITCH    = 2,
-	YAW      = 3,
-	MODE = 4,
-	RETURN = 5,
-	ASSISTED = 6,
-	MISSION = 7,
-	OFFBOARD_MODE = 8,
-	FLAPS   = 9,
-	AUX_1   = 10,
-	AUX_2   = 11,
-	AUX_3   = 12,
-	AUX_4   = 13,
-	AUX_5   = 14,
-	RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
+	ROLL,
+	PITCH,
+	YAW,
+	MODE,
+	RETURN,
+	POSCTL,
+	LOITER,
+	OFFBOARD,
+	ACRO,
+	FLAPS,
+	AUX_1,
+	AUX_2,
+	AUX_3,
+	AUX_4,
+	AUX_5,
+	RC_CHANNELS_FUNCTION_MAX /**< Indicates the number of functions. There can be more functions than RC channels. */
 };
 
 /**
  * @addtogroup topics
  * @{
  */
-
 struct rc_channels_s {
-
-	uint64_t timestamp;                 /**< In microseconds since boot time. */
-	uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
-	struct {
-		float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
-	} chan[RC_CHANNELS_MAPPED_MAX];
-	uint8_t chan_count;                 /**< number of valid channels */
-
-	/*String array to store the names of the functions*/
-	char function_name[RC_CHANNELS_FUNCTION_MAX][20];
-	int8_t function[RC_CHANNELS_FUNCTION_MAX];
-	uint8_t rssi;                       /**< Overall receive signal strength */
+	uint64_t timestamp;									/**< Timestamp in microseconds since boot time */
+	uint64_t timestamp_last_valid;						/**< Timestamp of last valid RC signal */
+	float channels[RC_CHANNELS_FUNCTION_MAX];			/**< Scaled to -1..1 (throttle: 0..1) */
+	uint8_t channel_count;								/**< Number of valid channels */
+	char function_name[RC_CHANNELS_FUNCTION_MAX][20];	/**< String array to store the names of the functions */
+	int8_t function[RC_CHANNELS_FUNCTION_MAX];			/**< Functions mapping */
+	uint8_t rssi;										/**< Receive signal strength index */
+	bool signal_lost;									/**< Control signal lost, should be checked together with topic timeout */
 }; /**< radio control channels. */
 
 /**
diff --git a/src/modules/uORB/topics/satellite_info.h b/src/modules/uORB/topics/satellite_info.h
new file mode 100644
index 000000000..37c2faa96
--- /dev/null
+++ b/src/modules/uORB/topics/satellite_info.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file satellite_info.h
+ * Definition of the GNSS satellite info uORB topic.
+ */
+
+#ifndef TOPIC_SAT_INFO_H_
+#define TOPIC_SAT_INFO_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * GNSS Satellite Info.
+ */
+
+#define SAT_INFO_MAX_SATELLITES  20
+
+struct satellite_info_s {
+	uint64_t timestamp;				/**< Timestamp of satellite info */
+	uint8_t count;					/**< Number of satellites in satellite info */
+	uint8_t svid[SAT_INFO_MAX_SATELLITES]; 		/**< Space vehicle ID [1..255], see scheme below  */
+	uint8_t used[SAT_INFO_MAX_SATELLITES];		/**< 0: Satellite not used, 1: used for navigation */
+	uint8_t elevation[SAT_INFO_MAX_SATELLITES];	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
+	uint8_t azimuth[SAT_INFO_MAX_SATELLITES];	/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
+	uint8_t snr[SAT_INFO_MAX_SATELLITES];		/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. */
+};
+
+/**
+ * NAV_SVINFO space vehicle ID (svid) scheme according to u-blox protocol specs
+ * u-bloxM8-V15_ReceiverDescriptionProtocolSpec_Public_(UBX-13003221).pdf
+ *
+ * GPS		1-32
+ * SBAS		120-158
+ * Galileo	211-246
+ * BeiDou	159-163, 33-64
+ * QZSS		193-197
+ * GLONASS	65-96, 255
+ *
+ */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(satellite_info);
+
+#endif
diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h
index fa3367de9..06dfcdab3 100644
--- a/src/modules/uORB/topics/sensor_combined.h
+++ b/src/modules/uORB/topics/sensor_combined.h
@@ -95,6 +95,30 @@ struct sensor_combined_s {
 	float magnetometer_cuttoff_freq_hz;	/**< Internal analog low pass frequency of sensor */
 	uint64_t magnetometer_timestamp;	/**< Magnetometer timestamp         */
 
+	int16_t	gyro1_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro1_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro1_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer1_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer1_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer1_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer1_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer1_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer1_timestamp;	/**< Magnetometer timestamp         */
+
+	int16_t	gyro2_raw[3];			/**< Raw sensor values of angular velocity        */
+	float gyro2_rad_s[3];			/**< Angular velocity in radian per seconds       */
+	uint64_t gyro2_timestamp;		/**< Gyro timestamp */
+
+	int16_t accelerometer2_raw[3];		/**< Raw acceleration in NED body frame           */
+	float accelerometer2_m_s2[3];		/**< Acceleration in NED body frame, in m/s^2     */
+	uint64_t accelerometer2_timestamp;	/**< Accelerometer timestamp        */
+
+	int16_t	magnetometer2_raw[3];		/**< Raw magnetic field in NED body frame         */
+	float magnetometer2_ga[3];		/**< Magnetic field in NED body frame, in Gauss   */
+	uint64_t magnetometer2_timestamp;	/**< Magnetometer timestamp         */
+
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
diff --git a/src/modules/uORB/topics/system_power.h b/src/modules/uORB/topics/system_power.h
new file mode 100644
index 000000000..7763b6004
--- /dev/null
+++ b/src/modules/uORB/topics/system_power.h
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file system_power.h
+ *
+ * Definition of the system_power voltage and power status uORB topic.
+ */
+
+#ifndef SYSTEM_POWER_H_
+#define SYSTEM_POWER_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * voltage and power supply status
+ */
+struct system_power_s {
+	uint64_t	timestamp;		/**< microseconds since system boot */
+	float   	voltage5V_v;		/**< peripheral 5V rail voltage */
+	uint8_t         usb_connected:1;        /**< USB is connected when 1 */
+	uint8_t         brick_valid:1;          /**< brick power is good when 1 */
+	uint8_t         servo_valid:1;          /**< servo power is good when 1 */
+	uint8_t		periph_5V_OC:1;         /**< peripheral overcurrent when 1 */
+	uint8_t		hipower_5V_OC:1;        /**< hi power peripheral overcurrent when 1 */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(system_power);
+
+#endif
diff --git a/src/modules/uORB/topics/tecs_status.h b/src/modules/uORB/topics/tecs_status.h
new file mode 100644
index 000000000..ddca19d61
--- /dev/null
+++ b/src/modules/uORB/topics/tecs_status.h
@@ -0,0 +1,94 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_global_position.h
+ * Definition of the global fused WGS84 position uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ */
+
+#ifndef TECS_STATUS_T_H_
+#define TECS_STATUS_T_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+typedef enum {
+	TECS_MODE_NORMAL = 0,
+	TECS_MODE_UNDERSPEED,
+	TECS_MODE_TAKEOFF,
+	TECS_MODE_LAND,
+	TECS_MODE_LAND_THROTTLELIM,
+	TECS_MODE_BAD_DESCENT,
+	TECS_MODE_CLIMBOUT
+} tecs_mode;
+
+ /**
+ * Internal values of the (m)TECS fixed wing speed alnd altitude control system
+ */
+struct tecs_status_s {
+	uint64_t timestamp;		/**< timestamp, in microseconds since system start */
+
+	float altitudeSp;
+	float altitude_filtered;
+	float flightPathAngleSp;
+	float flightPathAngle;
+	float flightPathAngleFiltered;
+	float airspeedSp;
+	float airspeed_filtered;
+	float airspeedDerivativeSp;
+	float airspeedDerivative;
+
+	float totalEnergyRateSp;
+	float totalEnergyRate;
+	float energyDistributionRateSp;
+	float energyDistributionRate;
+
+	tecs_mode mode;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(tecs_status);
+
+#endif
diff --git a/src/modules/uORB/topics/telemetry_status.h b/src/modules/uORB/topics/telemetry_status.h
index 76693c46e..1297c1a9d 100644
--- a/src/modules/uORB/topics/telemetry_status.h
+++ b/src/modules/uORB/topics/telemetry_status.h
@@ -57,6 +57,8 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
 
 struct telemetry_status_s {
 	uint64_t timestamp;
+	uint64_t heartbeat_time;		/**< Time of last received heartbeat from remote system */
+	uint64_t telem_time;			/**< Time of last received telemetry status packet, 0 for none */
 	enum TELEMETRY_STATUS_RADIO_TYPE type;	/**< type of the radio hardware     */
 	uint8_t rssi;				/**< local signal strength                      */
 	uint8_t remote_rssi;			/**< remote signal strength                     */
@@ -71,6 +73,28 @@ struct telemetry_status_s {
  * @}
  */
 
-ORB_DECLARE(telemetry_status);
+ORB_DECLARE(telemetry_status_0);
+ORB_DECLARE(telemetry_status_1);
+ORB_DECLARE(telemetry_status_2);
+ORB_DECLARE(telemetry_status_3);
+
+#define TELEMETRY_STATUS_ORB_ID_NUM	4
+
+static const struct orb_metadata *telemetry_status_orb_id[TELEMETRY_STATUS_ORB_ID_NUM] = {
+	ORB_ID(telemetry_status_0),
+	ORB_ID(telemetry_status_1),
+	ORB_ID(telemetry_status_2),
+	ORB_ID(telemetry_status_3),
+};
+
+// This is a hack to quiet an unused-variable warning for when telemetry_status.h is
+// included but telemetry_status_orb_id is not referenced. The inline works if you
+// choose to use it, but you can continue to just directly index into the array as well.
+// If you don't use the inline this ends up being a no-op with no additional code emitted.
+extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index);
+extern inline const struct orb_metadata *telemetry_status_orb_id_lookup(size_t index)
+{
+	return telemetry_status_orb_id[index];
+}
 
 #endif /* TOPIC_TELEMETRY_STATUS_H */
diff --git a/src/modules/uORB/topics/vehicle_attitude_setpoint.h b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
index d526a8ff2..8446e9c6e 100644
--- a/src/modules/uORB/topics/vehicle_attitude_setpoint.h
+++ b/src/modules/uORB/topics/vehicle_attitude_setpoint.h
@@ -72,6 +72,8 @@ struct vehicle_attitude_setpoint_s {
 	float thrust;					/**< Thrust in Newton the power system should generate */
 
 	bool	roll_reset_integral;			/**< Reset roll integral part (navigation logic change) */
+	bool	pitch_reset_integral;			/**< Reset pitch integral part (navigation logic change) */
+	bool	yaw_reset_integral;			/**< Reset yaw integral part (navigation logic change) */
 
 };
 
diff --git a/src/modules/uORB/topics/vehicle_command.h b/src/modules/uORB/topics/vehicle_command.h
index f1a5dba01..15cdc517f 100644
--- a/src/modules/uORB/topics/vehicle_command.h
+++ b/src/modules/uORB/topics/vehicle_command.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
- *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file vehicle_command.h
  * Definition of the vehicle command uORB topic.
+ *
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #ifndef TOPIC_VEHICLE_COMMAND_H_
@@ -51,44 +52,44 @@
  * Should contain all commands from MAVLink's VEHICLE_CMD ENUM,
  * but can contain additional ones.
  */
-enum VEHICLE_CMD
-{
-	VEHICLE_CMD_CUSTOM_0=0, /* XXX: added because this exists in QGroundControl */
-	VEHICLE_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
-	VEHICLE_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
-	VEHICLE_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
-	VEHICLE_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
-	VEHICLE_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
-	VEHICLE_CMD_DO_SET_PARAMETER=180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
-	VEHICLE_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
-	VEHICLE_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
-	VEHICLE_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
-	VEHICLE_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
-	VEHICLE_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
-	VEHICLE_CMD_START_RX_PAIR=500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
-	VEHICLE_CMD_ENUM_END=501, /*  | */
+enum VEHICLE_CMD {
+	VEHICLE_CMD_NAV_WAYPOINT = 16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_UNLIM = 17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TURNS = 18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_LOITER_TIME = 19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_NAV_LAND = 21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_TAKEOFF = 22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_NAV_ROI = 80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|  */
+	VEHICLE_CMD_NAV_PATHPLANNING = 81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|  */
+	VEHICLE_CMD_NAV_LAST = 95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_DELAY = 112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_CHANGE_ALT = 113, /* Ascend/descend at rate.  Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|  */
+	VEHICLE_CMD_CONDITION_DISTANCE = 114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_YAW = 115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|  */
+	VEHICLE_CMD_CONDITION_LAST = 159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_MODE = 176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_JUMP = 177, /* Jump to the desired command in the mission list.  Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CHANGE_SPEED = 178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed  (m/s, -1 indicates no change)| Throttle  ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_HOME = 179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|  */
+	VEHICLE_CMD_DO_SET_PARAMETER = 180, /* Set a system parameter.  Caution!  Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_RELAY = 181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_RELAY = 182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_SET_SERVO = 183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|  */
+	VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
+	VEHICLE_CMD_PREFLIGHT_STORAGE = 245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	VEHICLE_CMD_OVERRIDE_GOTO = 252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	VEHICLE_CMD_MISSION_START = 300, /* start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|  */
+	VEHICLE_CMD_COMPONENT_ARM_DISARM = 400, /* Arms / Disarms a component |1 to arm, 0 to disarm|  */
+	VEHICLE_CMD_START_RX_PAIR = 500, /* Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|  */
+	VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001, /**< Prepare a payload deployment in the flight plan */
+	VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 /**< Control a pre-programmed payload deployment */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index ea554006f..49e2ba4b5 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -74,6 +74,7 @@ struct vehicle_control_mode_s {
 
 	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
 	bool flag_control_auto_enabled;			/**< true if onboard autopilot should act */
+	bool flag_control_offboard_enabled;		/**< true if offboard control should be used */
 	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
 	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
 	bool flag_control_velocity_enabled;		/**< true if horizontal velocity (implies direction) is controlled */
diff --git a/src/modules/position_estimator_mc/position_estimator_mc_params.h b/src/modules/uORB/topics/vehicle_force_setpoint.h
index c4c95f7b4..e3a7360b2 100755..100644
--- a/src/modules/position_estimator_mc/position_estimator_mc_params.h
+++ b/src/modules/uORB/topics/vehicle_force_setpoint.h
@@ -1,9 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: 	Damian Aregger <daregger@student.ethz.ch>
- *   			Tobias Naegeli <naegelit@student.ethz.ch>
- *				Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,36 +31,35 @@
  *
  ****************************************************************************/
 
-/*
- * @file position_estimator_mc_params.h
- * 
- * Parameters for Position Estimator
+/**
+ * @file vehicle_force_setpoint.h
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * Definition of force (NED) setpoint uORB topic. Typically this can be used
+ * by a position control app together with an attitude control app.
  */
 
-#include <systemlib/param/param.h>
-
-struct position_estimator_mc_params {
-	float addNoise;
-	float sigma;
-	float R;
-	int baro; /* consider barometer */
-};
+#ifndef TOPIC_VEHICLE_FORCE_SETPOINT_H_
+#define TOPIC_VEHICLE_FORCE_SETPOINT_H_
 
-struct position_estimator_mc_param_handles {
-	param_t addNoise;
-	param_t sigma;
-	param_t r;
-	param_t baro_param_handle;
-};
+#include "../uORB.h"
 
 /**
- * Initialize all parameter handles and values
- *
+ * @addtogroup topics
+ * @{
  */
-int parameters_init(struct position_estimator_mc_param_handles *h);
+
+struct vehicle_force_setpoint_s {
+	float x;		/**< in N NED			  		*/
+	float y;		/**< in N NED			  		*/
+	float z;		/**< in N NED			  		*/
+	float yaw;		/**< right-hand rotation around downward axis (rad, equivalent to Tait-Bryan yaw) */
+}; /**< Desired force in NED frame */
 
 /**
- * Update all parameters
- *
+ * @}
  */
-int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p);
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_force_setpoint);
+
+#endif
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index adcd028f0..25137c1c6 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -36,7 +36,7 @@
  * Definition of the global fused WGS84 position uORB topic.
  *
  * @author Thomas Gubler <thomasgubler@student.ethz.ch>
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
@@ -61,21 +61,17 @@
  * e.g. control inputs of the vehicle in a Kalman-filter implementation.
  */
 struct vehicle_global_position_s {
-	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start */
-
-	bool global_valid;		/**< true if position satisfies validity criteria of estimator */
-	bool baro_valid;		/**< true if baro_alt is valid (vel_d is also valid in this case) */
-
-	uint64_t time_gps_usec; /**< GPS timestamp in microseconds					   */
+	uint64_t timestamp;		/**< Time of this estimate, in microseconds since system start		*/
+	uint64_t time_gps_usec;		/**< GPS timestamp in microseconds					   */
 	double lat;			/**< Latitude in degrees							 	   */
 	double lon;			/**< Longitude in degrees							 	   */
 	float alt;			/**< Altitude AMSL in meters						 	   */
-	float vel_n; 		/**< Ground north velocity, m/s				 			   */
-	float vel_e;		/**< Ground east velocity, m/s							   */
-	float vel_d;		/**< Ground downside velocity, m/s						   */
+	float vel_n; 			/**< Ground north velocity, m/s				 			   */
+	float vel_e;			/**< Ground east velocity, m/s							   */
+	float vel_d;			/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-
-	float baro_alt;		/**< Barometric altitude (not raw baro but fused with accelerometer) */
+	float eph;			/**< Standard deviation of position estimate horizontally */
+	float epv;			/**< Standard deviation of position vertically */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 794c3f8bc..80d65cd69 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -61,12 +61,14 @@ struct vehicle_gps_position_s {
 
 	uint64_t timestamp_variance;
 	float s_variance_m_s;				/**< speed accuracy estimate m/s */
-	float p_variance_m;				/**< position accuracy estimate m */
 	float c_variance_rad;				/**< course accuracy estimate rad */
 	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
+	float eph;					/**< GPS HDOP horizontal dilution of position in m */
+	float epv;					/**< GPS VDOP horizontal dilution of position in m */
+
+	unsigned noise_per_ms;				/**< */
+	unsigned jamming_indicator;			/**< */
 
 	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
 	float vel_m_s;					/**< GPS ground speed (m/s) */
@@ -79,14 +81,7 @@ struct vehicle_gps_position_s {
 	uint64_t timestamp_time;			/**< Timestamp for time information */
 	uint64_t time_gps_usec;				/**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module   */
 
-	uint64_t timestamp_satellites;			/**< Timestamp for sattelite information */
-	uint8_t satellites_visible;			/**< Number of satellites visible. If unknown, set to 255 */
-	uint8_t satellite_prn[20]; 			/**< Global satellite ID */
-	uint8_t satellite_used[20];			/**< 0: Satellite not used, 1: used for localization */
-	uint8_t satellite_elevation[20]; 		/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
-	uint8_t satellite_azimuth[20];			/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
-	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
-	bool satellite_info_available;			/**< 0 for no info, 1 for info available */
+	uint8_t satellites_used;			/**< Number of satellites used */
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index db9637cd9..5d39c897d 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +34,9 @@
 /**
  * @file vehicle_local_position.h
  * Definition of the local fused NED position uORB topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
@@ -72,8 +74,8 @@ struct vehicle_local_position_s {
 	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
 	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
 	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	int32_t ref_lat;		/**< Reference point latitude in 1E7 degrees */
-	int32_t ref_lon;		/**< Reference point longitude in 1E7 degrees */
+	double ref_lat;		/**< Reference point latitude in degrees */
+	double ref_lon;		/**< Reference point longitude in degrees */
 	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
 	bool landed;			/**< true if vehicle is landed */
 	/* Distance to surface */
@@ -81,6 +83,8 @@ struct vehicle_local_position_s {
 	float dist_bottom_rate;		/**< Distance to bottom surface (ground) change rate */
 	uint64_t surface_bottom_timestamp;		/**< Time when new bottom surface found */
 	bool dist_bottom_valid;	/**< true if distance to bottom surface is valid */
+	float eph;
+	float epv;
 };
 
 /**
diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h
index 56be4d241..b683bf98a 100644
--- a/src/modules/uORB/topics/vehicle_status.h
+++ b/src/modules/uORB/topics/vehicle_status.h
@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
+ *   Copyright (C) 2012 - 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -45,6 +41,11 @@
  * All apps should write to subsystem_info:
  *
  *  (any app) --> subsystem_info (published) --> (commander app state machine)  --> vehicle_status --> (mavlink app)
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <julian@oes.ch>
  */
 
 #ifndef VEHICLE_STATUS_H_
@@ -54,21 +55,27 @@
 #include <stdbool.h>
 #include "../uORB.h"
 
-#include <navigator/navigator_state.h>
-
 /**
  * @addtogroup topics @{
  */
 
-/* main state machine */
+/**
+ * Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
+ */
 typedef enum {
 	MAIN_STATE_MANUAL = 0,
-	MAIN_STATE_SEATBELT,
-	MAIN_STATE_EASY,
-	MAIN_STATE_AUTO,
+	MAIN_STATE_ALTCTL,
+	MAIN_STATE_POSCTL,
+	MAIN_STATE_AUTO_MISSION,
+	MAIN_STATE_AUTO_LOITER,
+	MAIN_STATE_AUTO_RTL,
+	MAIN_STATE_ACRO,
+	MAIN_STATE_OFFBOARD,
 	MAIN_STATE_MAX
 } main_state_t;
 
+// If you change the order, add or remove arming_state_t states make sure to update the arrays
+// in state_machine_helper.cpp as well.
 typedef enum {
 	ARMING_STATE_INIT = 0,
 	ARMING_STATE_STANDBY,
@@ -77,7 +84,7 @@ typedef enum {
 	ARMING_STATE_STANDBY_ERROR,
 	ARMING_STATE_REBOOT,
 	ARMING_STATE_IN_AIR_RESTORE,
-	ARMING_STATE_MAX
+	ARMING_STATE_MAX,
 } arming_state_t;
 
 typedef enum {
@@ -85,36 +92,24 @@ typedef enum {
 	HIL_STATE_ON
 } hil_state_t;
 
+/**
+ * Navigation state, i.e. "what should vehicle do".
+ */
 typedef enum {
-	FAILSAFE_STATE_NORMAL = 0,		/**< Normal operation */
-	FAILSAFE_STATE_RTL,				/**< Return To Launch */
-	FAILSAFE_STATE_LAND,			/**< Land without position control */
-	FAILSAFE_STATE_TERMINATION,		/**< Disable motors and use parachute, can't be recovered */
-	FAILSAFE_STATE_MAX
-} failsafe_state_t;
-
-typedef enum {
-	MODE_SWITCH_MANUAL = 0,
-	MODE_SWITCH_ASSISTED,
-	MODE_SWITCH_AUTO
-} mode_switch_pos_t;
-
-typedef enum {
-	ASSISTED_SWITCH_SEATBELT = 0,
-	ASSISTED_SWITCH_EASY
-} assisted_switch_pos_t;
-
-typedef enum {
-	RETURN_SWITCH_NONE = 0,
-	RETURN_SWITCH_NORMAL,
-	RETURN_SWITCH_RETURN
-} return_switch_pos_t;
-
-typedef enum {
-	MISSION_SWITCH_NONE = 0,
-	MISSION_SWITCH_LOITER,
-	MISSION_SWITCH_MISSION
-} mission_switch_pos_t;
+	NAVIGATION_STATE_MANUAL = 0,		/**< Manual mode */
+	NAVIGATION_STATE_ALTCTL,		/**< Altitude control mode */
+	NAVIGATION_STATE_POSCTL,		/**< Position control mode */
+	NAVIGATION_STATE_AUTO_MISSION,		/**< Auto mission mode */
+	NAVIGATION_STATE_AUTO_LOITER,		/**< Auto loiter mode */
+	NAVIGATION_STATE_AUTO_RTL,		/**< Auto return to launch mode */
+	NAVIGATION_STATE_AUTO_RTGS,		/**< Auto return to groundstation on data link loss */
+	NAVIGATION_STATE_ACRO,			/**< Acro mode */
+	NAVIGATION_STATE_LAND,			/**< Land mode */
+	NAVIGATION_STATE_DESCEND,			/**< Descend mode (no position control) */
+	NAVIGATION_STATE_TERMINATION,		/**< Termination mode */
+	NAVIGATION_STATE_OFFBOARD,
+	NAVIGATION_STATE_MAX,
+} navigation_state_t;
 
 enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128,
@@ -174,12 +169,11 @@ struct vehicle_status_s {
 	uint16_t counter;   /**< incremented by the writing thread everytime new data is stored */
 	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
 
-	main_state_t main_state;				/**< main state machine */
-	unsigned int set_nav_state;	/**< set navigation state machine to specified value */
-	uint64_t set_nav_state_timestamp;	/**< timestamp of latest change of set_nav_state */
+	main_state_t main_state;		    	/**< main state machine */
+	navigation_state_t nav_state;		/**< set navigation state machine to specified value */
 	arming_state_t arming_state;			/**< current arming state */
-	hil_state_t hil_state;					/**< current hil state */
-	failsafe_state_t failsafe_state;		/**< current failsafe state */
+	hil_state_t hil_state;				/**< current hil state */
+	bool failsafe;					/**< true if system is in failsafe state */
 
 	int32_t system_type;				/**< system type, inspired by MAVLink's VEHICLE_TYPE enum */
 	int32_t	system_id;				/**< system id, inspired by MAVLink's system ID field */
@@ -187,28 +181,27 @@ struct vehicle_status_s {
 
 	bool is_rotary_wing;
 
-	mode_switch_pos_t mode_switch;
-	return_switch_pos_t return_switch;
-	assisted_switch_pos_t assisted_switch;
-	mission_switch_pos_t mission_switch;
-
 	bool condition_battery_voltage_valid;
 	bool condition_system_in_air_restore;	/**< true if we can restore in mid air */
 	bool condition_system_sensors_initialized;
 	bool condition_system_returned_to_home;
 	bool condition_auto_mission_available;
-	bool condition_global_position_valid;		/**< set to true by the commander app if the quality of the gps signal is good enough to use it in the position estimator */
+	bool condition_global_position_valid;		/**< set to true by the commander app if the quality of the position estimate is good enough to use it for navigation */
 	bool condition_launch_position_valid;		/**< indicates a valid launch position */
 	bool condition_home_position_valid;		/**< indicates a valid home position (a valid home position is not always a valid launch) */
 	bool condition_local_position_valid;
 	bool condition_local_altitude_valid;
 	bool condition_airspeed_valid;			/**< set to true by the commander app if there is a valid airspeed measurement available */
 	bool condition_landed;					/**< true if vehicle is landed, always true if disarmed */
+	bool condition_power_input_valid;		/**< set if input power is valid */
+	float avionics_power_rail_voltage;		/**< voltage of the avionics power rail */
 
 	bool rc_signal_found_once;
 	bool rc_signal_lost;				/**< true if RC reception lost */
 	bool rc_input_blocked;				/**< set if RC input should be ignored */
 
+	bool data_link_lost;						/**< datalink to GCS lost */
+
 	bool offboard_control_signal_found_once;
 	bool offboard_control_signal_lost;
 	bool offboard_control_signal_weak;
@@ -231,6 +224,9 @@ struct vehicle_status_s {
 	uint16_t errors_count2;
 	uint16_t errors_count3;
 	uint16_t errors_count4;
+
+	bool circuit_breaker_engaged_power_check;
+	bool circuit_breaker_engaged_airspd_check;
 };
 
 /**
diff --git a/src/modules/uORB/topics/wind_estimate.h b/src/modules/uORB/topics/wind_estimate.h
new file mode 100644
index 000000000..58333a64f
--- /dev/null
+++ b/src/modules/uORB/topics/wind_estimate.h
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file wind_estimate.h
+ *
+ * Wind estimate topic topic
+ *
+ */
+
+#ifndef TOPIC_WIND_ESTIMATE_H
+#define TOPIC_WIND_ESTIMATE_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/** Wind estimate */
+struct wind_estimate_s {
+
+	uint64_t	timestamp;		/**< Microseconds since system boot */
+	float		windspeed_north;	/**< Wind component in north / X direction */
+	float		windspeed_east;		/**< Wind component in east / Y direction */
+	float		covariance_north;	/**< Uncertainty - set to zero (no uncertainty) if not estimated */
+	float		covariance_east;	/**< Uncertainty - set to zero (no uncertainty) if not estimated */
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(wind_estimate);
+
+#endif
\ No newline at end of file
diff --git a/src/modules/uavcan/.gitignore b/src/modules/uavcan/.gitignore
new file mode 100644
index 000000000..24fbf171f
--- /dev/null
+++ b/src/modules/uavcan/.gitignore
@@ -0,0 +1 @@
+./dsdlc_generated/
diff --git a/src/modules/uavcan/esc_controller.cpp b/src/modules/uavcan/esc_controller.cpp
new file mode 100644
index 000000000..406eba88c
--- /dev/null
+++ b/src/modules/uavcan/esc_controller.cpp
@@ -0,0 +1,138 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file esc_controller.cpp
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "esc_controller.hpp"
+#include <systemlib/err.h>
+
+UavcanEscController::UavcanEscController(uavcan::INode &node) :
+	_node(node),
+	_uavcan_pub_raw_cmd(node),
+	_uavcan_sub_status(node),
+	_orb_timer(node)
+{
+}
+
+UavcanEscController::~UavcanEscController()
+{
+	perf_free(_perfcnt_invalid_input);
+	perf_free(_perfcnt_scaling_error);
+}
+
+int UavcanEscController::init()
+{
+	// ESC status subscription
+	int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
+	if (res < 0)
+	{
+		warnx("ESC status sub failed %i", res);
+		return res;
+	}
+
+	// ESC status will be relayed from UAVCAN bus into ORB at this rate
+	_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
+	_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
+
+	return res;
+}
+
+void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
+{
+	if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
+		perf_count(_perfcnt_invalid_input);
+		return;
+	}
+
+	/*
+	 * Rate limiting - we don't want to congest the bus
+	 */
+	const auto timestamp = _node.getMonotonicTime();
+	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
+		return;
+	}
+	_prev_cmd_pub = timestamp;
+
+	/*
+	 * Fill the command message
+	 * If unarmed, we publish an empty message anyway
+	 */
+	uavcan::equipment::esc::RawCommand msg;
+
+	if (_armed) {
+		for (unsigned i = 0; i < num_outputs; i++) {
+
+			float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
+			if (scaled < 1.0F) {
+				scaled = 1.0F;  // Since we're armed, we don't want to stop it completely
+			}
+
+			if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
+				scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
+				perf_count(_perfcnt_scaling_error);
+			} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
+				scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
+				perf_count(_perfcnt_scaling_error);
+			} else {
+				; // Correct value
+			}
+
+			msg.cmd.push_back(static_cast<unsigned>(scaled));
+		}
+	}
+
+	/*
+	 * Publish the command message to the bus
+	 * Note that for a quadrotor it takes one CAN frame
+	 */
+	(void)_uavcan_pub_raw_cmd.broadcast(msg);
+}
+
+void UavcanEscController::arm_esc(bool arm)
+{
+	_armed = arm;
+}
+
+void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
+{
+	// TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
+}
+
+void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
+{
+	// TODO publish to ORB
+}
diff --git a/src/modules/uavcan/esc_controller.hpp b/src/modules/uavcan/esc_controller.hpp
new file mode 100644
index 000000000..559ede561
--- /dev/null
+++ b/src/modules/uavcan/esc_controller.hpp
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file esc_controller.hpp
+ *
+ * UAVCAN <--> ORB bridge for ESC messages:
+ *     uavcan.equipment.esc.RawCommand
+ *     uavcan.equipment.esc.RPMCommand
+ *     uavcan.equipment.esc.Status
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/esc/RawCommand.hpp>
+#include <uavcan/equipment/esc/Status.hpp>
+#include <systemlib/perf_counter.h>
+
+class UavcanEscController
+{
+public:
+	UavcanEscController(uavcan::INode& node);
+	~UavcanEscController();
+
+	int init();
+
+	void update_outputs(float *outputs, unsigned num_outputs);
+
+	void arm_esc(bool arm);
+
+private:
+	/**
+	 * ESC status message reception will be reported via this callback.
+	 */
+	void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
+
+	/**
+	 * ESC status will be published to ORB from this callback (fixed rate).
+	 */
+	void orb_pub_timer_cb(const uavcan::TimerEvent &event);
+
+
+	static constexpr unsigned MAX_RATE_HZ = 100;			///< XXX make this configurable
+	static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 5;
+	static constexpr unsigned MAX_ESCS = uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize;
+
+	typedef uavcan::MethodBinder<UavcanEscController*,
+		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>
+		StatusCbBinder;
+
+	typedef uavcan::MethodBinder<UavcanEscController*, void (UavcanEscController::*)(const uavcan::TimerEvent&)>
+		TimerCbBinder;
+
+	/*
+	 * libuavcan related things
+	 */
+	uavcan::MonotonicTime							_prev_cmd_pub;   ///< rate limiting
+	uavcan::INode								&_node;
+	uavcan::Publisher<uavcan::equipment::esc::RawCommand>			_uavcan_pub_raw_cmd;
+	uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder>	_uavcan_sub_status;
+	uavcan::TimerEventForwarder<TimerCbBinder>				_orb_timer;
+
+	/*
+	 * ESC states
+	 */
+	bool 				_armed = false;
+	uavcan::equipment::esc::Status	_states[MAX_ESCS];
+
+	/*
+	 * Perf counters
+	 */
+	perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
+	perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
+};
diff --git a/src/modules/uavcan/gnss_receiver.cpp b/src/modules/uavcan/gnss_receiver.cpp
new file mode 100644
index 000000000..ba1fe5e49
--- /dev/null
+++ b/src/modules/uavcan/gnss_receiver.cpp
@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gnss_receiver.cpp
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author Andrew Chambers <achamber@gmail.com>
+ *
+ */
+
+#include "gnss_receiver.hpp"
+#include <systemlib/err.h>
+#include <mathlib/mathlib.h>
+
+#define MM_PER_CM 			10	// Millimeters per centimeter
+
+UavcanGnssReceiver::UavcanGnssReceiver(uavcan::INode &node) :
+_node(node),
+_uavcan_sub_status(node),
+_report_pub(-1)
+{
+}
+
+int UavcanGnssReceiver::init()
+{
+	int res = -1;
+
+	// GNSS fix subscription
+	res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssReceiver::gnss_fix_sub_cb));
+	if (res < 0)
+	{
+		warnx("GNSS fix sub failed %i", res);
+		return res;
+	}
+
+	// Clear the uORB GPS report
+	memset(&_report, 0, sizeof(_report));
+
+	return res;
+}
+
+void UavcanGnssReceiver::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
+{
+	_report.timestamp_position = hrt_absolute_time();
+	_report.lat = msg.lat_1e7;
+	_report.lon = msg.lon_1e7;
+	_report.alt = msg.alt_1e2 * MM_PER_CM;	// Convert from centimeter (1e2) to millimeters (1e3)
+
+	_report.timestamp_variance = _report.timestamp_position;
+
+
+	// Check if the msg contains valid covariance information
+	const bool valid_position_covariance = !msg.position_covariance.empty();
+	const bool valid_velocity_covariance = !msg.velocity_covariance.empty();
+
+	if (valid_position_covariance) {
+		float pos_cov[9];
+		msg.position_covariance.unpackSquareMatrix(pos_cov);
+
+		// Horizontal position uncertainty
+		const float horizontal_pos_variance = math::max(pos_cov[0], pos_cov[4]);
+		_report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F;
+
+		// Vertical position uncertainty
+		_report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
+	} else {
+		_report.eph = -1.0F;
+		_report.epv = -1.0F;
+	}
+
+	if (valid_velocity_covariance) {
+	    float vel_cov[9];
+	    msg.velocity_covariance.unpackSquareMatrix(vel_cov);
+		_report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
+
+		/* There is a nonlinear relationship between the velocity vector and the heading.
+		 * Use Jacobian to transform velocity covariance to heading covariance
+		 *
+		 * Nonlinear equation:
+		 * heading = atan2(vel_e_m_s, vel_n_m_s)
+		 * For math, see http://en.wikipedia.org/wiki/Atan2#Derivative
+		 *
+		 * To calculate the variance of heading from the variance of velocity,
+		 * cov(heading) = J(velocity)*cov(velocity)*J(velocity)^T
+		 */
+		float vel_n = msg.ned_velocity[0];
+		float vel_e = msg.ned_velocity[1];
+		float vel_n_sq = vel_n * vel_n;
+		float vel_e_sq = vel_e * vel_e;
+		_report.c_variance_rad =
+				(vel_e_sq * vel_cov[0] +
+						-2 * vel_n * vel_e * vel_cov[1] +	// Covariance matrix is symmetric
+						vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
+
+	} else {
+		_report.s_variance_m_s = -1.0F;
+		_report.c_variance_rad = -1.0F;
+	}
+
+	_report.fix_type = msg.status;
+
+	_report.timestamp_velocity = _report.timestamp_position;
+	_report.vel_n_m_s = msg.ned_velocity[0];
+	_report.vel_e_m_s = msg.ned_velocity[1];
+	_report.vel_d_m_s = msg.ned_velocity[2];
+	_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
+	_report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s);
+	_report.vel_ned_valid = true;
+
+	_report.timestamp_time = _report.timestamp_position;
+	_report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
+
+	_report.satellites_used = msg.sats_used;
+
+	if (_report_pub > 0) {
+		orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+	} else {
+		_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+	}
+
+}
diff --git a/src/modules/uavcan/gnss_receiver.hpp b/src/modules/uavcan/gnss_receiver.hpp
new file mode 100644
index 000000000..18df8da2f
--- /dev/null
+++ b/src/modules/uavcan/gnss_receiver.hpp
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gnss_receiver.hpp
+ *
+ * UAVCAN --> ORB bridge for GNSS messages:
+ *     uavcan.equipment.gnss.Fix
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author Andrew Chambers <achamber@gmail.com>
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/gnss/Fix.hpp>
+
+class UavcanGnssReceiver
+{
+public:
+	UavcanGnssReceiver(uavcan::INode& node);
+
+	int init();
+
+private:
+	/**
+	 * GNSS fix message will be reported via this callback.
+	 */
+	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
+
+
+	typedef uavcan::MethodBinder<UavcanGnssReceiver*,
+		void (UavcanGnssReceiver::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
+		FixCbBinder;
+
+	/*
+	 * libuavcan related things
+	 */
+	uavcan::INode													&_node;
+	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder>	_uavcan_sub_status;
+
+	/*
+	 * uORB
+	 */
+	struct vehicle_gps_position_s 	_report;					///< uORB topic for gnss position
+	orb_advert_t			_report_pub;					///< uORB pub for gnss position
+
+};
diff --git a/src/modules/position_estimator/module.mk b/src/modules/uavcan/module.mk
index f64095d9d..3865f2468 100644
--- a/src/modules/position_estimator/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -1,6 +1,7 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+#   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,13 +33,38 @@
 ############################################################################
 
 #
-# Makefile to build the position estimator
+# UAVCAN <--> uORB bridge
 #
 
-MODULE_COMMAND		= position_estimator
+MODULE_COMMAND = uavcan
 
-# XXX this should be converted to a deamon, its a pretty bad example app
-MODULE_PRIORITY	 	= SCHED_PRIORITY_DEFAULT
-MODULE_STACKSIZE	= 4096
+MAXOPTIMIZATION = -Os
 
-SRCS		 	= position_estimator_main.c
+SRCS += uavcan_main.cpp         \
+        uavcan_clock.cpp        \
+        esc_controller.cpp      \
+        gnss_receiver.cpp
+
+#
+# libuavcan
+#
+include $(UAVCAN_DIR)/libuavcan/include.mk
+SRCS += $(LIBUAVCAN_SRC)
+INCLUDE_DIRS += $(LIBUAVCAN_INC)
+# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS
+
+#
+# libuavcan drivers for STM32
+#
+include $(UAVCAN_DIR)/libuavcan_drivers/stm32/driver/include.mk
+SRCS += $(LIBUAVCAN_STM32_SRC)
+INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
+override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
+
+#
+# Invoke DSDL compiler
+#
+$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+INCLUDE_DIRS += dsdlc_generated
diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/modules/uavcan/uavcan_clock.cpp
index 4b84523cc..e41d5f953 100644
--- a/src/systemcmds/hw_ver/hw_ver.c
+++ b/src/modules/uavcan/uavcan_clock.cpp
@@ -31,43 +31,49 @@
  *
  ****************************************************************************/
 
+#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <drivers/drv_hrt.h>
+
 /**
- * @file hw_ver.c
+ * @file uavcan_clock.cpp
+ *
+ * Implements a clock for the CAN node.
  *
- * Show and test hardware version.
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <nuttx/config.h>
+namespace uavcan_stm32
+{
+namespace clock
+{
 
-#include <stdio.h>
-#include <string.h>
-#include <errno.h>
-#include <version/version.h>
+uavcan::MonotonicTime getMonotonic()
+{
+	return uavcan::MonotonicTime::fromUSec(hrt_absolute_time());
+}
 
-__EXPORT int hw_ver_main(int argc, char *argv[]);
+uavcan::UtcTime getUtc()
+{
+	return uavcan::UtcTime();
+}
 
-int
-hw_ver_main(int argc, char *argv[])
+void adjustUtc(uavcan::UtcDuration adjustment)
 {
-	if (argc >= 2) {
-		if (!strcmp(argv[1], "show")) {
-			printf(HW_ARCH "\n");
-			exit(0);
-		}
+	(void)adjustment;
+}
 
-		if (!strcmp(argv[1], "compare")) {
-			if (argc >= 3) {
-				int ret = strcmp(HW_ARCH, argv[2]) != 0;
-				if (ret == 0) {
-					printf("hw_ver match: %s\n", HW_ARCH);
-				}
-				exit(ret);
+uavcan::uint64_t getUtcUSecFromCanInterrupt()
+{
+	return 0;
+}
 
-			} else {
-				errx(1, "not enough arguments, try 'compare PX4FMU_1'");
-			}
-		}
-	}
+} // namespace clock
 
-	errx(1, "expected a command, try 'show' or 'compare'");
+SystemClock &SystemClock::instance()
+{
+	static SystemClock inst;
+	return inst;
 }
+
+}
+
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
new file mode 100644
index 000000000..4535b6d6a
--- /dev/null
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -0,0 +1,609 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <cstdlib>
+#include <cstring>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/board_serial.h>
+#include <version/version.h>
+#include <arch/board/board.h>
+#include <arch/chip/chip.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "uavcan_main.hpp"
+
+/**
+ * @file uavcan_main.cpp
+ *
+ * Implements basic functinality of UAVCAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+/*
+ * UavcanNode
+ */
+UavcanNode *UavcanNode::_instance;
+
+UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
+	CDev("uavcan", UAVCAN_DEVICE_PATH),
+	_node(can_driver, system_clock),
+	_esc_controller(_node),
+	_gnss_receiver(_node)
+{
+	_control_topics[0] = ORB_ID(actuator_controls_0);
+	_control_topics[1] = ORB_ID(actuator_controls_1);
+	_control_topics[2] = ORB_ID(actuator_controls_2);
+	_control_topics[3] = ORB_ID(actuator_controls_3);
+
+	// memset(_controls, 0, sizeof(_controls));
+	// memset(_poll_fds, 0, sizeof(_poll_fds));
+}
+
+UavcanNode::~UavcanNode()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+
+		do {
+			/* wait 5ms - it should wake every 10ms or so worst-case */
+			usleep(5000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	/* clean up the alternate device node */
+		// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
+
+	::close(_armed_sub);
+
+	_instance = nullptr;
+}
+
+int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
+{
+	if (_instance != nullptr) {
+		warnx("Already started");
+		return -1;
+	}
+
+	/*
+	 * GPIO config.
+	 * Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
+	 * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
+	 * fail during initialization.
+	 */
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
+	stm32_configgpio(GPIO_CAN2_TX);
+
+	/*
+	 * CAN driver init
+	 */
+	static CanInitHelper can;
+	static bool can_initialized = false;
+
+	if (!can_initialized) {
+		const int can_init_res = can.init(bitrate);
+
+		if (can_init_res < 0) {
+			warnx("CAN driver init failed %i", can_init_res);
+			return can_init_res;
+		}
+
+		can_initialized = true;
+	}
+
+	/*
+	 * Node init
+	 */
+	_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
+
+	if (_instance == nullptr) {
+		warnx("Out of memory");
+		return -1;
+	}
+
+	const int node_init_res = _instance->init(node_id);
+
+	if (node_init_res < 0) {
+		delete _instance;
+		_instance = nullptr;
+		warnx("Node init failed %i", node_init_res);
+		return node_init_res;
+	}
+
+	/*
+	 * Start the task. Normally it should never exit.
+	 */
+	static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
+	_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
+			      static_cast<main_t>(run_trampoline), nullptr);
+
+	if (_instance->_task < 0) {
+		warnx("start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void UavcanNode::fill_node_info()
+{
+	/* software version */
+	uavcan::protocol::SoftwareVersion swver;
+
+	// Extracting the first 8 hex digits of FW_GIT and converting them to int
+	char fw_git_short[9] = {};
+	std::memmove(fw_git_short, FW_GIT, 8);
+	assert(fw_git_short[8] == '\0');
+	char *end = nullptr;
+	swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
+	swver.optional_field_mask |= swver.OPTIONAL_FIELD_MASK_VCS_COMMIT;
+
+	warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
+
+	_node.setSoftwareVersion(swver);
+
+	/* hardware version */
+	uavcan::protocol::HardwareVersion hwver;
+
+	if (!std::strncmp(HW_ARCH, "PX4FMU_V1", 9)) {
+		hwver.major = 1;
+	} else if (!std::strncmp(HW_ARCH, "PX4FMU_V2", 9)) {
+		hwver.major = 2;
+	} else {
+		; // All other values of HW_ARCH resolve to zero
+	}
+
+	uint8_t udid[12] = {};  // Someone seems to love magic numbers
+	get_board_serial(udid);
+	uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
+
+	_node.setHardwareVersion(hwver);
+}
+
+int UavcanNode::init(uavcan::NodeID node_id)
+{
+	int ret = -1;
+
+	/* do regular cdev init */
+	ret = CDev::init();
+
+	if (ret != OK)
+		return ret;
+
+	_node.setName("org.pixhawk.pixhawk");
+
+	_node.setNodeID(node_id);
+
+	fill_node_info();
+
+	/* initializing the bridges UAVCAN <--> uORB */
+	ret = _esc_controller.init();
+	if (ret < 0)
+		return ret;
+
+	ret = _gnss_receiver.init();
+	if (ret < 0)
+		return ret;
+
+	return _node.start();
+}
+
+void UavcanNode::node_spin_once()
+{
+	const int spin_res = _node.spin(uavcan::MonotonicTime());
+	if (spin_res < 0) {
+		warnx("node spin error %i", spin_res);
+	}
+}
+
+int UavcanNode::run()
+{
+	const unsigned PollTimeoutMs = 50;
+
+	// XXX figure out the output count
+	_output_count = 2;
+
+	_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+
+	actuator_outputs_s outputs;
+	memset(&outputs, 0, sizeof(outputs));
+
+	const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
+	if (busevent_fd < 0)
+	{
+		warnx("Failed to open %s", uavcan_stm32::BusEvent::DevName);
+		_task_should_exit = true;
+	}
+
+	/*
+	 * XXX Mixing logic/subscriptions shall be moved into UavcanEscController::update();
+	 *     IO multiplexing shall be done here.
+	 */
+
+	_node.setStatusOk();
+
+	/*
+	 * This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
+	 * Please note that with such multiplexing it is no longer possible to rely only on
+	 * the value returned from poll() to detect whether actuator control has timed out or not.
+	 * Instead, all ORB events need to be checked individually (see below).
+	 */
+	_poll_fds_num = 0;
+	_poll_fds[_poll_fds_num] = ::pollfd();
+	_poll_fds[_poll_fds_num].fd = busevent_fd;
+	_poll_fds[_poll_fds_num].events = POLLIN;
+	_poll_fds_num += 1;
+
+	while (!_task_should_exit) {
+		// update actuator controls subscriptions if needed
+		if (_groups_subscribed != _groups_required) {
+			subscribe();
+			_groups_subscribed = _groups_required;
+		}
+
+		const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
+
+		node_spin_once();  // Non-blocking
+
+		// this would be bad...
+		if (poll_ret < 0) {
+			log("poll error %d", errno);
+			continue;
+		} else {
+			// get controls for required topics
+			bool controls_updated = false;
+			unsigned poll_id = 1;
+			for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+				if (_control_subs[i] > 0) {
+					if (_poll_fds[poll_id].revents & POLLIN) {
+						controls_updated = true;
+						orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
+					}
+					poll_id++;
+				}
+			}
+
+			// can we mix?
+			if (controls_updated && (_mixers != nullptr)) {
+
+				// XXX one output group has 8 outputs max,
+				// but this driver could well serve multiple groups.
+				unsigned num_outputs_max = 8;
+
+				// Do mixing
+				outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs_max);
+				outputs.timestamp = hrt_absolute_time();
+
+				// iterate actuators
+				for (unsigned i = 0; i < outputs.noutputs; i++) {
+					// last resort: catch NaN, INF and out-of-band errors
+					if (!isfinite(outputs.output[i])) {
+						/*
+						 * Value is NaN, INF or out of band - set to the minimum value.
+						 * This will be clearly visible on the servo status and will limit the risk of accidentally
+						 * spinning motors. It would be deadly in flight.
+						 */
+						outputs.output[i] = -1.0f;
+					}
+
+					// limit outputs to valid range
+
+					// never go below min
+					if (outputs.output[i] < -1.0f) {
+						outputs.output[i] = -1.0f;
+					}
+
+					// never go below max
+					if (outputs.output[i] > 1.0f) {
+						outputs.output[i] = 1.0f;
+					}
+				}
+
+				// Output to the bus
+				_esc_controller.update_outputs(outputs.output, outputs.noutputs);
+			}
+
+		}
+
+		// Check arming state
+		bool updated = false;
+		orb_check(_armed_sub, &updated);
+
+		if (updated) {
+			orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
+
+			// Update the armed status and check that we're not locked down
+			bool set_armed = _armed.armed && !_armed.lockdown;
+
+			arm_actuators(set_armed);
+		}
+	}
+
+	teardown();
+	warnx("exiting.");
+
+	exit(0);
+}
+
+int
+UavcanNode::control_callback(uintptr_t handle,
+			 uint8_t control_group,
+			 uint8_t control_index,
+			 float &input)
+{
+	const actuator_controls_s *controls = (actuator_controls_s *)handle;
+
+	input = controls[control_group].control[control_index];
+	return 0;
+}
+
+int
+UavcanNode::teardown()
+{
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+		if (_control_subs[i] > 0) {
+			::close(_control_subs[i]);
+			_control_subs[i] = -1;
+		}
+	}
+	return ::close(_armed_sub);
+}
+
+int
+UavcanNode::arm_actuators(bool arm)
+{
+	_is_armed = arm;
+	_esc_controller.arm_esc(arm);
+	return OK;
+}
+
+void
+UavcanNode::subscribe()
+{
+	// Subscribe/unsubscribe to required actuator control groups
+	uint32_t sub_groups = _groups_required & ~_groups_subscribed;
+	uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
+	// the first fd used by CAN
+	_poll_fds_num = 1;
+	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+		if (sub_groups & (1 << i)) {
+			warnx("subscribe to actuator_controls_%d", i);
+			_control_subs[i] = orb_subscribe(_control_topics[i]);
+		}
+		if (unsub_groups & (1 << i)) {
+			warnx("unsubscribe from actuator_controls_%d", i);
+			::close(_control_subs[i]);
+			_control_subs[i] = -1;
+		}
+
+		if (_control_subs[i] > 0) {
+			_poll_fds[_poll_fds_num].fd = _control_subs[i];
+			_poll_fds[_poll_fds_num].events = POLLIN;
+			_poll_fds_num++;
+		}
+	}
+}
+
+int
+UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	lock();
+
+	switch (cmd) {
+	case PWM_SERVO_ARM:
+		arm_actuators(true);
+		break;
+
+	case PWM_SERVO_SET_ARM_OK:
+	case PWM_SERVO_CLEAR_ARM_OK:
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+		// these are no-ops, as no safety switch
+		break;
+
+	case PWM_SERVO_DISARM:
+		arm_actuators(false);
+		break;
+
+	case MIXERIOCGETOUTPUTCOUNT:
+		*(unsigned *)arg = _output_count;
+		break;
+
+	case MIXERIOCRESET:
+		if (_mixers != nullptr) {
+			delete _mixers;
+			_mixers = nullptr;
+			_groups_required = 0;
+		}
+
+		break;
+
+	case MIXERIOCLOADBUF: {
+			const char *buf = (const char *)arg;
+			unsigned buflen = strnlen(buf, 1024);
+
+			if (_mixers == nullptr)
+				_mixers = new MixerGroup(control_callback, (uintptr_t)_controls);
+
+			if (_mixers == nullptr) {
+				_groups_required = 0;
+				ret = -ENOMEM;
+
+			} else {
+
+				ret = _mixers->load_from_buf(buf, buflen);
+
+				if (ret != 0) {
+					warnx("mixer load failed with %d", ret);
+					delete _mixers;
+					_mixers = nullptr;
+					_groups_required = 0;
+					ret = -EINVAL;
+				} else {
+
+					_mixers->groups_required(_groups_required);
+				}
+			}
+
+			break;
+		}
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	if (ret == -ENOTTY) {
+		ret = CDev::ioctl(filp, cmd, arg);
+	}
+
+	return ret;
+}
+
+void
+UavcanNode::print_info()
+{
+	if (!_instance) {
+		warnx("not running, start first");
+	}
+
+	warnx("actuators control groups: sub: %u / req: %u / fds: %u", (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num);
+	warnx("mixer: %s", (_mixers == nullptr) ? "NONE" : "OK");
+}
+
+/*
+ * App entry point
+ */
+static void print_usage()
+{
+	warnx("usage: uavcan start <node_id> [can_bitrate]");
+}
+
+extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
+
+int uavcan_main(int argc, char *argv[])
+{
+	constexpr unsigned DEFAULT_CAN_BITRATE = 1000000;
+
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	if (!std::strcmp(argv[1], "start")) {
+		if (argc < 3) {
+			print_usage();
+			::exit(1);
+		}
+
+		/*
+		 * Node ID
+		 */
+		const int node_id = atoi(argv[2]);
+
+		if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
+			warnx("Invalid Node ID %i", node_id);
+			::exit(1);
+		}
+
+		/*
+		 * CAN bitrate
+		 */
+		unsigned bitrate = 0;
+
+		if (argc > 3) {
+			bitrate = atol(argv[3]);
+		}
+
+		if (bitrate <= 0) {
+			bitrate = DEFAULT_CAN_BITRATE;
+		}
+
+		if (UavcanNode::instance()) {
+			errx(1, "already started");
+		}
+
+		/*
+		 * Start
+		 */
+		warnx("Node ID %u, bitrate %u", node_id, bitrate);
+		return UavcanNode::start(node_id, bitrate);
+
+	}
+
+	/* commands below require the app to be started */
+	UavcanNode *inst = UavcanNode::instance();
+
+	if (!inst) {
+		errx(1, "application not running");
+	}
+
+	if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
+		
+			inst->print_info();
+			return OK;
+	}
+
+	if (!std::strcmp(argv[1], "stop")) {
+		
+			delete inst;
+			inst = nullptr;
+			return OK;
+	}
+
+	print_usage();
+	::exit(1);
+}
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
new file mode 100644
index 000000000..05b66fd7b
--- /dev/null
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/config.h>
+
+#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <drivers/device/device.h>
+
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_armed.h>
+
+#include "esc_controller.hpp"
+#include "gnss_receiver.hpp"
+
+/**
+ * @file uavcan_main.hpp
+ *
+ * Defines basic functinality of UAVCAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4
+#define UAVCAN_DEVICE_PATH	"/dev/uavcan/esc"
+
+/**
+ * A UAVCAN node.
+ */
+class UavcanNode : public device::CDev
+{
+	static constexpr unsigned MemPoolSize        = 10752;
+	static constexpr unsigned RxQueueLenPerIface = 64;
+	static constexpr unsigned StackSize          = 3000;
+
+public:
+	typedef uavcan::Node<MemPoolSize> Node;
+	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
+
+	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
+
+	virtual		~UavcanNode();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+
+	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
+
+	Node&		getNode() { return _node; }
+
+	static int	control_callback(uintptr_t handle,
+					 uint8_t control_group,
+					 uint8_t control_index,
+					 float &input);
+
+	void		subscribe();
+
+	int		teardown();
+	int		arm_actuators(bool arm);
+
+	void		print_info();
+
+	static UavcanNode* instance() { return _instance; }
+
+private:
+	void		fill_node_info();
+	int		init(uavcan::NodeID node_id);
+	void		node_spin_once();
+	int		run();
+
+	int			_task = -1;			///< handle to the OS task
+	bool			_task_should_exit = false;	///< flag to indicate to tear down the CAN driver
+	int			_armed_sub = -1;		///< uORB subscription of the arming status
+	actuator_armed_s	_armed;				///< the arming request of the system
+	bool			_is_armed = false;		///< the arming status of the actuators on the bus
+
+	unsigned		_output_count = 0;		///< number of actuators currently available
+
+	static UavcanNode	*_instance;			///< singleton pointer
+	Node			_node;				///< library instance
+	UavcanEscController	_esc_controller;
+	UavcanGnssReceiver 	_gnss_receiver;
+
+	MixerGroup		*_mixers = nullptr;
+
+	uint32_t		_groups_required = 0;
+	uint32_t		_groups_subscribed = 0;
+	int			_control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
+	actuator_controls_s 	_controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
+	orb_id_t		_control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
+	pollfd			_poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {};	///< +1 for /dev/uavcan/busevent
+	unsigned		_poll_fds_num = 0;
+};
diff --git a/src/modules/unit_test/unit_test.cpp b/src/modules/unit_test/unit_test.cpp
index 64ee544a2..02d1af481 100644
--- a/src/modules/unit_test/unit_test.cpp
+++ b/src/modules/unit_test/unit_test.cpp
@@ -32,17 +32,10 @@
  *
  ****************************************************************************/
 
-/**
- * @file unit_test.cpp
- * A unit test library.
- *
- */
-
 #include "unit_test.h"
 
 #include <systemlib/err.h>
 
-
 UnitTest::UnitTest()
 {
 }
@@ -51,15 +44,15 @@ UnitTest::~UnitTest()
 {
 }
 
-void
-UnitTest::print_results(const char* result)
+void UnitTest::printResults(void)
+{
+    warnx(mu_tests_failed() ? "SOME TESTS FAILED" : "ALL TESTS PASSED");
+    warnx("  Tests passed : %d", mu_tests_passed());
+    warnx("  Tests failed : %d", mu_tests_failed());
+    warnx("  Assertions : %d", mu_assertion());
+}
+
+void UnitTest::printAssert(const char* msg, const char* test, const char* file, int line)
 {
-	if (result != 0) {
-        	warnx("Failed: %s:%d", mu_last_test(), mu_line());
-        	warnx("%s", result);
-    	} else {
-        	warnx("ALL TESTS PASSED");
-        	warnx("  Tests run : %d", mu_tests_run());
-        	warnx("  Assertion : %d", mu_assertion());
-    	}
+    warnx("Assertion failed: %s - %s (%s:%d)", msg, test, file, line);
 }
diff --git a/src/modules/unit_test/unit_test.h b/src/modules/unit_test/unit_test.h
index 3020734f4..32eb8c308 100644
--- a/src/modules/unit_test/unit_test.h
+++ b/src/modules/unit_test/unit_test.h
@@ -32,62 +32,55 @@
  *
  ****************************************************************************/
 
-/**
- * @file unit_test.h
- * A unit test library based on MinUnit (http://www.jera.com/techinfo/jtns/jtn002.html).
- *
- */
-
 #ifndef UNIT_TEST_H_
-#define UNIT_TEST_
+#define UNIT_TEST_H_
 
 #include <systemlib/err.h>
 
-
 class __EXPORT UnitTest
 {
 
 public:
-#define xstr(s) str(s)
-#define str(s) #s
 #define INLINE_GLOBAL(type,func) inline type& func() { static type x; return x; }
 
 INLINE_GLOBAL(int, mu_tests_run)
+INLINE_GLOBAL(int, mu_tests_failed)
+INLINE_GLOBAL(int, mu_tests_passed)
 INLINE_GLOBAL(int, mu_assertion)
 INLINE_GLOBAL(int, mu_line)
 INLINE_GLOBAL(const char*, mu_last_test)
 
-#define mu_assert(message, test)                                           \
-    do                                                                     \
-    {                                                                      \
-        if (!(test))                                                       \
-            return __FILE__ ":" xstr(__LINE__) " " message " (" #test ")"; \
-        else                                                               \
-            mu_assertion()++;                                              \
-    } while (0)
-
-
-#define mu_run_test(test)                                                  \
-do                                                                         \
-{                                                                          \
-    const char *message;                                                   \
-    mu_last_test() = #test;                                                \
-    mu_line() = __LINE__;                                                  \
-    message = test();                                                      \
-    mu_tests_run()++;                                                      \
-    if (message)                                                           \
-        return message;                                                    \
-} while (0)
-
-
-public:
 	UnitTest();
     virtual ~UnitTest();
 
-    virtual const char*     run_tests() = 0;
-    virtual void            print_results(const char* result);
-};
-
+    virtual void runTests(void) = 0;
+    void printResults(void);
+    
+    void printAssert(const char* msg, const char* test, const char* file, int line);
+    
+#define ut_assert(message, test)                                \
+    do {                                                        \
+        if (!(test)) {                                          \
+            printAssert(message, #test, __FILE__, __LINE__);    \
+            return false;                                       \
+        } else {                                                \
+            mu_assertion()++;                                   \
+        }                                                       \
+    } while (0)
+    
+#define ut_run_test(test)                       \
+    do {                                        \
+        warnx("RUNNING TEST: %s", #test);       \
+        mu_tests_run()++;                       \
+        if (!test()) {                          \
+            warnx("TEST FAILED: %s", #test);    \
+            mu_tests_failed()++;                \
+        } else {                                \
+            warnx("TEST PASSED: %s", #test);    \
+            mu_tests_passed()++;                \
+        }                                       \
+    } while (0)
 
+};
 
 #endif /* UNIT_TEST_H_ */
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 476015f3e..4a97d328c 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *   Author: Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -94,7 +92,6 @@ do_device(int argc, char *argv[])
 	}
 
 	int	fd;
-	int	ret;
 
 	fd = open(argv[0], 0);
 
@@ -104,6 +101,8 @@ do_device(int argc, char *argv[])
 
 	} else {
 
+		int	ret;
+
 		if (argc == 2 && !strcmp(argv[1], "block")) {
 
 			/* disable the device publications */
@@ -121,7 +120,7 @@ do_device(int argc, char *argv[])
 				errx(ret,"uORB publications could not be unblocked");
 
 		} else {
-			errx("no valid command: %s", argv[1]);
+			errx(1, "no valid command: %s", argv[1]);
 		}
 	}
 
@@ -132,7 +131,6 @@ static void
 do_gyro(int argc, char *argv[])
 {
 	int	fd;
-	int	ret;
 
 	fd = open(GYRO_DEVICE_PATH, 0);
 
@@ -142,6 +140,8 @@ do_gyro(int argc, char *argv[])
 
 	} else {
 
+		int ret;
+
 		if (argc == 2 && !strcmp(argv[0], "sampling")) {
 
 			/* set the gyro internal sampling rate up to at least i Hz */
@@ -173,8 +173,13 @@ do_gyro(int argc, char *argv[])
 				warnx("gyro self test FAILED! Check calibration:");
 				struct gyro_scale scale;
 				ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
-				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
-				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+				if (ret) {
+					err(1, "failed getting gyro scale");
+				}
+
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
 			} else {
 				warnx("gyro calibration and self test OK");
 			}
@@ -199,7 +204,6 @@ static void
 do_mag(int argc, char *argv[])
 {
 	int fd;
-	int ret;
 
 	fd = open(MAG_DEVICE_PATH, 0);
 
@@ -209,6 +213,8 @@ do_mag(int argc, char *argv[])
 
 	} else {
 
+		int ret;
+
 		if (argc == 2 && !strcmp(argv[0], "sampling")) {
 
 			/* set the mag internal sampling rate up to at least i Hz */
@@ -240,8 +246,13 @@ do_mag(int argc, char *argv[])
 				warnx("mag self test FAILED! Check calibration:");
 				struct mag_scale scale;
 				ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
-				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
-				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+				if (ret) {
+					err(ret, "failed getting mag scale");
+				}
+
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
 			} else {
 				warnx("mag calibration and self test OK");
 			}
@@ -266,7 +277,6 @@ static void
 do_accel(int argc, char *argv[])
 {
 	int	fd;
-	int	ret;
 
 	fd = open(ACCEL_DEVICE_PATH, 0);
 
@@ -276,6 +286,8 @@ do_accel(int argc, char *argv[])
 
 	} else {
 
+		int ret;
+
 		if (argc == 2 && !strcmp(argv[0], "sampling")) {
 
 			/* set the accel internal sampling rate up to at least i Hz */
@@ -307,8 +319,13 @@ do_accel(int argc, char *argv[])
 				warnx("accel self test FAILED! Check calibration:");
 				struct accel_scale scale;
 				ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
-				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset);
-				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale);
+
+				if (ret) {
+					err(ret, "failed getting accel scale");
+				}
+
+				warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset);
+				warnx("scale:   X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale);
 			} else {
 				warnx("accel calibration and self test OK");
 			}
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index ad1996694..7d80af307 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -182,7 +182,7 @@ esc_calib_main(int argc, char *argv[])
 
 	if (orb_updated) {
 		errx(1, "ABORTING! Attitude control still active. Please ensure to shut down all controllers:\n"
-			"\tmultirotor_att_control stop\n"
+			"\tmc_att_control stop\n"
 			"\tfw_att_control stop\n");
 	}
 
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index e34be44e3..991363797 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -142,12 +142,9 @@ struct at24c_dev_s {
 	uint16_t              pagesize; /* 32, 63 */
 	uint16_t              npages;   /* 128, 256, 512, 1024 */
 
-	perf_counter_t        perf_reads;
-	perf_counter_t        perf_writes;
-	perf_counter_t        perf_resets;
-	perf_counter_t        perf_read_retries;
-	perf_counter_t        perf_read_errors;
-	perf_counter_t        perf_write_errors;
+	perf_counter_t        perf_transfers;
+	perf_counter_t        perf_resets_retries;
+	perf_counter_t        perf_errors;
 };
 
 /************************************************************************************
@@ -164,6 +161,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
 static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
 
 void at24c_test(void);
+int at24c_nuke(void);
 
 /************************************************************************************
  * Private Data
@@ -240,8 +238,10 @@ void at24c_test(void)
 		} else if (result != 1) {
 			vdbg("unexpected %u\n", result);
 		}
-		if ((count % 100) == 0)
+
+		if ((count % 100) == 0) {
 			vdbg("test %u errors %u\n", count, errors);
+		}
 	}
 }
 
@@ -298,9 +298,9 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
 
 		for (;;) {
 
-			perf_begin(priv->perf_reads);
+			perf_begin(priv->perf_transfers);
 			ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
-			perf_end(priv->perf_reads);
+			perf_end(priv->perf_transfers);
 
 			if (ret >= 0)
 				break;
@@ -314,10 +314,10 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
 			 * XXX maybe do special first-read handling with optional
 			 * bus reset as well?
 			 */
-			perf_count(priv->perf_read_retries);
+			perf_count(priv->perf_resets_retries);
 
 			if (--tries == 0) {
-				perf_count(priv->perf_read_errors);
+				perf_count(priv->perf_errors);
 				return ERROR;
 			}
 		}
@@ -383,9 +383,9 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
 
 		for (;;) {
 
-			perf_begin(priv->perf_writes);
+			perf_begin(priv->perf_transfers);
 			ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
-			perf_end(priv->perf_writes);
+			perf_end(priv->perf_transfers);
 
 			if (ret >= 0)
 				break;
@@ -397,7 +397,7 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
 			 * poll for write completion.
 			 */
 			if (--tries == 0) {
-				perf_count(priv->perf_write_errors);
+				perf_count(priv->perf_errors);
 				return ERROR;
 			}
 		}
@@ -521,12 +521,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
 		priv->mtd.ioctl  = at24c_ioctl;
 		priv->dev        = dev;
 
-		priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read");
-		priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write");
-		priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset");
-		priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries");
-		priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors");
-		priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors");
+		priv->perf_transfers = perf_alloc(PC_ELAPSED, "eeprom_trans");
+		priv->perf_resets_retries = perf_alloc(PC_COUNT, "eeprom_rst");
+		priv->perf_errors = perf_alloc(PC_COUNT, "eeprom_errs");
 	}
 
 	/* attempt to read to validate device is present */
@@ -548,9 +545,9 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
 		}
 	};
 
-	perf_begin(priv->perf_reads);
+	perf_begin(priv->perf_transfers);
 	int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
-	perf_end(priv->perf_reads);
+	perf_end(priv->perf_transfers);
 
 	if (ret < 0) {
 		return NULL;
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index 0a88d40f3..a925cdd40 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -91,7 +91,7 @@ static void	mtd_test(void);
 static void	mtd_erase(char *partition_names[], unsigned n_partitions);
 static void	mtd_readtest(char *partition_names[], unsigned n_partitions);
 static void	mtd_rwtest(char *partition_names[], unsigned n_partitions);
-static void	mtd_print_info();
+static void	mtd_print_info(void);
 static int	mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
 	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
 
@@ -104,6 +104,16 @@ static unsigned n_partitions_current = 0;
 static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
 static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]);
 
+static void
+mtd_status(void)
+{
+	if (!attached)
+		errx(1, "MTD driver not started");
+    
+	mtd_print_info();
+	exit(0);
+}
+
 int mtd_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
@@ -160,7 +170,11 @@ static void
 ramtron_attach(void)
 {
 	/* find the right spi */
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+	struct spi_dev_s *spi = up_spiinitialize(4);
+#else
 	struct spi_dev_s *spi = up_spiinitialize(2);
+#endif
 	/* this resets the spi bus, set correct bus speed again */
 	SPI_SETFREQUENCY(spi, 10 * 1000 * 1000);
 	SPI_SETBITS(spi, 8);
@@ -189,8 +203,12 @@ ramtron_attach(void)
 		errx(1, "failed to initialize mtd driver");
 
 	int ret = mtd_dev->ioctl(mtd_dev, MTDIOC_SETSPEED, (unsigned long)10*1000*1000);
-        if (ret != OK)
-            warnx(1, "failed to set bus speed");
+	if (ret != OK) {
+		// FIXME: From the previous warnx call, it looked like this should have been an errx instead. Tried
+		// that but setting the bug speed does fail all the time. Which was then exiting and the board would
+		// not run correctly. So changed to warnx.
+		warnx("failed to set bus speed");
+	}
 
 	attached = true;
 }
@@ -347,7 +365,7 @@ static ssize_t mtd_get_partition_size(void)
 	return partsize;
 }
 
-void mtd_print_info()
+void mtd_print_info(void)
 {
 	if (!attached)
 		exit(1);
@@ -378,16 +396,6 @@ mtd_test(void)
 }
 
 void
-mtd_status(void)
-{
-	if (!attached)
-		errx(1, "MTD driver not started");
-
-	mtd_print_info();
-	exit(0);
-}
-
-void
 mtd_erase(char *partition_names[], unsigned n_partitions)
 {
 	uint8_t v[64];
@@ -420,7 +428,7 @@ mtd_readtest(char *partition_names[], unsigned n_partitions)
 
 	uint8_t v[128];
 	for (uint8_t i = 0; i < n_partitions; i++) {
-		uint32_t count = 0;
+		ssize_t count = 0;
 		printf("reading %s expecting %u bytes\n", partition_names[i], expected_size);
 		int fd = open(partition_names[i], O_RDONLY);
 		if (fd == -1) {
@@ -451,8 +459,8 @@ mtd_rwtest(char *partition_names[], unsigned n_partitions)
 
 	uint8_t v[128], v2[128];
 	for (uint8_t i = 0; i < n_partitions; i++) {
-		uint32_t count = 0;
-                off_t offset = 0;
+		ssize_t count = 0;
+        off_t offset = 0;
 		printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size);
 		int fd = open(partition_names[i], O_RDWR);
 		if (fd == -1) {
diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk
index a48588535..e2fa0ff80 100644
--- a/src/systemcmds/nshterm/module.mk
+++ b/src/systemcmds/nshterm/module.mk
@@ -38,4 +38,4 @@
 MODULE_COMMAND	 = nshterm
 SRCS		 = nshterm.c
 
-MODULE_STACKSIZE = 3000
+MODULE_STACKSIZE = 1400
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 7d9484d3e..fca1798e6 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -60,7 +60,7 @@ nshterm_main(int argc, char *argv[])
         printf("Usage: nshterm <device>\n");
         exit(1);
     }
-    uint8_t retries = 0;
+    unsigned retries = 0;
     int fd = -1;
 
     /* try the first 30 seconds */
diff --git a/src/systemcmds/param/module.mk b/src/systemcmds/param/module.mk
index 63f15ad28..f716eb71e 100644
--- a/src/systemcmds/param/module.mk
+++ b/src/systemcmds/param/module.mk
@@ -38,7 +38,8 @@
 MODULE_COMMAND	 = param
 SRCS		 = param.c
 
-MODULE_STACKSIZE = 4096
+# Note: measurements yielded a max of 900 bytes used.
+MODULE_STACKSIZE = 1800
 
 MAXOPTIMIZATION	 = -Os
 
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 0cbba0a37..e110335e7 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -46,6 +46,7 @@
 #include <stdbool.h>
 #include <unistd.h>
 #include <fcntl.h>
+#include <math.h>
 #include <sys/stat.h>
 
 #include <arch/board/board.h>
@@ -61,8 +62,10 @@ static void	do_load(const char* param_file_name);
 static void	do_import(const char* param_file_name);
 static void	do_show(const char* search_string);
 static void	do_show_print(void *arg, param_t param);
-static void	do_set(const char* name, const char* val);
-static void	do_compare(const char* name, const char* vals[], unsigned comparisons);
+static void	do_set(const char* name, const char* val, bool fail_on_not_found);
+static void	do_compare(const char* name, char* vals[], unsigned comparisons);
+static void	do_reset(void);
+static void	do_reset_nostart(void);
 
 int
 param_main(int argc, char *argv[])
@@ -116,10 +119,17 @@ param_main(int argc, char *argv[])
 		}
 
 		if (!strcmp(argv[1], "set")) {
-			if (argc >= 4) {
-				do_set(argv[2], argv[3]);
+			if (argc >= 5) {
+
+				/* if the fail switch is provided, fails the command if not found */
+				bool fail = !strcmp(argv[4], "fail");
+
+				do_set(argv[2], argv[3], fail);
+
+			} else if (argc >= 4) {
+				do_set(argv[2], argv[3], false);
 			} else {
-				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3'");
+				errx(1, "not enough arguments.\nTry 'param set PARAM_NAME 3 [fail]'");
 			}
 		}
 
@@ -130,6 +140,14 @@ param_main(int argc, char *argv[])
 				errx(1, "not enough arguments.\nTry 'param compare PARAM_NAME 3'");
 			}
 		}
+
+		if (!strcmp(argv[1], "reset")) {
+			do_reset();
+		}
+
+		if (!strcmp(argv[1], "reset_nostart")) {
+			do_reset_nostart();
+		}
 	}
 	
 	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
@@ -211,9 +229,8 @@ do_show_print(void *arg, param_t param)
 	if (!(arg == NULL)) {
 
 		/* start search */
-		char *ss = search_string;
-		char *pp = p_name;
-		bool mismatch = false;
+		const char *ss = search_string;
+		const char *pp = p_name;
 
 		/* XXX this comparison is only ok for trailing wildcards */
 		while (*ss != '\0' && *pp != '\0') {
@@ -277,7 +294,7 @@ do_show_print(void *arg, param_t param)
 }
 
 static void
-do_set(const char* name, const char* val)
+do_set(const char* name, const char* val, bool fail_on_not_found)
 {
 	int32_t i;
 	float f;
@@ -285,8 +302,8 @@ do_set(const char* name, const char* val)
 
 	/* set nothing if parameter cannot be found */
 	if (param == PARAM_INVALID) {
-		/* param not found */
-		errx(1, "Error: Parameter %s not found.", name);
+		/* param not found - fail silenty in scripts as it prevents booting */
+		errx(((fail_on_not_found) ? 1 : 0), "Error: Parameter %s not found.", name);
 	}
 
 	printf("%c %s: ",
@@ -334,7 +351,7 @@ do_set(const char* name, const char* val)
 }
 
 static void
-do_compare(const char* name, const char* vals[], unsigned comparisons)
+do_compare(const char* name, char* vals[], unsigned comparisons)
 {
 	int32_t i;
 	float f;
@@ -402,3 +419,39 @@ do_compare(const char* name, const char* vals[], unsigned comparisons)
 
 	exit(ret);
 }
+
+static void
+do_reset(void)
+{
+	param_reset_all();
+
+	if (param_save_default()) {
+		warnx("Param export failed.");
+		exit(1);
+	} else {
+		exit(0);
+	}
+}
+
+static void
+do_reset_nostart(void)
+{
+
+	int32_t autostart;
+	int32_t autoconfig;
+
+	(void)param_get(param_find("SYS_AUTOSTART"), &autostart);
+	(void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+	param_reset_all();
+
+	(void)param_set(param_find("SYS_AUTOSTART"), &autostart);
+	(void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+	if (param_save_default()) {
+		warnx("Param export failed.");
+		exit(1);
+	} else {
+		exit(0);
+	}
+}
diff --git a/src/systemcmds/perf/module.mk b/src/systemcmds/perf/module.mk
index 77952842b..ec39a7a85 100644
--- a/src/systemcmds/perf/module.mk
+++ b/src/systemcmds/perf/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	 = perf
 SRCS		 = perf.c
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c
index b69ea597b..b08a2e3b7 100644
--- a/src/systemcmds/perf/perf.c
+++ b/src/systemcmds/perf/perf.c
@@ -73,7 +73,7 @@ int perf_main(int argc, char *argv[])
 		return -1;
 	}
 
-	perf_print_all();
+	perf_print_all(0 /* stdout */);
 	fflush(stdout);
 	return 0;
 }
diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk
index 7c3c88783..0cb2a4cd0 100644
--- a/src/systemcmds/preflight_check/module.mk
+++ b/src/systemcmds/preflight_check/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	 = preflight_check
 SRCS		 = preflight_check.c
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk
index 4a23bba90..13a24150f 100644
--- a/src/systemcmds/pwm/module.mk
+++ b/src/systemcmds/pwm/module.mk
@@ -38,4 +38,4 @@
 MODULE_COMMAND	 = pwm
 SRCS		 = pwm.c
 
-MODULE_STACKSIZE = 4096
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 7c23f38c2..c8d698b86 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -70,7 +70,7 @@ usage(const char *reason)
 {
 	if (reason != NULL)
 		warnx("%s", reason);
-	errx(1, 
+	errx(1,
 		"usage:\n"
 		"pwm arm|disarm|rate|failsafe|disarmed|min|max|test|info  ...\n"
 		"\n"
@@ -443,6 +443,111 @@ pwm_main(int argc, char *argv[])
 					exit(0);
 				}
 			}
+			usleep(2000);
+		}
+		exit(0);
+
+
+	} else if (!strcmp(argv[1], "steps")) {
+
+		if (set_mask == 0) {
+			usage("no channels set");
+		}
+
+		/* get current servo values */
+		struct pwm_output_values last_spos;
+
+		for (unsigned i = 0; i < servo_count; i++) {
+
+			ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]);
+			if (ret != OK)
+				err(1, "PWM_SERVO_GET(%d)", i);
+		}
+
+		/* perform PWM output */
+
+		/* Open console directly to grab CTRL-C signal */
+		struct pollfd fds;
+		fds.fd = 0; /* stdin */
+		fds.events = POLLIN;
+
+		warnx("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now.");
+		sleep(5);
+
+		unsigned off = 900;
+		unsigned idle = 1300;
+		unsigned full = 2000;
+		unsigned steps_timings_us[] = {2000, 5000, 20000, 50000};
+
+		unsigned phase = 0;
+		unsigned phase_counter = 0;
+		unsigned const phase_maxcount = 20;
+
+		for (	unsigned steps_timing_index = 0;
+			steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]);
+			steps_timing_index++ ) {
+
+			warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]);
+
+			while (1) {
+				for (unsigned i = 0; i < servo_count; i++) {
+					if (set_mask & 1<<i) {
+
+						unsigned val;
+
+						if (phase == 0) {
+							val = idle;
+						} else if (phase == 1) {
+							/* ramp - depending how steep it is this ramp will look instantaneous on the output */
+							val = idle + (full - idle) * (phase_maxcount / (float)phase_counter);
+						} else {
+							val = off;
+						}
+
+						ret = ioctl(fd, PWM_SERVO_SET(i), val);
+						if (ret != OK)
+							err(1, "PWM_SERVO_SET(%d)", i);
+					}
+				}
+
+				/* abort on user request */
+				char c;
+				ret = poll(&fds, 1, 0);
+				if (ret > 0) {
+
+					ret = read(0, &c, 1);
+
+					if (ret > 0) {
+						/* reset output to the last value */
+						for (unsigned i = 0; i < servo_count; i++) {
+										if (set_mask & 1<<i) {
+											ret = ioctl(fd, PWM_SERVO_SET(i), last_spos.values[i]);
+											if (ret != OK)
+												err(1, "PWM_SERVO_SET(%d)", i);
+										}
+									}
+						warnx("Key pressed, user abort\n");
+						exit(0);
+					}
+				}
+				if (phase == 1) {
+					usleep(steps_timings_us[steps_timing_index] / phase_maxcount);
+
+				} else if (phase == 0) {
+					usleep(50000);
+				} else if (phase == 2) {
+					usleep(50000);
+				} else {
+					break;
+				}
+
+				phase_counter++;
+
+				if (phase_counter > phase_maxcount) {
+					phase++;
+					phase_counter = 0;
+				}
+			}
 		}
 		exit(0);
 
@@ -530,8 +635,28 @@ pwm_main(int argc, char *argv[])
 		}
 		exit(0);
 
+	} else if (!strcmp(argv[1], "forcefail")) {
+
+		if (argc < 3) {
+			errx(1, "arg missing [on|off]");
+		} else {
+
+			if (!strcmp(argv[2], "on")) {
+				/* force failsafe */
+				ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 1);
+			} else {
+				/* force failsafe */
+				ret = ioctl(fd, PWM_SERVO_SET_FORCE_FAILSAFE, 0);
+			}
+
+			if (ret != OK) {
+				warnx("FAILED setting forcefail %s", argv[2]);
+			}
+		}
+		exit(0);
 	}
-	usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info");
+
+	usage("specify arm|disarm|rate|failsafe|disarmed|min|max|test|info|forcefail");
 	return 0;
 }
 
diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk
index 19f64af54..edf9d8b37 100644
--- a/src/systemcmds/reboot/module.mk
+++ b/src/systemcmds/reboot/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	 = reboot
 SRCS		 = reboot.c
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 800
diff --git a/src/systemcmds/tests/test_bson.c b/src/systemcmds/tests/test_bson.c
index 6130fe763..12d598df4 100644
--- a/src/systemcmds/tests/test_bson.c
+++ b/src/systemcmds/tests/test_bson.c
@@ -40,6 +40,7 @@
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
+#include <math.h>
 
 #include <systemlib/err.h>
 #include <systemlib/bson/tinybson.h>
@@ -123,7 +124,7 @@ decode_callback(bson_decoder_t decoder, void *private, bson_node_t node)
 			warnx("FAIL: decoder: double1 type %d, expected %d", node->type, BSON_DOUBLE);
 			return 1;
 		}
-		if (node->d != sample_double) {
+		if (fabs(node->d - sample_double) > 1e-12) {
 			warnx("FAIL: decoder: double1 value %f, expected %f", node->d, sample_double);
 			return 1;
 		}
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
index 50dece816..fda949c61 100644
--- a/src/systemcmds/tests/test_conv.cpp
+++ b/src/systemcmds/tests/test_conv.cpp
@@ -65,7 +65,7 @@ int test_conv(int argc, char *argv[])
 		float f = i/10000.0f;
 		float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
 		if (fabsf(f - fres) > 0.0001f) {
-			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres);
+			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", (double)f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres);
 			return 1;
 		}
 	}
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 96be1e8df..570583dee 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -102,7 +102,7 @@ test_file(int argc, char *argv[])
 	}
 
 	/* perform tests for a range of chunk sizes */
-	unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
+	int chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
 
 	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
 
@@ -116,7 +116,7 @@ test_file(int argc, char *argv[])
 			uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 
 			/* fill write buffer with known values */
-			for (int i = 0; i < sizeof(write_buf); i++) {
+			for (size_t i = 0; i < sizeof(write_buf); i++) {
 				/* this will wrap, but we just need a known value with spacing */
 				write_buf[i] = i+11;
 			}
@@ -149,6 +149,8 @@ test_file(int argc, char *argv[])
 			}
 			end = hrt_absolute_time();
 
+			warnx("write took %llu us", (end - start));
+
 			close(fd);
 			fd = open("/fs/microsd/testfile", O_RDONLY);
 
@@ -192,7 +194,6 @@ test_file(int argc, char *argv[])
 
 			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
-			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
 				int wret = write(fd, write_buf, chunk_sizes[c]);
 
@@ -224,9 +225,6 @@ test_file(int argc, char *argv[])
 					return 1;
 				}
 				
-				/* compare value */
-				bool compare_ok = true;
-
 				for (int j = 0; j < chunk_sizes[c]; j++) {
 					if (read_buf[j] != write_buf[j]) {
 						warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c
index ef555f6c3..8db3ea5ae 100644
--- a/src/systemcmds/tests/test_file2.c
+++ b/src/systemcmds/tests/test_file2.c
@@ -49,6 +49,8 @@
 #include <stdlib.h>
 #include <getopt.h>
 
+#include "tests.h"
+
 #define FLAG_FSYNC 1
 #define FLAG_LSEEK 2
 
@@ -85,9 +87,9 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t
 		buffer[j] = get_value(ofs);
 		ofs++;
         }
-        if (write(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
-		printf("write failed at offset %u\n", ofs);
-		exit(1);
+        if (write(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) {
+            printf("write failed at offset %u\n", ofs);
+            exit(1);
         }
 	if (flags & FLAG_FSYNC) {
 		fsync(fd);
@@ -116,7 +118,7 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t
 			printf("read ofs=%u\r", ofs);
 		}
 		counter++;
-		if (read(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
+		if (read(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) {
 			printf("read failed at offset %u\n", ofs);
 			exit(1);
 		}
diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c
index 4921c9bbb..bb8b6c7f5 100644
--- a/src/systemcmds/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
@@ -68,7 +68,7 @@ int test_float(int argc, char *argv[])
 	float sinf_one = sinf(1.0f);
 	float sqrt_two = sqrt(2.0f);
 
-	if (sinf_zero == 0.0f) {
+	if (fabsf(sinf_zero) < FLT_EPSILON) {
 		printf("\t success: sinf(0.0f) == 0.0f\n");
 
 	} else {
@@ -94,7 +94,7 @@ int test_float(int argc, char *argv[])
 		printf("\t success: asinf(1.0f) == 1.57079f\n");
 
 	} else {
-		printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one);
+		printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", (double)asinf_one);
 		ret = -1;
 	}
 
@@ -128,7 +128,7 @@ int test_float(int argc, char *argv[])
 
 	float sinf_zero_one = sinf(0.1f);
 
-	if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
+	if (fabsf(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
 		printf("\t success: sinf(0.1f) == 0.09983f\n");
 
 	} else {
@@ -136,7 +136,7 @@ int test_float(int argc, char *argv[])
 		ret = -2;
 	}
 
-	if (sqrt_two == 1.41421356f) {
+	if (fabsf(sqrt_two - 1.41421356f) < FLT_EPSILON) {
 		printf("\t success: sqrt(2.0f) == 1.41421f\n");
 
 	} else {
@@ -155,7 +155,7 @@ int test_float(int argc, char *argv[])
 	}
 
 	char sbuf[30];
-	sprintf(sbuf, "%8.4f", 0.553415f);
+	sprintf(sbuf, "%8.4f", (double)0.553415f);
 
 	if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
 		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
@@ -166,7 +166,7 @@ int test_float(int argc, char *argv[])
 		ret = -5;
 	}
 
-	sprintf(sbuf, "%8.4f", -0.553415f);
+	sprintf(sbuf, "%8.4f", (double)-0.553415f);
 
 	if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
 		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
@@ -188,7 +188,7 @@ int test_float(int argc, char *argv[])
 
 	double d1d2 = d1 * d2;
 
-	if (d1d2 == 2.022200000000000219557705349871) {
+	if (fabs(d1d2 - 2.022200000000000219557705349871) < DBL_EPSILON) {
 		printf("\t success: 1.0111 * 2.0 == 2.0222\n");
 
 	} else {
@@ -201,11 +201,11 @@ int test_float(int argc, char *argv[])
 	// Assign value of f1 to d1
 	d1 = f1;
 
-	if (f1 == (float)d1) {
+	if (fabsf(f1 - (float)d1) < FLT_EPSILON) {
 		printf("\t success: (float) 1.55f == 1.55 (double)\n");
 
 	} else {
-		printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1);
+		printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", (double)f1);
 		ret = -8;
 	}
 
@@ -216,7 +216,7 @@ int test_float(int argc, char *argv[])
 	double sin_one = sin(1.0);
 	double atan2_ones = atan2(1.0, 1.0);
 
-	if (sin_zero == 0.0) {
+	if (fabs(sin_zero - 0.0) < DBL_EPSILON) {
 		printf("\t success: sin(0.0) == 0.0\n");
 
 	} else {
@@ -224,7 +224,7 @@ int test_float(int argc, char *argv[])
 		ret = -9;
 	}
 
-	if (sin_one == 0.841470984807896504875657228695) {
+	if (fabs(sin_one - 0.841470984807896504875657228695) < DBL_EPSILON) {
 		printf("\t success: sin(1.0) == 0.84147098480\n");
 
 	} else {
@@ -232,7 +232,7 @@ int test_float(int argc, char *argv[])
 		ret = -10;
 	}
 
-	if (atan2_ones != 0.785398) {
+	if (fabs(atan2_ones - 0.785398) < DBL_EPSILON) {
 		printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
 
 	} else {
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index 693a208ba..70d173fc9 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -52,10 +52,6 @@
 
 using namespace math;
 
-const char* formatResult(bool res) {
-	return res ? "OK" : "ERROR";
-}
-
 int test_mathlib(int argc, char *argv[])
 {
 	warnx("testing mathlib");
@@ -100,8 +96,13 @@ int test_mathlib(int argc, char *argv[])
 		TEST_OP("Vector<3> %% Vector<3>", v1 % v2);
 		TEST_OP("Vector<3> length", v1.length());
 		TEST_OP("Vector<3> length squared", v1.length_squared());
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+		// Need pragma here intead of moving variable out of TEST_OP and just reference because
+		// TEST_OP measures performance of vector operations.
 		TEST_OP("Vector<3> element read", volatile float a = v1(0));
 		TEST_OP("Vector<3> element read direct", volatile float a = v1.data[0]);
+#pragma GCC diagnostic pop
 		TEST_OP("Vector<3> element write", v1(0) = 1.0f);
 		TEST_OP("Vector<3> element write direct", v1.data[0] = 1.0f);
 	}
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index df382e2c6..8ab8fa2d6 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -81,7 +81,7 @@ int test_mixer(int argc, char *argv[])
 
 	warnx("testing mixer");
 
-	char *filename = "/etc/mixers/IO_pass.mix";
+	const char *filename = "/etc/mixers/IO_pass.mix";
 
 	if (argc > 1)
 		filename = argv[1];
@@ -100,8 +100,6 @@ int test_mixer(int argc, char *argv[])
 	 * e.g. on PX4IO.
 	 */
 
-	unsigned nused = 0;
-
 	const unsigned chunk_size = 64;
 
 	MixerGroup mixer_group(mixer_callback, 0);
@@ -124,7 +122,6 @@ int test_mixer(int argc, char *argv[])
 		return 1;
 
 	/* FIRST mark the mixer as invalid */
-	bool mixer_ok = false;
 	/* THEN actually delete it */
 	mixer_group.reset();
 	char mixer_text[256];		/* large enough for one mixer */
@@ -140,7 +137,6 @@ int test_mixer(int argc, char *argv[])
 
 		/* check for overflow - this would be really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
-			bool mixer_ok = false;
 			return 1;
 		}
 
@@ -156,15 +152,6 @@ int test_mixer(int argc, char *argv[])
 
 		/* if anything was parsed */
 		if (resid != mixer_text_length) {
-
-			/* only set mixer ok if no residual is left over */
-			if (resid == 0) {
-				mixer_ok = true;
-			} else {
-				/* not yet reached the end of the mixer, set as not ok */
-				mixer_ok = false;
-			}
-
 			warnx("used %u", mixer_text_length - resid);
 
 			/* copy any leftover text to the base of the buffer for re-use */
@@ -192,7 +179,7 @@ int test_mixer(int argc, char *argv[])
 	should_arm = true;
 
 	/* run through arming phase */
-	for (int i = 0; i < output_max; i++) {
+	for (unsigned i = 0; i < output_max; i++) {
 		actuator_controls[i] = 0.1f;
 		r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
 		r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
@@ -213,7 +200,7 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			/* check mixed outputs to be zero during init phase */
 			if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
@@ -228,7 +215,7 @@ int test_mixer(int argc, char *argv[])
 				return 1;
 			}
 
-			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
+			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, (double)outputs_unlimited[i], (double)outputs[i], (int)r_page_servos[i]);
 		}
 		usleep(sleep_quantum_us);
 		sleepcount++;
@@ -244,7 +231,7 @@ int test_mixer(int argc, char *argv[])
 
 	for (int j = -jmax; j <= jmax; j++) {
 
-		for (int i = 0; i < output_max; i++) {
+		for (unsigned i = 0; i < output_max; i++) {
 			actuator_controls[i] = j/10.0f + 0.1f * i;
 			r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
 			r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
@@ -257,11 +244,11 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		warnx("mixed %d outputs (max %d)", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
 			if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
-				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
+				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
 				warnx("mixer violated predicted value");
 				return 1;
 			}
@@ -282,7 +269,7 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			/* check mixed outputs to be zero during init phase */
 			if (r_page_servos[i] != r_page_servo_disarmed[i]) {
@@ -316,7 +303,7 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			/* predict value */
 			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
@@ -333,7 +320,7 @@ int test_mixer(int argc, char *argv[])
 			/* check post ramp phase */
 			if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
 				fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
-				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
+				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
 				warnx("mixer violated predicted value");
 				return 1;
 			}
@@ -372,6 +359,7 @@ int test_mixer(int argc, char *argv[])
 	}
 
 	warnx("SUCCESS: No errors in mixer test");
+	return 0;
 }
 
 static int
diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c
index bac9efbdb..43231ccad 100644
--- a/src/systemcmds/tests/test_mtd.c
+++ b/src/systemcmds/tests/test_mtd.c
@@ -57,6 +57,8 @@
 #define PARAM_FILE_NAME "/fs/mtd_params"
 
 static int check_user_abort(int fd);
+static void print_fail(void);
+static void print_success(void);
 
 int check_user_abort(int fd) {
 	/* check if user wants to abort */
@@ -126,7 +128,7 @@ test_mtd(int argc, char *argv[])
 		uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));
 
 		/* fill write buffer with known values */
-		for (int i = 0; i < sizeof(write_buf); i++) {
+		for (unsigned i = 0; i < sizeof(write_buf); i++) {
 			/* this will wrap, but we just need a known value with spacing */
 			write_buf[i] = i+11;
 		}
@@ -137,11 +139,14 @@ test_mtd(int argc, char *argv[])
 		int fd = open(PARAM_FILE_NAME, O_RDONLY);
 		int rret = read(fd, read_buf, chunk_sizes[c]);
 		close(fd);
+		if (rret <= 0) {
+			err(1, "read error");
+		}
 
 		fd = open(PARAM_FILE_NAME, O_WRONLY);
 
 		printf("printing 2 percent of the first chunk:\n");
-		for (int i = 0; i < sizeof(read_buf) / 50; i++) {
+		for (unsigned i = 0; i < sizeof(read_buf) / 50; i++) {
 			printf("%02X", read_buf[i]);
 		}
 		printf("\n");
@@ -166,14 +171,16 @@ test_mtd(int argc, char *argv[])
 		}
 		end = hrt_absolute_time();
 
+		warnx("write took %llu us", (end - start));
+
 		close(fd);
 		fd = open(PARAM_FILE_NAME, O_RDONLY);
 
 		/* read back data for validation */
 		for (unsigned i = 0; i < iterations; i++) {
-			int rret = read(fd, read_buf, chunk_sizes[c]);
+			int rret2 = read(fd, read_buf, chunk_sizes[c]);
 
-			if (rret != chunk_sizes[c]) {
+			if (rret2 != (int)chunk_sizes[c]) {
 				warnx("READ ERROR!");
 				print_fail();
 				return 1;
@@ -182,7 +189,7 @@ test_mtd(int argc, char *argv[])
 			/* compare value */
 			bool compare_ok = true;
 
-			for (int j = 0; j < chunk_sizes[c]; j++) {
+			for (unsigned j = 0; j < chunk_sizes[c]; j++) {
 				if (read_buf[j] != write_buf[j]) {
 					warnx("COMPARISON ERROR: byte %d", j);
 					print_fail();
@@ -211,7 +218,7 @@ test_mtd(int argc, char *argv[])
 	char ffbuf[64];
 	memset(ffbuf, 0xFF, sizeof(ffbuf));
 	int fd = open(PARAM_FILE_NAME, O_WRONLY);
-	for (int i = 0; i < file_size / sizeof(ffbuf); i++) {
+	for (unsigned i = 0; i < file_size / sizeof(ffbuf); i++) {
 		int ret = write(fd, ffbuf, sizeof(ffbuf));
 
 		if (ret != sizeof(ffbuf)) {
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index b9041b013..addd57bea 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -65,7 +65,6 @@ int test_ppm_loopback(int argc, char *argv[])
 	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
 
 	int servo_fd, result;
-	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
 	servo_position_t pos;
 
 	servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 57c0e7f4c..c9f9ef439 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -52,6 +52,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_hrt.h>
 #include <systemlib/err.h>
 
 #include "tests.h"
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 096106ff3..a4f17eebd 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -139,7 +139,14 @@ accel(int argc, char *argv[])
 	}
 
 	if (fabsf(buf.x) > 30.0f || fabsf(buf.y) > 30.0f || fabsf(buf.z) > 30.0f) {
-		warnx("ACCEL1 acceleration values out of range!");
+		warnx("ACCEL acceleration values out of range!");
+		return ERROR;
+	}
+
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len < 8.0f || len > 12.0f) {
+		warnx("ACCEL scale error!");
 		return ERROR;
 	}
 
@@ -186,6 +193,13 @@ accel1(int argc, char *argv[])
 		return ERROR;
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len < 8.0f || len > 12.0f) {
+		warnx("ACCEL1 scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: ACCEL1 passed all tests successfully\n");
 
@@ -225,6 +239,13 @@ gyro(int argc, char *argv[])
 		printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len > 0.3f) {
+		warnx("GYRO scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: GYRO passed all tests successfully\n");
 	close(fd);
@@ -263,6 +284,13 @@ gyro1(int argc, char *argv[])
 		printf("\tGYRO1 rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len > 0.3f) {
+		warnx("GYRO1 scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: GYRO1 passed all tests successfully\n");
 	close(fd);
@@ -301,6 +329,13 @@ mag(int argc, char *argv[])
 		printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
 	}
 
+	float len = sqrtf(buf.x * buf.x + buf.y * buf.y + buf.z * buf.z);
+
+	if (len < 1.0f || len > 3.0f) {
+		warnx("MAG scale error!");
+		return ERROR;
+	}
+
 	/* Let user know everything is ok */
 	printf("\tOK: MAG passed all tests successfully\n");
 	close(fd);
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index ef8512bf5..9c6951ca2 100644
--- a/src/systemcmds/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
@@ -51,6 +51,7 @@
 
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
+#include <systemlib/err.h>
 
 #include <nuttx/spi.h>
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index fe22f6177..e3f26924f 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -235,7 +235,7 @@ test_perf(int argc, char *argv[])
 	printf("perf: expect count of 1\n");
 	perf_print_counter(ec);
 	printf("perf: expect at least two counters\n");
-	perf_print_all();
+	perf_print_all(0);
 
 	perf_free(cc);
 	perf_free(ec);
diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk
index 9239aafc3..548a09f85 100644
--- a/src/systemcmds/top/module.mk
+++ b/src/systemcmds/top/module.mk
@@ -38,7 +38,7 @@
 MODULE_COMMAND	 = top
 SRCS		 = top.c
 
-MODULE_STACKSIZE = 3000
+MODULE_STACKSIZE = 1700
 
 MAXOPTIMIZATION	 = -Os
 
diff --git a/src/examples/flow_position_control/module.mk b/src/systemcmds/ver/module.mk
index b10dc490a..2eeb80b61 100644
--- a/src/examples/flow_position_control/module.mk
+++ b/src/systemcmds/ver/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2014 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -32,10 +32,13 @@
 ############################################################################
 
 #
-# Build multirotor position control
+# "version" nsh-command displays version infromation for hw,sw, gcc,build etc
+# can be also included and used in own code via "ver.h"
 #
 
-MODULE_COMMAND	= flow_position_control
+MODULE_COMMAND	 	= ver
+SRCS		 		= ver.c
 
-SRCS		= flow_position_control_main.c \
-		  flow_position_control_params.c
+MODULE_STACKSIZE 	= 1024
+
+MAXOPTIMIZATION	 	= -Os
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
new file mode 100644
index 000000000..9ae080ee2
--- /dev/null
+++ b/src/systemcmds/ver/ver.c
@@ -0,0 +1,123 @@
+/****************************************************************************
+*
+* Copyright (c) 2014 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+* notice, this list of conditions and the following disclaimer in
+* the documentation and/or other materials provided with the
+* distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+* used to endorse or promote products derived from this software
+* without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
+
+/**
+* @file ver.c
+*
+* Version command, unifies way of showing versions of HW, SW, Build, GCC
+* In case you want to add new version just extend version_main function
+*
+* @author Vladimir Kulla <ufon@kullaonline.net>
+*/
+
+#include <stdio.h>
+#include <string.h>
+#include <version/version.h>
+#include <systemlib/err.h>
+
+// string constants for version commands
+static const char sz_ver_hw_str[] 	= "hw";
+static const char sz_ver_hwcmp_str[] = "hwcmp";
+static const char sz_ver_git_str[] 	= "git";
+static const char sz_ver_bdate_str[] = "bdate";
+static const char sz_ver_gcc_str[] 	= "gcc";
+static const char sz_ver_all_str[] 	= "all";
+
+static void usage(const char *reason)
+{
+	if (reason != NULL) {
+		printf("%s\n", reason);
+	}
+
+	printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n");
+}
+
+__EXPORT int ver_main(int argc, char *argv[]);
+
+int ver_main(int argc, char *argv[])
+{
+	int ret = 1;	//defaults to an error
+
+	// first check if there are at least 2 params
+	if (argc >= 2) {
+		if (argv[1] != NULL) {
+			if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) {
+				printf("%s\n", HW_ARCH);
+				ret = 0;
+
+			} else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) {
+				if (argc >= 3 && argv[2] != NULL) {
+					// compare 3rd parameter with HW_ARCH string, in case of match, return 0
+					ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH));
+
+					if (ret == 0) {
+						printf("ver hwcmp match: %s\n", HW_ARCH);
+					}
+
+				} else {
+					errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
+				}
+
+			} else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) {
+				printf("%s\n", FW_GIT);
+				ret = 0;
+
+			} else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) {
+				printf("%s %s\n", __DATE__, __TIME__);
+				ret = 0;
+
+			} else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) {
+				printf("%s\n", __VERSION__);
+				ret = 0;
+
+			} else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) {
+				printf("HW arch: %s\n", HW_ARCH);
+				printf("Build datetime: %s %s\n", __DATE__, __TIME__);
+				printf("FW git-hash: %s\n", FW_GIT);
+				printf("GCC toolchain: %s\n", __VERSION__);
+				ret = 0;
+
+			} else {
+				errx(1, "unknown command.\n");
+			}
+
+		} else {
+			usage("Error, input parameter NULL.\n");
+		}
+
+	} else {
+		usage("Error, not enough parameters.");
+	}
+
+	return ret;
+}
diff --git a/uavcan b/uavcan
new file mode 160000
+Subproject 6980ee824074aa2f7a62221bf6040ee41111952