Merge branch 'fw_autoland_att_tecs_navigator_termination_controlgroups' into bottle_drop_navigator

Conflicts: src/drivers/px4fmu/fmu.cpp src/modules/dataman/dataman.c src/modules/dataman/dataman.h src/modules/mavlink/orb_listener.c src/modules/mavlink/waypoints.c src/modules/navigator/navigator_main.cpp src/modules/navigator/navigator_mission.cpp src/modules/navigator/navigator_mission.h src/modules/uORB/topics/mission.h
2026-05-24 15:40:31 +08:00 · 2013-12-27 00:04:32 +01:00
parent 9d4ba6e4f6 d3a71d1e42
commit 40f2d581bf
135 changed files with 7688 additions and 2554 deletions
@@ -0,0 +1,89 @@
+#!nsh
+
+echo "[init] PX4FMU v1, v2 with or without IO on 3DR SkyWalker"
+
+#
+# Load default params for this platform
+#
+if param compare SYS_AUTOCONFIG 1
+then
+	# Set all params here, then disable autoconfig
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
+	param set RC_SCALE_ROLL 1.0
+	param set RC_SCALE_PITCH 1.0
+	
+	param set SYS_AUTOCONFIG 0
+	param save
+fi
+ 
+#
+# Force some key parameters to sane values
+# MAV_TYPE     1 = fixed wing
+#
+param set MAV_TYPE 1
+
+set EXIT_ON_END no
+
+#
+# Start and configure PX4IO or FMU interface
+#
+if px4io detect
+then
+	# Start MAVLink (depends on orb)
+	mavlink start
+
+	sh /etc/init.d/rc.io
+	# Limit to 100 Hz updates and (implicit) 50 Hz PWM
+	px4io limit 100
+else
+	# Start MAVLink (on UART1 / ttyS0)
+	mavlink start -d /dev/ttyS0
+
+	fmu mode_pwm
+	param set BAT_V_SCALING 0.004593
+	set EXIT_ON_END yes
+fi
+
+pwm disarmed -c 3 -p 1056
+
+#
+# Load mixer and start controllers (depends on px4io)
+#
+if [ -f /fs/microsd/etc/mixers/FMU_AERT.mix ]
+then
+	echo "Using /fs/microsd/etc/mixers/FMU_AERT.mix"
+	mixer load /dev/pwm_output /fs/microsd/etc/mixers/FMU_AETR.mix
+else
+	echo "Using /etc/mixers/FMU_Q.mix"
+	mixer load /dev/pwm_output /etc/mixers/FMU_AETR.mix
+fi
+
+#
+# Start common fixedwing apps
+#
+sh /etc/init.d/rc.fixedwing
+
+if [ $EXIT_ON_END == yes ]
+then
+	exit
+fi
@@ -78,7 +78,7 @@ mixer load /dev/pwm_output /etc/mixers/FMU_hex_x.mix
 #
 # Set PWM output frequency to 400 Hz
 #
-pwm rate -c 123456 -r 400
+pwm rate -a -r 400

 #
 # Set disarmed, min and max PWM signals
@@ -97,9 +97,9 @@ fi
 #
 if [ $MKBLCTRL_FRAME == x ]
 then
-    mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
+    mixer load /dev/mkblctrl /etc/mixers/FMU_quad_x.mix
 else
-    mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix
+    mixer load /dev/mkblctrl /etc/mixers/FMU_quad_+.mix
 fi

 #
@@ -19,12 +19,18 @@ fi
 if mpu6000 start
 then
 	echo "using MPU6000"
-	set BOARD fmuv1
-else
-	echo "using L3GD20 and LSM303D"
-	l3gd20 start
-	lsm303d start
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
 	set BOARD fmuv2
+else
+	set BOARD fmuv1
 fi

 # Start airspeed sensors
@@ -8,6 +8,8 @@
 #
 set MODE autostart

+set logfile /fs/microsd/bootlog.txt
+
 #
 # Try to mount the microSD card.
 #
@@ -163,26 +165,49 @@ then
 		nshterm /dev/ttyACM0 &
 	fi

-	
 	#
 	# Upgrade PX4IO firmware
 	#
-	if px4io detect
-	then
-		echo "PX4IO running, not upgrading"
-	else
-		echo "Attempting to upgrade PX4IO"
-		if px4io update
-		then
-			if [ -d /fs/microsd ]
-			then
-				echo "Flashed PX4IO Firmware OK" > /fs/microsd/px4io.log
-			fi

-			# Allow IO to safely kick back to app
+	if [ -f /etc/extras/px4io-v2_default.bin ]
+	then
+		set io_file /etc/extras/px4io-v2_default.bin
+	else
+		set io_file /etc/extras/px4io-v1_default.bin
+	fi
+
+	if px4io start
+	then
+		echo "PX4IO OK"
+		echo "PX4IO OK" >> $logfile
+	fi
+	
+	if px4io checkcrc $io_file
+	then
+		echo "PX4IO CRC OK"
+		echo "PX4IO CRC OK" >> $logfile
+	else
+		echo "PX4IO CRC failure"
+		echo "PX4IO CRC failure" >> $logfile
+		tone_alarm MBABGP
+		if px4io forceupdate 14662 $io_file
+		then
 			usleep 200000
+			if px4io start
+			then
+				echo "PX4IO restart OK"
+				echo "PX4IO restart OK" >> $logfile
+				tone_alarm MSPAA
+			else
+				echo "PX4IO restart failed"
+				echo "PX4IO restart failed" >> $logfile
+				tone_alarm MNGGG
+				sh /etc/init.d/rc.error
+			fi
 		else
-			echo "No PX4IO to upgrade here"
+			echo "PX4IO update failed"
+			echo "PX4IO update failed" >> $logfile
+			tone_alarm MNGGG
 		fi
 	fi
 	
@@ -329,6 +354,12 @@ then
 		sh /etc/init.d/101_hk_bixler
 		set MODE custom
 	fi
+
+	if param compare SYS_AUTOSTART 102
+	then
+		sh /etc/init.d/102_3dr_skywalker
+		set MODE custom
+	fi
 	
 	if param compare SYS_AUTOSTART 900
 	then
@@ -0,0 +1,88 @@
+#!nsh
+#
+# PX4FMU startup script for logging purposes
+#
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+	# Start playing the startup tune
+	tone_alarm start
+else
+	echo "[init] no microSD card found"
+	# Play SOS
+	tone_alarm error
+fi
+
+uorb start
+
+#
+# Start sensor drivers here.
+#
+
+ms5611 start
+adc start
+
+# mag might be external
+if hmc5883 start
+then
+	echo "using HMC5883"
+fi
+
+if mpu6000 start
+then
+	echo "using MPU6000"
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"
+fi
+
+if lsm303d start
+then
+	set BOARD fmuv2
+else
+	set BOARD fmuv1
+fi
+
+# Start airspeed sensors
+if meas_airspeed start
+then
+	echo "using MEAS airspeed sensor"
+else
+	if ets_airspeed start
+	then
+		echo "using ETS airspeed sensor (bus 3)"
+	else
+		if ets_airspeed start -b 1
+		then
+			echo "Using ETS airspeed sensor (bus 1)"
+		fi
+	fi
+fi
+
+#
+# Start the sensor collection task.
+# IMPORTANT: this also loads param offsets
+# ALWAYS start this task before the
+# preflight_check.
+#
+if sensors start
+then
+	echo "SENSORS STARTED"
+fi
+
+sdlog2 start -r 250 -e -b 16
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
@@ -2,3 +2,11 @@
 #
 # PX4FMU startup script for test hackery.
 #
+
+if sercon
+then
+	echo "[init] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
@@ -370,14 +370,17 @@ class uploader(object):
                self.port.close()
                
        def send_reboot(self):
-                # try reboot via NSH first
-                self.__send(uploader.NSH_INIT)
-                self.__send(uploader.NSH_REBOOT_BL)
-                self.__send(uploader.NSH_INIT)
-                self.__send(uploader.NSH_REBOOT)
-                # then try MAVLINK command
-                self.__send(uploader.MAVLINK_REBOOT_ID1)
-                self.__send(uploader.MAVLINK_REBOOT_ID0)
+                try:
+                    # try reboot via NSH first
+                    self.__send(uploader.NSH_INIT)
+                    self.__send(uploader.NSH_REBOOT_BL)
+                    self.__send(uploader.NSH_INIT)
+                    self.__send(uploader.NSH_REBOOT)
+                    # then try MAVLINK command
+                    self.__send(uploader.MAVLINK_REBOOT_ID1)
+                    self.__send(uploader.MAVLINK_REBOOT_ID0)
+                except:
+                    return
                
                

@@ -69,12 +69,13 @@ MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led

 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 #MODULES		+= modules/attitude_estimator_ekf
 MODULES		+= modules/att_pos_estimator_ekf
 #MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
+MODULES		+= modules/attitude_estimator_so3

 #
 # Vehicle Control
@@ -69,9 +69,10 @@ MODULES		+= modules/mavlink_onboard
 MODULES		+= modules/gpio_led

 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
@@ -21,6 +21,7 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/px4io
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
 MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
@@ -68,9 +69,10 @@ MODULES		+= modules/mavlink
 MODULES		+= modules/mavlink_onboard

 #
-# Estimation modules (EKF / other filters)
+# Estimation modules (EKF/ SO3 / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
 MODULES		+= modules/att_pos_estimator_ekf
 MODULES		+= modules/position_estimator_inav
 MODULES		+= examples/flow_position_estimator
@@ -0,0 +1,158 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS, copy the px4iov2 firmware into
+# the ROMFS if it's available
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_logging
+ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
+
+#
+# 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/px4io
+MODULES		+= drivers/boards/px4fmu-v2
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
+MODULES		+= drivers/lsm303d
+MODULES		+= drivers/l3gd20
+MODULES		+= drivers/hmc5883
+MODULES		+= drivers/ms5611
+MODULES		+= drivers/mb12xx
+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		+= modules/sensors
+
+# Needs to be burned to the ground and re-written; for now,
+# just don't build it.
+#MODULES		+= drivers/mkblctrl
+
+#
+# System commands
+#
+MODULES		+= systemcmds/ramtron
+MODULES		+= systemcmds/bl_update
+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/tests
+MODULES		+= systemcmds/config
+MODULES		+= systemcmds/nshterm
+
+#
+# General system control
+#
+MODULES		+= modules/commander
+MODULES		+= modules/navigator
+MODULES		+= modules/mavlink
+MODULES		+= modules/mavlink_onboard
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/attitude_estimator_so3
+MODULES		+= modules/att_pos_estimator_ekf
+MODULES		+= modules/position_estimator_inav
+MODULES		+= examples/flow_position_estimator
+
+#
+# Vehicle Control
+#
+#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
+MODULES		+= modules/fw_pos_control_l1
+MODULES		+= modules/fw_att_control
+MODULES		+= modules/multirotor_att_control
+MODULES		+= modules/multirotor_pos_control
+
+#
+# Logging
+#
+MODULES		+= modules/sdlog2
+
+#
+# Unit tests
+#
+#MODULES 	+= modules/unit_test
+#MODULES 	+= modules/commander/commander_tests
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/controllib
+MODULES		+= modules/uORB
+
+#
+# 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/conversion
+MODULES		+= modules/dataman
+
+#
+# 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
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
+	$(call _B, serdis,                 ,                          2048,  serdis_main                )
@@ -0,0 +1,221 @@
+// 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
+}
@@ -0,0 +1,375 @@
+// 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
+}
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H

-#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:25 2013"
+#define MAVLINK_BUILD_DATE "Mon Dec 16 08:56:32 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
 
@@ -31,26 +31,26 @@ static void mavlink_test_aq_telemetry_f(uint8_t system_id, uint8_t component_id,
        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,
+	}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));
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H

-#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:36 2013"
+#define MAVLINK_BUILD_DATE "Mon Dec 16 09:03:20 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
 
@@ -4,6 +4,8 @@

 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
@@ -15,26 +17,28 @@ typedef struct __mavlink_battery_status_t
 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 16
-#define MAVLINK_MSG_ID_147_LEN 16
+#define MAVLINK_MSG_ID_BATTERY_STATUS_LEN 24
+#define MAVLINK_MSG_ID_147_LEN 24

-#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 42
-#define MAVLINK_MSG_ID_147_CRC 42
+#define MAVLINK_MSG_ID_BATTERY_STATUS_CRC 177
+#define MAVLINK_MSG_ID_147_CRC 177



 #define MAVLINK_MESSAGE_INFO_BATTERY_STATUS { \
 	"BATTERY_STATUS", \
-	9, \
-	{  { "voltage_cell_1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_battery_status_t, voltage_cell_1) }, \
-         { "voltage_cell_2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_battery_status_t, voltage_cell_2) }, \
-         { "voltage_cell_3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_battery_status_t, voltage_cell_3) }, \
-         { "voltage_cell_4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_battery_status_t, voltage_cell_4) }, \
-         { "voltage_cell_5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_battery_status_t, voltage_cell_5) }, \
-         { "voltage_cell_6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_battery_status_t, voltage_cell_6) }, \
-         { "current_battery", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_battery_status_t, current_battery) }, \
-         { "accu_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 14, offsetof(mavlink_battery_status_t, accu_id) }, \
-         { "battery_remaining", NULL, MAVLINK_TYPE_INT8_T, 0, 15, offsetof(mavlink_battery_status_t, battery_remaining) }, \
+	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) }, \
         } \
 }

@@ -53,27 +57,33 @@ typedef struct __mavlink_battery_status_t
 * @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, int8_t battery_remaining)
+						       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_uint16_t(buf, 0, voltage_cell_1);
-	_mav_put_uint16_t(buf, 2, voltage_cell_2);
-	_mav_put_uint16_t(buf, 4, voltage_cell_3);
-	_mav_put_uint16_t(buf, 6, voltage_cell_4);
-	_mav_put_uint16_t(buf, 8, voltage_cell_5);
-	_mav_put_uint16_t(buf, 10, voltage_cell_6);
-	_mav_put_int16_t(buf, 12, current_battery);
-	_mav_put_uint8_t(buf, 14, accu_id);
-	_mav_put_int8_t(buf, 15, battery_remaining);
+	_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;
@@ -109,28 +119,34 @@ static inline uint16_t mavlink_msg_battery_status_pack(uint8_t system_id, uint8_
 * @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,int8_t battery_remaining)
+						           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_uint16_t(buf, 0, voltage_cell_1);
-	_mav_put_uint16_t(buf, 2, voltage_cell_2);
-	_mav_put_uint16_t(buf, 4, voltage_cell_3);
-	_mav_put_uint16_t(buf, 6, voltage_cell_4);
-	_mav_put_uint16_t(buf, 8, voltage_cell_5);
-	_mav_put_uint16_t(buf, 10, voltage_cell_6);
-	_mav_put_int16_t(buf, 12, current_battery);
-	_mav_put_uint8_t(buf, 14, accu_id);
-	_mav_put_int8_t(buf, 15, battery_remaining);
+	_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;
@@ -162,7 +178,7 @@ static inline uint16_t mavlink_msg_battery_status_pack_chan(uint8_t system_id, u
 */
 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->battery_remaining);
+	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);
 }

 /**
@@ -176,7 +192,7 @@ static inline uint16_t mavlink_msg_battery_status_encode(uint8_t system_id, uint
 */
 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->battery_remaining);
+	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);
 }

 /**
@@ -191,23 +207,27 @@ static inline uint16_t mavlink_msg_battery_status_encode_chan(uint8_t system_id,
 * @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, int8_t battery_remaining)
+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_uint16_t(buf, 0, voltage_cell_1);
-	_mav_put_uint16_t(buf, 2, voltage_cell_2);
-	_mav_put_uint16_t(buf, 4, voltage_cell_3);
-	_mav_put_uint16_t(buf, 6, voltage_cell_4);
-	_mav_put_uint16_t(buf, 8, voltage_cell_5);
-	_mav_put_uint16_t(buf, 10, voltage_cell_6);
-	_mav_put_int16_t(buf, 12, current_battery);
-	_mav_put_uint8_t(buf, 14, accu_id);
-	_mav_put_int8_t(buf, 15, battery_remaining);
+	_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);
@@ -216,6 +236,8 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8
 #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;
@@ -246,7 +268,7 @@ static inline void mavlink_msg_battery_status_send(mavlink_channel_t chan, uint8
 */
 static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint8_t(msg,  14);
+	return _MAV_RETURN_uint8_t(msg,  22);
 }

 /**
@@ -256,7 +278,7 @@ static inline uint8_t mavlink_msg_battery_status_get_accu_id(const mavlink_messa
 */
 static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  0);
+	return _MAV_RETURN_uint16_t(msg,  8);
 }

 /**
@@ -266,7 +288,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_1(const mavli
 */
 static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  2);
+	return _MAV_RETURN_uint16_t(msg,  10);
 }

 /**
@@ -276,7 +298,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_2(const mavli
 */
 static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  4);
+	return _MAV_RETURN_uint16_t(msg,  12);
 }

 /**
@@ -286,7 +308,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_3(const mavli
 */
 static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  6);
+	return _MAV_RETURN_uint16_t(msg,  14);
 }

 /**
@@ -296,7 +318,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_4(const mavli
 */
 static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  8);
+	return _MAV_RETURN_uint16_t(msg,  16);
 }

 /**
@@ -306,7 +328,7 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_5(const mavli
 */
 static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_uint16_t(msg,  10);
+	return _MAV_RETURN_uint16_t(msg,  18);
 }

 /**
@@ -316,7 +338,27 @@ static inline uint16_t mavlink_msg_battery_status_get_voltage_cell_6(const mavli
 */
 static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_int16_t(msg,  12);
+	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);
 }

 /**
@@ -326,7 +368,7 @@ static inline int16_t mavlink_msg_battery_status_get_current_battery(const mavli
 */
 static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_int8_t(msg,  15);
+	return _MAV_RETURN_int8_t(msg,  23);
 }

 /**
@@ -338,6 +380,8 @@ static inline int8_t mavlink_msg_battery_status_get_battery_remaining(const mavl
 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);
@@ -9,7 +9,7 @@ typedef struct __mavlink_gps_raw_int_t
 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 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.
@@ -53,7 +53,7 @@ typedef struct __mavlink_gps_raw_int_t
 * @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 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
@@ -112,7 +112,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_pack(uint8_t system_id, uint8_t c
 * @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 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
@@ -197,7 +197,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_encode_chan(uint8_t system_id, ui
 * @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 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
@@ -313,7 +313,7 @@ static inline uint16_t mavlink_msg_gps_raw_int_get_eph(const mavlink_message_t*
 /**
 * @brief Get field epv from gps_raw_int message
 *
- * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ * @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)
 {
@@ -9,7 +9,7 @@ typedef struct __mavlink_hil_gps_t
 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 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
@@ -59,7 +59,7 @@ typedef struct __mavlink_hil_gps_t
 * @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 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
@@ -127,7 +127,7 @@ static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t compo
 * @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 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
@@ -221,7 +221,7 @@ static inline uint16_t mavlink_msg_hil_gps_encode_chan(uint8_t system_id, uint8_
 * @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 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
@@ -346,7 +346,7 @@ static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg)
 /**
 * @brief Get field epv from hil_gps message
 *
- * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ * @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)
 {
@@ -0,0 +1,237 @@
+// 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
+}
@@ -0,0 +1,265 @@
+// 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
+}
@@ -0,0 +1,199 @@
+// 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
+}
@@ -0,0 +1,265 @@
+// 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
+}
@@ -0,0 +1,199 @@
+// 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
+}
@@ -0,0 +1,243 @@
+// 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
+}
@@ -4,13 +4,13 @@

 typedef struct __mavlink_mission_item_t
 {
- float 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 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
+ 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
@@ -62,13 +62,13 @@ typedef struct __mavlink_mission_item_t
 * @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 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
- * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
- * @param 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.
- * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @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
+ * @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,
@@ -133,13 +133,13 @@ static inline uint16_t mavlink_msg_mission_item_pack(uint8_t system_id, uint8_t
 * @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 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
- * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
- * @param 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.
- * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @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
+ * @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,
@@ -230,13 +230,13 @@ static inline uint16_t mavlink_msg_mission_item_encode_chan(uint8_t system_id, u
 * @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 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
- * @param param2 PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
- * @param 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.
- * @param param4 PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @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
+ * @param z PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
 */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

@@ -367,7 +367,7 @@ static inline uint8_t mavlink_msg_mission_item_get_autocontinue(const mavlink_me
 /**
 * @brief Get field param1 from mission_item message
 *
- * @return PARAM1 / For NAV command MISSIONs: Radius in which the MISSION is accepted as reached, in meters
+ * @return PARAM1, see MAV_CMD enum
 */
 static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t* msg)
 {
@@ -377,7 +377,7 @@ static inline float mavlink_msg_mission_item_get_param1(const mavlink_message_t*
 /**
 * @brief Get field param2 from mission_item message
 *
- * @return PARAM2 / For NAV command MISSIONs: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
+ * @return PARAM2, see MAV_CMD enum
 */
 static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t* msg)
 {
@@ -387,7 +387,7 @@ static inline float mavlink_msg_mission_item_get_param2(const mavlink_message_t*
 /**
 * @brief Get field param3 from mission_item message
 *
- * @return 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.
+ * @return PARAM3, see MAV_CMD enum
 */
 static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t* msg)
 {
@@ -397,7 +397,7 @@ static inline float mavlink_msg_mission_item_get_param3(const mavlink_message_t*
 /**
 * @brief Get field param4 from mission_item message
 *
- * @return PARAM4 / For NAV and LOITER command MISSIONs: Yaw orientation in degrees, [0..360] 0 = NORTH
+ * @return PARAM4, see MAV_CMD enum
 */
 static inline float mavlink_msg_mission_item_get_param4(const mavlink_message_t* msg)
 {
@@ -427,7 +427,7 @@ static inline float mavlink_msg_mission_item_get_y(const mavlink_message_t* msg)
 /**
 * @brief Get field z from mission_item message
 *
- * @return PARAM7 / z position: global: altitude
+ * @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)
 {
@@ -0,0 +1,375 @@
+// 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
+}
@@ -4,9 +4,9 @@

 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: 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 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
@@ -53,9 +53,9 @@ typedef struct __mavlink_sys_status_t
 * @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: 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
- * @param 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
- * @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: 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
+ * @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
@@ -121,9 +121,9 @@ static inline uint16_t mavlink_msg_sys_status_pack(uint8_t system_id, uint8_t co
 * @param component_id ID of this component (e.g. 200 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: 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
- * @param 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
- * @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: 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
+ * @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
@@ -215,9 +215,9 @@ static inline uint16_t mavlink_msg_sys_status_encode_chan(uint8_t system_id, uin
 * @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: 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
- * @param 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
- * @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: 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
+ * @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
@@ -286,7 +286,7 @@ static inline void mavlink_msg_sys_status_send(mavlink_channel_t chan, uint32_t
 /**
 * @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: 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
+ * @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)
 {
@@ -296,7 +296,7 @@ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_presen
 /**
 * @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: 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
+ * @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)
 {
@@ -306,7 +306,7 @@ static inline uint32_t mavlink_msg_sys_status_get_onboard_control_sensors_enable
 /**
 * @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: 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
+ * @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)
 {
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H

-#define MAVLINK_BUILD_DATE "Tue Sep 10 23:50:05 2013"
+#define MAVLINK_BUILD_DATE "Mon Dec 16 08:59:18 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
 
@@ -31,7 +31,7 @@ static void mavlink_test_flexifunction_set(uint8_t system_id, uint8_t component_
        uint16_t i;
 	mavlink_flexifunction_set_t packet_in = {
 		5,
-	72,
+	}72,
 	};
 	mavlink_flexifunction_set_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -76,9 +76,9 @@ static void mavlink_test_flexifunction_read_req(uint8_t system_id, uint8_t compo
        uint16_t i;
 	mavlink_flexifunction_read_req_t packet_in = {
 		17235,
-	17339,
-	17,
-	84,
+	}17339,
+	}17,
+	}84,
 	};
 	mavlink_flexifunction_read_req_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -125,12 +125,12 @@ static void mavlink_test_flexifunction_buffer_function(uint8_t system_id, uint8_
        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 },
+	}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));
@@ -180,9 +180,9 @@ static void mavlink_test_flexifunction_buffer_function_ack(uint8_t system_id, ui
        uint16_t i;
 	mavlink_flexifunction_buffer_function_ack_t packet_in = {
 		17235,
-	17339,
-	17,
-	84,
+	}17339,
+	}17,
+	}84,
 	};
 	mavlink_flexifunction_buffer_function_ack_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -229,11 +229,11 @@ static void mavlink_test_flexifunction_directory(uint8_t system_id, uint8_t comp
        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 },
+	}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));
@@ -282,11 +282,11 @@ static void mavlink_test_flexifunction_directory_ack(uint8_t system_id, uint8_t
        uint16_t i;
 	mavlink_flexifunction_directory_ack_t packet_in = {
 		17235,
-	139,
-	206,
-	17,
-	84,
-	151,
+	}139,
+	}206,
+	}17,
+	}84,
+	}151,
 	};
 	mavlink_flexifunction_directory_ack_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -335,8 +335,8 @@ static void mavlink_test_flexifunction_command(uint8_t system_id, uint8_t compon
        uint16_t i;
 	mavlink_flexifunction_command_t packet_in = {
 		5,
-	72,
-	139,
+	}72,
+	}139,
 	};
 	mavlink_flexifunction_command_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -382,7 +382,7 @@ static void mavlink_test_flexifunction_command_ack(uint8_t system_id, uint8_t co
        uint16_t i;
 	mavlink_flexifunction_command_ack_t packet_in = {
 		17235,
-	17339,
+	}17339,
 	};
 	mavlink_flexifunction_command_ack_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -427,33 +427,33 @@ static void mavlink_test_serial_udb_extra_f2_a(uint8_t system_id, uint8_t compon
        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,
+	}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));
@@ -524,38 +524,38 @@ static void mavlink_test_serial_udb_extra_f2_b(uint8_t system_id, uint8_t compon
        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,
+	}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));
@@ -631,15 +631,15 @@ static void mavlink_test_serial_udb_extra_f4(uint8_t system_id, uint8_t componen
        uint16_t i;
 	mavlink_serial_udb_extra_f4_t packet_in = {
 		5,
-	72,
-	139,
-	206,
-	17,
-	84,
-	151,
-	218,
-	29,
-	96,
+	}72,
+	}139,
+	}206,
+	}17,
+	}84,
+	}151,
+	}218,
+	}29,
+	}96,
 	};
 	mavlink_serial_udb_extra_f4_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -692,11 +692,11 @@ static void mavlink_test_serial_udb_extra_f5(uint8_t system_id, uint8_t componen
        uint16_t i;
 	mavlink_serial_udb_extra_f5_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
+	}45.0,
+	}73.0,
+	}101.0,
+	}129.0,
+	}157.0,
 	};
 	mavlink_serial_udb_extra_f5_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -745,10 +745,10 @@ static void mavlink_test_serial_udb_extra_f6(uint8_t system_id, uint8_t componen
        uint16_t i;
 	mavlink_serial_udb_extra_f6_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	129.0,
+	}45.0,
+	}73.0,
+	}101.0,
+	}129.0,
 	};
 	mavlink_serial_udb_extra_f6_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -796,11 +796,11 @@ static void mavlink_test_serial_udb_extra_f7(uint8_t system_id, uint8_t componen
        uint16_t i;
 	mavlink_serial_udb_extra_f7_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
+	}45.0,
+	}73.0,
+	}101.0,
+	}129.0,
+	}157.0,
 	};
 	mavlink_serial_udb_extra_f7_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -849,12 +849,12 @@ static void mavlink_test_serial_udb_extra_f8(uint8_t system_id, uint8_t componen
        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,
+	}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));
@@ -904,9 +904,9 @@ static void mavlink_test_serial_udb_extra_f13(uint8_t system_id, uint8_t compone
        uint16_t i;
 	mavlink_serial_udb_extra_f13_t packet_in = {
 		963497464,
-	963497672,
-	963497880,
-	17859,
+	}963497672,
+	}963497880,
+	}17859,
 	};
 	mavlink_serial_udb_extra_f13_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -953,16 +953,16 @@ static void mavlink_test_serial_udb_extra_f14(uint8_t system_id, uint8_t compone
        uint16_t i;
 	mavlink_serial_udb_extra_f14_t packet_in = {
 		963497464,
-	17443,
-	17547,
-	17651,
-	163,
-	230,
-	41,
-	108,
-	175,
-	242,
-	53,
+	}17443,
+	}17547,
+	}17651,
+	}163,
+	}230,
+	}41,
+	}108,
+	}175,
+	}242,
+	}53,
 	};
 	mavlink_serial_udb_extra_f14_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -1016,7 +1016,7 @@ static void mavlink_test_serial_udb_extra_f15(uint8_t system_id, uint8_t compone
        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 },
+	}{ 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));
@@ -1061,7 +1061,7 @@ static void mavlink_test_serial_udb_extra_f16(uint8_t system_id, uint8_t compone
        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 },
+	}{ 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));
@@ -1106,12 +1106,12 @@ static void mavlink_test_altitudes(uint8_t system_id, uint8_t component_id, mavl
        uint16_t i;
 	mavlink_altitudes_t packet_in = {
 		963497464,
-	963497672,
-	963497880,
-	963498088,
-	963498296,
-	963498504,
-	963498712,
+	}963497672,
+	}963497880,
+	}963498088,
+	}963498296,
+	}963498504,
+	}963498712,
 	};
 	mavlink_altitudes_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -1161,12 +1161,12 @@ static void mavlink_test_airspeeds(uint8_t system_id, uint8_t component_id, mavl
        uint16_t i;
 	mavlink_airspeeds_t packet_in = {
 		963497464,
-	17443,
-	17547,
-	17651,
-	17755,
-	17859,
-	17963,
+	}17443,
+	}17547,
+	}17651,
+	}17755,
+	}17859,
+	}17963,
 	};
 	mavlink_airspeeds_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H

-#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:51 2013"
+#define MAVLINK_BUILD_DATE "Mon Dec 16 08:57:49 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254
 
@@ -31,11 +31,11 @@ static void mavlink_test_set_cam_shutter(uint8_t system_id, uint8_t component_id
        uint16_t i;
 	mavlink_set_cam_shutter_t packet_in = {
 		17.0,
-	17443,
-	17547,
-	29,
-	96,
-	163,
+	}17443,
+	}17547,
+	}29,
+	}96,
+	}163,
 	};
 	mavlink_set_cam_shutter_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -84,17 +84,17 @@ static void mavlink_test_image_triggered(uint8_t system_id, uint8_t component_id
        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,
+	}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));
@@ -192,28 +192,28 @@ static void mavlink_test_image_available(uint8_t system_id, uint8_t component_id
        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,
+	}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));
@@ -279,11 +279,11 @@ static void mavlink_test_set_position_control_offset(uint8_t system_id, uint8_t
        uint16_t i;
 	mavlink_set_position_control_offset_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	53,
-	120,
+	}45.0,
+	}73.0,
+	}101.0,
+	}53,
+	}120,
 	};
 	mavlink_set_position_control_offset_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -332,10 +332,10 @@ static void mavlink_test_position_control_setpoint(uint8_t system_id, uint8_t co
        uint16_t i;
 	mavlink_position_control_setpoint_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	18067,
+	}45.0,
+	}73.0,
+	}101.0,
+	}18067,
 	};
 	mavlink_position_control_setpoint_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -383,12 +383,12 @@ static void mavlink_test_marker(uint8_t system_id, uint8_t component_id, mavlink
        uint16_t i;
 	mavlink_marker_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
-	18483,
+	}45.0,
+	}73.0,
+	}101.0,
+	}129.0,
+	}157.0,
+	}18483,
 	};
 	mavlink_marker_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -438,12 +438,12 @@ static void mavlink_test_raw_aux(uint8_t system_id, uint8_t component_id, mavlin
        uint16_t i;
 	mavlink_raw_aux_t packet_in = {
 		963497464,
-	17443,
-	17547,
-	17651,
-	17755,
-	17859,
-	17963,
+	}17443,
+	}17547,
+	}17651,
+	}17755,
+	}17859,
+	}17963,
 	};
 	mavlink_raw_aux_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -493,7 +493,7 @@ static void mavlink_test_watchdog_heartbeat(uint8_t system_id, uint8_t component
        uint16_t i;
 	mavlink_watchdog_heartbeat_t packet_in = {
 		17235,
-	17339,
+	}17339,
 	};
 	mavlink_watchdog_heartbeat_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -538,10 +538,10 @@ static void mavlink_test_watchdog_process_info(uint8_t system_id, uint8_t compon
        uint16_t i;
 	mavlink_watchdog_process_info_t packet_in = {
 		963497464,
-	17443,
-	17547,
-	"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC",
-	"EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST",
+	}17443,
+	}17547,
+	}"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABC",
+	}"EFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRST",
 	};
 	mavlink_watchdog_process_info_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -589,11 +589,11 @@ static void mavlink_test_watchdog_process_status(uint8_t system_id, uint8_t comp
        uint16_t i;
 	mavlink_watchdog_process_status_t packet_in = {
 		963497464,
-	17443,
-	17547,
-	17651,
-	163,
-	230,
+	}17443,
+	}17547,
+	}17651,
+	}163,
+	}230,
 	};
 	mavlink_watchdog_process_status_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -642,9 +642,9 @@ static void mavlink_test_watchdog_command(uint8_t system_id, uint8_t component_i
        uint16_t i;
 	mavlink_watchdog_command_t packet_in = {
 		17235,
-	17339,
-	17,
-	84,
+	}17339,
+	}17,
+	}84,
 	};
 	mavlink_watchdog_command_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -691,9 +691,9 @@ static void mavlink_test_pattern_detected(uint8_t system_id, uint8_t component_i
        uint16_t i;
 	mavlink_pattern_detected_t packet_in = {
 		17.0,
-	17,
-	"FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ",
-	128,
+	}17,
+	}"FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZ",
+	}128,
 	};
 	mavlink_pattern_detected_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -740,13 +740,13 @@ static void mavlink_test_point_of_interest(uint8_t system_id, uint8_t component_
        uint16_t i;
 	mavlink_point_of_interest_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	17859,
-	175,
-	242,
-	53,
-	"RSTUVWXYZABCDEFGHIJKLMNOP",
+	}45.0,
+	}73.0,
+	}17859,
+	}175,
+	}242,
+	}53,
+	}"RSTUVWXYZABCDEFGHIJKLMNOP",
 	};
 	mavlink_point_of_interest_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -797,16 +797,16 @@ static void mavlink_test_point_of_interest_connection(uint8_t system_id, uint8_t
        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",
+	}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));
@@ -860,12 +860,12 @@ static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t
        uint16_t i;
 	mavlink_data_transmission_handshake_t packet_in = {
 		963497464,
-	17443,
-	17547,
-	29,
-	96,
-	163,
-	230,
+	}17443,
+	}17547,
+	}29,
+	}96,
+	}163,
+	}230,
 	};
 	mavlink_data_transmission_handshake_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -915,7 +915,7 @@ static void mavlink_test_encapsulated_data(uint8_t system_id, uint8_t component_
        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 },
+	}{ 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));
@@ -960,13 +960,13 @@ static void mavlink_test_brief_feature(uint8_t system_id, uint8_t component_id,
        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 },
+	}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));
@@ -1017,14 +1017,14 @@ static void mavlink_test_attitude_control(uint8_t system_id, uint8_t component_i
        uint16_t i;
 	mavlink_attitude_control_t packet_in = {
 		17.0,
-	45.0,
-	73.0,
-	101.0,
-	53,
-	120,
-	187,
-	254,
-	65,
+	}45.0,
+	}73.0,
+	}101.0,
+	}53,
+	}120,
+	}187,
+	}254,
+	}65,
 	};
 	mavlink_attitude_control_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H

-#define MAVLINK_BUILD_DATE "Tue Sep 10 23:49:13 2013"
+#define MAVLINK_BUILD_DATE "Mon Dec 16 08:58:02 2013"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
 
@@ -299,15 +299,16 @@ CONFIG_STM32_USART=y
 # CONFIG_USART2_RS485 is not set
 CONFIG_USART2_RXDMA=y
 # CONFIG_USART3_RS485 is not set
-# CONFIG_USART3_RXDMA is not set
+CONFIG_USART3_RXDMA=y
 # CONFIG_UART4_RS485 is not set
-# CONFIG_UART4_RXDMA is not set
+CONFIG_UART4_RXDMA=y
+# CONFIG_UART5_RXDMA is not set
 # CONFIG_USART6_RS485 is not set
 # CONFIG_USART6_RXDMA is not set
 # CONFIG_UART7_RS485 is not set
 # CONFIG_UART7_RXDMA is not set
 # CONFIG_UART8_RS485 is not set
-# CONFIG_UART8_RXDMA is not set
+CONFIG_UART8_RXDMA=y
 CONFIG_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_USART_SINGLEWIRE=y

@@ -119,7 +119,7 @@ protected:
 	virtual int	collect() = 0;

 	work_s			_work;
-	float		_max_differential_pressure_pa;
+	float			_max_differential_pressure_pa;
 	bool			_sensor_ok;
 	int			_measure_ticks;
 	bool			_collect_phase;
@@ -46,7 +46,6 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls_effective.h>
 #include <systemlib/err.h>

 #include "ardrone_motor_control.h"
@@ -384,9 +383,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	const float startpoint_full_control = 0.25f;	/**< start full control at 25% thrust */

 	static bool initialized = false;
-	/* publish effective outputs */
-	static struct actuator_controls_effective_s actuator_controls_effective;
-	static orb_advert_t actuator_controls_effective_pub;

 	/* linearly scale the control inputs from 0 to startpoint_full_control */
 	if (motor_thrust < startpoint_full_control) {
@@ -430,25 +426,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 		motor_calc[3] = motor_thrust + (roll_control / 2 - pitch_control / 2 + yaw_control);
 	}

-
-
-	/* publish effective outputs */
-	actuator_controls_effective.control_effective[0] = roll_control;
-	actuator_controls_effective.control_effective[1] = pitch_control;
-	/* yaw output after limiting */
-	actuator_controls_effective.control_effective[2] = yaw_control;
-	/* possible motor thrust limiting */
-	actuator_controls_effective.control_effective[3] = (motor_calc[0] + motor_calc[1] + motor_calc[2] + motor_calc[3]) / 4.0f;
-
-	if (!initialized) {
-		/* advertise and publish */
-		actuator_controls_effective_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, &actuator_controls_effective);
-		initialized = true;
-	} else {
-		/* already initialized, just publishing */
-		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_controls_effective_pub, &actuator_controls_effective);
-	}
-
 	/* set the motor values */

 	/* scale up from 0..1 to 10..500) */
@@ -79,17 +79,37 @@ __BEGIN_DECLS
 #define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
 #define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+
+/* Data ready pins off */
+#define GPIO_GYRO_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_MAG_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_ACCEL_DRDY_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+
+/* SPI1 off */
+#define GPIO_SPI1_SCK_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
+#define GPIO_SPI1_MISO_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
+#define GPIO_SPI1_MOSI_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
+
+/* SPI1 chip selects off */
+#define GPIO_SPI_CS_GYRO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BARO_OFF                (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
+#define GPIO_SPI_CS_MPU		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)

 /* SPI chip selects */
-#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
-#define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
+#define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#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)

 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO		1
 #define PX4_SPIDEV_ACCEL_MAG	2
 #define PX4_SPIDEV_BARO		3
+#define PX4_SPIDEV_MPU		4

 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
@@ -215,9 +215,9 @@ __EXPORT int nsh_archinitialize(void)
 	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
 	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
 	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
-	stm32_configgpio(GPIO_ADC1_IN10);	/* unrouted */
-	stm32_configgpio(GPIO_ADC1_IN11);	/* unrouted */
-	stm32_configgpio(GPIO_ADC1_IN12);	/* unrouted */
+	// stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
+	// stm32_configgpio(GPIO_ADC1_IN11);	/* unused */
+	// stm32_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
 	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
 	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
 	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */
@@ -279,6 +279,7 @@ __EXPORT int nsh_archinitialize(void)
 	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);

 	message("[boot] Successfully initialized SPI port 1\n");
@@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_configgpio(GPIO_SPI_CS_GYRO);
 	stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
 	stm32_configgpio(GPIO_SPI_CS_BARO);
+	stm32_configgpio(GPIO_SPI_CS_MPU);

 	/* De-activate all peripherals,
 	 * required for some peripheral
@@ -81,6 +82,12 @@ __EXPORT void weak_function stm32_spiinitialize(void)
 	stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 	stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+	stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+
+	stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
+	stm32_configgpio(GPIO_EXTI_MAG_DRDY);
+	stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
+	stm32_configgpio(GPIO_EXTI_MPU_DRDY);
 #endif

 #ifdef CONFIG_STM32_SPI2
@@ -99,6 +106,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;

 	case PX4_SPIDEV_ACCEL_MAG:
@@ -106,6 +114,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;

 	case PX4_SPIDEV_BARO:
@@ -113,6 +122,15 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
+		break;
+
+	case PX4_SPIDEV_MPU:
+		/* 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, 1);
+		stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;

 	default:
@@ -108,6 +108,42 @@ CDev::~CDev()
 		unregister_driver(_devname);
 }

+int
+CDev::register_class_devname(const char *class_devname)
+{
+	if (class_devname == nullptr) {
+		return -EINVAL;
+	}
+	int class_instance = 0;
+	int ret = -ENOSPC;
+	while (class_instance < 4) {
+		if (class_instance == 0) {
+			ret = register_driver(class_devname, &fops, 0666, (void *)this);
+			if (ret == OK) break;
+		} else {
+			char name[32];
+			snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
+			ret = register_driver(name, &fops, 0666, (void *)this);
+			if (ret == OK) break;
+		}
+		class_instance++;
+	}
+	if (class_instance == 4)
+		return ret;
+	return class_instance;
+}
+
+int
+CDev::unregister_class_devname(const char *class_devname, unsigned class_instance)
+{
+	if (class_instance > 0) {
+		char name[32];
+		snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
+		return unregister_driver(name);
+	}
+	return unregister_driver(class_devname);
+}
+
 int
 CDev::init()
 {
@@ -396,6 +396,25 @@ protected:
 	 */
 	virtual int	close_last(struct file *filp);

+        /**
+	 * Register a class device name, automatically adding device
+	 * class instance suffix if need be.
+	 *
+	 * @param class_devname   Device class name
+	 * @return class_instamce Class instance created, or -errno on failure
+	 */
+	virtual int register_class_devname(const char *class_devname);
+
+        /**
+	 * Register a class device name, automatically adding device
+	 * class instance suffix if need be.
+	 *
+	 * @param class_devname   Device class name
+	 * @param class_instance  Device class instance from register_class_devname()
+	 * @return		  OK on success, -errno otherwise
+	 */
+	virtual int unregister_class_devname(const char *class_devname, unsigned class_instance);
+
 private:
 	static const unsigned _max_pollwaiters = 8;

@@ -488,4 +507,7 @@ private:

 } // namespace device

+// class instance for primary driver of each class
+#define CLASS_DEVICE_PRIMARY 0
+
 #endif /* _DEVICE_DEVICE_H */
--- a/Show More
+++ b/Show More