diff --git a/src/configuration.h b/src/configuration.h
index 3872b2d673e16058a27bc25f052b7b4b7d7e4a42..4ccd351b176422c1240e9c179ff29b3e6ce6d0da 100644
--- a/src/configuration.h
+++ b/src/configuration.h
@@ -12,7 +12,7 @@
 #define WITH_TEXT_TO_SPEECH 1
 
 #define QGC_APPLICATION_NAME "QGroundControl"
-#define QGC_APPLICATION_VERSION "v. 1.0.0 (Alpha RC2)"
+#define QGC_APPLICATION_VERSION "v. 1.0.0 (Alpha RC3)"
 
 namespace QGC
 
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 97487f12e20d599b27883d53bba88f461ccdf3b1..5429ae6b7bd4cf681382c6bda75280f854d1796d 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1733,11 +1733,19 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
     }
 }
 
-void UAS::requestParameter(int component, int parameter)
+void UAS::requestParameter(int component, const QString& parameter)
 {
+    // Request parameter, use parameter name to request it
     mavlink_message_t msg;
     mavlink_param_request_read_t read;
-    read.param_index = parameter;
+    read.param_index = -1;
+    // Copy full param name or maximum max field size
+    if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)
+    {
+        emit textMessageReceived(uasId, 0, 255, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1));
+    }
+    memcpy(read.param_id, parameter.toStdString().c_str(), qMax(parameter.length(), MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN));
+    read.param_id[15] = '\0'; // Enforce null termination
     read.target_system = uasId;
     read.target_component = component;
     mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index a0051b76f7288250f4f22184be76df1d02aefe76..e9b082357f31945bafc90b11dbdd680def479cf9 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -466,7 +466,7 @@ public slots:
     void requestParameters();
 
     /** @brief Request a single parameter by index */
-    void requestParameter(int component, int parameter);
+    void requestParameter(int component, const QString& parameter);
 
     /** @brief Set a system parameter */
     void setParameter(const int component, const QString& id, const QVariant& value);
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 5634775f99bbefbcd5107ec8b38f879df7a4552e..1b814f7bae502877eed59bb70b1f2d62cb68f9eb 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -246,7 +246,7 @@ public slots:
     /** @brief Request all onboard parameters of all components */
     virtual void requestParameters() = 0;
     /** @brief Request one specific onboard parameter */
-    virtual void requestParameter(int component, int parameter) = 0;
+    virtual void requestParameter(int component, const QString& parameter) = 0;
     /** @brief Write parameter to permanent storage */
     virtual void writeParametersToStorage() = 0;
     /** @brief Read parameter from permanent storage */
diff --git a/src/ui/SerialConfigurationWindow.cc b/src/ui/SerialConfigurationWindow.cc
index f9121c98b869fc0dca7bbe515527309a5cb22b9a..a736a866d00d5f10a69ac03e14fed41c82a06f76 100644
--- a/src/ui/SerialConfigurationWindow.cc
+++ b/src/ui/SerialConfigurationWindow.cc
@@ -244,8 +244,6 @@ SerialConfigurationWindow::SerialConfigurationWindow(LinkInterface* link, QWidge
         setupPortList();
 
         // Set up baud rates
-        ui.baudRate->addItem("115200", 115200);
-
         ui.baudRate->clear();
         ui.baudRate->addItem("50", 50);
         ui.baudRate->addItem("70", 70);
diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc
index 69989a013e395c8647381dd2e07bb487218cb16a..d4cebf61174de4150b8e1343587ac64b0d6a1931 100644
--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -139,10 +139,11 @@ void QGCCommandButton::endEditMode()
 
 void QGCCommandButton::writeSettings(QSettings& settings)
 {
+    qDebug() << "COMMAND BUTTON WRITING SETTINGS";
     settings.setValue("TYPE", "COMMANDBUTTON");
     settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
     settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->commandButton->text());
-    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->currentIndex());
+    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editCommandComboBox->itemData(ui->editCommandComboBox->currentIndex()).toInt());
     settings.setValue("QGC_COMMAND_BUTTON_PARAMS_VISIBLE", ui->editParamsVisibleCheckBox->isChecked());
     settings.sync();
 }
@@ -155,7 +156,19 @@ void QGCCommandButton::readSettings(const QSettings& settings)
 
     ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
     ui->commandButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editCommandComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
+
+    int commandId = settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt();
+    ui->editCommandComboBox->setCurrentIndex(0);
+
+    // Find combobox entry for this data
+    for (int i = 0; i < ui->editCommandComboBox->count(); ++i)
+    {
+        if (commandId == ui->editCommandComboBox->itemData(i).toInt())
+        {
+            ui->editCommandComboBox->setCurrentIndex(i);
+        }
+    }
+
     ui->editParamsVisibleCheckBox->setChecked(settings.value("QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool());
     if (ui->editParamsVisibleCheckBox->isChecked()) {
         ui->editParam1SpinBox->show();
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index 9b97b588e14f460c3f7bb2ed8e5a69bea3cf68e9..c1651e3b6ab2a3731083370e36e97d57323ccf47 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -17,7 +17,6 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
     parameterMin(0.0f),
     parameterMax(0.0f),
     component(0),
-    parameterIndex(-1),
     ui(new Ui::QGCParamSlider)
 {
     ui->setupUi(this);
@@ -87,8 +86,9 @@ void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
 
 void QGCParamSlider::requestParameter()
 {
-    if (parameterIndex != -1 && uas) {
-        uas->requestParameter(this->component, this->parameterIndex);
+    if (!parameterName.isEmpty() && uas)
+    {
+        uas->requestParameter(this->component, this->parameterName);
     }
 }
 
@@ -106,7 +106,6 @@ void QGCParamSlider::selectComponent(int componentIndex)
 void QGCParamSlider::selectParameter(int paramIndex)
 {
     parameterName = ui->editSelectParamComboBox->itemText(paramIndex);
-    parameterIndex = ui->editSelectParamComboBox->itemData(paramIndex).toInt();
 }
 
 void QGCParamSlider::startEditMode()
@@ -254,7 +253,6 @@ void QGCParamSlider::writeSettings(QSettings& settings)
     settings.setValue("QGC_PARAM_SLIDER_DESCRIPTION", ui->nameLabel->text());
     //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text());
     settings.setValue("QGC_PARAM_SLIDER_PARAMID", parameterName);
-    settings.setValue("QGC_PARAM_SLIDER_PARAMINDEX", parameterIndex);
     settings.setValue("QGC_PARAM_SLIDER_COMPONENTID", component);
     settings.setValue("QGC_PARAM_SLIDER_MIN", ui->editMinSpinBox->value());
     settings.setValue("QGC_PARAM_SLIDER_MAX", ui->editMaxSpinBox->value());
@@ -263,11 +261,13 @@ void QGCParamSlider::writeSettings(QSettings& settings)
 
 void QGCParamSlider::readSettings(const QSettings& settings)
 {
+    parameterName = settings.value("QGC_PARAM_SLIDER_PARAMID").toString();
+    component = settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt();
     ui->nameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString());
     ui->editNameLabel->setText(settings.value("QGC_PARAM_SLIDER_DESCRIPTION").toString());
     //settings.setValue("QGC_PARAM_SLIDER_BUTTONTEXT", ui->actionButton->text());
-    parameterIndex = settings.value("QGC_PARAM_SLIDER_PARAMINDEX", parameterIndex).toInt();
-    ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_SLIDER_PARAMID").toString(), parameterIndex);
+    ui->editSelectParamComboBox->addItem(settings.value("QGC_PARAM_SLIDER_PARAMID").toString());
+    ui->editSelectParamComboBox->setCurrentIndex(ui->editSelectParamComboBox->count()-1);
     ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt()), settings.value("QGC_PARAM_SLIDER_COMPONENTID").toInt());
     ui->editMinSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MIN").toFloat());
     ui->editMaxSpinBox->setValue(settings.value("QGC_PARAM_SLIDER_MAX").toFloat());
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
index 8bf064b4cbf10bdc8e684829aa1a71883c95db44..94783c549cb5778e175459d7a6cd92769880e08a 100644
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -48,7 +48,6 @@ protected:
     float parameterMin;
     float parameterMax;
     int component;                 ///< ID of the MAV component to address
-    int parameterIndex;
     double scaledInt;
     void changeEvent(QEvent *e);
 
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index e94073785d0439bdc5c44d42584fcf77c7398f11..b83437b4b2e52fdfaf06b6319dcd8d2863b8c858 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -21,6 +21,11 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
         widgetTitle(title),
         ui(new Ui::QGCToolWidget)
 {
+    if (title == "Unnamed Tool")
+    {
+        widgetTitle = QString("%1 %2").arg(title).arg(QGCToolWidget::instances()->count());
+    }
+    qDebug() << "WidgetTitle" << widgetTitle;
     ui->setupUi(this);
     setObjectName(title);
     createActions();
@@ -42,12 +47,14 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
     }
 
     this->setWindowTitle(title);
-    setObjectName(title+"WIDGET");
+    //setObjectName(title+"WIDGET");
 
     QList<UASInterface*> systems = UASManager::instance()->getUASList();
-    foreach (UASInterface* uas, systems) {
+    foreach (UASInterface* uas, systems)
+    {
         UAS* newMav = dynamic_cast<UAS*>(uas);
-        if (newMav) {
+        if (newMav)
+        {
             addUAS(uas);
         }
     }
@@ -57,6 +64,8 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
 
 QGCToolWidget::~QGCToolWidget()
 {
+    if (mainMenuAction) delete mainMenuAction;
+    QGCToolWidget::instances()->remove(widgetTitle);
     delete ui;
 }
 
@@ -94,11 +103,14 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
 
     QList<QGCToolWidget*> newWidgets;
     int size = settings->beginReadArray("QGC_TOOL_WIDGET_NAMES");
-    for (int i = 0; i < size; i++) {
+    for (int i = 0; i < size; i++)
+    {
         settings->setArrayIndex(i);
         QString name = settings->value("TITLE", tr("UNKNOWN WIDGET %1").arg(i)).toString();
 
-        if (!instances()->contains(name)) {
+        if (!instances()->contains(name))
+        {
+            qDebug() << "CREATED WIDGET:" << name;
             QGCToolWidget* tool = new QGCToolWidget(name, parent);
             instances()->insert(name, tool);
             newWidgets.append(tool);
@@ -113,7 +125,8 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
     qDebug() << "NEW WIDGETS: " << newWidgets.size();
 
     // Load individual widget items
-    for (int i = 0; i < newWidgets.size(); i++) {
+    for (int i = 0; i < newWidgets.size(); i++)
+    {
         newWidgets.at(i)->loadSettings(*settings);
     }
     delete settings;
@@ -147,29 +160,38 @@ void QGCToolWidget::loadSettings(QSettings& settings)
 {
     QString widgetName = getTitle();
     settings.beginGroup(widgetName);
+    qDebug() << "LOADING FOR" << widgetName;
     int size = settings.beginReadArray("QGC_TOOL_WIDGET_ITEMS");
     qDebug() << "CHILDREN SIZE:" << size;
-    for (int j = 0; j < size; j++) {
+    for (int j = 0; j < size; j++)
+    {
         settings.setArrayIndex(j);
         QString type = settings.value("TYPE", "UNKNOWN").toString();
-        if (type != "UNKNOWN") {
+        if (type != "UNKNOWN")
+        {
             QGCToolWidgetItem* item = NULL;
-            if (type == "COMMANDBUTTON") {
+            if (type == "COMMANDBUTTON")
+            {
                 item = new QGCCommandButton(this);
                 qDebug() << "CREATED COMMANDBUTTON";
-            } else if (type == "SLIDER") {
+            }
+            else if (type == "SLIDER")
+            {
                 item = new QGCParamSlider(this);
                 qDebug() << "CREATED PARAM SLIDER";
             }
 
-            if (item) {
+            if (item)
+            {
                 // Configure and add to layout
                 addToolWidget(item);
                 item->readSettings(settings);
 
                 qDebug() << "Created tool widget";
             }
-        } else {
+        }
+        else
+        {
             qDebug() << "UNKNOWN TOOL WIDGET TYPE";
         }
     }
@@ -191,14 +213,16 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile)
     }
 
     settings->beginWriteArray("QGC_TOOL_WIDGET_NAMES");
-    for (int i = 0; i < instances()->size(); ++i) {
+    for (int i = 0; i < instances()->size(); ++i)
+    {
         settings->setArrayIndex(i);
         settings->setValue("TITLE", instances()->values().at(i)->getTitle());
     }
     settings->endArray();
 
     // Store individual widget items
-    for (int i = 0; i < instances()->size(); ++i) {
+    for (int i = 0; i < instances()->size(); ++i)
+    {
         instances()->values().at(i)->storeSettings(*settings);
     }
     delete settings;
@@ -216,15 +240,18 @@ void QGCToolWidget::storeSettings(QSettings& settings)
     settings.beginGroup(widgetName);
     settings.beginWriteArray("QGC_TOOL_WIDGET_ITEMS");
     int k = 0; // QGCToolItem counter
-    for (int j = 0; j  < children().size(); ++j) {
+    for (int j = 0; j  < children().size(); ++j)
+    {
         // Store only QGCToolWidgetItems
         QGCToolWidgetItem* item = dynamic_cast<QGCToolWidgetItem*>(children().at(j));
-        if (item) {
+        if (item)
+        {
             settings.setArrayIndex(k++);
             // Store the ToolWidgetItem
             item->writeSettings(settings);
         }
     }
+    qDebug() << "WROTE" << k << "SUB-WIDGETS TO SETTINGS";
     settings.endArray();
     settings.endGroup();
 }
@@ -232,7 +259,8 @@ void QGCToolWidget::storeSettings(QSettings& settings)
 void QGCToolWidget::addUAS(UASInterface* uas)
 {
     UAS* newMav = dynamic_cast<UAS*>(uas);
-    if (newMav) {
+    if (newMav)
+    {
         // FIXME Convert to list
         if (mav == NULL) mav = newMav;
     }
@@ -245,9 +273,8 @@ void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
     menu.addAction(addCommandAction);
     menu.addAction(setTitleAction);
     menu.addAction(exportAction);
+    menu.addAction(importAction);
     menu.addAction(deleteAction);
-    menu.addSeparator();
-    menu.addAction(addButtonAction);
     menu.exec(event->globalPos());
 }
 
@@ -293,11 +320,7 @@ void QGCToolWidget::createActions()
 
     importAction = new QAction(tr("Import widget"), this);
     importAction->setStatusTip(tr("Import this widget from a file (current content will be removed)"));
-    connect(exportAction, SIGNAL(triggered()), this, SLOT(importWidget()));
-
-    addButtonAction = new QAction(tr("New MAV Action Button (Deprecated)"), this);
-    addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
-    connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
+    connect(importAction, SIGNAL(triggered()), this, SLOT(importWidget()));
 }
 
 QMap<QString, QGCToolWidget*>* QGCToolWidget::instances()
@@ -317,7 +340,8 @@ QList<QGCToolWidgetItem*>* QGCToolWidget::itemList()
 void QGCToolWidget::addParam()
 {
     QGCParamSlider* slider = new QGCParamSlider(this);
-    if (ui->hintLabel) {
+    if (ui->hintLabel)
+    {
         ui->hintLabel->deleteLater();
         ui->hintLabel = NULL;
     }
@@ -328,7 +352,8 @@ void QGCToolWidget::addParam()
 void QGCToolWidget::addCommand()
 {
     QGCCommandButton* button = new QGCCommandButton(this);
-    if (ui->hintLabel) {
+    if (ui->hintLabel)
+    {
         ui->hintLabel->deleteLater();
         ui->hintLabel = NULL;
     }
@@ -338,7 +363,8 @@ void QGCToolWidget::addCommand()
 
 void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget)
 {
-    if (ui->hintLabel) {
+    if (ui->hintLabel)
+    {
         ui->hintLabel->deleteLater();
         ui->hintLabel = NULL;
     }
@@ -371,38 +397,44 @@ const QString QGCToolWidget::getTitle()
 void QGCToolWidget::setTitle()
 {
     QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
-    if (parent) {
+    if (parent)
+    {
         bool ok;
-        QString text = QInputDialog::getText(this, tr("QInputDialog::getText()"),
+        QString text = QInputDialog::getText(this, tr("Enter Widget Title"),
                                              tr("Widget title:"), QLineEdit::Normal,
                                              parent->windowTitle(), &ok);
-        if (ok && !text.isEmpty()) {
-            QSettings settings;
-            settings.beginGroup(parent->windowTitle());
-            settings.remove("");
-            settings.endGroup();
-            parent->setWindowTitle(text);
-            setWindowTitle(text);
-
-            storeWidgetsToSettings();
-            emit titleChanged(text);
-            if (mainMenuAction) mainMenuAction->setText(text);
+        if (ok && !text.isEmpty())
+        {
+            setTitle(text);
         }
     }
 }
 
+void QGCToolWidget::setWindowTitle(const QString& title)
+{
+    // Sets title and calls setWindowTitle on QWidget
+    setTitle(title);
+}
+
 void QGCToolWidget::setTitle(QString title)
 {
-    widgetTitle = title;
+    // Remove references to old title
     QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
-    if (parent) {
+    if (parent)
+    {
         QSettings settings;
-        settings.beginGroup(parent->windowTitle());
+        settings.beginGroup(widgetTitle);
         settings.remove("");
         settings.endGroup();
-        parent->setWindowTitle(title);
     }
-    setWindowTitle(title);
+    if (instances()->contains(widgetTitle)) instances()->remove(widgetTitle);
+
+    // Switch to new title
+    widgetTitle = title;
+
+    if (!instances()->contains(title)) instances()->insert(title, this);
+    QWidget::setWindowTitle(title);
+    if (parent) parent->setWindowTitle(title);
 
     storeWidgetsToSettings();
     emit titleChanged(title);
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
index ac3de309a6d8cd3da1a253e7200e45a3921d0928..8747689cc814272f48688d1e64f37551c1c68e20 100644
--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -19,7 +19,7 @@ class QGCToolWidget : public QWidget
     Q_OBJECT
 
 public:
-    explicit QGCToolWidget(const QString& title, QWidget *parent = 0);
+    explicit QGCToolWidget(const QString& title=QString("Unnamed Tool"), QWidget *parent = 0);
     ~QGCToolWidget();
 
     /** @brief Factory method to instantiate all tool widgets */
@@ -61,7 +61,6 @@ signals:
 
 protected:
     QAction* addParamAction;
-    QAction* addButtonAction;
     QAction* addCommandAction;
     QAction* setTitleAction;
     QAction* deleteAction;
@@ -73,6 +72,7 @@ protected:
     QMap<int, Qt::DockWidgetArea> dockWidgetArea;   ///< Dock widget area desired by this widget
     QMap<int, bool> viewVisible;  ///< Visibility in one view
     QString widgetTitle;
+    static int instanceCount;     ///< Number of instances around
 
     void contextMenuEvent(QContextMenuEvent* event);
     void createActions();
@@ -87,6 +87,7 @@ protected slots:
     void addCommand();
     void setTitle();
     void setTitle(QString title);
+    void setWindowTitle(const QString& title);
 
 
 private:
diff --git a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
index a23c551176cb8d0e1897ff405e46a26340b4d349..67a76593416876c51cfeb3b55395e038af14b246 100644
--- a/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
+++ b/thirdParty/mavlink/include/ardupilotmega/ardupilotmega.h
@@ -12,15 +12,15 @@ extern "C" {
 // MESSAGE LENGTHS AND CRCS
 
 #ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3}
+#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 0, 28, 22, 22, 21, 0, 36, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 0, 0, 26, 0, 36, 0, 6, 4, 0, 21, 18, 0, 0, 0, 20, 20, 32, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 8, 4, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 3}
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247}
+#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 197, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 0, 104, 244, 237, 222, 0, 158, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 0, 0, 183, 0, 130, 0, 148, 21, 0, 52, 124, 0, 0, 0, 20, 160, 168, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 134, 219, 208, 188, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 247}
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {NULL}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SET_MODE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, {NULL}, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, {NULL}, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, {NULL}, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {NULL}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {NULL}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_VFR_HUD, MAVLINK_MESSAGE_INFO_COMMAND_SHORT, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, MAVLINK_MESSAGE_INFO_EXTENDED_MESSAGE}
 #endif
 
 #include "../protocol.h"
@@ -47,6 +47,8 @@ extern "C" {
 // MESSAGE DEFINITIONS
 #include "./mavlink_msg_sensor_offsets.h"
 #include "./mavlink_msg_set_mag_offsets.h"
+#include "./mavlink_msg_meminfo.h"
+#include "./mavlink_msg_ap_adc.h"
 
 #ifdef __cplusplus
 }
diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h
new file mode 100644
index 0000000000000000000000000000000000000000..dbe7f19370c84b1b80c1e0a91acafee0224d9eda
--- /dev/null
+++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_ap_adc.h
@@ -0,0 +1,254 @@
+// MESSAGE AP_ADC PACKING
+
+#define MAVLINK_MSG_ID_AP_ADC 153
+
+typedef struct __mavlink_ap_adc_t
+{
+ uint16_t adc1; ///< ADC output 1
+ uint16_t adc2; ///< ADC output 2
+ uint16_t adc3; ///< ADC output 3
+ uint16_t adc4; ///< ADC output 4
+ uint16_t adc5; ///< ADC output 5
+ uint16_t adc6; ///< ADC output 6
+} mavlink_ap_adc_t;
+
+#define MAVLINK_MSG_ID_AP_ADC_LEN 12
+#define MAVLINK_MSG_ID_153_LEN 12
+
+
+
+#define MAVLINK_MESSAGE_INFO_AP_ADC { \
+	"AP_ADC", \
+	6, \
+	{  { "adc1", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ap_adc_t, adc1) }, \
+         { "adc2", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ap_adc_t, adc2) }, \
+         { "adc3", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ap_adc_t, adc3) }, \
+         { "adc4", NULL, MAVLINK_TYPE_UINT16_T, 0, 6, offsetof(mavlink_ap_adc_t, adc4) }, \
+         { "adc5", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_ap_adc_t, adc5) }, \
+         { "adc6", NULL, MAVLINK_TYPE_UINT16_T, 0, 10, offsetof(mavlink_ap_adc_t, adc6) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a ap_adc message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param adc1 ADC output 1
+ * @param adc2 ADC output 2
+ * @param adc3 ADC output 3
+ * @param adc4 ADC output 4
+ * @param adc5 ADC output 5
+ * @param adc6 ADC output 6
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ap_adc_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[12];
+	_mav_put_uint16_t(buf, 0, adc1);
+	_mav_put_uint16_t(buf, 2, adc2);
+	_mav_put_uint16_t(buf, 4, adc3);
+	_mav_put_uint16_t(buf, 6, adc4);
+	_mav_put_uint16_t(buf, 8, adc5);
+	_mav_put_uint16_t(buf, 10, adc6);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 12);
+#else
+	mavlink_ap_adc_t packet;
+	packet.adc1 = adc1;
+	packet.adc2 = adc2;
+	packet.adc3 = adc3;
+	packet.adc4 = adc4;
+	packet.adc5 = adc5;
+	packet.adc6 = adc6;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
+	return mavlink_finalize_message(msg, system_id, component_id, 12, 188);
+}
+
+/**
+ * @brief Pack a ap_adc message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param adc1 ADC output 1
+ * @param adc2 ADC output 2
+ * @param adc3 ADC output 3
+ * @param adc4 ADC output 4
+ * @param adc5 ADC output 5
+ * @param adc6 ADC output 6
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ap_adc_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint16_t adc1,uint16_t adc2,uint16_t adc3,uint16_t adc4,uint16_t adc5,uint16_t adc6)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[12];
+	_mav_put_uint16_t(buf, 0, adc1);
+	_mav_put_uint16_t(buf, 2, adc2);
+	_mav_put_uint16_t(buf, 4, adc3);
+	_mav_put_uint16_t(buf, 6, adc4);
+	_mav_put_uint16_t(buf, 8, adc5);
+	_mav_put_uint16_t(buf, 10, adc6);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 12);
+#else
+	mavlink_ap_adc_t packet;
+	packet.adc1 = adc1;
+	packet.adc2 = adc2;
+	packet.adc3 = adc3;
+	packet.adc4 = adc4;
+	packet.adc5 = adc5;
+	packet.adc6 = adc6;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 12);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AP_ADC;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 188);
+}
+
+/**
+ * @brief Encode a ap_adc struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param ap_adc C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ap_adc_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ap_adc_t* ap_adc)
+{
+	return mavlink_msg_ap_adc_pack(system_id, component_id, msg, ap_adc->adc1, ap_adc->adc2, ap_adc->adc3, ap_adc->adc4, ap_adc->adc5, ap_adc->adc6);
+}
+
+/**
+ * @brief Send a ap_adc message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param adc1 ADC output 1
+ * @param adc2 ADC output 2
+ * @param adc3 ADC output 3
+ * @param adc4 ADC output 4
+ * @param adc5 ADC output 5
+ * @param adc6 ADC output 6
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ap_adc_send(mavlink_channel_t chan, uint16_t adc1, uint16_t adc2, uint16_t adc3, uint16_t adc4, uint16_t adc5, uint16_t adc6)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[12];
+	_mav_put_uint16_t(buf, 0, adc1);
+	_mav_put_uint16_t(buf, 2, adc2);
+	_mav_put_uint16_t(buf, 4, adc3);
+	_mav_put_uint16_t(buf, 6, adc4);
+	_mav_put_uint16_t(buf, 8, adc5);
+	_mav_put_uint16_t(buf, 10, adc6);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, buf, 12, 188);
+#else
+	mavlink_ap_adc_t packet;
+	packet.adc1 = adc1;
+	packet.adc2 = adc2;
+	packet.adc3 = adc3;
+	packet.adc4 = adc4;
+	packet.adc5 = adc5;
+	packet.adc6 = adc6;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AP_ADC, (const char *)&packet, 12, 188);
+#endif
+}
+
+#endif
+
+// MESSAGE AP_ADC UNPACKING
+
+
+/**
+ * @brief Get field adc1 from ap_adc message
+ *
+ * @return ADC output 1
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc1(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field adc2 from ap_adc message
+ *
+ * @return ADC output 2
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc2(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Get field adc3 from ap_adc message
+ *
+ * @return ADC output 3
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc3(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  4);
+}
+
+/**
+ * @brief Get field adc4 from ap_adc message
+ *
+ * @return ADC output 4
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc4(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  6);
+}
+
+/**
+ * @brief Get field adc5 from ap_adc message
+ *
+ * @return ADC output 5
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc5(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  8);
+}
+
+/**
+ * @brief Get field adc6 from ap_adc message
+ *
+ * @return ADC output 6
+ */
+static inline uint16_t mavlink_msg_ap_adc_get_adc6(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  10);
+}
+
+/**
+ * @brief Decode a ap_adc message into a struct
+ *
+ * @param msg The message to decode
+ * @param ap_adc C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ap_adc_decode(const mavlink_message_t* msg, mavlink_ap_adc_t* ap_adc)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	ap_adc->adc1 = mavlink_msg_ap_adc_get_adc1(msg);
+	ap_adc->adc2 = mavlink_msg_ap_adc_get_adc2(msg);
+	ap_adc->adc3 = mavlink_msg_ap_adc_get_adc3(msg);
+	ap_adc->adc4 = mavlink_msg_ap_adc_get_adc4(msg);
+	ap_adc->adc5 = mavlink_msg_ap_adc_get_adc5(msg);
+	ap_adc->adc6 = mavlink_msg_ap_adc_get_adc6(msg);
+#else
+	memcpy(ap_adc, _MAV_PAYLOAD(msg), 12);
+#endif
+}
diff --git a/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h
new file mode 100644
index 0000000000000000000000000000000000000000..85b7d96fc8f69f0adb9b1b2e2b9169236bbd6738
--- /dev/null
+++ b/thirdParty/mavlink/include/ardupilotmega/mavlink_msg_meminfo.h
@@ -0,0 +1,166 @@
+// MESSAGE MEMINFO PACKING
+
+#define MAVLINK_MSG_ID_MEMINFO 152
+
+typedef struct __mavlink_meminfo_t
+{
+ uint16_t brkval; ///< heap top
+ uint16_t freemem; ///< free memory
+} mavlink_meminfo_t;
+
+#define MAVLINK_MSG_ID_MEMINFO_LEN 4
+#define MAVLINK_MSG_ID_152_LEN 4
+
+
+
+#define MAVLINK_MESSAGE_INFO_MEMINFO { \
+	"MEMINFO", \
+	2, \
+	{  { "brkval", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_meminfo_t, brkval) }, \
+         { "freemem", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_meminfo_t, freemem) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a meminfo message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param brkval heap top
+ * @param freemem free memory
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_meminfo_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint16_t brkval, uint16_t freemem)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, brkval);
+	_mav_put_uint16_t(buf, 2, freemem);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 4);
+#else
+	mavlink_meminfo_t packet;
+	packet.brkval = brkval;
+	packet.freemem = freemem;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_MEMINFO;
+	return mavlink_finalize_message(msg, system_id, component_id, 4, 208);
+}
+
+/**
+ * @brief Pack a meminfo message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param brkval heap top
+ * @param freemem free memory
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_meminfo_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint16_t brkval,uint16_t freemem)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, brkval);
+	_mav_put_uint16_t(buf, 2, freemem);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 4);
+#else
+	mavlink_meminfo_t packet;
+	packet.brkval = brkval;
+	packet.freemem = freemem;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 4);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_MEMINFO;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 4, 208);
+}
+
+/**
+ * @brief Encode a meminfo struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param meminfo C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_meminfo_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_meminfo_t* meminfo)
+{
+	return mavlink_msg_meminfo_pack(system_id, component_id, msg, meminfo->brkval, meminfo->freemem);
+}
+
+/**
+ * @brief Send a meminfo message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param brkval heap top
+ * @param freemem free memory
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_meminfo_send(mavlink_channel_t chan, uint16_t brkval, uint16_t freemem)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[4];
+	_mav_put_uint16_t(buf, 0, brkval);
+	_mav_put_uint16_t(buf, 2, freemem);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, buf, 4, 208);
+#else
+	mavlink_meminfo_t packet;
+	packet.brkval = brkval;
+	packet.freemem = freemem;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MEMINFO, (const char *)&packet, 4, 208);
+#endif
+}
+
+#endif
+
+// MESSAGE MEMINFO UNPACKING
+
+
+/**
+ * @brief Get field brkval from meminfo message
+ *
+ * @return heap top
+ */
+static inline uint16_t mavlink_msg_meminfo_get_brkval(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  0);
+}
+
+/**
+ * @brief Get field freemem from meminfo message
+ *
+ * @return free memory
+ */
+static inline uint16_t mavlink_msg_meminfo_get_freemem(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint16_t(msg,  2);
+}
+
+/**
+ * @brief Decode a meminfo message into a struct
+ *
+ * @param msg The message to decode
+ * @param meminfo C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_meminfo_decode(const mavlink_message_t* msg, mavlink_meminfo_t* meminfo)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	meminfo->brkval = mavlink_msg_meminfo_get_brkval(msg);
+	meminfo->freemem = mavlink_msg_meminfo_get_freemem(msg);
+#else
+	memcpy(meminfo, _MAV_PAYLOAD(msg), 4);
+#endif
+}
diff --git a/thirdParty/mavlink/include/ardupilotmega/testsuite.h b/thirdParty/mavlink/include/ardupilotmega/testsuite.h
index fb4ca0a30c20a28198d708fee811d7e1b73fae77..c7cdc402f71beba400b854f39e28d60215cbef0b 100644
--- a/thirdParty/mavlink/include/ardupilotmega/testsuite.h
+++ b/thirdParty/mavlink/include/ardupilotmega/testsuite.h
@@ -140,10 +140,110 @@ static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_meminfo_t packet_in = {
+		17235,
+	17339,
+	};
+	mavlink_meminfo_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.brkval = packet_in.brkval;
+        	packet1.freemem = packet_in.freemem;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_meminfo_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
+	mavlink_msg_meminfo_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
+	mavlink_msg_meminfo_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_meminfo_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
+	mavlink_msg_meminfo_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_ap_adc_t packet_in = {
+		17235,
+	17339,
+	17443,
+	17547,
+	17651,
+	17755,
+	};
+	mavlink_ap_adc_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.adc1 = packet_in.adc1;
+        	packet1.adc2 = packet_in.adc2;
+        	packet1.adc3 = packet_in.adc3;
+        	packet1.adc4 = packet_in.adc4;
+        	packet1.adc5 = packet_in.adc5;
+        	packet1.adc6 = packet_in.adc6;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_ap_adc_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
+	mavlink_msg_ap_adc_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
+	mavlink_msg_ap_adc_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_ap_adc_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
+	mavlink_msg_ap_adc_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_test_sensor_offsets(system_id, component_id, last_msg);
 	mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
+	mavlink_test_meminfo(system_id, component_id, last_msg);
+	mavlink_test_ap_adc(system_id, component_id, last_msg);
 }
 
 #ifdef __cplusplus
diff --git a/thirdParty/mavlink/include/ardupilotmega/version.h b/thirdParty/mavlink/include/ardupilotmega/version.h
index 618e9999d060eeaf26ff401272d8164deb6b9e83..a2531e0fbb2d2d353285e21f972f76a4ca30d3ce 100644
--- a/thirdParty/mavlink/include/ardupilotmega/version.h
+++ b/thirdParty/mavlink/include/ardupilotmega/version.h
@@ -5,9 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Sep  2 16:29:29 2011"
+#define MAVLINK_BUILD_DATE "Sun Sep 18 11:47:31 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+ 
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/common/version.h b/thirdParty/mavlink/include/common/version.h
index fb2dd6a7f9cde24b1ffeb17bd817a0a4a790c391..313058f36c02f7d5d893ba60e7f7a54b7d1218a9 100644
--- a/thirdParty/mavlink/include/common/version.h
+++ b/thirdParty/mavlink/include/common/version.h
@@ -5,9 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Sep  2 17:05:00 2011"
+#define MAVLINK_BUILD_DATE "Sun Sep 18 11:48:20 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+ 
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/mavlink_helpers.h b/thirdParty/mavlink/include/mavlink_helpers.h
index e43249121c99b225ffb3093c372e3e4d0341e08a..6eb8f0ba2a554bf3a220ffcbbb922cbf9274dbdf 100644
--- a/thirdParty/mavlink/include/mavlink_helpers.h
+++ b/thirdParty/mavlink/include/mavlink_helpers.h
@@ -214,7 +214,13 @@ MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_messa
 		break;
 
 	case MAVLINK_PARSE_STATE_GOT_STX:
-		if (status->msg_received)
+			if (status->msg_received 
+/* Support shorter buffers than the
+   default maximum packet size */
+#if (MAVLINK_MAX_PAYLOAD_LEN < 255)
+				|| c > MAVLINK_MAX_PAYLOAD_LEN
+#endif
+				)
 		{
 			status->buffer_overrun++;
 			status->parse_error++;
diff --git a/thirdParty/mavlink/include/mavlink_types.h b/thirdParty/mavlink/include/mavlink_types.h
index f51fd2e788d5a122c037ec9de197648d5ff1b1ee..03faf594fe4ae7dbc3a86e24e6bb1540d7ab54ff 100644
--- a/thirdParty/mavlink/include/mavlink_types.h
+++ b/thirdParty/mavlink/include/mavlink_types.h
@@ -1,6 +1,8 @@
 #ifndef MAVLINK_TYPES_H_
 #define MAVLINK_TYPES_H_
 
+#include <inttypes.h>
+
 enum MAV_ACTION
 {
     MAV_ACTION_HOLD = 0,
@@ -49,7 +51,10 @@ enum MAV_ACTION
     MAV_ACTION_NB        ///< Number of MAV actions
 };
 
+#ifndef MAVLINK_MAX_PAYLOAD_LEN
+// it is possible to override this, but be careful!
 #define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length
+#endif
 
 #define MAVLINK_CORE_HEADER_LEN 5 ///< Length of core header (of the comm. layer): message length (1 byte) + message sequence (1 byte) + message system id (1 byte) + message component id (1 byte) + message type id (1 byte)
 #define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and checksum
diff --git a/thirdParty/mavlink/include/minimal/version.h b/thirdParty/mavlink/include/minimal/version.h
index 340c25f28a7c11a8945c8c243f4d39f0afc8b3ba..92c2b42babe5d86929984623c4af15d40a3bb30d 100644
--- a/thirdParty/mavlink/include/minimal/version.h
+++ b/thirdParty/mavlink/include/minimal/version.h
@@ -5,9 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Sep  2 16:30:02 2011"
+#define MAVLINK_BUILD_DATE "Sun Sep 18 11:47:47 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
+ 
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/pixhawk/version.h b/thirdParty/mavlink/include/pixhawk/version.h
index 01d12756a8ff3081bd46e8e5b26a7c2647f2f31c..895c6625d2bf3537685c1495846be1c191f6fac8 100644
--- a/thirdParty/mavlink/include/pixhawk/version.h
+++ b/thirdParty/mavlink/include/pixhawk/version.h
@@ -5,9 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Sep  2 17:05:00 2011"
+#define MAVLINK_BUILD_DATE "Sun Sep 18 11:47:55 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
+ 
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/protocol.h b/thirdParty/mavlink/include/protocol.h
index e6d003413a696344b05566af0f969cf0a55c1574..27c2396836e839638ef2d0a186442943346b28e3 100644
--- a/thirdParty/mavlink/include/protocol.h
+++ b/thirdParty/mavlink/include/protocol.h
@@ -48,8 +48,10 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
 						      uint8_t chan, uint8_t length, uint8_t crc_extra);
 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
 						 uint8_t length, uint8_t crc_extra);
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, 
 						    uint8_t length, uint8_t crc_extra);
+#endif
 #else
 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
 						      uint8_t chan, uint8_t length);
diff --git a/thirdParty/mavlink/include/slugs/version.h b/thirdParty/mavlink/include/slugs/version.h
index b8339ca565a61501b9b06bec2781a40f93a91564..ed420360c5aba5f1ea15fdf0ddb31d9639ae9d1d 100644
--- a/thirdParty/mavlink/include/slugs/version.h
+++ b/thirdParty/mavlink/include/slugs/version.h
@@ -5,9 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Sep  2 16:30:09 2011"
+#define MAVLINK_BUILD_DATE "Sun Sep 18 11:48:02 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+ 
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/test/mavlink.h b/thirdParty/mavlink/include/test/mavlink.h
deleted file mode 100644
index e596b8fba4fd4c75d48bc26751ee1ef0e1f52bc3..0000000000000000000000000000000000000000
--- a/thirdParty/mavlink/include/test/mavlink.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from test.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_H
-#define MAVLINK_H
-
-#ifndef MAVLINK_STX
-#define MAVLINK_STX 254
-#endif
-
-#ifndef MAVLINK_ENDIAN
-#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN
-#endif
-
-#ifndef MAVLINK_ALIGNED_FIELDS
-#define MAVLINK_ALIGNED_FIELDS 1
-#endif
-
-#ifndef MAVLINK_CRC_EXTRA
-#define MAVLINK_CRC_EXTRA 1
-#endif
-
-#include "version.h"
-#include "test.h"
-
-#endif // MAVLINK_H
diff --git a/thirdParty/mavlink/include/test/mavlink_msg_test_types.h b/thirdParty/mavlink/include/test/mavlink_msg_test_types.h
deleted file mode 100644
index c34b7ee3981a60b2c265e0cbc51448be41996e98..0000000000000000000000000000000000000000
--- a/thirdParty/mavlink/include/test/mavlink_msg_test_types.h
+++ /dev/null
@@ -1,610 +0,0 @@
-// MESSAGE TEST_TYPES PACKING
-
-#define MAVLINK_MSG_ID_TEST_TYPES 0
-
-typedef struct __mavlink_test_types_t
-{
- uint64_t u64; ///< uint64_t
- int64_t s64; ///< int64_t
- double d; ///< double
- uint64_t u64_array[3]; ///< uint64_t_array
- int64_t s64_array[3]; ///< int64_t_array
- double d_array[3]; ///< double_array
- uint32_t u32; ///< uint32_t
- int32_t s32; ///< int32_t
- float f; ///< float
- uint32_t u32_array[3]; ///< uint32_t_array
- int32_t s32_array[3]; ///< int32_t_array
- float f_array[3]; ///< float_array
- uint16_t u16; ///< uint16_t
- int16_t s16; ///< int16_t
- uint16_t u16_array[3]; ///< uint16_t_array
- int16_t s16_array[3]; ///< int16_t_array
- char c; ///< char
- char s[10]; ///< string
- uint8_t u8; ///< uint8_t
- int8_t s8; ///< int8_t
- uint8_t u8_array[3]; ///< uint8_t_array
- int8_t s8_array[3]; ///< int8_t_array
-} mavlink_test_types_t;
-
-#define MAVLINK_MSG_ID_TEST_TYPES_LEN 179
-#define MAVLINK_MSG_ID_0_LEN 179
-
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U64_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S64_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_D_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U32_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S32_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_F_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U16_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S16_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S_LEN 10
-#define MAVLINK_MSG_TEST_TYPES_FIELD_U8_ARRAY_LEN 3
-#define MAVLINK_MSG_TEST_TYPES_FIELD_S8_ARRAY_LEN 3
-
-#define MAVLINK_MESSAGE_INFO_TEST_TYPES { \
-	"TEST_TYPES", \
-	22, \
-	{  { "u64", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_test_types_t, u64) }, \
-         { "s64", NULL, MAVLINK_TYPE_INT64_T, 0, 8, offsetof(mavlink_test_types_t, s64) }, \
-         { "d", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_test_types_t, d) }, \
-         { "u64_array", NULL, MAVLINK_TYPE_UINT64_T, 3, 24, offsetof(mavlink_test_types_t, u64_array) }, \
-         { "s64_array", NULL, MAVLINK_TYPE_INT64_T, 3, 48, offsetof(mavlink_test_types_t, s64_array) }, \
-         { "d_array", NULL, MAVLINK_TYPE_DOUBLE, 3, 72, offsetof(mavlink_test_types_t, d_array) }, \
-         { "u32", "0x%08x", MAVLINK_TYPE_UINT32_T, 0, 96, offsetof(mavlink_test_types_t, u32) }, \
-         { "s32", NULL, MAVLINK_TYPE_INT32_T, 0, 100, offsetof(mavlink_test_types_t, s32) }, \
-         { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 104, offsetof(mavlink_test_types_t, f) }, \
-         { "u32_array", NULL, MAVLINK_TYPE_UINT32_T, 3, 108, offsetof(mavlink_test_types_t, u32_array) }, \
-         { "s32_array", NULL, MAVLINK_TYPE_INT32_T, 3, 120, offsetof(mavlink_test_types_t, s32_array) }, \
-         { "f_array", NULL, MAVLINK_TYPE_FLOAT, 3, 132, offsetof(mavlink_test_types_t, f_array) }, \
-         { "u16", NULL, MAVLINK_TYPE_UINT16_T, 0, 144, offsetof(mavlink_test_types_t, u16) }, \
-         { "s16", NULL, MAVLINK_TYPE_INT16_T, 0, 146, offsetof(mavlink_test_types_t, s16) }, \
-         { "u16_array", NULL, MAVLINK_TYPE_UINT16_T, 3, 148, offsetof(mavlink_test_types_t, u16_array) }, \
-         { "s16_array", NULL, MAVLINK_TYPE_INT16_T, 3, 154, offsetof(mavlink_test_types_t, s16_array) }, \
-         { "c", NULL, MAVLINK_TYPE_CHAR, 0, 160, offsetof(mavlink_test_types_t, c) }, \
-         { "s", NULL, MAVLINK_TYPE_CHAR, 10, 161, offsetof(mavlink_test_types_t, s) }, \
-         { "u8", NULL, MAVLINK_TYPE_UINT8_T, 0, 171, offsetof(mavlink_test_types_t, u8) }, \
-         { "s8", NULL, MAVLINK_TYPE_INT8_T, 0, 172, offsetof(mavlink_test_types_t, s8) }, \
-         { "u8_array", NULL, MAVLINK_TYPE_UINT8_T, 3, 173, offsetof(mavlink_test_types_t, u8_array) }, \
-         { "s8_array", NULL, MAVLINK_TYPE_INT8_T, 3, 176, offsetof(mavlink_test_types_t, s8_array) }, \
-         } \
-}
-
-
-/**
- * @brief Pack a test_types message
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- *
- * @param c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_uint64_t(buf, 0, u64);
-	_mav_put_int64_t(buf, 8, s64);
-	_mav_put_double(buf, 16, d);
-	_mav_put_uint32_t(buf, 96, u32);
-	_mav_put_int32_t(buf, 100, s32);
-	_mav_put_float(buf, 104, f);
-	_mav_put_uint16_t(buf, 144, u16);
-	_mav_put_int16_t(buf, 146, s16);
-	_mav_put_char(buf, 160, c);
-	_mav_put_uint8_t(buf, 171, u8);
-	_mav_put_int8_t(buf, 172, s8);
-	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
-	_mav_put_int64_t_array(buf, 48, s64_array, 3);
-	_mav_put_double_array(buf, 72, d_array, 3);
-	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
-	_mav_put_int32_t_array(buf, 120, s32_array, 3);
-	_mav_put_float_array(buf, 132, f_array, 3);
-	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
-	_mav_put_int16_t_array(buf, 154, s16_array, 3);
-	_mav_put_char_array(buf, 161, s, 10);
-	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
-	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.u64 = u64;
-	packet.s64 = s64;
-	packet.d = d;
-	packet.u32 = u32;
-	packet.s32 = s32;
-	packet.f = f;
-	packet.u16 = u16;
-	packet.s16 = s16;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.s8 = s8;
-	memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	memcpy(packet.d_array, d_array, sizeof(double)*3);
-	memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	memcpy(packet.f_array, f_array, sizeof(float)*3);
-	memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	memcpy(packet.s, s, sizeof(char)*10);
-	memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
-	return mavlink_finalize_message(msg, system_id, component_id, 179, 103);
-}
-
-/**
- * @brief Pack a test_types message on a channel
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param chan The MAVLink channel this message was sent over
- * @param msg The MAVLink message to compress the data into
- * @param c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- * @return length of the message in bytes (excluding serial stream start sign)
- */
-static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
-							   mavlink_message_t* msg,
-						           char c,const char *s,uint8_t u8,uint16_t u16,uint32_t u32,uint64_t u64,int8_t s8,int16_t s16,int32_t s32,int64_t s64,float f,double d,const uint8_t *u8_array,const uint16_t *u16_array,const uint32_t *u32_array,const uint64_t *u64_array,const int8_t *s8_array,const int16_t *s16_array,const int32_t *s32_array,const int64_t *s64_array,const float *f_array,const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_uint64_t(buf, 0, u64);
-	_mav_put_int64_t(buf, 8, s64);
-	_mav_put_double(buf, 16, d);
-	_mav_put_uint32_t(buf, 96, u32);
-	_mav_put_int32_t(buf, 100, s32);
-	_mav_put_float(buf, 104, f);
-	_mav_put_uint16_t(buf, 144, u16);
-	_mav_put_int16_t(buf, 146, s16);
-	_mav_put_char(buf, 160, c);
-	_mav_put_uint8_t(buf, 171, u8);
-	_mav_put_int8_t(buf, 172, s8);
-	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
-	_mav_put_int64_t_array(buf, 48, s64_array, 3);
-	_mav_put_double_array(buf, 72, d_array, 3);
-	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
-	_mav_put_int32_t_array(buf, 120, s32_array, 3);
-	_mav_put_float_array(buf, 132, f_array, 3);
-	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
-	_mav_put_int16_t_array(buf, 154, s16_array, 3);
-	_mav_put_char_array(buf, 161, s, 10);
-	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
-	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
-#else
-	mavlink_test_types_t packet;
-	packet.u64 = u64;
-	packet.s64 = s64;
-	packet.d = d;
-	packet.u32 = u32;
-	packet.s32 = s32;
-	packet.f = f;
-	packet.u16 = u16;
-	packet.s16 = s16;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.s8 = s8;
-	memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	memcpy(packet.d_array, d_array, sizeof(double)*3);
-	memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	memcpy(packet.f_array, f_array, sizeof(float)*3);
-	memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	memcpy(packet.s, s, sizeof(char)*10);
-	memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
-#endif
-
-	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 179, 103);
-}
-
-/**
- * @brief Encode a test_types struct into a message
- *
- * @param system_id ID of this system
- * @param component_id ID of this component (e.g. 200 for IMU)
- * @param msg The MAVLink message to compress the data into
- * @param test_types C-struct to read the message contents from
- */
-static inline uint16_t mavlink_msg_test_types_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_test_types_t* test_types)
-{
-	return mavlink_msg_test_types_pack(system_id, component_id, msg, test_types->c, test_types->s, test_types->u8, test_types->u16, test_types->u32, test_types->u64, test_types->s8, test_types->s16, test_types->s32, test_types->s64, test_types->f, test_types->d, test_types->u8_array, test_types->u16_array, test_types->u32_array, test_types->u64_array, test_types->s8_array, test_types->s16_array, test_types->s32_array, test_types->s64_array, test_types->f_array, test_types->d_array);
-}
-
-/**
- * @brief Send a test_types message
- * @param chan MAVLink channel to send the message
- *
- * @param c char
- * @param s string
- * @param u8 uint8_t
- * @param u16 uint16_t
- * @param u32 uint32_t
- * @param u64 uint64_t
- * @param s8 int8_t
- * @param s16 int16_t
- * @param s32 int32_t
- * @param s64 int64_t
- * @param f float
- * @param d double
- * @param u8_array uint8_t_array
- * @param u16_array uint16_t_array
- * @param u32_array uint32_t_array
- * @param u64_array uint64_t_array
- * @param s8_array int8_t_array
- * @param s16_array int16_t_array
- * @param s32_array int32_t_array
- * @param s64_array int64_t_array
- * @param f_array float_array
- * @param d_array double_array
- */
-#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
-
-static inline void mavlink_msg_test_types_send(mavlink_channel_t chan, char c, const char *s, uint8_t u8, uint16_t u16, uint32_t u32, uint64_t u64, int8_t s8, int16_t s16, int32_t s32, int64_t s64, float f, double d, const uint8_t *u8_array, const uint16_t *u16_array, const uint32_t *u32_array, const uint64_t *u64_array, const int8_t *s8_array, const int16_t *s16_array, const int32_t *s32_array, const int64_t *s64_array, const float *f_array, const double *d_array)
-{
-#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[179];
-	_mav_put_uint64_t(buf, 0, u64);
-	_mav_put_int64_t(buf, 8, s64);
-	_mav_put_double(buf, 16, d);
-	_mav_put_uint32_t(buf, 96, u32);
-	_mav_put_int32_t(buf, 100, s32);
-	_mav_put_float(buf, 104, f);
-	_mav_put_uint16_t(buf, 144, u16);
-	_mav_put_int16_t(buf, 146, s16);
-	_mav_put_char(buf, 160, c);
-	_mav_put_uint8_t(buf, 171, u8);
-	_mav_put_int8_t(buf, 172, s8);
-	_mav_put_uint64_t_array(buf, 24, u64_array, 3);
-	_mav_put_int64_t_array(buf, 48, s64_array, 3);
-	_mav_put_double_array(buf, 72, d_array, 3);
-	_mav_put_uint32_t_array(buf, 108, u32_array, 3);
-	_mav_put_int32_t_array(buf, 120, s32_array, 3);
-	_mav_put_float_array(buf, 132, f_array, 3);
-	_mav_put_uint16_t_array(buf, 148, u16_array, 3);
-	_mav_put_int16_t_array(buf, 154, s16_array, 3);
-	_mav_put_char_array(buf, 161, s, 10);
-	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
-	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, buf, 179, 103);
-#else
-	mavlink_test_types_t packet;
-	packet.u64 = u64;
-	packet.s64 = s64;
-	packet.d = d;
-	packet.u32 = u32;
-	packet.s32 = s32;
-	packet.f = f;
-	packet.u16 = u16;
-	packet.s16 = s16;
-	packet.c = c;
-	packet.u8 = u8;
-	packet.s8 = s8;
-	memcpy(packet.u64_array, u64_array, sizeof(uint64_t)*3);
-	memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
-	memcpy(packet.d_array, d_array, sizeof(double)*3);
-	memcpy(packet.u32_array, u32_array, sizeof(uint32_t)*3);
-	memcpy(packet.s32_array, s32_array, sizeof(int32_t)*3);
-	memcpy(packet.f_array, f_array, sizeof(float)*3);
-	memcpy(packet.u16_array, u16_array, sizeof(uint16_t)*3);
-	memcpy(packet.s16_array, s16_array, sizeof(int16_t)*3);
-	memcpy(packet.s, s, sizeof(char)*10);
-	memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
-	memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TEST_TYPES, (const char *)&packet, 179, 103);
-#endif
-}
-
-#endif
-
-// MESSAGE TEST_TYPES UNPACKING
-
-
-/**
- * @brief Get field c from test_types message
- *
- * @return char
- */
-static inline char mavlink_msg_test_types_get_c(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_char(msg,  160);
-}
-
-/**
- * @brief Get field s from test_types message
- *
- * @return string
- */
-static inline uint16_t mavlink_msg_test_types_get_s(const mavlink_message_t* msg, char *s)
-{
-	return _MAV_RETURN_char_array(msg, s, 10,  161);
-}
-
-/**
- * @brief Get field u8 from test_types message
- *
- * @return uint8_t
- */
-static inline uint8_t mavlink_msg_test_types_get_u8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint8_t(msg,  171);
-}
-
-/**
- * @brief Get field u16 from test_types message
- *
- * @return uint16_t
- */
-static inline uint16_t mavlink_msg_test_types_get_u16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint16_t(msg,  144);
-}
-
-/**
- * @brief Get field u32 from test_types message
- *
- * @return uint32_t
- */
-static inline uint32_t mavlink_msg_test_types_get_u32(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint32_t(msg,  96);
-}
-
-/**
- * @brief Get field u64 from test_types message
- *
- * @return uint64_t
- */
-static inline uint64_t mavlink_msg_test_types_get_u64(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_uint64_t(msg,  0);
-}
-
-/**
- * @brief Get field s8 from test_types message
- *
- * @return int8_t
- */
-static inline int8_t mavlink_msg_test_types_get_s8(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int8_t(msg,  172);
-}
-
-/**
- * @brief Get field s16 from test_types message
- *
- * @return int16_t
- */
-static inline int16_t mavlink_msg_test_types_get_s16(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int16_t(msg,  146);
-}
-
-/**
- * @brief Get field s32 from test_types message
- *
- * @return int32_t
- */
-static inline int32_t mavlink_msg_test_types_get_s32(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int32_t(msg,  100);
-}
-
-/**
- * @brief Get field s64 from test_types message
- *
- * @return int64_t
- */
-static inline int64_t mavlink_msg_test_types_get_s64(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_int64_t(msg,  8);
-}
-
-/**
- * @brief Get field f from test_types message
- *
- * @return float
- */
-static inline float mavlink_msg_test_types_get_f(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_float(msg,  104);
-}
-
-/**
- * @brief Get field d from test_types message
- *
- * @return double
- */
-static inline double mavlink_msg_test_types_get_d(const mavlink_message_t* msg)
-{
-	return _MAV_RETURN_double(msg,  16);
-}
-
-/**
- * @brief Get field u8_array from test_types message
- *
- * @return uint8_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u8_array(const mavlink_message_t* msg, uint8_t *u8_array)
-{
-	return _MAV_RETURN_uint8_t_array(msg, u8_array, 3,  173);
-}
-
-/**
- * @brief Get field u16_array from test_types message
- *
- * @return uint16_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u16_array(const mavlink_message_t* msg, uint16_t *u16_array)
-{
-	return _MAV_RETURN_uint16_t_array(msg, u16_array, 3,  148);
-}
-
-/**
- * @brief Get field u32_array from test_types message
- *
- * @return uint32_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u32_array(const mavlink_message_t* msg, uint32_t *u32_array)
-{
-	return _MAV_RETURN_uint32_t_array(msg, u32_array, 3,  108);
-}
-
-/**
- * @brief Get field u64_array from test_types message
- *
- * @return uint64_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_u64_array(const mavlink_message_t* msg, uint64_t *u64_array)
-{
-	return _MAV_RETURN_uint64_t_array(msg, u64_array, 3,  24);
-}
-
-/**
- * @brief Get field s8_array from test_types message
- *
- * @return int8_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s8_array(const mavlink_message_t* msg, int8_t *s8_array)
-{
-	return _MAV_RETURN_int8_t_array(msg, s8_array, 3,  176);
-}
-
-/**
- * @brief Get field s16_array from test_types message
- *
- * @return int16_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s16_array(const mavlink_message_t* msg, int16_t *s16_array)
-{
-	return _MAV_RETURN_int16_t_array(msg, s16_array, 3,  154);
-}
-
-/**
- * @brief Get field s32_array from test_types message
- *
- * @return int32_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s32_array(const mavlink_message_t* msg, int32_t *s32_array)
-{
-	return _MAV_RETURN_int32_t_array(msg, s32_array, 3,  120);
-}
-
-/**
- * @brief Get field s64_array from test_types message
- *
- * @return int64_t_array
- */
-static inline uint16_t mavlink_msg_test_types_get_s64_array(const mavlink_message_t* msg, int64_t *s64_array)
-{
-	return _MAV_RETURN_int64_t_array(msg, s64_array, 3,  48);
-}
-
-/**
- * @brief Get field f_array from test_types message
- *
- * @return float_array
- */
-static inline uint16_t mavlink_msg_test_types_get_f_array(const mavlink_message_t* msg, float *f_array)
-{
-	return _MAV_RETURN_float_array(msg, f_array, 3,  132);
-}
-
-/**
- * @brief Get field d_array from test_types message
- *
- * @return double_array
- */
-static inline uint16_t mavlink_msg_test_types_get_d_array(const mavlink_message_t* msg, double *d_array)
-{
-	return _MAV_RETURN_double_array(msg, d_array, 3,  72);
-}
-
-/**
- * @brief Decode a test_types message into a struct
- *
- * @param msg The message to decode
- * @param test_types C-struct to decode the message contents into
- */
-static inline void mavlink_msg_test_types_decode(const mavlink_message_t* msg, mavlink_test_types_t* test_types)
-{
-#if MAVLINK_NEED_BYTE_SWAP
-	test_types->u64 = mavlink_msg_test_types_get_u64(msg);
-	test_types->s64 = mavlink_msg_test_types_get_s64(msg);
-	test_types->d = mavlink_msg_test_types_get_d(msg);
-	mavlink_msg_test_types_get_u64_array(msg, test_types->u64_array);
-	mavlink_msg_test_types_get_s64_array(msg, test_types->s64_array);
-	mavlink_msg_test_types_get_d_array(msg, test_types->d_array);
-	test_types->u32 = mavlink_msg_test_types_get_u32(msg);
-	test_types->s32 = mavlink_msg_test_types_get_s32(msg);
-	test_types->f = mavlink_msg_test_types_get_f(msg);
-	mavlink_msg_test_types_get_u32_array(msg, test_types->u32_array);
-	mavlink_msg_test_types_get_s32_array(msg, test_types->s32_array);
-	mavlink_msg_test_types_get_f_array(msg, test_types->f_array);
-	test_types->u16 = mavlink_msg_test_types_get_u16(msg);
-	test_types->s16 = mavlink_msg_test_types_get_s16(msg);
-	mavlink_msg_test_types_get_u16_array(msg, test_types->u16_array);
-	mavlink_msg_test_types_get_s16_array(msg, test_types->s16_array);
-	test_types->c = mavlink_msg_test_types_get_c(msg);
-	mavlink_msg_test_types_get_s(msg, test_types->s);
-	test_types->u8 = mavlink_msg_test_types_get_u8(msg);
-	test_types->s8 = mavlink_msg_test_types_get_s8(msg);
-	mavlink_msg_test_types_get_u8_array(msg, test_types->u8_array);
-	mavlink_msg_test_types_get_s8_array(msg, test_types->s8_array);
-#else
-	memcpy(test_types, _MAV_PAYLOAD(msg), 179);
-#endif
-}
diff --git a/thirdParty/mavlink/include/test/test.h b/thirdParty/mavlink/include/test/test.h
deleted file mode 100644
index 4dc04f889f5809f780b4eb3f55834ed832ed504c..0000000000000000000000000000000000000000
--- a/thirdParty/mavlink/include/test/test.h
+++ /dev/null
@@ -1,53 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol generated from test.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef TEST_H
-#define TEST_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// MESSAGE LENGTHS AND CRCS
-
-#ifndef MAVLINK_MESSAGE_LENGTHS
-#define MAVLINK_MESSAGE_LENGTHS {179, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#endif
-
-#ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {103, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
-#endif
-
-#ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
-#endif
-
-#include "../protocol.h"
-
-#define MAVLINK_ENABLED_TEST
-
-
-
-// MAVLINK VERSION
-
-#ifndef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-#if (MAVLINK_VERSION == 0)
-#undef MAVLINK_VERSION
-#define MAVLINK_VERSION 3
-#endif
-
-// ENUM DEFINITIONS
-
-
-
-// MESSAGE DEFINITIONS
-#include "./mavlink_msg_test_types.h"
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // TEST_H
diff --git a/thirdParty/mavlink/include/test/testsuite.h b/thirdParty/mavlink/include/test/testsuite.h
deleted file mode 100644
index bfb269fb5fb16a127001226a31d283e9088dfdca..0000000000000000000000000000000000000000
--- a/thirdParty/mavlink/include/test/testsuite.h
+++ /dev/null
@@ -1,120 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol testsuite generated from test.xml
- *	@see http://qgroundcontrol.org/mavlink/
- */
-#ifndef TEST_TESTSUITE_H
-#define TEST_TESTSUITE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifndef MAVLINK_TEST_ALL
-#define MAVLINK_TEST_ALL
-
-static void mavlink_test_test(uint8_t, uint8_t, mavlink_message_t *last_msg);
-
-static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-
-	mavlink_test_test(system_id, component_id, last_msg);
-}
-#endif
-
-
-
-
-static void mavlink_test_test_types(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_test_types_t packet_in = {
-		93372036854775807ULL,
-	93372036854776311LL,
-	235.0,
-	{ 93372036854777319, 93372036854777320, 93372036854777321 },
-	{ 93372036854778831, 93372036854778832, 93372036854778833 },
-	{ 627.0, 628.0, 629.0 },
-	963502456,
-	963502664,
-	745.0,
-	{ 963503080, 963503081, 963503082 },
-	{ 963503704, 963503705, 963503706 },
-	{ 941.0, 942.0, 943.0 },
-	24723,
-	24827,
-	{ 24931, 24932, 24933 },
-	{ 25243, 25244, 25245 },
-	'E',
-	"FGHIJKLMN",
-	198,
-	9,
-	{ 76, 77, 78 },
-	{ 21, 22, 23 },
-	};
-	mavlink_test_types_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.u64 = packet_in.u64;
-        	packet1.s64 = packet_in.s64;
-        	packet1.d = packet_in.d;
-        	packet1.u32 = packet_in.u32;
-        	packet1.s32 = packet_in.s32;
-        	packet1.f = packet_in.f;
-        	packet1.u16 = packet_in.u16;
-        	packet1.s16 = packet_in.s16;
-        	packet1.c = packet_in.c;
-        	packet1.u8 = packet_in.u8;
-        	packet1.s8 = packet_in.s8;
-        
-        	memcpy(packet1.u64_array, packet_in.u64_array, sizeof(uint64_t)*3);
-        	memcpy(packet1.s64_array, packet_in.s64_array, sizeof(int64_t)*3);
-        	memcpy(packet1.d_array, packet_in.d_array, sizeof(double)*3);
-        	memcpy(packet1.u32_array, packet_in.u32_array, sizeof(uint32_t)*3);
-        	memcpy(packet1.s32_array, packet_in.s32_array, sizeof(int32_t)*3);
-        	memcpy(packet1.f_array, packet_in.f_array, sizeof(float)*3);
-        	memcpy(packet1.u16_array, packet_in.u16_array, sizeof(uint16_t)*3);
-        	memcpy(packet1.s16_array, packet_in.s16_array, sizeof(int16_t)*3);
-        	memcpy(packet1.s, packet_in.s, sizeof(char)*10);
-        	memcpy(packet1.u8_array, packet_in.u8_array, sizeof(uint8_t)*3);
-        	memcpy(packet1.s8_array, packet_in.s8_array, sizeof(int8_t)*3);
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_pack(system_id, component_id, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_test_types_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_test_types_send(MAVLINK_COMM_1 , packet1.c , packet1.s , packet1.u8 , packet1.u16 , packet1.u32 , packet1.u64 , packet1.s8 , packet1.s16 , packet1.s32 , packet1.s64 , packet1.f , packet1.d , packet1.u8_array , packet1.u16_array , packet1.u32_array , packet1.u64_array , packet1.s8_array , packet1.s16_array , packet1.s32_array , packet1.s64_array , packet1.f_array , packet1.d_array );
-	mavlink_msg_test_types_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_test(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_test_test_types(system_id, component_id, last_msg);
-}
-
-#ifdef __cplusplus
-}
-#endif // __cplusplus
-#endif // TEST_TESTSUITE_H
diff --git a/thirdParty/mavlink/include/test/version.h b/thirdParty/mavlink/include/test/version.h
deleted file mode 100644
index 1148118a014cf023a4fb2eedfd7aeb3a57ced8c4..0000000000000000000000000000000000000000
--- a/thirdParty/mavlink/include/test/version.h
+++ /dev/null
@@ -1,13 +0,0 @@
-/** @file
- *	@brief MAVLink comm protocol built from test.xml
- *	@see http://pixhawk.ethz.ch/software/mavlink
- */
-#ifndef MAVLINK_VERSION_H
-#define MAVLINK_VERSION_H
-
-#define MAVLINK_BUILD_DATE "Fri Sep  2 16:29:55 2011"
-#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
-#endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/ualberta/version.h b/thirdParty/mavlink/include/ualberta/version.h
index c31dd544beca7c94d037baa8ae0629467d62ce60..19de9057c2af1aa5ddc733dc76626bfb58d4287f 100644
--- a/thirdParty/mavlink/include/ualberta/version.h
+++ b/thirdParty/mavlink/include/ualberta/version.h
@@ -5,9 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri Sep  2 17:04:49 2011"
+#define MAVLINK_BUILD_DATE "Sun Sep 18 11:48:20 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-
-#include "mavlink.h"
-
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+ 
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/message_definitions/pixhawk.xml b/thirdParty/mavlink/message_definitions/pixhawk.xml
index a9a51d698944431715810ead12b691db74d636af..e11f7dfc25a00e7ec920a12197473891ba080649 100644
--- a/thirdParty/mavlink/message_definitions/pixhawk.xml
+++ b/thirdParty/mavlink/message_definitions/pixhawk.xml
@@ -212,7 +212,7 @@
                <field type="uint8_t[32]" name="descriptor">Descriptor</field>
                <field type="float" name="response">Harris operator response at this location</field>
           </message>
-                    <message id="200" name="ATTITUDE_CONTROL">
+          <message id="200" name="ATTITUDE_CONTROL">
                <field type="uint8_t" name="target">The system to be controlled</field>
                <field type="float" name="roll">roll</field>
                <field type="float" name="pitch">pitch</field>
diff --git a/thirdParty/mavlink/message_definitions/test.xml b/thirdParty/mavlink/message_definitions/test.xml
index 43a11e3d139782e3d7b008e898c6c7891828bd0e..02bc03204d11a3565e9a39ce4b2646e935a6bd2b 100644
--- a/thirdParty/mavlink/message_definitions/test.xml
+++ b/thirdParty/mavlink/message_definitions/test.xml
@@ -1,14 +1,14 @@
 <?xml version='1.0'?>
 <mavlink>
-    <version>3</version>
-    <messages>
+     <version>3</version>
+     <messages>
           <message id="0" name="TEST_TYPES">
                <description>Test all field types</description>
-	       <field type="char" name="c">char</field>
-	       <field type="char[10]" name="s">string</field>
+               <field type="char" name="c">char</field>
+               <field type="char[10]" name="s">string</field>
                <field type="uint8_t" name="u8">uint8_t</field>
                <field type="uint16_t" name="u16">uint16_t</field>
-               <field type="uint32_t" name="u32" print_format="0x%08x">uint32_t</field>
+               <field print_format="0x%08x" type="uint32_t" name="u32">uint32_t</field>
                <field type="uint64_t" name="u64">uint64_t</field>
                <field type="int8_t" name="s8">int8_t</field>
                <field type="int16_t" name="s16">int16_t</field>
@@ -27,5 +27,5 @@
                <field type="float[3]" name="f_array">float_array</field>
                <field type="double[3]" name="d_array">double_array</field>
           </message>
-    </messages>
+     </messages>
 </mavlink>
diff --git a/thirdParty/mavlink/missionlib/mavlink_parameters.c b/thirdParty/mavlink/missionlib/mavlink_parameters.c
index 7e7937bfe3729b985ce6b3856e860168f5a29578..7ed8e7955d6576b41aee16af400d905a05d768a6 100644
--- a/thirdParty/mavlink/missionlib/mavlink_parameters.c
+++ b/thirdParty/mavlink/missionlib/mavlink_parameters.c
@@ -86,7 +86,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 															  &tx_msg,
 															  pm.param_names[i],
 															  pm.param_values[i],
-															  MAV_DATA_TYPE_FLOAT,
+															  MAVLINK_TYPE_FLOAT,
 															  pm.size,
 															  i);
 							mavlink_missionlib_send_message(&tx_msg);
@@ -94,7 +94,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 							mavlink_msg_param_value_send(MAVLINK_COMM_0,
 														 pm.param_names[i],
 														 pm.param_values[i],
-														 MAV_DATA_TYPE_FLOAT,
+														 MAVLINK_TYPE_FLOAT,
 														 pm.size,
 														 i);
 #endif
@@ -133,7 +133,7 @@ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_mess
 											  &tx_msg,
 											  pm.param_names[pm.next_param],
 											  pm.param_values[pm.next_param],
-											  MAV_DATA_TYPE_FLOAT,
+											  MAVLINK_TYPE_FLOAT,
 											  pm.size,
 											  pm.next_param);
 			mavlink_missionlib_send_message(&tx_msg);
diff --git a/thirdParty/mavlink/missionlib/testing/main.c b/thirdParty/mavlink/missionlib/testing/main.c
index eb75d4b7cd5b9eda93c4e8b10387b7411136639f..21aa1f7e15fae4367a5b0f8ab191f98d875e777f 100644
--- a/thirdParty/mavlink/missionlib/testing/main.c
+++ b/thirdParty/mavlink/missionlib/testing/main.c
@@ -67,9 +67,6 @@ mavlink_system_t mavlink_system;
 /* 2: Include actual protocol, REQUIRES mavlink_system */
 #include "mavlink.h"
 
-/* 3: Include MAVLink data structures */
-#include "mavlink_data.h"
-
 /* 3: Define waypoint helper functions */
 void mavlink_wpm_send_message(mavlink_message_t* msg);
 void mavlink_wpm_send_gcs_string(const char* string);
@@ -184,6 +181,9 @@ int main(int argc, char* argv[])
 	mavlink_system.compid = 20;
 	mavlink_pm_reset_params(&pm);
 	
+	int32_t ground_distance;
+	uint32_t time_ms;
+	
 	
 	
 	// Create socket
@@ -246,17 +246,17 @@ int main(int argc, char* argv[])
 		bytes_sent = 0;
 		
 		/* Send Heartbeat */
-		mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0, 0, 0);
+		mavlink_msg_heartbeat_pack(mavlink_system.sysid, 200, &msg, MAV_TYPE_HELICOPTER, MAV_AUTOPILOT_GENERIC, 0, 0, 0);
 		len = mavlink_msg_to_send_buffer(buf, &msg);
 		bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
 		
 		/* Send Status */
-		mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0);
+		mavlink_msg_sys_status_pack(1, 200, &msg, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE, 500, 7500, 0, 0, 0, 0, 0, 0, 0, 0);
 		len = mavlink_msg_to_send_buffer(buf, &msg);
 		bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof (struct sockaddr_in));
 		
 		/* Send Local Position */
-		mavlink_msg_local_position_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), 
+		mavlink_msg_local_position_ned_pack(mavlink_system.sysid, 200, &msg, microsSinceEpoch(), 
 										position[0], position[1], position[2],
 										position[3], position[4], position[5]);
 		len = mavlink_msg_to_send_buffer(buf, &msg);
@@ -265,7 +265,7 @@ int main(int argc, char* argv[])
 		/* Send global position */
 		if (hilEnabled)
 		{
-			mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, latitude, longitude, altitude, speedx, speedy, speedz, (yaw/M_PI)*180*100);
+			mavlink_msg_global_position_int_pack(mavlink_system.sysid, 200, &msg, time_ms, latitude, longitude, altitude, ground_distance, speedx, speedy, speedz, (yaw/M_PI)*180*100);
 			len = mavlink_msg_to_send_buffer(buf, &msg);
 			bytes_sent += sendto(sock, buf, len, 0, (struct sockaddr*)&gcAddr, sizeof(struct sockaddr_in));
 		}
diff --git a/thirdParty/mavlink/missionlib/waypoints.c b/thirdParty/mavlink/missionlib/waypoints.c
index 17c70a2d060f69b375400bd8465bb147850858d1..79d7e29077770039bb8911038792ecab9f1bb75a 100644
--- a/thirdParty/mavlink/missionlib/waypoints.c
+++ b/thirdParty/mavlink/missionlib/waypoints.c
@@ -33,7 +33,7 @@ extern uint64_t mavlink_missionlib_get_system_timestamp();
 
 #define MAVLINK_WPM_NO_PRINTF
 
-uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_WAYPOINTPLANNER;
+uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
 
 void mavlink_wpm_init(mavlink_wpm_storage* state)
 {
@@ -64,13 +64,13 @@ void mavlink_wpm_init(mavlink_wpm_storage* state)
 void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
 {
     mavlink_message_t msg;
-    mavlink_waypoint_ack_t wpa;
+    mavlink_mission_ack_t wpa;
 	
     wpa.target_system = wpm.current_partner_sysid;
     wpa.target_component = wpm.current_partner_compid;
     wpa.type = type;
 	
-    mavlink_msg_waypoint_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa);
+    mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa);
     mavlink_missionlib_send_message(&msg);
 	
     // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
@@ -99,14 +99,14 @@ void mavlink_wpm_send_waypoint_current(uint16_t seq)
 {
     if(seq < wpm.size)
     {
-        mavlink_waypoint_t *cur = &(wpm.waypoints[seq]);
+        mavlink_mission_item_t *cur = &(wpm.waypoints[seq]);
 		
         mavlink_message_t msg;
-        mavlink_waypoint_current_t wpc;
+        mavlink_mission_current_t wpc;
 		
         wpc.seq = cur->seq;
 		
-        mavlink_msg_waypoint_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
+        mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
         mavlink_missionlib_send_message(&msg);
 		
         // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
@@ -129,51 +129,51 @@ void mavlink_wpm_send_waypoint_current(uint16_t seq)
  */
 void mavlink_wpm_send_setpoint(uint16_t seq)
 {
-    if(seq < wpm.size)
-    {
-        mavlink_waypoint_t *cur = &(wpm.waypoints[seq]);
-		
-        mavlink_message_t msg;
-        mavlink_local_position_setpoint_set_t position_control_set_point;
-		
-        // Send new NED or ENU setpoint to onbaord autopilot
-        if (cur->frame == MAV_FRAME_LOCAL_NED || cur->frame == MAV_FRAME_LOCAL_ENU)
-        {
-            position_control_set_point.target_system = mavlink_system.sysid;
-            position_control_set_point.target_component = MAV_COMP_ID_IMU;
-            position_control_set_point.x = cur->x;
-            position_control_set_point.y = cur->y;
-            position_control_set_point.z = cur->z;
-            position_control_set_point.yaw = cur->param4;
-			
-            mavlink_msg_local_position_setpoint_set_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &position_control_set_point);
-            mavlink_missionlib_send_message(&msg);
-			
-            // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
-        }
-        else
-        {
-            if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq);
-        }
-		
-        wpm.timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp();
-    }
-    else
-    {
-        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n");
-    }
+//    if(seq < wpm.size)
+//    {
+//        mavlink_mission_item_t *cur = &(wpm.waypoints[seq]);
+//
+//        mavlink_message_t msg;
+//        mavlink_local_position_setpoint_set_t position_control_set_point;
+//
+//        // Send new NED or ENU setpoint to onbaord autopilot
+//        if (cur->frame == MAV_FRAME_LOCAL_NED || cur->frame == MAV_FRAME_LOCAL_ENU)
+//        {
+//            position_control_set_point.target_system = mavlink_system.sysid;
+//            position_control_set_point.target_component = MAV_COMP_ID_IMU;
+//            position_control_set_point.x = cur->x;
+//            position_control_set_point.y = cur->y;
+//            position_control_set_point.z = cur->z;
+//            position_control_set_point.yaw = cur->param4;
+//
+//            mavlink_msg_local_position_setpoint_set_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &position_control_set_point);
+//            mavlink_missionlib_send_message(&msg);
+//
+//            // FIXME TIMING usleep(paramClient->getParamValue("PROTOCOLDELAY"));
+//        }
+//        else
+//        {
+//            if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("No new setpoint set because of invalid coordinate frame of waypoint");//// if (verbose) // printf("No new set point sent to IMU because the new waypoint %u had no local coordinates\n", cur->seq);
+//        }
+//
+//        wpm.timestamp_last_send_setpoint = mavlink_missionlib_get_system_timestamp();
+//    }
+//    else
+//    {
+//        if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("ERROR: Waypoint index out of bounds\n"); //// if (verbose) // printf("ERROR: index out of bounds\n");
+//    }
 }
 
 void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
 {
     mavlink_message_t msg;
-    mavlink_waypoint_count_t wpc;
+    mavlink_mission_count_t wpc;
 	
     wpc.target_system = wpm.current_partner_sysid;
     wpc.target_component = wpm.current_partner_compid;
     wpc.count = count;
 	
-    mavlink_msg_waypoint_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
+    mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc);
     mavlink_missionlib_send_message(&msg);
 	
     if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint count"); //// if (verbose) // printf("Sent waypoint count (%u) to ID %u\n", wpc.count, wpc.target_system);
@@ -186,10 +186,10 @@ void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
     if (seq < wpm.size)
     {
         mavlink_message_t msg;
-        mavlink_waypoint_t *wp = &(wpm.waypoints[seq]);
+        mavlink_mission_item_t *wp = &(wpm.waypoints[seq]);
         wp->target_system = wpm.current_partner_sysid;
         wp->target_component = wpm.current_partner_compid;
-        mavlink_msg_waypoint_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp);
+        mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, wp);
         mavlink_missionlib_send_message(&msg);
         if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint"); //// if (verbose) // printf("Sent waypoint %u to ID %u\n", wp->seq, wp->target_system);
 		
@@ -206,11 +206,11 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s
     if (seq < wpm.max_size)
     {
         mavlink_message_t msg;
-        mavlink_waypoint_request_t wpr;
+        mavlink_mission_request_t wpr;
         wpr.target_system = wpm.current_partner_sysid;
         wpr.target_component = wpm.current_partner_compid;
         wpr.seq = seq;
-        mavlink_msg_waypoint_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr);
+        mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr);
         mavlink_missionlib_send_message(&msg);
         if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint request"); //// if (verbose) // printf("Sent waypoint request %u to ID %u\n", wpr.seq, wpr.target_system);
 		
@@ -232,11 +232,11 @@ void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t s
 void mavlink_wpm_send_waypoint_reached(uint16_t seq)
 {
     mavlink_message_t msg;
-    mavlink_waypoint_reached_t wp_reached;
+    mavlink_mission_item_reached_t wp_reached;
 	
     wp_reached.seq = seq;
 	
-    mavlink_msg_waypoint_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached);
+    mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached);
     mavlink_missionlib_send_message(&msg);
 	
     if (MAVLINK_WPM_TEXT_FEEDBACK) mavlink_missionlib_send_gcs_string("Sent waypoint reached message"); //// if (verbose) // printf("Sent waypoint %u reached message\n", wp_reached.seq);
@@ -248,7 +248,7 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq)
 //{
 //    if (seq < wpm.size)
 //    {
-//        mavlink_waypoint_t *cur = waypoints->at(seq);
+//        mavlink_mission_item_t *cur = waypoints->at(seq);
 //		
 //        const PxVector3 A(cur->x, cur->y, cur->z);
 //        const PxVector3 C(x, y, z);
@@ -256,7 +256,7 @@ void mavlink_wpm_send_waypoint_reached(uint16_t seq)
 //        // seq not the second last waypoint
 //        if ((uint16_t)(seq+1) < wpm.size)
 //        {
-//            mavlink_waypoint_t *next = waypoints->at(seq+1);
+//            mavlink_mission_item_t *next = waypoints->at(seq+1);
 //            const PxVector3 B(next->x, next->y, next->z);
 //            const float r = (B-A).dot(C-A) / (B-A).lengthSquared();
 //            if (r >= 0 && r <= 1)
@@ -289,7 +289,7 @@ float mavlink_wpm_distance_to_point(uint16_t seq, float x, float y, float z)
 {
 //    if (seq < wpm.size)
 //    {
-//        mavlink_waypoint_t *cur = waypoints->at(seq);
+//        mavlink_mission_item_t *cur = waypoints->at(seq);
 //		
 //        const PxVector3 A(cur->x, cur->y, cur->z);
 //        const PxVector3 C(x, y, z);
@@ -341,7 +341,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
         {
             if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size)
             {
-                mavlink_waypoint_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
+                mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
                 if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED)
                 {
                     mavlink_attitude_t att;
@@ -370,16 +370,16 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
             break;
         }
 			
-		case MAVLINK_MSG_ID_LOCAL_POSITION:
+		case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
         {
             if(msg->sysid == mavlink_system.sysid && wpm.current_active_wp_id < wpm.size)
             {
-                mavlink_waypoint_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
+                mavlink_mission_item_t *wp = &(wpm.waypoints[wpm.current_active_wp_id]);
 				
                 if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED)
                 {
-                    mavlink_local_position_t pos;
-                    mavlink_msg_local_position_decode(msg, &pos);
+                    mavlink_local_position_ned_t pos;
+                    mavlink_msg_local_position_ned_decode(msg, &pos);
                     //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z);
 					
                     wpm.pos_reached = false;
@@ -447,10 +447,10 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 //            break;
 //        }
 			
-		case MAVLINK_MSG_ID_WAYPOINT_ACK:
+		case MAVLINK_MSG_ID_MISSION_ACK:
         {
-            mavlink_waypoint_ack_t wpa;
-            mavlink_msg_waypoint_ack_decode(msg, &wpa);
+            mavlink_mission_ack_t wpa;
+            mavlink_msg_mission_ack_decode(msg, &wpa);
 			
             if((msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/))
             {
@@ -481,10 +481,10 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
             break;
         }
 			
-		case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
+		case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
         {
-            mavlink_waypoint_set_current_t wpc;
-            mavlink_msg_waypoint_set_current_decode(msg, &wpc);
+            mavlink_mission_set_current_t wpc;
+            mavlink_msg_mission_set_current_decode(msg, &wpc);
 			
             if(wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/)
             {
@@ -494,7 +494,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
                 {
                     if (wpc.seq < wpm.size)
                     {
-                        // if (verbose) // printf("Received MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT\n");
+                        // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n");
                         wpm.current_active_wp_id = wpc.seq;
                         uint32_t i;
                         for(i = 0; i < wpm.size; i++)
@@ -524,7 +524,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: Index out of bounds\n");
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n");
 #endif
                     }
                 }
@@ -548,10 +548,10 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
             break;
         }
 			
-		case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST:
+		case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
         {
-            mavlink_waypoint_request_list_t wprl;
-            mavlink_msg_waypoint_request_list_decode(msg, &wprl);
+            mavlink_mission_request_list_t wprl;
+            mavlink_msg_mission_request_list_decode(msg, &wprl);
             if(wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/)
             {
                 wpm.timestamp_lastaction = now;
@@ -560,8 +560,8 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
                 {
                     if (wpm.size > 0)
                     {
-                        //if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
-//                        if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
+                        //if (verbose && wpm.current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
+//                        if (verbose && wpm.current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid);
                         wpm.current_state = MAVLINK_WPM_STATE_SENDLIST;
                         wpm.current_wp_id = 0;
                         wpm.current_partner_sysid = msg->sysid;
@@ -569,14 +569,14 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
                     }
                     else
                     {
-                        // if (verbose) // printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
+                        // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid);
                     }
                     wpm.current_count = wpm.size;
                     mavlink_wpm_send_waypoint_count(msg->sysid,msg->compid, wpm.current_count);
                 }
                 else
                 {
-                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state);
+                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm.current_state);
                 }
             }
 			else
@@ -587,10 +587,10 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
             break;
         }
 			
-		case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
+		case MAVLINK_MSG_ID_MISSION_REQUEST:
         {
-            mavlink_waypoint_request_t wpr;
-            mavlink_msg_waypoint_request_decode(msg, &wpr);
+            mavlink_mission_request_t wpr;
+            mavlink_msg_mission_request_decode(msg, &wpr);
             if(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/)
             {
                 wpm.timestamp_lastaction = now;
@@ -603,7 +603,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
+		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
 #endif
                     }
                     if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id + 1)
@@ -611,7 +611,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
+		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
 #endif
                     }
                     if (wpm.current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm.current_wp_id)
@@ -619,7 +619,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
+		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid);
 #endif
                     }
 					
@@ -636,7 +636,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm.current_state);
 #endif
 		break;
 						}
@@ -647,7 +647,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq);
 #endif
 							}
                         }
@@ -658,7 +658,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm.current_wp_id, wpm.current_wp_id+1);
 #endif
 							}
 							else if (wpr.seq >= wpm.size)
@@ -666,7 +666,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq);
 #endif
 							}
                         }
@@ -675,7 +675,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST - FIXME: missed error description\n");
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n");
 #endif
 						}
                     }
@@ -689,7 +689,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm.current_partner_sysid);
 #endif
                 }
 				else
@@ -705,10 +705,10 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
             break;
         }
 			
-		case MAVLINK_MSG_ID_WAYPOINT_COUNT:
+		case MAVLINK_MSG_ID_MISSION_COUNT:
         {
-            mavlink_waypoint_count_t wpc;
-            mavlink_msg_waypoint_count_decode(msg, &wpc);
+            mavlink_mission_count_t wpc;
+            mavlink_msg_mission_count_decode(msg, &wpc);
             if(wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/)
             {
                 wpm.timestamp_lastaction = now;
@@ -722,7 +722,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid);
+		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid);
 #endif
                         }
                         if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST)
@@ -730,7 +730,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_WAYPOINT_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
+		if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid);
 #endif
                         }
 						
@@ -778,7 +778,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("IGN WP CMD");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_WAYPOINT_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count);
 #endif
                     }
                 }
@@ -789,7 +789,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm.current_state);
 #endif
 					}
                     else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wpm.current_wp_id != 0)
@@ -797,7 +797,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id);
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm.current_wp_id);
 #endif
 					}
                     else
@@ -805,7 +805,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
 #ifdef MAVLINK_WPM_NO_PRINTF
     	mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?");
 #else
-		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_WAYPOINT_COUNT - FIXME: missed error description\n");
+		if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n");
 #endif
 					}
                 }
@@ -822,10 +822,10 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
         }
 			break;
 			
-		case MAVLINK_MSG_ID_WAYPOINT:
+		case MAVLINK_MSG_ID_MISSION_ITEM:
         {
-            mavlink_waypoint_t wp;
-            mavlink_msg_waypoint_decode(msg, &wp);
+            mavlink_mission_item_t wp;
+            mavlink_msg_mission_item_decode(msg, &wp);
 			
 			mavlink_missionlib_send_gcs_string("GOT WP");
 			
@@ -836,13 +836,13 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
                 //ensure that we are in the correct state and that the first waypoint has id 0 and the following waypoints have the correct ids
                 if ((wpm.current_state == MAVLINK_WPM_STATE_GETLIST && wp.seq == 0) || (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id && wp.seq < wpm.current_count))
                 {
-//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid);
-//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u from %u\n", wp.seq, msg->sysid);
-//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_WAYPOINT %u (again) from %u\n", wp.seq, msg->sysid);
+//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid);
+//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid);
+//                    if (verbose && wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm.current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid);
 //					
                     wpm.current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
-                    mavlink_waypoint_t* newwp = &(wpm.rcv_waypoints[wp.seq]);
-                    memcpy(newwp, &wp, sizeof(mavlink_waypoint_t));
+                    mavlink_mission_item_t* newwp = &(wpm.rcv_waypoints[wp.seq]);
+                    memcpy(newwp, &wp, sizeof(mavlink_mission_item_t));
 					wpm.current_wp_id = wp.seq + 1;
 					
                     // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4);
@@ -905,44 +905,44 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
                     {
                         //we're done receiving waypoints, answer with ack.
                         mavlink_wpm_send_waypoint_ack(wpm.current_partner_sysid, wpm.current_partner_compid, 0);
-                        // printf("Received MAVLINK_MSG_ID_WAYPOINT while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
+                        // printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n");
                     }
                     // if (verbose)
                     {
                         if (!(wpm.current_state == MAVLINK_WPM_STATE_GETLIST || wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS))
 						{
-							// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state);
+							// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm.current_state);
 							break;
 						}
                         else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST)
                         {
                             if(!(wp.seq == 0))
 							{
-								// printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the first waypoint ID (%u) was not 0.\n", wp.seq);
+								// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq);
 							}
                             else
 							{
-								// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq);
+								// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
 							}
                         }
                         else if (wpm.current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)
                         {
                             if (!(wp.seq == wpm.current_wp_id))
 							{
-								// printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id);
+								// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm.current_wp_id);
 							}
                             else if (!(wp.seq < wpm.current_count))
 							{
-								// printf("Ignored MAVLINK_MSG_ID_WAYPOINT because the waypoint ID (%u) was out of bounds.\n", wp.seq);
+								// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq);
 							}
                             else
 							{
-								// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq);
+								// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
 							}
                         }
                         else
 						{
-							// printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u - FIXME: missed error description\n", wp.seq);
+							// printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq);
 						}
                     }
                 }
@@ -952,26 +952,26 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
                 //we we're target but already communicating with someone else
                 if((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm.current_partner_sysid && msg->compid == wpm.current_partner_compid) && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
                 {
-                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid);
+                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm.current_partner_sysid);
                 }
                 else if(wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/)
                 {
-                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
+                    // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid);
                 }
             }
             break;
         }
 			
-		case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL:
+		case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
         {
-            mavlink_waypoint_clear_all_t wpca;
-            mavlink_msg_waypoint_clear_all_decode(msg, &wpca);
+            mavlink_mission_clear_all_t wpca;
+            mavlink_msg_mission_clear_all_decode(msg, &wpca);
 			
             if(wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state == MAVLINK_WPM_STATE_IDLE)
             {
                 wpm.timestamp_lastaction = now;
 				
-                // if (verbose) // printf("Got MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
+                // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid);
                 // Delete all waypoints
 				wpm.size = 0;
                 wpm.current_active_wp_id = -1;
@@ -980,7 +980,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
             }
             else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm.current_state != MAVLINK_WPM_STATE_IDLE)
             {
-                // if (verbose) // printf("Ignored MAVLINK_MSG_ID_WAYPOINT_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state);
+                // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm.current_state);
             }
             break;
         }
@@ -997,7 +997,7 @@ void mavlink_wpm_message_handler(const mavlink_message_t* msg)
     {
         if (wpm.current_active_wp_id < wpm.size)
         {
-            mavlink_waypoint_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]);
+            mavlink_mission_item_t *cur_wp = &(wpm.waypoints[wpm.current_active_wp_id]);
 			
             if (wpm.timestamp_firstinside_orbit == 0)
             {
diff --git a/thirdParty/mavlink/missionlib/waypoints.h b/thirdParty/mavlink/missionlib/waypoints.h
index 41e15043a270f0adcfe1e54c64bc6da2640c18c1..dd3f0e02b5262c4dbb46d1c92aca6d9c1f5c4e13 100644
--- a/thirdParty/mavlink/missionlib/waypoints.h
+++ b/thirdParty/mavlink/missionlib/waypoints.h
@@ -64,9 +64,9 @@ enum MAVLINK_WPM_CODES
 
 
 struct mavlink_wpm_storage {
-	mavlink_waypoint_t waypoints[MAVLINK_WPM_MAX_WP_COUNT];      ///< Currently active waypoints
+	mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT];      ///< Currently active waypoints
 #ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
-	mavlink_waypoint_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT];  ///< Receive buffer for next waypoints
+	mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT];  ///< Receive buffer for next waypoints
 #endif
 	uint16_t size;
 	uint16_t max_size;