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diff --git a/files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml b/files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml
new file mode 100755
index 0000000000000000000000000000000000000000..2c81e177ddf66c18c98c4d305d49429b3b77e256
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/Engines/a2830-12.xml
@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<electric_engine name="a2830-12">
+  <power unit="WATTS">  187 </power>
+</electric_engine>
diff --git a/files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml b/files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml
new file mode 100755
index 0000000000000000000000000000000000000000..d45e85903f60b4299703c5ca37f75d66b6da3f79
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/Engines/prop10x4.5.xml
@@ -0,0 +1,76 @@
+<?xml version="1.0"?>
+<!-- Generated by Aero-Matic v 1.1
+
+     Inputs:
+                horsepower: 0.250767
+                     pitch: fixed
+            max engine rpm: 9435
+        prop diameter (ft): 0.83333333333333
+
+     Outputs:
+              max prop rpm: 22515.60
+                gear ratio:    0.42
+                       Cp0: 0.002731
+                       Ct0: 0.003823
+       static thrust (lbs):    0.66
+-->
+<propeller name="prop">
+  <!--<ixx>   0.00 </ixx>-->
+  <ixx>   0.000041666666 </ixx>
+  <!--assuming solid rod of mass 8 g-->
+  <diameter unit="IN">  10.0 </diameter>
+  <numblades> 2 </numblades>
+  <gearratio>  1.0 </gearratio>
+  <p_factor>   0.79 </p_factor>
+  <table name="C_THRUST" type="internal">
+    <tableData><!--experimentally measured-->
+			0.0 0.0054513
+			1.4 0.0054513
+			<!--aeromatic generated-->
+            <!--0.0   0.0042-->
+            <!--0.1   0.0040-->
+            <!--0.2   0.0038-->
+            <!--0.3   0.0035-->
+            <!--0.4   0.0032-->
+            <!--0.5   0.0028-->
+            <!--0.6   0.0023-->
+            <!--0.7   0.0017-->
+            <!--0.8   0.0009-->
+            <!--1.0  -0.0003-->
+            <!--1.2  -0.0016-->
+            <!--1.4  -0.0030-->
+        </tableData>
+  </table>
+  <table name="C_POWER" type="internal">
+    <tableData>
+            0.0   0.0028
+            0.1   0.0028
+            0.2   0.0027
+            0.3   0.0027
+            0.4   0.0025
+            0.5   0.0023
+            0.6   0.0021
+            0.7   0.0018
+            0.8   0.0015
+            1.0   0.0005
+            1.2  -0.0008
+            1.4  -0.0025
+            1.6  -0.0042
+        </tableData>
+  </table>
+  <!-- thrust effects of helical tip Mach -->
+  <table name="CT_MACH" type="internal">
+    <tableData>
+            0.85   1.0
+            1.05   0.8
+        </tableData>
+  </table>
+  <!-- power-required effects of helical tip Mach -->
+  <table name="CP_MACH" type="internal">
+    <tableData>
+            0.85   1.0
+            1.05   1.8
+            2.00   1.4
+        </tableData>
+  </table>
+</propeller>
diff --git a/files/flightgear/Aircraft/arducopter/Models/arducopter.ac b/files/flightgear/Aircraft/arducopter/Models/arducopter.ac
new file mode 100755
index 0000000000000000000000000000000000000000..a81d6ff727d91591d2570e33f2bafeab9cb857ea
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+++ b/files/flightgear/Aircraft/arducopter/Models/arducopter.ac
@@ -0,0 +1,15492 @@
+AC3Db
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+OBJECT world
+kids 1
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+name "Cube.002"
+kids 14
+OBJECT poly
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+data 8
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diff --git a/files/flightgear/Aircraft/arducopter/Models/arducopter.xml b/files/flightgear/Aircraft/arducopter/Models/arducopter.xml
new file mode 100755
index 0000000000000000000000000000000000000000..3cf8fb37ddbd53a36b9b4462deb7624133c86a42
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/Models/arducopter.xml
@@ -0,0 +1,88 @@
+<?xml version="1.0"?>
+<PropertyList>
+  <!--Airframe-->
+  <path>arducopter.ac</path>
+  <offsets>
+    <z-m>0.0</z-m>
+    <y-m>0</y-m>
+    <x-m>0.0</x-m>
+    <pitch-deg>0</pitch-deg>
+    <heading-deg>180</heading-deg>
+  </offsets>
+  <!--Propeller Right-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller0</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller0</object-name>
+    <property>/controls/engines/engine[0]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.000</x1-m>
+      <y1-m>-0.288</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.000</x2-m>
+      <y2-m>-0.288</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Left-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller1</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller1</object-name>
+    <property>/controls/engines/engine[1]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.000</x1-m>
+      <y1-m>0.288</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.000</x2-m>
+      <y2-m>0.288</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Front-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller2</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller2</object-name>
+    <property>/controls/engines/engine[2]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>0.288</x1-m>
+      <y1-m>0.000</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>0.288</x2-m>
+      <y2-m>0.000</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+  <!--Propeller Back-->
+  <animation>
+    <type>noshadow</type>
+    <object-name>propeller3</object-name>
+  </animation>
+  <animation>
+    <type>spin</type>
+    <object-name>propeller3</object-name>
+    <property>/controls/engines/engine[3]/throttle</property>
+    <factor>12000</factor>
+    <axis>
+      <x1-m>-0.288</x1-m>
+      <y1-m>0.000</y1-m>
+      <z1-m>0.046</z1-m>
+      <x2-m>-0.288</x2-m>
+      <y2-m>0.000</y2-m>
+      <z2-m>0.012</z2-m>
+    </axis>
+  </animation>
+</PropertyList>
diff --git a/files/flightgear/Aircraft/arducopter/Models/quad.3ds b/files/flightgear/Aircraft/arducopter/Models/quad.3ds
new file mode 100755
index 0000000000000000000000000000000000000000..2f1e6be165c7589770283c6cda60f1649075dcdb
Binary files /dev/null and b/files/flightgear/Aircraft/arducopter/Models/quad.3ds differ
diff --git a/files/flightgear/Aircraft/arducopter/Models/quad.skp b/files/flightgear/Aircraft/arducopter/Models/quad.skp
new file mode 100755
index 0000000000000000000000000000000000000000..c8643d32392e8723b68e02066ba8ac47484472eb
Binary files /dev/null and b/files/flightgear/Aircraft/arducopter/Models/quad.skp differ
diff --git a/files/flightgear/Aircraft/arducopter/arducopter-set.xml b/files/flightgear/Aircraft/arducopter/arducopter-set.xml
new file mode 100755
index 0000000000000000000000000000000000000000..984e5a5cc0d06e5f643bb24e2fedd39648bffc98
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/arducopter-set.xml
@@ -0,0 +1,93 @@
+<?xml version="1.0"?>
+<!--
+************************************************************************
+Arducotper UAV Model
+************************************************************************
+-->
+<PropertyList>
+  <sim>
+    <description>Arducopter UAV (R/C)</description>
+    <author>James Goppert</author>
+    <aircraft-version>0.0</aircraft-version>
+    <status>experimental</status>
+    <flight-model>jsb</flight-model>
+    <aero>arducopter</aero>
+    <model-hz>50</model-hz>
+    <sound>
+      <path>Aircraft/Generic/generic-sound.xml</path>
+    </sound>
+    <panel>
+      <visibility archive="n">false</visibility>
+    </panel>
+    <model>
+      <path archive="y">Aircraft/arducopter/Models/arducopter.xml</path>
+    </model>
+    <view>
+      <internal archive="y">true</internal>
+      <config>
+        <x-offset-m archive="y">0.0</x-offset-m>
+        <y-offset-m archive="y">0.15</y-offset-m>
+        <z-offset-m archive="y">0.90</z-offset-m>
+        <pitch-offset-deg>0</pitch-offset-deg>
+      </config>
+    </view>
+    <chase-distance-m archive="y" type="double">-5.5</chase-distance-m>
+    <help>
+      <title>arducopter UAV</title>
+      <line>Cruise speed: ? mph</line>
+      <line>Never-exceed (Vne): ? mph</line>
+      <line>Best Glide (Vglide): ? mph</line>
+      <line>Maneuvering (Va): ? mph</line>
+      <line>Approach speed: ? mph</line>
+      <line>Stall speed (Vs): ? mph</line>
+    </help>
+    <startup>
+      <splash-title>Arducopter UAV DIY Drones/ OPENMAV</splash-title>
+      <splash-texture>Aircraft/arducopter/arducopter.jpg</splash-texture>
+    </startup>
+  </sim>
+  <controls>
+    <flight>
+      <aileron-trim>0.00</aileron-trim>
+      <!-- fixed -->
+      <elevator-trim>0.00</elevator-trim>
+      <!-- controllable -->
+    </flight>
+  </controls>
+  <consumables>
+    <fuel>
+      <tank n="0">
+        <level-gal_us>0</level-gal_us>
+      </tank>
+    </fuel>
+  </consumables>
+  <payload>
+    <weight>
+      <name type="string">Payload</name>
+      <weight-lb alias="/fdm/jsbsim/inertia/pointmass-weight-lbs[0]"/>
+      <min-lb type="double">0.0</min-lb>
+      <max-lb type="double">1.0</max-lb>
+    </weight>
+  </payload>
+  <nasal>
+    <arducopter>
+      <script>
+         setlistener("/sim/signals/fdm-initialized", func {
+             var left  = screen.display.new(20, 10);
+             left.add("/controls/engines/engine[0]/throttle");
+             left.add("/controls/engines/engine[1]/throttle");
+             left.add("/controls/engines/engine[2]/throttle");
+             left.add("/controls/engines/engine[3]/throttle");
+             
+             var right = screen.display.new(-250, 20);
+             right.add("/position/altitude-agl-ft");
+             right.add("/orientation/roll-deg");
+             right.add("/orientation/pitch-deg");
+             right.add("/orientation/heading-deg");
+             right.add("/instrumentation/gps/indicated-ground-speed-kt");
+         });
+        </script>
+    </arducopter>
+  </nasal>
+</PropertyList>
+<!-- vim:sw=4:ts=4:expandtab -->
diff --git a/files/flightgear/Aircraft/arducopter/arducopter.jpg b/files/flightgear/Aircraft/arducopter/arducopter.jpg
new file mode 100755
index 0000000000000000000000000000000000000000..c28e2fdac5287a048e795c96497d265b1e9d113b
Binary files /dev/null and b/files/flightgear/Aircraft/arducopter/arducopter.jpg differ
diff --git a/files/flightgear/Aircraft/arducopter/arducopter.xml b/files/flightgear/Aircraft/arducopter/arducopter.xml
new file mode 100755
index 0000000000000000000000000000000000000000..5161e75322c527fd6339c1c64e09f40b731760ab
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/arducopter.xml
@@ -0,0 +1,248 @@
+<?xml version="1.0"?>
+<?xml-stylesheet type="text/xsl" href="http://jsbsim.sourceforge.net/JSBSim.xsl"?>
+<fdm_config xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" name="dflyer" version="2.0" release="ALPHA" xsi:noNamespaceSchemaLocation="http://jsbsim.sourceforge.net/JSBSim.xsd">
+  <fileheader>
+    <author> James Goppert </author>
+    <filecreationdate> 2010-03-11 </filecreationdate>
+    <version>0.0 </version>
+    <description> Arducopter DIY Drones UAV. </description>
+  </fileheader>
+  <metrics>
+    <wingarea unit="M2">   0.017</wingarea>
+    <wingspan unit="M">   0.13 </wingspan>
+    <chord unit="FT">  0.0 </chord>
+    <htailarea unit="FT2">  0.0 </htailarea>
+    <htailarm unit="FT">  0.0 </htailarm>
+    <vtailarea unit="FT2">  0.0 </vtailarea>
+    <vtailarm unit="FT">  0.0 </vtailarm>
+    <location name="AERORP" unit="IN">
+      <x>   0.00 </x>
+      <y>   0.00 </y>
+      <z>   0.00 </z>
+    </location>
+    <location name="EYEPOINT" unit="IN">
+      <x>  0.0 </x>
+      <y>  0.0 </y>
+      <z>  0.0 </z>
+    </location>
+    <location name="VRP" unit="IN">
+      <x>0</x>
+      <y>0</y>
+      <z>0</z>
+    </location>
+  </metrics>
+  <mass_balance>
+    <!--roughtly approximating this as a solid sphere with correct mass-->
+    <ixx unit="KG*M2"> 0.036 </ixx>
+    <iyy unit="KG*M2"> 0.036 </iyy>
+    <izz unit="KG*M2">  0.036 </izz>
+    <emptywt unit="KG"> 1.0 </emptywt>
+    <location name="CG" unit="IN">
+      <x>  0.0 </x>
+      <y>  0.0 </y>
+      <z>  0.0 </z>
+    </location>
+    <pointmass name="Payload">
+      <weight unit="KG"> 0.0 </weight>
+      <location unit="IN">
+        <x>  0.0 </x>
+        <y>  0.0 </y>
+        <z>  0.0 </z>
+      </location>
+    </pointmass>
+  </mass_balance>
+  <ground_reactions>
+    <contact type="BOGEY" name="frontbase">
+      <location unit="M">
+        <x>  -0.283 </x>
+        <y>   0.00 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+    <contact type="BOGEY" name="rearbase">
+      <location unit="M">
+        <x>   0.283 </x>
+        <y>   0.00 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+    <contact type="BOGEY" name="leftbase">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>   0.283 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+    <contact type="BOGEY" name="rightbase">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>  -0.283 </y>
+        <z>  -0.033</z>
+      </location>
+      <static_friction>  0.80 </static_friction>
+      <dynamic_friction> 0.50 </dynamic_friction>
+      <spring_coeff unit="N/M">       800 </spring_coeff>
+      <damping_coeff unit="N/M2/SEC2" type="SQUARE">  7 </damping_coeff>
+      <damping_coeff_rebound unit="N/M2/SEC2" type="SQUARE">  300 </damping_coeff_rebound>
+    </contact>
+  </ground_reactions>
+  <!-- the front and rear motors spin clockwise, and the left and right motors spin counter-clockwise. -->
+  <propulsion>
+    <engine file="a2830-12" name="front">
+      <location unit="M">
+        <x>  -0.283 </x>
+        <y>   0.00  </y>
+        <z>   0.00  </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>  -0.283 </x>
+          <y>   0.00  </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> 1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <engine file="a2830-12" name="rear">
+      <location unit="M">
+        <x>   0.283 </x>
+        <y>   0.000 </y>
+        <z>   0.000 </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>   0.283 </x>
+          <y>   0.000 </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> 1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <engine file="a2830-12" name="left">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>   0.283 </y>
+        <z>   0.00 </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>   0.00 </x>
+          <y>   0.283 </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> -1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <engine file="a2830-12" name="right">
+      <location unit="M">
+        <x>   0.000 </x>
+        <y>  -0.283 </y>
+        <z>   0.000 </z>
+      </location>
+      <orient unit="DEG">
+        <pitch> 90.00 </pitch>
+        <roll>   0.00 </roll>
+        <yaw>    0.00 </yaw>
+      </orient>
+      <feed>0</feed>
+      <thruster file="prop10x4.5">
+        <location unit="M">
+          <x>   0.000 </x>
+          <y>  -0.283 </y>
+          <z>   0.125 </z>
+        </location>
+        <orient unit="DEG">
+          <pitch> 90.00 </pitch>
+          <roll>   0.00 </roll>
+          <yaw>    0.00 </yaw>
+        </orient>
+        <sense> -1 </sense>
+        <p_factor> 10 </p_factor>
+      </thruster>
+    </engine>
+    <tank type="FUEL" number="0">
+      <location unit="M">
+        <x>   0.00 </x>
+        <y>   0.00 </y>
+        <z>  -0.07 </z>
+      </location>
+      <!--have to have a fuel capacity, so setting it small-->
+      <capacity unit="KG"> 0.00000000001 </capacity>
+      <contents unit="KG"> 0.0 </contents>
+    </tank>
+  </propulsion>
+  <aerodynamics>
+    <axis name="LIFT">
+        </axis>
+    <axis name="DRAG">
+      <function name="aero/coefficient/CD0">
+        <description>Overall Drag</description>
+        <product>
+          <property>aero/qbar-psf</property>
+          <property>metrics/Sw-sqft</property>
+          <value>1</value>
+        </product>
+      </function>
+    </axis>
+    <axis name="SIDE">
+        </axis>
+    <axis name="ROLL">
+        </axis>
+    <axis name="PITCH">
+        </axis>
+    <axis name="YAW">
+        </axis>
+  </aerodynamics>
+</fdm_config>
+<!-- vim:ts=2:sw=2:expandtab -->
diff --git a/files/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt b/files/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt
new file mode 100755
index 0000000000000000000000000000000000000000..26360d230182594269d05110a6c7b013099bdfde
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/data/arducopter_half_step.txt
@@ -0,0 +1,9239 @@
+Force, Ch A, Run #5
+Time ( s )	Force ( N )
+0.0000	0.2
+0.0050	0.2
+0.0100	0.2
+0.0150	0.2
+0.0200	0.2
+0.0250	0.2
+0.0300	0.2
+0.0350	0.2
+0.0400	0.2
+0.0450	0.2
+0.0500	0.2
+0.0550	0.2
+0.0600	0.2
+0.0650	0.2
+0.0700	0.2
+0.0750	0.2
+0.0800	0.2
+0.0850	0.2
+0.0900	0.2
+0.0950	0.2
+0.1000	0.2
+0.1050	0.2
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diff --git a/files/flightgear/Aircraft/arducopter/data/arducopter_step.txt b/files/flightgear/Aircraft/arducopter/data/arducopter_step.txt
new file mode 100755
index 0000000000000000000000000000000000000000..534fba26ae342d5a2b4ef555a189e5d3fa51df73
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/data/arducopter_step.txt
@@ -0,0 +1,11813 @@
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diff --git a/files/flightgear/Aircraft/arducopter/formatXml.sh b/files/flightgear/Aircraft/arducopter/formatXml.sh
new file mode 100755
index 0000000000000000000000000000000000000000..b803f4b7b1418bf2a54eabd3719615da7be25169
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/formatXml.sh
@@ -0,0 +1,2 @@
+#!/bin/bash
+find . -name "*.xml" -exec xmllint -format {} -o {} \;
diff --git a/files/flightgear/Aircraft/arducopter/initfile.xml b/files/flightgear/Aircraft/arducopter/initfile.xml
new file mode 100755
index 0000000000000000000000000000000000000000..363cee94f786a5b79a1c7e36abbb6d9c2af0e0cb
--- /dev/null
+++ b/files/flightgear/Aircraft/arducopter/initfile.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<initialize name="reset00">
+  <ubody unit="M/SEC"> nan </ubody> 
+  <vbody unit="M/SEC"> nan </vbody> 
+  <wbody unit="M/SEC"> nan </wbody> 
+  <phi unit="DEG"> nan </phi>
+  <theta unit="DEG"> -nan </theta>
+  <psi unit="DEG"> nan </psi>
+  <longitude unit="DEG"> nan </longitude>
+  <latitude unit="DEG"> nan </latitude>
+  <altitude unit="M"> nan </altitude>
+</initialize>
diff --git a/files/flightgear/jeep/Models/AI-Liveries/airborn.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/airborn.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/airborn.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/army-g.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/army-g.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/army-g.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/hippie.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/hippie.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/hippie.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1a.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1a.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1a.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1b.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1b.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1b.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1c.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1c.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1c.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/jeep-1d.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/jeep-1d.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/jeep-1d.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/navy.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/navy.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/navy.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/raf.xml b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/raf.xml
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/raf.xml
diff --git a/files/flightgear/jeep/Models/AI-Liveries/softroof-a.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/softroof-a.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof-a.png
diff --git a/files/flightgear/jeep/Models/AI-Liveries/softroof.png b/files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png
similarity index 100%
rename from files/flightgear/jeep/Models/AI-Liveries/softroof.png
rename to files/flightgear/Aircraft/jeep/Models/AI-Liveries/softroof.png
diff --git a/files/flightgear/jeep/Models/GPA.xml b/files/flightgear/Aircraft/jeep/Models/GPA.xml
similarity index 100%
rename from files/flightgear/jeep/Models/GPA.xml
rename to files/flightgear/Aircraft/jeep/Models/GPA.xml
diff --git a/files/flightgear/jeep/Models/Jeep.xml b/files/flightgear/Aircraft/jeep/Models/Jeep.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Jeep.xml
rename to files/flightgear/Aircraft/jeep/Models/Jeep.xml
diff --git a/files/flightgear/jeep/Models/Liveries/airborn.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/airborn.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/airborn.xml
diff --git a/files/flightgear/jeep/Models/Liveries/army-g.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/army-g.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/army-g.xml
diff --git a/files/flightgear/jeep/Models/Liveries/hippie.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/hippie.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/hippie.xml
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1a.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1a.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1a.png
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1b.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1b.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1b.png
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1c.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1c.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1c.png
diff --git a/files/flightgear/jeep/Models/Liveries/jeep-1d.png b/files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/jeep-1d.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/jeep-1d.png
diff --git a/files/flightgear/jeep/Models/Liveries/navy.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/navy.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/navy.xml
diff --git a/files/flightgear/jeep/Models/Liveries/raf.xml b/files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/raf.xml
rename to files/flightgear/Aircraft/jeep/Models/Liveries/raf.xml
diff --git a/files/flightgear/jeep/Models/Liveries/softroof-a.png b/files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png
similarity index 100%
rename from files/flightgear/jeep/Models/Liveries/softroof-a.png
rename to files/flightgear/Aircraft/jeep/Models/Liveries/softroof-a.png
diff --git a/files/flightgear/jeep/Models/cabin.png b/files/flightgear/Aircraft/jeep/Models/cabin.png
similarity index 100%
rename from files/flightgear/jeep/Models/cabin.png
rename to files/flightgear/Aircraft/jeep/Models/cabin.png
diff --git a/files/flightgear/jeep/Models/current.ac b/files/flightgear/Aircraft/jeep/Models/current.ac
similarity index 100%
rename from files/flightgear/jeep/Models/current.ac
rename to files/flightgear/Aircraft/jeep/Models/current.ac
diff --git a/files/flightgear/jeep/Models/current.rgb b/files/flightgear/Aircraft/jeep/Models/current.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/current.rgb
rename to files/flightgear/Aircraft/jeep/Models/current.rgb
diff --git a/files/flightgear/jeep/Models/current.xml b/files/flightgear/Aircraft/jeep/Models/current.xml
similarity index 100%
rename from files/flightgear/jeep/Models/current.xml
rename to files/flightgear/Aircraft/jeep/Models/current.xml
diff --git a/files/flightgear/jeep/Models/fuel.ac b/files/flightgear/Aircraft/jeep/Models/fuel.ac
similarity index 100%
rename from files/flightgear/jeep/Models/fuel.ac
rename to files/flightgear/Aircraft/jeep/Models/fuel.ac
diff --git a/files/flightgear/jeep/Models/fuel.rgb b/files/flightgear/Aircraft/jeep/Models/fuel.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/fuel.rgb
rename to files/flightgear/Aircraft/jeep/Models/fuel.rgb
diff --git a/files/flightgear/jeep/Models/fuelgauge.xml b/files/flightgear/Aircraft/jeep/Models/fuelgauge.xml
similarity index 100%
rename from files/flightgear/jeep/Models/fuelgauge.xml
rename to files/flightgear/Aircraft/jeep/Models/fuelgauge.xml
diff --git a/files/flightgear/jeep/Models/gpa.ac b/files/flightgear/Aircraft/jeep/Models/gpa.ac
similarity index 100%
rename from files/flightgear/jeep/Models/gpa.ac
rename to files/flightgear/Aircraft/jeep/Models/gpa.ac
diff --git a/files/flightgear/jeep/Models/gpatrans.ac b/files/flightgear/Aircraft/jeep/Models/gpatrans.ac
similarity index 100%
rename from files/flightgear/jeep/Models/gpatrans.ac
rename to files/flightgear/Aircraft/jeep/Models/gpatrans.ac
diff --git a/files/flightgear/jeep/Models/gpatrans.xml b/files/flightgear/Aircraft/jeep/Models/gpatrans.xml
similarity index 100%
rename from files/flightgear/jeep/Models/gpatrans.xml
rename to files/flightgear/Aircraft/jeep/Models/gpatrans.xml
diff --git a/files/flightgear/jeep/Models/jeep-1.png b/files/flightgear/Aircraft/jeep/Models/jeep-1.png
similarity index 100%
rename from files/flightgear/jeep/Models/jeep-1.png
rename to files/flightgear/Aircraft/jeep/Models/jeep-1.png
diff --git a/files/flightgear/jeep/Models/jeep-2.png b/files/flightgear/Aircraft/jeep/Models/jeep-2.png
similarity index 100%
rename from files/flightgear/jeep/Models/jeep-2.png
rename to files/flightgear/Aircraft/jeep/Models/jeep-2.png
diff --git a/files/flightgear/jeep/Models/jeep.ac b/files/flightgear/Aircraft/jeep/Models/jeep.ac
similarity index 100%
rename from files/flightgear/jeep/Models/jeep.ac
rename to files/flightgear/Aircraft/jeep/Models/jeep.ac
diff --git a/files/flightgear/jeep/Models/pilot-b.ac b/files/flightgear/Aircraft/jeep/Models/pilot-b.ac
similarity index 100%
rename from files/flightgear/jeep/Models/pilot-b.ac
rename to files/flightgear/Aircraft/jeep/Models/pilot-b.ac
diff --git a/files/flightgear/jeep/Models/pilot.xml b/files/flightgear/Aircraft/jeep/Models/pilot.xml
similarity index 100%
rename from files/flightgear/jeep/Models/pilot.xml
rename to files/flightgear/Aircraft/jeep/Models/pilot.xml
diff --git a/files/flightgear/jeep/Models/pilot1.rgb b/files/flightgear/Aircraft/jeep/Models/pilot1.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/pilot1.rgb
rename to files/flightgear/Aircraft/jeep/Models/pilot1.rgb
diff --git a/files/flightgear/jeep/Models/roof.ac b/files/flightgear/Aircraft/jeep/Models/roof.ac
similarity index 100%
rename from files/flightgear/jeep/Models/roof.ac
rename to files/flightgear/Aircraft/jeep/Models/roof.ac
diff --git a/files/flightgear/jeep/Models/softroof.png b/files/flightgear/Aircraft/jeep/Models/softroof.png
similarity index 100%
rename from files/flightgear/jeep/Models/softroof.png
rename to files/flightgear/Aircraft/jeep/Models/softroof.png
diff --git a/files/flightgear/jeep/Models/speedometer.ac b/files/flightgear/Aircraft/jeep/Models/speedometer.ac
similarity index 100%
rename from files/flightgear/jeep/Models/speedometer.ac
rename to files/flightgear/Aircraft/jeep/Models/speedometer.ac
diff --git a/files/flightgear/jeep/Models/speedometer.rgb b/files/flightgear/Aircraft/jeep/Models/speedometer.rgb
similarity index 100%
rename from files/flightgear/jeep/Models/speedometer.rgb
rename to files/flightgear/Aircraft/jeep/Models/speedometer.rgb
diff --git a/files/flightgear/jeep/Models/speedometer.xml b/files/flightgear/Aircraft/jeep/Models/speedometer.xml
similarity index 100%
rename from files/flightgear/jeep/Models/speedometer.xml
rename to files/flightgear/Aircraft/jeep/Models/speedometer.xml
diff --git a/files/flightgear/jeep/Models/transparent.ac b/files/flightgear/Aircraft/jeep/Models/transparent.ac
similarity index 100%
rename from files/flightgear/jeep/Models/transparent.ac
rename to files/flightgear/Aircraft/jeep/Models/transparent.ac
diff --git a/files/flightgear/jeep/Models/transparent.xml b/files/flightgear/Aircraft/jeep/Models/transparent.xml
similarity index 100%
rename from files/flightgear/jeep/Models/transparent.xml
rename to files/flightgear/Aircraft/jeep/Models/transparent.xml
diff --git a/files/flightgear/jeep/Nasal/failure.nas b/files/flightgear/Aircraft/jeep/Nasal/failure.nas
similarity index 100%
rename from files/flightgear/jeep/Nasal/failure.nas
rename to files/flightgear/Aircraft/jeep/Nasal/failure.nas
diff --git a/files/flightgear/jeep/Nasal/jeep.nas b/files/flightgear/Aircraft/jeep/Nasal/jeep.nas
similarity index 100%
rename from files/flightgear/jeep/Nasal/jeep.nas
rename to files/flightgear/Aircraft/jeep/Nasal/jeep.nas
diff --git a/files/flightgear/jeep/Nasal/walk.nas b/files/flightgear/Aircraft/jeep/Nasal/walk.nas
similarity index 100%
rename from files/flightgear/jeep/Nasal/walk.nas
rename to files/flightgear/Aircraft/jeep/Nasal/walk.nas
diff --git a/files/flightgear/jeep/README b/files/flightgear/Aircraft/jeep/README
similarity index 100%
rename from files/flightgear/jeep/README
rename to files/flightgear/Aircraft/jeep/README
diff --git a/files/flightgear/jeep/gpa-set.xml b/files/flightgear/Aircraft/jeep/gpa-set.xml
similarity index 100%
rename from files/flightgear/jeep/gpa-set.xml
rename to files/flightgear/Aircraft/jeep/gpa-set.xml
diff --git a/files/flightgear/jeep/gpa-yasim.xml b/files/flightgear/Aircraft/jeep/gpa-yasim.xml
similarity index 100%
rename from files/flightgear/jeep/gpa-yasim.xml
rename to files/flightgear/Aircraft/jeep/gpa-yasim.xml
diff --git a/files/flightgear/jeep/jeep-set.xml b/files/flightgear/Aircraft/jeep/jeep-set.xml
similarity index 100%
rename from files/flightgear/jeep/jeep-set.xml
rename to files/flightgear/Aircraft/jeep/jeep-set.xml
diff --git a/files/flightgear/jeep/jeep-yasim.xml b/files/flightgear/Aircraft/jeep/jeep-yasim.xml
similarity index 100%
rename from files/flightgear/jeep/jeep-yasim.xml
rename to files/flightgear/Aircraft/jeep/jeep-yasim.xml
diff --git a/files/flightgear/jeep/thumbnail.jpg b/files/flightgear/Aircraft/jeep/thumbnail.jpg
similarity index 100%
rename from files/flightgear/jeep/thumbnail.jpg
rename to files/flightgear/Aircraft/jeep/thumbnail.jpg
diff --git a/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml b/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml
new file mode 100644
index 0000000000000000000000000000000000000000..94a60ded590e9c6d832220ba3c9639265702c04c
--- /dev/null
+++ b/files/flightgear/Protocol/qgroundcontrol-fixed-wing.xml
@@ -0,0 +1,187 @@
+<?xml version="1.0"?>
+
+<PropertyList>
+ <generic>
+
+  <output>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+   
+   <chunk>
+    <name>time (sec)</name>
+    <type>float</type>
+    <format>%.4f</format>
+    <node>/sim/time/elapsed-sec</node>
+   </chunk>
+
+   <!-- Position -->
+   <chunk>
+    <name>latitude-deg</name>
+    <type>double</type>
+    <format>%.18f</format>
+    <node>/position/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>longitude-deg</name>
+    <type>double</type>
+    <format>%.18f</format>
+    <node>/position/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>altitiude (m)</name>
+    <type>double</type>
+    <format>%.5f</format>
+    <node>/position/altitude-ft</node>
+    <factor>0.3048</factor>                  <!-- feet to meter -->
+   </chunk>
+
+   <!-- Orientation -->
+
+   <chunk>
+    <name>roll angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/roll-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+   
+   <chunk>
+    <name>pitch angle (rad)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/pitch-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+   
+   <chunk>
+    <name>yaw angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/heading-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+
+   <chunk>
+    <name>roll rate ("p" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/pi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>pitch rate ("q" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/qi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>yaw rate ("r" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/ri-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>X accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/x-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Y accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/y-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Z accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/z-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <!-- Velocities -->
+   
+   <chunk>
+    <name>Velocity North ("vn" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-north-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity East ("ve" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-east-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity Down ("vd" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-down-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+     <name>airspeed-mps</name>
+     <type>float</type>
+     <format>%.8f</format>
+     <node>/velocities/airspeed-kt</node>
+     <factor>0.514444444444444</factor>      <!-- knots to mps -->
+   </chunk>
+   
+  </output>
+
+  <input>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+
+   <!-- Controls -->
+   <chunk>
+    <name>aileron</name>
+    <type>float</type>
+    <node>/controls/flight/aileron</node>
+   </chunk>
+
+   <chunk>
+    <name>elevator</name>
+    <type>float</type>
+    <node>/controls/flight/elevator</node>
+   </chunk>
+   
+   <chunk>
+     <name>rudder</name>
+     <type>float</type>
+     <node>/controls/flight/rudder</node>
+   </chunk>
+   
+   <chunk>
+    <name>running</name>
+    <type>bool</type>
+    <node>/engines/engine/running</node>
+   </chunk>
+
+   <chunk>
+    <name>throttle</name>
+    <type>float</type>
+    <node>/controls/engines/engine/throttle</node>
+   </chunk>
+   
+
+ </input>
+
+ </generic>
+
+</PropertyList>
\ No newline at end of file
diff --git a/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml b/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7dd55d4c8f3cd134f144528c38cc7417ed2fbc3c
--- /dev/null
+++ b/files/flightgear/Protocol/qgroundcontrol-quadrotor.xml
@@ -0,0 +1,179 @@
+<?xml version="1.0"?>
+
+<PropertyList>
+ <generic>
+
+  <output>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+   
+   <chunk>
+    <name>time (sec)</name>
+    <type>float</type>
+    <format>%.4f</format>
+    <node>/sim/time/elapsed-sec</node>
+   </chunk>
+
+   <!-- Position -->
+   <chunk>
+    <name>latitude-deg</name>
+    <type>double</type>
+    <format>%.18f</format>
+    <node>/position/latitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>longitude-deg</name>
+    <type>double</type>
+    <format>%.18f</format>
+    <node>/position/longitude-deg</node>
+   </chunk>
+
+   <chunk>
+    <name>altitiude (m)</name>
+    <type>double</type>
+    <format>%.5f</format>
+    <node>/position/altitude-ft</node>
+    <factor>0.3048</factor>                  <!-- feet to meter -->
+   </chunk>
+
+   <!-- Orientation -->
+
+   <chunk>
+    <name>roll angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/roll-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+   
+   <chunk>
+    <name>pitch angle (rad)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/pitch-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+   
+   <chunk>
+    <name>yaw angle</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/orientation/heading-deg</node>
+    <factor>0.01745329251994329576</factor>  <!-- degrees to radians -->
+   </chunk>
+
+   <chunk>
+    <name>roll rate ("p" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/pi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>pitch rate ("q" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/qi-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>yaw rate ("r" rad/sec)</name>
+    <type>float</type>
+    <format>%.6f</format>
+    <node>/fdm/jsbsim/velocities/ri-rad_sec</node>
+   </chunk>
+
+   <chunk>
+    <name>X accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/x-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Y accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/y-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <chunk>
+    <name>Z accel (body axis) (mps)</name>
+    <type>float</type>
+    <format>%.5f</format>
+    <node>/accelerations/pilot/z-accel-fps_sec</node>
+    <factor>0.3048</factor>  <!-- feet to meter -->
+   </chunk>
+
+   <!-- Velocities -->
+   
+   <chunk>
+    <name>Velocity North ("vn" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-north-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity East ("ve" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-east-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+    <name>Velocity Down ("vd" mps)</name>
+    <type>float</type>
+    <format>%.8f</format>
+    <node>/velocities/speed-down-fps</node>
+    <factor>0.3048</factor>                  <!-- fps to mps -->
+   </chunk>
+
+   <chunk>
+     <name>airspeed-mps</name>
+     <type>float</type>
+     <format>%.8f</format>
+     <node>/velocities/airspeed-kt</node>
+     <factor>0.514444444444444</factor>      <!-- knots to mps -->
+   </chunk>
+   
+  </output>
+
+  <input>
+   <line_separator>newline</line_separator>
+   <var_separator>tab</var_separator>
+
+   <!-- Controls -->
+     <!-- motors, in range 0.0 to 1.0 -->
+     <chunk>
+       <name>throttle0</name>
+       <type>double</type>
+       <node>/controls/engines/engine[0]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle1</name>
+       <type>double</type>
+       <node>/controls/engines/engine[1]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle2</name>
+       <type>double</type>
+       <node>/controls/engines/engine[2]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle3</name>
+       <type>double</type>
+       <node>/controls/engines/engine[3]/throttle</node>
+     </chunk> 
+   
+
+ </input>
+
+ </generic>
+
+</PropertyList>
\ No newline at end of file
diff --git a/files/flightgear/Protocol/quadhil.xml b/files/flightgear/Protocol/quadhil.xml
new file mode 100755
index 0000000000000000000000000000000000000000..a666b6e1a5d511dd0383f9fce5907114bc99b8a7
--- /dev/null
+++ b/files/flightgear/Protocol/quadhil.xml
@@ -0,0 +1,120 @@
+<?xml version="1.0"?>
+<!-- quadcopter HIL protocol definition
+     Andrew Tridgell
+     July 2011
+-->
+
+<PropertyList>
+ <generic>
+
+   <!-- inputs, sent from quad_hil.py to FlightGear -->
+   <input>
+     <binary_mode>true</binary_mode>
+<!--     <binary_footer>magic,0xc465414d</binary_footer>-->
+
+     <!-- motors, in range 0.0 to 1.0 -->
+     <chunk>
+       <name>throttle0</name>
+       <type>double</type>
+       <node>/controls/engines/engine[0]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle1</name>
+       <type>double</type>
+       <node>/controls/engines/engine[1]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle2</name>
+       <type>double</type>
+       <node>/controls/engines/engine[2]/throttle</node>
+     </chunk> 
+     <chunk>
+       <name>throttle3</name>
+       <type>double</type>
+       <node>/controls/engines/engine[3]/throttle</node>
+     </chunk> 
+
+     <!-- Position -->
+     <chunk>
+       <name>latitude-deg</name>
+       <type>double</type>
+       <node>/position/latitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>longitude-deg</name>
+       <type>double</type>
+       <node>/position/longitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>altitude-ft</name>
+       <type>double</type>
+       <node>/position/altitude-ft</node>
+     </chunk>
+
+     <chunk>
+       <name>altitude-agl-ft</name>
+       <type>double</type>
+       <node>/position/altitude-agl-ft</node>
+     </chunk>
+     
+     <!-- Attitude -->
+     <chunk>
+       <name>roll-deg</name>
+       <type>double</type>
+       <node>/orientation/roll-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>pitch-deg</name>
+       <type>double</type>
+       <node>/orientation/pitch-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>heading-deg</name>
+       <type>double</type>
+       <node>/orientation/heading-deg</node>
+     </chunk>
+     
+   </input>
+   
+   <!-- outputs, sent from FlightGear to quad_hil.py -->
+   <output>
+     <binary_mode>true</binary_mode>
+     <binary_footer>magic,0xc465414e</binary_footer>
+
+     <!-- we need to know the ground level so we know when
+	  to crash! -->
+     <chunk>
+       <name>ground-elev-m</name>
+       <type>double</type>
+       <node>/position/ground-elev-m</node>
+     </chunk>
+     
+     <!-- the rest we only need once at startup, to know where 
+	  we are taking off from -->
+     <chunk>
+       <name>latitude-deg</name>
+       <type>double</type>
+       <node>/position/latitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>longitude-deg</name>
+       <type>double</type>
+       <node>/position/longitude-deg</node>
+     </chunk>
+     
+     <chunk>
+       <name>heading-deg</name>
+       <type>double</type>
+       <node>/orientation/heading-deg</node>
+     </chunk>
+
+   </output>
+
+ </generic>
+
+</PropertyList>
diff --git a/files/flightgear/connector_flightgear_uav.xml b/files/flightgear/connector_flightgear_uav.xml
deleted file mode 100644
index 0513e1cd96dd4a9954d0821d1d5d459abd337910..0000000000000000000000000000000000000000
--- a/files/flightgear/connector_flightgear_uav.xml
+++ /dev/null
@@ -1,161 +0,0 @@
-<PropertyList>
- <generic>
-  <output>
-   <line_separator>newline</line_separator>
-   <var_separator>,</var_separator>
-
-   <chunk>
-    <name>lat</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/position/latitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>lon</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/position/longitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>alt</name>
-    <type>float</type>
-    <format>%+1.4f</format>
-    <node>/position/altitude-ft</node>
-   </chunk>
-
-
-   <chunk>
-    <name>speed</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/groundspeed-kt</node>
-   </chunk>
-
-   <chunk>
-    <name>airspeed</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/airspeed-kt</node>
-   </chunk>
-
-
-
-   <chunk>
-    <name>pitch</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/orientation/pitch-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>roll</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/orientation/roll-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>heading</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/orientation/heading-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>v_n</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-north-fps</node>
-   </chunk>
-
-   <chunk>
-    <name>v_e</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-east-fps</node>
-   </chunk>
-
-   <chunk>
-    <name>v_d</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-down-fps</node>
-   </chunk>
-
-
-   <chunk>
-    <name>rate_phi</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/roll-rate-degps</node>
-   </chunk>
-
-   <chunk>
-    <name>rate_theta</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/pitch-rate-degps</node>
-   </chunk>
-
-   <chunk>
-    <name>rate_psi</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/yaw-rate-degps</node>
-   </chunk>
-
-
-  </output>
-
- <input>
-   <line_separator>newline</line_separator>
-   <var_separator>,</var_separator>
-
-   <chunk>
-    <name>pitch</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/autopilot/settings/target-pitch-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>roll</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/autopilot/settings/target-roll-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>throttle</name>
-    <type>float</type>
-    <format>%+1.3f</format>
-    <node>/controls/engines/engine/throttle</node>
-   </chunk>
-
-   <chunk>
-    <name>lat</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/sim/view/target/latitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>lon</name>
-    <type>float</type>
-    <format>%+1.8f</format>
-    <node>/sim/view/target/longitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>alt</name>
-    <type>float</type>
-    <format>%+1.4f</format>
-    <node>/sim/view/target/alt</node>
-   </chunk>
-
-  </input>
-
- </generic>
-</PropertyList>
diff --git a/files/flightgear/qgroundcontrol.xml b/files/flightgear/qgroundcontrol.xml
deleted file mode 100644
index 9f10d87fa67469788323cb5f58278e19d8bff5e4..0000000000000000000000000000000000000000
--- a/files/flightgear/qgroundcontrol.xml
+++ /dev/null
@@ -1,148 +0,0 @@
-<?xml version="1.0"?>
-
-<PropertyList>
- <generic>
-
-  <output>
-   <line_separator>newline</line_separator>
-   <var_separator>,</var_separator>
-
-   <!-- Position -->
-   <chunk>
-    <name>latitude-deg</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/position/latitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>longitude-deg</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/position/longitude-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>altitude-ft</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/position/altitude-ft</node>
-   </chunk>
-
-   <!-- Orientation -->
-   <chunk>
-    <name>roll-deg</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/orientation/roll-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>pitch-deg</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/orientation/pitch-deg</node>
-   </chunk>
-
-   <chunk>
-    <name>heading-deg</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/orientation/heading-deg</node>
-   </chunk>
-
-   <!-- Velocities -->
-   
-   <chunk>
-    <name>v_n</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-north-fps</node>
-   </chunk>
-   
-   <chunk>
-    <name>v_e</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-east-fps</node>
-   </chunk>
-
-   <chunk>
-    <name>v_d</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/velocities/speed-down-fps</node>
-   </chunk>
-
-
-   <chunk>
-    <name>rate_roll</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/roll-rate-degps</node>
-   </chunk>
-
-   <chunk>
-    <name>rate_pitch</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/pitch-rate-degps</node>
-   </chunk>
-
-   <chunk>
-    <name>rate_yaw</name>
-    <type>float</type>
-    <format>%2.3f</format>
-    <node>/orientation/yaw-rate-degps</node>
-   </chunk>
-   
-   <chunk>
-     <name>airspeed-kt</name>
-     <type>float</type>
-     <format>%f</format>
-     <node>/velocities/airspeed-kt</node>
-   </chunk>
-   
-  </output>
-
-  <input>
-   <line_separator>newline</line_separator>
-   <var_separator>,</var_separator>
-
-   <!-- Controls -->
-   <chunk>
-    <name>magnetos</name>
-    <type>float</type>
-    <format>%f</format>
-    <node>/controls/engines/engine[0]/magnetos</node>
-   </chunk>
-   
-   <chunk>
-    <name>aileron</name>
-    <type>float</type>
-    <node>/controls/flight/aileron</node>
-   </chunk>
-
-   <chunk>
-    <name>elevator</name>
-    <type>float</type>
-    <node>/controls/flight/elevator</node>
-   </chunk>
-   
-   <chunk>
-     <name>rudder</name>
-     <type>float</type>
-     <node>/controls/flight/rudder</node>
-   </chunk>
-
-   <chunk>
-    <name>throttle</name>
-    <type>float</type>
-    <node>/controls/engines/engine/throttle</node>
-   </chunk>
-
- </input>
-
- </generic>
-
-</PropertyList>
\ No newline at end of file
diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index 36d66bb7c0b0f50ec94310961abe5aff3ad11c87..27a9d136805251676e8677682291e3763b76bbab 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -21,6 +21,9 @@ MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int sy
     roll(0.0),
     pitch(0.0),
     yaw(0.0),
+    rollspeed(0.0),
+    pitchspeed(0.0),
+    yawspeed(0.0),
     globalNavigation(true),
     firstWP(false),
     //    previousSPX(8.548056),
@@ -98,42 +101,50 @@ void MAVLinkSimulationMAV::mainloop()
 
         float zsign = (zm < 0) ? -1.0f : 1.0f;
 
-        if (!firstWP) {
-            //float trueyaw = atan2f(xm, ym);
+        if (!(sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL))
+        {
+            if (!firstWP) {
+                //float trueyaw = atan2f(xm, ym);
 
-            float newYaw = atan2f(ym, xm);
+                float newYaw = atan2f(ym, xm);
 
-            if (fabs(yaw - newYaw) < 90) {
-                yaw = yaw*0.7 + 0.3*newYaw;
-            } else {
-                yaw = newYaw;
-            }
+                if (fabs(yaw - newYaw) < 90) {
+                    yaw = yaw*0.7 + 0.3*newYaw;
+                } else {
+                    yaw = newYaw;
+                }
+
+                //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
 
-            //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
+                //if (sqrt(xm*xm+ym*ym) > 0.0000001)
+                if (flying) {
+                    x += cos(yaw)*radPer100ms;
+                    y += sin(yaw)*radPer100ms;
+                    z += altPer100ms*zsign;
+                }
 
-            //if (sqrt(xm*xm+ym*ym) > 0.0000001)
-            if (flying) {
-                x += cos(yaw)*radPer100ms;
-                y += sin(yaw)*radPer100ms;
-                z += altPer100ms*zsign;
+                //if (xm < 0.001) xm
+            } else {
+                x = nextSPX;
+                y = nextSPY;
+                z = nextSPZ;
+                firstWP = false;
+                qDebug() << "INIT STEP";
             }
+        }
+        else
+        {
+            // FIXME Implement heading and altitude controller
 
-            //if (xm < 0.001) xm
-        } else {
-            x = nextSPX;
-            y = nextSPY;
-            z = nextSPZ;
-            firstWP = false;
-            qDebug() << "INIT STEP";
         }
 
 
         // GLOBAL POSITION
         mavlink_message_t msg;
         mavlink_global_position_int_t pos;
-        pos.alt = z*1000.0;
-        pos.lat = x*1E7;
-        pos.lon = y*1E7;
+        pos.alt = altitude*1000.0;
+        pos.lat = longitude*1E7;
+        pos.lon = longitude*1E7;
         pos.vx = sin(yaw)*10.0f*100.0f;
         pos.vy = 0;
         pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f;
@@ -144,12 +155,12 @@ void MAVLinkSimulationMAV::mainloop()
         // ATTITUDE
         mavlink_attitude_t attitude;
         attitude.time_boot_ms = 0;
-        attitude.roll = 0.0f;
-        attitude.pitch = 0.0f;
+        attitude.roll = roll;
+        attitude.pitch = pitch;
         attitude.yaw = yaw;
-        attitude.rollspeed = 0.0f;
-        attitude.pitchspeed = 0.0f;
-        attitude.yawspeed = 0.0f;
+        attitude.rollspeed = rollspeed;
+        attitude.pitchspeed = pitchspeed;
+        attitude.yawspeed = yawspeed;
 
         mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude);
         link->sendMAVLinkMessage(&msg);
@@ -157,11 +168,11 @@ void MAVLinkSimulationMAV::mainloop()
         // SYSTEM STATUS
         mavlink_sys_status_t status;
         status.load = 300;
-//        status.mode = sys_mode;
-//        status.nav_mode = nav_mode;
+        //        status.mode = sys_mode;
+        //        status.nav_mode = nav_mode;
         status.errors_comm = 0;
         status.voltage_battery = 10500;
-//        status.status = sys_state;
+        //        status.status = sys_state;
         status.battery_remaining = 90;
         mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
         link->sendMAVLinkMessage(&msg);
@@ -171,7 +182,7 @@ void MAVLinkSimulationMAV::mainloop()
         mavlink_vfr_hud_t hud;
         hud.airspeed = pos.vx/100.0f;
         hud.groundspeed = pos.vx/100.0f;
-        hud.alt = z;
+        hud.alt = altitude;
         hud.heading = static_cast<int>((yaw/M_PI)*180.0f+180.0f) % 360;
         hud.climb = pos.vz/100.0f;
         hud.throttle = 90;
@@ -207,15 +218,28 @@ void MAVLinkSimulationMAV::mainloop()
         // The message container to be used for sending
         mavlink_message_t ret;
 
+        if (sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL)
+        {
+            mavlink_hil_controls_t hil;
+            hil.roll_ailerons = 0.0;
+            hil.pitch_elevator = 0.05;
+            hil.yaw_rudder = 0.05;
+            hil.throttle = 0.6;
+            // Encode the data (adding header and checksums, etc.)
+            mavlink_msg_hil_controls_encode(systemid, MAV_COMP_ID_IMU, &ret, &hil);
+            // And send it
+            link->sendMAVLinkMessage(&ret);
+        }
+
         // Send actual controller outputs
         // This message just shows the direction
         // and magnitude of the control output
-//        mavlink_position_controller_output_t pos;
-//        pos.x = sin(yaw)*127.0f;
-//        pos.y = cos(yaw)*127.0f;
-//        pos.z = 0;
-//        mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
-//        link->sendMAVLinkMessage(&ret);
+        //        mavlink_position_controller_output_t pos;
+        //        pos.x = sin(yaw)*127.0f;
+        //        pos.y = cos(yaw)*127.0f;
+        //        pos.z = 0;
+        //        mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
+        //        link->sendMAVLinkMessage(&ret);
 
         // Send a named value with name "FLOAT" and 0.5f as value
 
@@ -289,80 +313,80 @@ static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
 static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
 {
 #define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
-        switch (f->type) {
-        case MAVLINK_TYPE_CHAR:
-                qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
-                break;
-        case MAVLINK_TYPE_UINT8_T:
-                qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
-                break;
-        case MAVLINK_TYPE_INT8_T:
-                qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
-                break;
-        case MAVLINK_TYPE_UINT16_T:
-                qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
-                break;
-        case MAVLINK_TYPE_INT16_T:
-                qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
-                break;
-        case MAVLINK_TYPE_UINT32_T:
-                qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
-                break;
-        case MAVLINK_TYPE_INT32_T:
-                qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
-                break;
-        case MAVLINK_TYPE_UINT64_T:
-                qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
-                break;
-        case MAVLINK_TYPE_INT64_T:
-                qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
-                break;
-        case MAVLINK_TYPE_FLOAT:
-                qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
-                break;
-        case MAVLINK_TYPE_DOUBLE:
-                qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
-                break;
-        }
+    switch (f->type) {
+    case MAVLINK_TYPE_CHAR:
+        qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
+        break;
+    case MAVLINK_TYPE_UINT8_T:
+        qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
+        break;
+    case MAVLINK_TYPE_INT8_T:
+        qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
+        break;
+    case MAVLINK_TYPE_UINT16_T:
+        qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
+        break;
+    case MAVLINK_TYPE_INT16_T:
+        qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
+        break;
+    case MAVLINK_TYPE_UINT32_T:
+        qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
+        break;
+    case MAVLINK_TYPE_INT32_T:
+        qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
+        break;
+    case MAVLINK_TYPE_UINT64_T:
+        qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
+        break;
+    case MAVLINK_TYPE_INT64_T:
+        qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
+        break;
+    case MAVLINK_TYPE_FLOAT:
+        qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
+        break;
+    case MAVLINK_TYPE_DOUBLE:
+        qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
+        break;
+    }
 }
 
 static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f)
 {
-        qDebug("%s: ", f->name);
-        if (f->array_length == 0) {
-                print_one_field(msg, f, 0);
-                qDebug(" ");
-        } else {
-                unsigned i;
-                /* print an array */
-                if (f->type == MAVLINK_TYPE_CHAR) {
-                        qDebug("'%.*s'", f->array_length,
-                               f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
+    qDebug("%s: ", f->name);
+    if (f->array_length == 0) {
+        print_one_field(msg, f, 0);
+        qDebug(" ");
+    } else {
+        unsigned i;
+        /* print an array */
+        if (f->type == MAVLINK_TYPE_CHAR) {
+            qDebug("'%.*s'", f->array_length,
+                   f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
 
-                } else {
-                        qDebug("[ ");
-                        for (i=0; i<f->array_length; i++) {
-                                print_one_field(msg, f, i);
-                                if (i < f->array_length) {
-                                        qDebug(", ");
-                                }
-                        }
-                        qDebug("]");
+        } else {
+            qDebug("[ ");
+            for (i=0; i<f->array_length; i++) {
+                print_one_field(msg, f, i);
+                if (i < f->array_length) {
+                    qDebug(", ");
                 }
+            }
+            qDebug("]");
         }
-        qDebug(" ");
+    }
+    qDebug(" ");
 }
 
 static void print_message(const mavlink_message_t *msg)
 {
-        const mavlink_message_info_t *m = &message_info[msg->msgid];
-        const mavlink_field_info_t *f = m->fields;
-        unsigned i;
-        qDebug("%s { ", m->name);
-        for (i=0; i<m->num_fields; i++) {
-                print_field(msg, &f[i]);
-        }
-        qDebug("}\n");
+    const mavlink_message_info_t *m = &message_info[msg->msgid];
+    const mavlink_field_info_t *f = m->fields;
+    unsigned i;
+    qDebug("%s { ", m->name);
+    for (i=0; i<m->num_fields; i++) {
+        print_field(msg, &f[i]);
+    }
+    qDebug("}\n");
 }
 
 void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
@@ -382,31 +406,46 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
         if (systemid == mode.target_system) sys_mode = mode.base_mode;
     }
     break;
+    case MAVLINK_MSG_ID_HIL_STATE:
+    {
+        mavlink_hil_state_t state;
+        mavlink_msg_hil_state_decode(&msg, &state);
+        roll = state.roll;
+        pitch = state.pitch;
+        yaw = state.yaw;
+        rollspeed = state.rollspeed;
+        pitchspeed = state.pitchspeed;
+        yawspeed = state.yawspeed;
+        latitude = state.lat;
+        longitude = state.lon;
+        altitude = state.alt;
+    }
+    break;
     // FIXME MAVLINKV10PORTINGNEEDED
-//    case MAVLINK_MSG_ID_ACTION: {
-//        mavlink_action_t action;
-//        mavlink_msg_action_decode(&msg, &action);
-//        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
-//            mavlink_action_ack_t ack;
-//            ack.action = action.action;
-////            switch (action.action) {
-////            case MAV_ACTION_TAKEOFF:
-////                flying = true;
-////                nav_mode = MAV_NAV_LIFTOFF;
-////                ack.result = 1;
-////                break;
-////            default: {
-////                ack.result = 0;
-////            }
-////            break;
-////            }
-
-//            // Give feedback about action
-//            mavlink_message_t r_msg;
-//            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
-//            link->sendMAVLinkMessage(&r_msg);
-//        }
-//    }
+    //    case MAVLINK_MSG_ID_ACTION: {
+    //        mavlink_action_t action;
+    //        mavlink_msg_action_decode(&msg, &action);
+    //        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
+    //            mavlink_action_ack_t ack;
+    //            ack.action = action.action;
+    ////            switch (action.action) {
+    ////            case MAV_ACTION_TAKEOFF:
+    ////                flying = true;
+    ////                nav_mode = MAV_NAV_LIFTOFF;
+    ////                ack.result = 1;
+    ////                break;
+    ////            default: {
+    ////                ack.result = 0;
+    ////            }
+    ////            break;
+    ////            }
+
+    //            // Give feedback about action
+    //            mavlink_message_t r_msg;
+    //            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
+    //            link->sendMAVLinkMessage(&r_msg);
+    //        }
+    //    }
     break;
     case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT: {
         mavlink_set_local_position_setpoint_t sp;
diff --git a/src/comm/MAVLinkSimulationMAV.h b/src/comm/MAVLinkSimulationMAV.h
index 8417ea350846c0bffa95ca5d32b12a31c15fe2b2..3b7bea63e3fcb4ffa62e8d4d94f716aae8e57cff 100644
--- a/src/comm/MAVLinkSimulationMAV.h
+++ b/src/comm/MAVLinkSimulationMAV.h
@@ -36,6 +36,9 @@ protected:
     double roll;
     double pitch;
     double yaw;
+    double rollspeed;
+    double pitchspeed;
+    double yawspeed;
 
     bool globalNavigation;
     bool firstWP;
diff --git a/src/comm/QGCFlightGearLink.cc b/src/comm/QGCFlightGearLink.cc
index 098de173a5ae68055e3e56ec07bd351a34745e9d..be3d3774df8d68ffdf9c544bfe8982c0b86bf4e8 100644
--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -24,6 +24,7 @@ This file is part of the QGROUNDCONTROL project
 /**
  * @file
  *   @brief Definition of UDP connection (server) for unmanned vehicles
+ *   @see Flightgear Manual http://mapserver.flightgear.org/getstart.pdf
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
  */
@@ -38,7 +39,9 @@ This file is part of the QGROUNDCONTROL project
 #include <QHostInfo>
 #include "MainWindow.h"
 
-QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port)
+QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) :
+    process(NULL),
+    terraSync(NULL)
 {
     this->host = host;
     this->port = port+mav->getUASID();
@@ -139,13 +142,13 @@ void QGCFlightGearLink::updateControls(uint64_t time, float rollAilerons, float
 {
     // magnetos,aileron,elevator,rudder,throttle\n
 
-    float magnetos = 3.0f;
+    //float magnetos = 3.0f;
     Q_UNUSED(time);
     Q_UNUSED(systemMode);
     Q_UNUSED(navMode);
 
-    QString state("%1,%2,%3,%4,%5\n");
-    state = state.arg(magnetos).arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(throttle);
+    QString state("%1\t%2\t%3\t%4\t%5\n");
+    state = state.arg(rollAilerons).arg(pitchElevator).arg(yawRudder).arg(true).arg(throttle);
     writeBytes(state.toAscii().constData(), state.length());
     //qDebug() << "Updated controls" << state;
 }
@@ -199,29 +202,43 @@ void QGCFlightGearLink::readBytes()
     QString state(b);
     //qDebug() << "FG LINK GOT:" << state;
 
-    QStringList values = state.split(",");
+    QStringList values = state.split("\t");
+
+    // Check length
+    if (values.size() != 17)
+    {
+        qDebug() << "RETURN LENGTH MISMATCHING EXPECTED" << 17 << "BUT GOT" << values.size();
+        qDebug() << state;
+        return;
+    }
 
     // Parse string
+    double time;
     float roll, pitch, yaw, rollspeed, pitchspeed, yawspeed;
-    int32_t lat, lon, alt;
-    int16_t vx, vy, vz, xacc, yacc, zacc;
-
-    lat = values.at(0).toDouble();
-    lon = values.at(1).toDouble();
-    alt = values.at(2).toDouble();
-    roll = values.at(3).toDouble();
-    pitch = values.at(4).toDouble();
-    yaw = values.at(5).toDouble();
-    vx = values.at(6).toDouble();
-    vy = values.at(7).toDouble();
-    vz = values.at(8).toDouble();
-
-    // FIXME Accelerations missing
-    xacc = 0;
-    yacc = 0;
-    zacc = 1.0;
-
-
+    double lat, lon, alt;
+    double vx, vy, vz, xacc, yacc, zacc;
+    double airspeed;
+
+    time = values.at(0).toDouble();
+    lat = values.at(1).toDouble();
+    lon = values.at(2).toDouble();
+    alt = values.at(3).toDouble();
+    roll = values.at(4).toDouble();
+    pitch = values.at(5).toDouble();
+    yaw = values.at(6).toDouble();
+    rollspeed = values.at(7).toDouble();
+    pitchspeed = values.at(8).toDouble();
+    yawspeed = values.at(9).toDouble();
+
+    xacc = values.at(10).toDouble();
+    yacc = values.at(11).toDouble();
+    zacc = values.at(12).toDouble();
+
+    vx = values.at(13).toDouble();
+    vy = values.at(14).toDouble();
+    vz = values.at(15).toDouble();
+
+    airspeed = values.at(16).toDouble();
 
     // Send updated state
     emit hilStateChanged(QGC::groundTimeUsecs(), roll, pitch, yaw, rollspeed,
@@ -262,11 +279,24 @@ bool QGCFlightGearLink::disconnectSimulation()
     disconnect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
     disconnect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
 
-    process->close();
-    delete process;
-    process = NULL;
-    delete socket;
-    socket = NULL;
+    if (process)
+    {
+        process->close();
+        delete process;
+        process = NULL;
+    }
+    if (terraSync)
+    {
+        terraSync->close();
+        delete terraSync;
+        terraSync = NULL;
+    }
+    if (socket)
+    {
+        socket->close();
+        delete socket;
+        socket = NULL;
+    }
 
     connectState = false;
 
@@ -289,6 +319,7 @@ bool QGCFlightGearLink::connectSimulation()
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
     process = new QProcess(this);
+    terraSync = new QProcess(this);
 
     connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
     connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));
@@ -297,64 +328,148 @@ bool QGCFlightGearLink::connectSimulation()
     // Catch process error
     QObject::connect( process, SIGNAL(error(QProcess::ProcessError)),
                       this, SLOT(processError(QProcess::ProcessError)));
+    QObject::connect( terraSync, SIGNAL(error(QProcess::ProcessError)),
+                      this, SLOT(processError(QProcess::ProcessError)));
     // Start Flightgear
     QStringList processCall;
     QString processFgfs;
+    QString processTerraSync;
     QString fgRoot;
     QString fgScenery;
-    QString aircraft("Rascal110-JSBSim");
+    QString aircraft;
+
+    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        aircraft = "Rascal110-JSBSim";
+    }
+    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        aircraft = "arducopter";
+    }
+    else
+    {
+        aircraft = "Rascal110-JSBSim";
+    }
 
 #ifdef Q_OS_MACX
     processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
-    fgRoot = "--fg-root=/Applications/FlightGear.app/Contents/Resources/data";
-    fgScenery = "--fg-scenery=/Applications/FlightGear.app/Contents/Resources/data/Scenery";
+    processTerraSync = "/Applications/FlightGear.app/Contents/Resources/terrasync";
+    fgRoot = "/Applications/FlightGear.app/Contents/Resources/data";
+    //fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery";
+    fgScenery = "/Applications/FlightGear.app/Contents/Resources/data/Scenery-TerraSync";
+    //   /Applications/FlightGear.app/Contents/Resources/data/Scenery:
 #endif
 
 #ifdef Q_OS_WIN32
     processFgfs = "C:\\Program Files (x86)\\FlightGear\\bin\\Win32\\fgfs";
-    fgRoot = "--fg-root=C:\\Program Files (x86)\\FlightGear\\data";
+    fgRoot = "C:\\Program Files (x86)\\FlightGear\\data";
+    fgScenery = "C:\\Program Files (x86)\\FlightGear\\data\\Scenery-Terrasync";
 #endif
 
 #ifdef Q_OS_LINUX
     processFgfs = "fgfs";
-    fgRoot = "--fg-root=/usr/share/flightgear/data";
+    fgRoot = "/usr/share/flightgear/data";
+    fgScenery = "/usr/share/flightgear/data/Scenery-Terrasync";
 #endif
 
-    processCall << fgRoot;
-    processCall << fgScenery;
-    processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
-    processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+    // Sanity checks
+    bool sane = true;
+    QFileInfo executable(processFgfs);
+    if (!executable.isExecutable())
+    {
+        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear was not found at %1").arg(processFgfs));
+        sane = false;
+    }
+
+    QFileInfo root(fgRoot);
+    if (!root.isDir())
+    {
+        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear data directory was not found at %1").arg(fgRoot));
+        sane = false;
+    }
+
+    QFileInfo scenery(fgScenery);
+    if (!scenery.isDir())
+    {
+        MainWindow::instance()->showCriticalMessage(tr("FlightGear Failed to Start"), tr("FlightGear scenery directory was not found at %1").arg(fgScenery));
+        sane = false;
+    }
+
+    if (!sane) return false;
+
+    // --atlas=socket,out,1,localhost,5505,udp
+    // terrasync -p 5505 -S -d /usr/local/share/TerraSync
+
+    processCall << QString("--fg-root=%1").arg(fgRoot);
+    processCall << QString("--fg-scenery=%1").arg(fgScenery);
+    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        // FIXME ADD QUAD-Specific protocol here
+        processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
+        processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+    }
+    else
+    {
+        processCall << QString("--generic=socket,out,50,127.0.0.1,%1,udp,qgroundcontrol").arg(port);
+        processCall << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
+    }
+    processCall << "--atlas=socket,out,1,localhost,5505,udp";
     processCall << "--in-air";
+    processCall << "--roll=0";
+    processCall << "--pitch=0";
     processCall << "--vc=90";
     processCall << "--heading=300";
     processCall << "--timeofday=noon";
     processCall << "--disable-hud-3d";
+    processCall << "--disable-fullscreen";
+    processCall << "--geometry=400x300";
+    processCall << "--disable-anti-alias-hud";
+    processCall << "--wind=0@0";
+    processCall << "--turbulence=0.0";
+    processCall << "--prop:/sim/frame-rate-throttle-hz=30";
     processCall << "--control=mouse";
     processCall << "--disable-intro-music";
     processCall << "--disable-sound";
-    processCall << "--disable-anti-alias-hud";
-    processCall << "--disable-fullscreen";
     processCall << "--disable-random-objects";
     processCall << "--disable-ai-models";
-    processCall << "--wind=0@0";
+    processCall << "--shading-flat";
+    processCall << "--fog-disable";
+    processCall << "--disable-specular-highlight";
+    //processCall << "--disable-skyblend";
+    processCall << "--disable-random-objects";
+    processCall << "--disable-panel";
+    //processCall << "--disable-horizon-effect";
+    processCall << "--disable-clouds";
     processCall << "--fdm=jsb";
-    processCall << "--prop:/engines/engine[0]/running=true";
+    processCall << "--units-meters";
     if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
     {
-        // Start the remaining three motors of the quad
+        // Start all engines of the quad
+        processCall << "--prop:/engines/engine[0]/running=true";
         processCall << "--prop:/engines/engine[1]/running=true";
         processCall << "--prop:/engines/engine[2]/running=true";
         processCall << "--prop:/engines/engine[3]/running=true";
     }
+    else
+    {
+        processCall << "--prop:/engines/engine/running=true";
+    }
     processCall << QString("--lat=%1").arg(UASManager::instance()->getHomeLatitude());
     processCall << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
     processCall << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
     // Add new argument with this: processCall << "";
     processCall << QString("--aircraft=%2").arg(aircraft);
 
+
+    QStringList terraSyncArguments;
+    terraSyncArguments << "-p 5505";
+    terraSyncArguments << "-S";
+    terraSyncArguments << QString("-d=%1").arg(fgScenery);
+
+    terraSync->start(processTerraSync, terraSyncArguments);
     process->start(processFgfs, processCall);
 
-    qDebug() << "STARTING: " << processFgfs << processCall;
+
 
     emit flightGearConnected(connectState);
     if (connectState) {
@@ -363,6 +478,8 @@ bool QGCFlightGearLink::connectSimulation()
     }
     qDebug() << "STARTING SIM";
 
+        qDebug() << "STARTING: " << processFgfs << processCall;
+
     start(LowPriority);
     return connectState;
 }
diff --git a/src/comm/QGCFlightGearLink.h b/src/comm/QGCFlightGearLink.h
index 21def05cade459135c1382d1dac0e5f7dd264bc8..b2445deadd7745dc1ed471658eccbe9cc6aea62b 100644
--- a/src/comm/QGCFlightGearLink.h
+++ b/src/comm/QGCFlightGearLink.h
@@ -109,6 +109,7 @@ protected:
     QTimer refreshTimer;
     UASInterface* mav;
     QProcess* process;
+    QProcess* terraSync;
 
     void setName(QString name);
 
diff --git a/src/configuration.h b/src/configuration.h
index 7cb390cb0683f095dd1091bfd9846e869894d2a7..cbcbf80829a6cbc727602406c808c29618bbb054 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 RC17)"
+#define QGC_APPLICATION_VERSION "v. 1.0.0 (Alpha RC18)"
 
 namespace QGC
 
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index f4f393e6077eadfec13914c775dd5c5dfe01504f..c5c8417e3182cb4434265525a73c3618e6eb77b5 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -337,10 +337,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_sys_status_decode(&message, &state);
 
                 emit loadChanged(this,state.load/10.0f);
-                // FIXME REMOVE LATER emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime());
+
+
 
                 currentVoltage = state.voltage_battery/1000.0f;
                 lpVoltage = filterVoltage(currentVoltage);
+
                 if (startVoltage == 0) startVoltage = currentVoltage;
                 timeRemaining = calculateTimeRemaining();
                 if (!batteryRemainingEstimateEnabled && chargeLevel != -1)
@@ -1194,18 +1196,11 @@ QList<int> UAS::getComponentIds()
 
 void UAS::setMode(int mode)
 {
-    if (mode >= (int)MAV_MODE_PREFLIGHT && mode < (int)MAV_MODE_ENUM_END)
-    {
-        //this->mode = mode; //no call assignament, update receive message from UAS
-        mavlink_message_t msg;
-        mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode, (uint16_t)navMode);
-        sendMessage(msg);
-        qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
-    }
-    else
-    {
-        qDebug() << "uas Mode not assign: " << mode;
-    }
+    //this->mode = mode; //no call assignament, update receive message from UAS
+    mavlink_message_t msg;
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode, (uint16_t)navMode);
+    sendMessage(msg);
+    qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
 }
 
 void UAS::sendMessage(mavlink_message_t message)
@@ -1923,7 +1918,8 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
     manualYawAngle = yaw * yawScaling;
     manualThrust = thrust * thrustScaling;
 
-    if(mode == (int)MAV_MODE_MANUAL_ARMED)
+    // If system has manual inputs enabled and is armed
+    if((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY))
     {
         mavlink_message_t message;
         mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
@@ -2083,7 +2079,7 @@ void UAS::startHil()
     // Connect Flight Gear Link
     simulation->connectSimulation();
     mavlink_message_t msg;
-    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode | MAV_MODE_FLAG_HIL_ENABLED);
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode | MAV_MODE_FLAG_HIL_ENABLED, navMode);
     sendMessage(msg);
 }
 
@@ -2091,7 +2087,7 @@ void UAS::stopHil()
 {
     simulation->disconnectSimulation();
     mavlink_message_t msg;
-    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode & !MAV_MODE_FLAG_HIL_ENABLED);
+    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & !MAV_MODE_FLAG_HIL_ENABLED, navMode);
     sendMessage(msg);
 }
 
@@ -2153,44 +2149,50 @@ const QString& UAS::getShortState() const
 QString UAS::getShortModeTextFor(int id)
 {
     QString mode;
+    uint8_t modeid = id;
 
-    switch (id) {
-    case (uint8_t)MAV_MODE_PREFLIGHT:
+    qDebug() << "MODE:" << modeid;
+
+    // BASE MODE DECODING
+    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_AUTO)
+    {
+        mode = "AUTO";
+    }
+    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
+    {
+        mode = "GUIDED";
+    }
+    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
+    {
+        mode = "STABILIZED";
+    }
+    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_TEST)
+    {
+        mode = "TEST";
+    }
+    else if (modeid & MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
+    {
+        mode = "MANUAL";
+    }
+    else
+    {
         mode = "PREFLIGHT";
-        break;
-    case (uint8_t)MAV_MODE_MANUAL_ARMED:
-        mode = "A|MANUAL";
-        break;
-    case (uint8_t)MAV_MODE_MANUAL_DISARMED:
-        mode = "D|MANUAL";
-        break;
-    case (uint8_t)MAV_MODE_AUTO_ARMED:
-        mode = "A|AUTO";
-        break;
-    case (uint8_t)MAV_MODE_AUTO_DISARMED:
-        mode = "D|AUTO";
-        break;
-    case (uint8_t)MAV_MODE_GUIDED_ARMED:
-        mode = "A|GUIDED";
-        break;
-    case (uint8_t)MAV_MODE_GUIDED_DISARMED:
-        mode = "D|GUIDED";
-        break;
-    case (uint8_t)MAV_MODE_STABILIZE_ARMED:
-        mode = "A|STABILIZED";
-        break;
-    case (uint8_t)MAV_MODE_STABILIZE_DISARMED:
-        mode = "D|STABILIZED";
-        break;
-    case (uint8_t)MAV_MODE_TEST_ARMED:
-        mode = "A|TEST";
-        break;
-    case (uint8_t)MAV_MODE_TEST_DISARMED:
-        mode = "D|TEST";
-        break;
-    default:
-        mode = "UNKNOWN";
-        break;
+    }
+
+    // ARMED STATE DECODING
+    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
+    {
+        mode.prepend("A|");
+    }
+    else
+    {
+        mode.prepend("D|");
+    }
+
+    // HARDWARE IN THE LOOP DECODING
+    if (modeid & MAV_MODE_FLAG_DECODE_POSITION_HIL)
+    {
+        mode.prepend("HIL:");
     }
 
     return mode;
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 6501d2d71191402aafa0c959ae5464682b82e7e5..2e684ed2b4ed1777682645b540c3880d19586247 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -165,7 +165,7 @@ protected: //COMMENTS FOR TEST UNIT
     bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
     float chargeLevel;          ///< Charge level of battery, in percent
     int timeRemaining;          ///< Remaining time calculated based on previous and current
-    int mode;                   ///< The current mode of the MAV
+    uint8_t mode;                   ///< The current mode of the MAV
     int status;                 ///< The current status of the MAV
     uint32_t navMode;                ///< The current navigation mode of the MAV
     quint64 onboardTimeOffset;
diff --git a/thirdParty/mavlink/include/common/common.h b/thirdParty/mavlink/include/common/common.h
index 67c8d98db494303b4ce906d855ca60fa9a85d0c6..1b92140f2749f63e82f95e204b46d08990d06868 100644
--- a/thirdParty/mavlink/include/common/common.h
+++ b/thirdParty/mavlink/include/common/common.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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {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, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {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"
@@ -89,6 +89,16 @@ enum MAV_MODE_FLAG_DECODE_POSITION
 	MAV_MODE_FLAG_DECODE_POSITION_ENUM_END=2, /*  | */
 };
 
+/** @brief Override command, pauses current mission execution and moves immediately to a position */
+enum MAV_GOTO
+{
+	MAV_GOTO_DO_HOLD=0, /* Hold at the current position. | */
+	MAV_GOTO_DO_CONTINUE=0, /* Continue with the mission execution. | */
+	MAV_GOTO_HOLD_AT_CURRENT_POSITION=0, /* Hold at the current position of the system | */
+	MAV_GOTO_HOLD_AT_SPECIFIED_POSITION=0, /* Hold at the position specified in the parameters of the DO_HOLD action | */
+	MAV_GOTO_ENUM_END=1, /*  | */
+};
+
 /** @brief These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
                simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. */
 enum MAV_MODE
@@ -147,6 +157,7 @@ enum MAV_TYPE
 /** @brief  */
 enum MAV_COMPONENT
 {
+	MAV_COMP_ID_ALL=0, /*  | */
 	MAV_COMP_ID_GPS=220, /*  | */
 	MAV_COMP_ID_MISSIONPLANNER=190, /*  | */
 	MAV_COMP_ID_PATHPLANNER=195, /*  | */
@@ -237,7 +248,9 @@ enum MAV_CMD
 	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
 	MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|  */
-	MAV_CMD_ENUM_END=246, /*  | */
+	MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|  */
+	MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position|  */
+	MAV_CMD_ENUM_END=253, /*  | */
 };
 
 /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a
@@ -348,6 +361,10 @@ enum MAV_CMD_ACK
 #include "./mavlink_msg_hil_controls.h"
 #include "./mavlink_msg_hil_rc_inputs_raw.h"
 #include "./mavlink_msg_optical_flow.h"
+#include "./mavlink_msg_global_vision_position_estimate.h"
+#include "./mavlink_msg_vision_position_estimate.h"
+#include "./mavlink_msg_vision_speed_estimate.h"
+#include "./mavlink_msg_vicon_position_estimate.h"
 #include "./mavlink_msg_memory_vect.h"
 #include "./mavlink_msg_debug_vect.h"
 #include "./mavlink_msg_named_value_float.h"
diff --git a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h b/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h
index 118717f0a04f5671dacc4f94303dde7f8139b0d6..546beec121bda2c0020045c43911343bca2b910a 100644
--- a/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h
+++ b/thirdParty/mavlink/include/common/mavlink_msg_command_ack.h
@@ -4,20 +4,20 @@
 
 typedef struct __mavlink_command_ack_t
 {
- float command; ///< Current airspeed in m/s
- float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
+ uint8_t result; ///< 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
 } mavlink_command_ack_t;
 
-#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 8
-#define MAVLINK_MSG_ID_77_LEN 8
+#define MAVLINK_MSG_ID_COMMAND_ACK_LEN 3
+#define MAVLINK_MSG_ID_77_LEN 3
 
 
 
 #define MAVLINK_MESSAGE_INFO_COMMAND_ACK { \
 	"COMMAND_ACK", \
 	2, \
-	{  { "command", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
-         { "result", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_ack_t, result) }, \
+	{  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_command_ack_t, command) }, \
+         { "result", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_command_ack_t, result) }, \
          } \
 }
 
@@ -28,29 +28,29 @@ typedef struct __mavlink_command_ack_t
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-						       float command, float result)
+						       uint16_t command, uint8_t result)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
+	char buf[3];
+	_mav_put_uint16_t(buf, 0, command);
+	_mav_put_uint8_t(buf, 2, result);
 
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
 #else
 	mavlink_command_ack_t packet;
 	packet.command = command;
 	packet.result = result;
 
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-	return mavlink_finalize_message(msg, system_id, component_id, 8, 8);
+	return mavlink_finalize_message(msg, system_id, component_id, 3, 143);
 }
 
 /**
@@ -59,30 +59,30 @@ static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t c
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message was sent over
  * @param msg The MAVLink message to compress the data into
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 							   mavlink_message_t* msg,
-						           float command,float result)
+						           uint16_t command,uint8_t result)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
+	char buf[3];
+	_mav_put_uint16_t(buf, 0, command);
+	_mav_put_uint8_t(buf, 2, result);
 
-        memcpy(_MAV_PAYLOAD(msg), buf, 8);
+        memcpy(_MAV_PAYLOAD(msg), buf, 3);
 #else
 	mavlink_command_ack_t packet;
 	packet.command = command;
 	packet.result = result;
 
-        memcpy(_MAV_PAYLOAD(msg), &packet, 8);
+        memcpy(_MAV_PAYLOAD(msg), &packet, 3);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
-	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 8, 8);
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 3, 143);
 }
 
 /**
@@ -102,25 +102,25 @@ static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t
  * @brief Send a command_ack message
  * @param chan MAVLink channel to send the message
  *
- * @param command Current airspeed in m/s
- * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @param command Command ID, as defined by MAV_CMD enum.
+ * @param result 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
+static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t result)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-	char buf[8];
-	_mav_put_float(buf, 0, command);
-	_mav_put_float(buf, 4, result);
+	char buf[3];
+	_mav_put_uint16_t(buf, 0, command);
+	_mav_put_uint8_t(buf, 2, result);
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 8, 8);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, buf, 3, 143);
 #else
 	mavlink_command_ack_t packet;
 	packet.command = command;
 	packet.result = result;
 
-	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 8, 8);
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_ACK, (const char *)&packet, 3, 143);
 #endif
 }
 
@@ -132,21 +132,21 @@ static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float co
 /**
  * @brief Get field command from command_ack message
  *
- * @return Current airspeed in m/s
+ * @return Command ID, as defined by MAV_CMD enum.
  */
-static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
+static inline uint16_t mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  0);
+	return _MAV_RETURN_uint16_t(msg,  0);
 }
 
 /**
  * @brief Get field result from command_ack message
  *
- * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
+ * @return 1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed
  */
-static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
+static inline uint8_t mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
 {
-	return _MAV_RETURN_float(msg,  4);
+	return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -161,6 +161,6 @@ static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg,
 	command_ack->command = mavlink_msg_command_ack_get_command(msg);
 	command_ack->result = mavlink_msg_command_ack_get_result(msg);
 #else
-	memcpy(command_ack, _MAV_PAYLOAD(msg), 8);
+	memcpy(command_ack, _MAV_PAYLOAD(msg), 3);
 #endif
 }
diff --git a/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h
new file mode 100644
index 0000000000000000000000000000000000000000..06c6357b1ffb90984d5c79b7262ad90b90e02eae
--- /dev/null
+++ b/thirdParty/mavlink/include/common/mavlink_msg_global_vision_position_estimate.h
@@ -0,0 +1,276 @@
+// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
+
+#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
+
+typedef struct __mavlink_global_vision_position_estimate_t
+{
+ uint64_t usec; ///< Timestamp (milliseconds)
+ float x; ///< Global X position
+ float y; ///< Global Y position
+ float z; ///< Global Z position
+ float roll; ///< Roll angle in rad
+ float pitch; ///< Pitch angle in rad
+ float yaw; ///< Yaw angle in rad
+} mavlink_global_vision_position_estimate_t;
+
+#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
+#define MAVLINK_MSG_ID_101_LEN 32
+
+
+
+#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
+	"GLOBAL_VISION_POSITION_ESTIMATE", \
+	7, \
+	{  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
+         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
+         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
+         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a global_vision_position_estimate message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_float(buf, 20, roll);
+	_mav_put_float(buf, 24, pitch);
+	_mav_put_float(buf, 28, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_global_vision_position_estimate_t packet;
+	packet.usec = usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
+	return mavlink_finalize_message(msg, system_id, component_id, 32, 102);
+}
+
+/**
+ * @brief Pack a global_vision_position_estimate message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_float(buf, 20, roll);
+	_mav_put_float(buf, 24, pitch);
+	_mav_put_float(buf, 28, yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 32);
+#else
+	mavlink_global_vision_position_estimate_t packet;
+	packet.usec = usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 32);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 102);
+}
+
+/**
+ * @brief Encode a global_vision_position_estimate 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 global_vision_position_estimate C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
+{
+	return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
+}
+
+/**
+ * @brief Send a global_vision_position_estimate message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (milliseconds)
+ * @param x Global X position
+ * @param y Global Y position
+ * @param z Global Z position
+ * @param roll Roll angle in rad
+ * @param pitch Pitch angle in rad
+ * @param yaw Yaw angle in rad
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[32];
+	_mav_put_uint64_t(buf, 0, usec);
+	_mav_put_float(buf, 8, x);
+	_mav_put_float(buf, 12, y);
+	_mav_put_float(buf, 16, z);
+	_mav_put_float(buf, 20, roll);
+	_mav_put_float(buf, 24, pitch);
+	_mav_put_float(buf, 28, yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, 32, 102);
+#else
+	mavlink_global_vision_position_estimate_t packet;
+	packet.usec = usec;
+	packet.x = x;
+	packet.y = y;
+	packet.z = z;
+	packet.roll = roll;
+	packet.pitch = pitch;
+	packet.yaw = yaw;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, 32, 102);
+#endif
+}
+
+#endif
+
+// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
+
+
+/**
+ * @brief Get field usec from global_vision_position_estimate message
+ *
+ * @return Timestamp (milliseconds)
+ */
+static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_uint64_t(msg,  0);
+}
+
+/**
+ * @brief Get field x from global_vision_position_estimate message
+ *
+ * @return Global X position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field y from global_vision_position_estimate message
+ *
+ * @return Global Y position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field z from global_vision_position_estimate message
+ *
+ * @return Global Z position
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field roll from global_vision_position_estimate message
+ *
+ * @return Roll angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field pitch from global_vision_position_estimate message
+ *
+ * @return Pitch angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Get field yaw from global_vision_position_estimate message
+ *
+ * @return Yaw angle in rad
+ */
+static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  28);
+}
+
+/**
+ * @brief Decode a global_vision_position_estimate message into a struct
+ *
+ * @param msg The message to decode
+ * @param global_vision_position_estimate C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
+	global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
+	global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
+	global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
+	global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
+	global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
+	global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
+#else
+	memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), 32);
+#endif
+}
diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h
similarity index 99%
rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h
rename to thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h
index 40da2274d84ab422444c051b077db9c7c6bc3f03..93db6edef98dcd022c47c9213c94b2f78b69397a 100644
--- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vicon_position_estimate.h
+++ b/thirdParty/mavlink/include/common/mavlink_msg_vicon_position_estimate.h
@@ -1,6 +1,6 @@
 // MESSAGE VICON_POSITION_ESTIMATE PACKING
 
-#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 157
+#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104
 
 typedef struct __mavlink_vicon_position_estimate_t
 {
@@ -14,7 +14,7 @@ typedef struct __mavlink_vicon_position_estimate_t
 } mavlink_vicon_position_estimate_t;
 
 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_157_LEN 32
+#define MAVLINK_MSG_ID_104_LEN 32
 
 
 
diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h
similarity index 99%
rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h
rename to thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h
index df39cbbfb125653d0e8f340a4903a9d3851f22a1..c99fc99ab10090d5d753de3ad43cb7b7c9c01ee6 100644
--- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_position_estimate.h
+++ b/thirdParty/mavlink/include/common/mavlink_msg_vision_position_estimate.h
@@ -1,6 +1,6 @@
 // MESSAGE VISION_POSITION_ESTIMATE PACKING
 
-#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 156
+#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102
 
 typedef struct __mavlink_vision_position_estimate_t
 {
@@ -14,7 +14,7 @@ typedef struct __mavlink_vision_position_estimate_t
 } mavlink_vision_position_estimate_t;
 
 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
-#define MAVLINK_MSG_ID_156_LEN 32
+#define MAVLINK_MSG_ID_102_LEN 32
 
 
 
diff --git a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h b/thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h
similarity index 98%
rename from thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h
rename to thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h
index 500947d6f43fcac9c940995f9e58b66a59e4e264..71d250c38957a68acf4d6f34929c06b0b855147b 100644
--- a/thirdParty/mavlink/include/pixhawk/mavlink_msg_vision_speed_estimate.h
+++ b/thirdParty/mavlink/include/common/mavlink_msg_vision_speed_estimate.h
@@ -1,6 +1,6 @@
 // MESSAGE VISION_SPEED_ESTIMATE PACKING
 
-#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 158
+#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103
 
 typedef struct __mavlink_vision_speed_estimate_t
 {
@@ -11,7 +11,7 @@ typedef struct __mavlink_vision_speed_estimate_t
 } mavlink_vision_speed_estimate_t;
 
 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
-#define MAVLINK_MSG_ID_158_LEN 20
+#define MAVLINK_MSG_ID_103_LEN 20
 
 
 
diff --git a/thirdParty/mavlink/include/common/testsuite.h b/thirdParty/mavlink/include/common/testsuite.h
index 1cbb6e93dbcdeff72bd26a4c946d4d24b7e65212..3dbd02674499fc190658997118d0d32f366cb670 100644
--- a/thirdParty/mavlink/include/common/testsuite.h
+++ b/thirdParty/mavlink/include/common/testsuite.h
@@ -2941,8 +2941,8 @@ static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, ma
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
 	mavlink_command_ack_t packet_in = {
-		17.0,
-	45.0,
+		17235,
+	139,
 	};
 	mavlink_command_ack_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
@@ -3238,6 +3238,220 @@ static void mavlink_test_optical_flow(uint8_t system_id, uint8_t component_id, m
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_global_vision_position_estimate_t packet_in = {
+		93372036854775807ULL,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	213.0,
+	};
+	mavlink_global_vision_position_estimate_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.usec = packet_in.usec;
+        	packet1.x = packet_in.x;
+        	packet1.y = packet_in.y;
+        	packet1.z = packet_in.z;
+        	packet1.roll = packet_in.roll;
+        	packet1.pitch = packet_in.pitch;
+        	packet1.yaw = packet_in.yaw;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_global_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_vision_position_estimate_t packet_in = {
+		93372036854775807ULL,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	213.0,
+	};
+	mavlink_vision_position_estimate_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.usec = packet_in.usec;
+        	packet1.x = packet_in.x;
+        	packet1.y = packet_in.y;
+        	packet1.z = packet_in.z;
+        	packet1.roll = packet_in.roll;
+        	packet1.pitch = packet_in.pitch;
+        	packet1.yaw = packet_in.yaw;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_vision_speed_estimate_t packet_in = {
+		93372036854775807ULL,
+	73.0,
+	101.0,
+	129.0,
+	};
+	mavlink_vision_speed_estimate_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.usec = packet_in.usec;
+        	packet1.x = packet_in.x;
+        	packet1.y = packet_in.y;
+        	packet1.z = packet_in.z;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
+	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
+	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
+	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+	mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+	mavlink_vicon_position_estimate_t packet_in = {
+		93372036854775807ULL,
+	73.0,
+	101.0,
+	129.0,
+	157.0,
+	185.0,
+	213.0,
+	};
+	mavlink_vicon_position_estimate_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        	packet1.usec = packet_in.usec;
+        	packet1.x = packet_in.x;
+        	packet1.y = packet_in.y;
+        	packet1.z = packet_in.z;
+        	packet1.roll = packet_in.roll;
+        	packet1.pitch = packet_in.pitch;
+        	packet1.yaw = packet_in.yaw;
+        
+        
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1);
+	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+	mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
+	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -3633,6 +3847,10 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
 	mavlink_test_hil_controls(system_id, component_id, last_msg);
 	mavlink_test_hil_rc_inputs_raw(system_id, component_id, last_msg);
 	mavlink_test_optical_flow(system_id, component_id, last_msg);
+	mavlink_test_global_vision_position_estimate(system_id, component_id, last_msg);
+	mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
+	mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
+	mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
 	mavlink_test_memory_vect(system_id, component_id, last_msg);
 	mavlink_test_debug_vect(system_id, component_id, last_msg);
 	mavlink_test_named_value_float(system_id, component_id, last_msg);
diff --git a/thirdParty/mavlink/include/common/version.h b/thirdParty/mavlink/include/common/version.h
index 313058f36c02f7d5d893ba60e7f7a54b7d1218a9..03384bb9bacc2511a0dbf17ae979ab734c3c3edc 100644
--- a/thirdParty/mavlink/include/common/version.h
+++ b/thirdParty/mavlink/include/common/version.h
@@ -5,8 +5,8 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sun Sep 18 11:48:20 2011"
+#define MAVLINK_BUILD_DATE "Mon Oct 10 15:56:56 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
-#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
+#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
 #endif // MAVLINK_VERSION_H
diff --git a/thirdParty/mavlink/include/pixhawk/pixhawk.h b/thirdParty/mavlink/include/pixhawk/pixhawk.h
index 3d8a985170ac3ec90ec19fd653595a63ab68b9d5..398ff0c58a2ace541e1a531c4f3da9789845c74a 100644
--- a/thirdParty/mavlink/include/pixhawk/pixhawk.h
+++ b/thirdParty/mavlink/include/pixhawk/pixhawk.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, 0, 11, 52, 1, 92, 0, 32, 32, 20, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 8, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 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, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 18, 32, 32, 20, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 52, 1, 92, 0, 0, 0, 0, 20, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 26, 16, 0, 0, 0, 0, 0, 0, 0, 4, 255, 12, 6, 0, 0, 0, 0, 0, 0, 106, 43, 55, 8, 255, 53, 0, 0, 0, 0, 21, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 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, 0, 108, 86, 95, 224, 0, 158, 56, 208, 11, 244, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 148, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 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, 143, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 19, 102, 158, 208, 56, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108, 86, 95, 224, 0, 0, 0, 0, 11, 244, 0, 0, 0, 0, 0, 0, 0, 0, 0, 28, 249, 182, 0, 0, 0, 0, 0, 0, 0, 153, 16, 29, 162, 0, 0, 0, 0, 0, 0, 90, 95, 36, 148, 223, 88, 0, 0, 0, 0, 254, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 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}, {NULL}, MAVLINK_MESSAGE_INFO_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {NULL}, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT_SET, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_OFFSET_SET, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {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, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {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_SET_CAM_SHUTTER, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED, MAVLINK_MESSAGE_INFO_IMAGE_TRIGGER_CONTROL, MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT_SET, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_OFFSET_SET, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_POSITION_CONTROL_SETPOINT, MAVLINK_MESSAGE_INFO_MARKER, MAVLINK_MESSAGE_INFO_RAW_AUX, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_WATCHDOG_HEARTBEAT, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_INFO, MAVLINK_MESSAGE_INFO_WATCHDOG_PROCESS_STATUS, MAVLINK_MESSAGE_INFO_WATCHDOG_COMMAND, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_PATTERN_DETECTED, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST, MAVLINK_MESSAGE_INFO_POINT_OF_INTEREST_CONNECTION, MAVLINK_MESSAGE_INFO_DATA_TRANSMISSION_HANDSHAKE, MAVLINK_MESSAGE_INFO_ENCAPSULATED_DATA, MAVLINK_MESSAGE_INFO_BRIEF_FEATURE, {NULL}, {NULL}, {NULL}, {NULL}, MAVLINK_MESSAGE_INFO_ATTITUDE_CONTROL, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {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"
@@ -57,9 +57,6 @@ enum DATA_TYPES
 #include "./mavlink_msg_image_triggered.h"
 #include "./mavlink_msg_image_trigger_control.h"
 #include "./mavlink_msg_image_available.h"
-#include "./mavlink_msg_vision_position_estimate.h"
-#include "./mavlink_msg_vicon_position_estimate.h"
-#include "./mavlink_msg_vision_speed_estimate.h"
 #include "./mavlink_msg_position_control_setpoint_set.h"
 #include "./mavlink_msg_position_control_offset_set.h"
 #include "./mavlink_msg_position_control_setpoint.h"
diff --git a/thirdParty/mavlink/include/pixhawk/testsuite.h b/thirdParty/mavlink/include/pixhawk/testsuite.h
index d24f7d6f3ad04ead474d7642f0dccac055883c2b..ef2f0273b74e27a6320f4f889de95f5ce4a21aeb 100644
--- a/thirdParty/mavlink/include/pixhawk/testsuite.h
+++ b/thirdParty/mavlink/include/pixhawk/testsuite.h
@@ -272,165 +272,6 @@ static void mavlink_test_image_available(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
-static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_vision_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
-	185.0,
-	213.0,
-	};
-	mavlink_vision_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_vicon_position_estimate_t packet_in = {
-		93372036854775807ULL,
-	73.0,
-	101.0,
-	129.0,
-	157.0,
-	185.0,
-	213.0,
-	};
-	mavlink_vicon_position_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        	packet1.roll = packet_in.roll;
-        	packet1.pitch = packet_in.pitch;
-        	packet1.yaw = packet_in.yaw;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
-	mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
-static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
-{
-	mavlink_message_t msg;
-        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-        uint16_t i;
-	mavlink_vision_speed_estimate_t packet_in = {
-		93372036854775807ULL,
-	73.0,
-	101.0,
-	129.0,
-	};
-	mavlink_vision_speed_estimate_t packet1, packet2;
-        memset(&packet1, 0, sizeof(packet1));
-        	packet1.usec = packet_in.usec;
-        	packet1.x = packet_in.x;
-        	packet1.y = packet_in.y;
-        	packet1.z = packet_in.z;
-        
-        
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1);
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-
-        memset(&packet2, 0, sizeof(packet2));
-        mavlink_msg_to_send_buffer(buffer, &msg);
-        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
-        	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
-        }
-	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-        
-        memset(&packet2, 0, sizeof(packet2));
-	mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
-	mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
-        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
-}
-
 static void mavlink_test_position_control_setpoint_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 	mavlink_message_t msg;
@@ -1285,9 +1126,6 @@ static void mavlink_test_pixhawk(uint8_t system_id, uint8_t component_id, mavlin
 	mavlink_test_image_triggered(system_id, component_id, last_msg);
 	mavlink_test_image_trigger_control(system_id, component_id, last_msg);
 	mavlink_test_image_available(system_id, component_id, last_msg);
-	mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
-	mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
-	mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
 	mavlink_test_position_control_setpoint_set(system_id, component_id, last_msg);
 	mavlink_test_position_control_offset_set(system_id, component_id, last_msg);
 	mavlink_test_position_control_setpoint(system_id, component_id, last_msg);
diff --git a/thirdParty/mavlink/include/pixhawk/version.h b/thirdParty/mavlink/include/pixhawk/version.h
index 895c6625d2bf3537685c1495846be1c191f6fac8..f4020e4f47a51a879ed99d7c23fd2b33cbf96488 100644
--- a/thirdParty/mavlink/include/pixhawk/version.h
+++ b/thirdParty/mavlink/include/pixhawk/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Sun Sep 18 11:47:55 2011"
+#define MAVLINK_BUILD_DATE "Mon Oct 10 15:56:56 2011"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
diff --git a/thirdParty/mavlink/message_definitions/common.xml b/thirdParty/mavlink/message_definitions/common.xml
index 2fb352b8d29b4af50f32b8bd755e7de4590dc8cd..5f6ec39da239c40dfbae110fde4a6ed92f42e932 100644
--- a/thirdParty/mavlink/message_definitions/common.xml
+++ b/thirdParty/mavlink/message_definitions/common.xml
@@ -97,7 +97,21 @@
           			<description>Eighth bit: 00000001</description>
           		</entry>
           </enum>
-          
+          <enum name="MAV_GOTO">
+               <description>Override command, pauses current mission execution and moves immediately to a position</description>
+               <entry value="0" name="MAV_GOTO_DO_HOLD">
+                    <description>Hold at the current position.</description>
+               </entry>
+               <entry value="0" name="MAV_GOTO_DO_CONTINUE">
+                    <description>Continue with the mission execution.</description>
+               </entry>
+               <entry value="0" name="MAV_GOTO_HOLD_AT_CURRENT_POSITION">
+                    <description>Hold at the current position of the system</description>
+               </entry>
+               <entry value="0" name="MAV_GOTO_HOLD_AT_SPECIFIED_POSITION">
+                    <description>Hold at the position specified in the parameters of the DO_HOLD action</description>
+               </entry>
+          </enum>
           <enum name="MAV_MODE">
                <description>These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
                simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.</description>
@@ -215,6 +229,9 @@
                </entry>
           </enum>
           <enum name="MAV_COMPONENT">
+               <entry value="0" name="MAV_COMP_ID_ALL">
+                    <description/>
+               </entry>
                <entry value="220" name="MAV_COMP_ID_GPS">
                     <description/>
                </entry>
@@ -627,6 +644,26 @@
                     <param index="6">Empty</param>
                     <param index="7">Empty</param>
                </entry>
+               <entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN">
+                    <description>Request the reboot or shutdown of system components.</description>
+                    <param index="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.</param>
+                    <param index="2">0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.</param>
+                    <param index="3">Reserved</param>
+                    <param index="4">Reserved</param>
+                    <param index="5">Empty</param>
+                    <param index="6">Empty</param>
+                    <param index="7">Empty</param>
+               </entry>
+               <entry value="252" name="MAV_CMD_OVERRIDE_GOTO">
+                    <description>Hold / continue the current action</description>
+                    <param index="1">MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with mission plan</param>
+                    <param index="2">MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position</param>
+                    <param index="3">MAV_FRAME coordinate frame of hold point</param>
+                    <param index="4">Desired yaw angle in degrees</param>
+                    <param index="5">Latitude / X position</param>
+                    <param index="6">Longitude / Y position</param>
+                    <param index="7">Altitude / Z position</param>
+               </entry>
           </enum>
           <enum name="MAV_DATA_STREAM">
                <description>Data stream IDs. A data stream is not a fixed set of messages, but rather a
@@ -1214,8 +1251,8 @@
           </message>
           <message id="77" name="COMMAND_ACK">
                <description>Report status of a command. Includes feedback wether the command was executed</description>
-               <field type="float" name="command">Current airspeed in m/s</field>
-               <field type="float" name="result">1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION</field>
+               <field type="uint16_t" name="command">Command ID, as defined by MAV_CMD enum.</field>
+               <field type="uint8_t" name="result">1: Command ACCEPTED and EXECUTED, 1: Command TEMPORARY REJECTED/DENIED, 2: Command PERMANENTLY DENIED, 3: Command UNKNOWN/UNSUPPORTED, 4: Command executed, but failed</field>
           </message>
           
           <!--
@@ -1315,6 +1352,39 @@
                <field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
                <field type="float" name="ground_distance">Ground distance in meters</field>
           </message>
+          <message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
+               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+               <field type="float" name="x">Global X position</field>
+               <field type="float" name="y">Global Y position</field>
+               <field type="float" name="z">Global Z position</field>
+               <field type="float" name="roll">Roll angle in rad</field>
+               <field type="float" name="pitch">Pitch angle in rad</field>
+               <field type="float" name="yaw">Yaw angle in rad</field>
+          </message>
+          <message id="102" name="VISION_POSITION_ESTIMATE">
+               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+               <field type="float" name="x">Global X position</field>
+               <field type="float" name="y">Global Y position</field>
+               <field type="float" name="z">Global Z position</field>
+               <field type="float" name="roll">Roll angle in rad</field>
+               <field type="float" name="pitch">Pitch angle in rad</field>
+               <field type="float" name="yaw">Yaw angle in rad</field>
+          </message>
+          <message id="103" name="VISION_SPEED_ESTIMATE">
+               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+               <field type="float" name="x">Global X speed</field>
+               <field type="float" name="y">Global Y speed</field>
+               <field type="float" name="z">Global Z speed</field>
+          </message>
+          <message id="104" name="VICON_POSITION_ESTIMATE">
+               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
+               <field type="float" name="x">Global X position</field>
+               <field type="float" name="y">Global Y position</field>
+               <field type="float" name="z">Global Z position</field>
+               <field type="float" name="roll">Roll angle in rad</field>
+               <field type="float" name="pitch">Pitch angle in rad</field>
+               <field type="float" name="yaw">Yaw angle in rad</field>
+          </message>
           <!-- MESSAGE IDs 150 - 240: Space for custom messages in individual projectname_messages.xml files -->
           <message id="249" name="MEMORY_VECT">
                <description>Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
diff --git a/thirdParty/mavlink/message_definitions/pixhawk.xml b/thirdParty/mavlink/message_definitions/pixhawk.xml
index e11f7dfc25a00e7ec920a12197473891ba080649..2860c2a59a8108f3b496aeeb80bcab8f1a402ed2 100644
--- a/thirdParty/mavlink/message_definitions/pixhawk.xml
+++ b/thirdParty/mavlink/message_definitions/pixhawk.xml
@@ -60,30 +60,6 @@
                <field type="float" name="ground_y">Ground truth Y</field>
                <field type="float" name="ground_z">Ground truth Z</field>
           </message>
-          <message id="156" name="VISION_POSITION_ESTIMATE">
-               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
-               <field type="float" name="x">Global X position</field>
-               <field type="float" name="y">Global Y position</field>
-               <field type="float" name="z">Global Z position</field>
-               <field type="float" name="roll">Roll angle in rad</field>
-               <field type="float" name="pitch">Pitch angle in rad</field>
-               <field type="float" name="yaw">Yaw angle in rad</field>
-          </message>
-          <message id="157" name="VICON_POSITION_ESTIMATE">
-               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
-               <field type="float" name="x">Global X position</field>
-               <field type="float" name="y">Global Y position</field>
-               <field type="float" name="z">Global Z position</field>
-               <field type="float" name="roll">Roll angle in rad</field>
-               <field type="float" name="pitch">Pitch angle in rad</field>
-               <field type="float" name="yaw">Yaw angle in rad</field>
-          </message>
-          <message id="158" name="VISION_SPEED_ESTIMATE">
-               <field type="uint64_t" name="usec">Timestamp (milliseconds)</field>
-               <field type="float" name="x">Global X speed</field>
-               <field type="float" name="y">Global Y speed</field>
-               <field type="float" name="z">Global Z speed</field>
-          </message>
           <message id="159" name="POSITION_CONTROL_SETPOINT_SET">
                <description>Message sent to the MAV to set a new position as reference for the controller</description>
                <field type="uint8_t" name="target_system">System ID</field>