diff --git a/QGCExternalLibs.pri b/QGCExternalLibs.pri
index 9e746de954d2ebc46bcf806ed2fb9ec4a608711e..27b919da3fcf87c0309090d905fa025f4e5a8604 100644
--- a/QGCExternalLibs.pri
+++ b/QGCExternalLibs.pri
@@ -17,7 +17,7 @@ WindowsBuild {
 # a single compiled codebase this hardwiring of dialect can go away. But until then
 # this "workaround" is needed.
 
-MAVLINKPATH_REL = libs/mavlink/include/mavlink/v1.0
+MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
 MAVLINKPATH = $$BASEDIR/$$MAVLINKPATH_REL
 MAVLINK_CONF = ardupilotmega
 DEFINES += MAVLINK_NO_DATA
diff --git a/libs/mavlink/include/mavlink/v2.0 b/libs/mavlink/include/mavlink/v2.0
index 1ae7a11de2d17ee620edf71a9d7342e601eec347..36f37bde1df2dd36661fbcbd6ed5aaf0424c8269 160000
--- a/libs/mavlink/include/mavlink/v2.0
+++ b/libs/mavlink/include/mavlink/v2.0
@@ -1 +1 @@
-Subproject commit 1ae7a11de2d17ee620edf71a9d7342e601eec347
+Subproject commit 36f37bde1df2dd36661fbcbd6ed5aaf0424c8269
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index 6719aca214b373fe9f9d9effdb36f20c940d4321..6ea85d715c93741e5930bf6932d6e1786cd8a948 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -191,6 +191,8 @@ void LinkManager::_addLink(LinkInterface* link)
             if (!(_mavlinkChannelsUsedBitMask & 1 << i)) {
                 mavlink_reset_channel_status(i);
                 link->_setMavlinkChannel(i);
+                // Start the channel on Mav 1 protocol
+                mavlink_get_channel_status(i)->flags = mavlink_get_channel_status(i)->flags | MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
                 _mavlinkChannelsUsedBitMask |= 1 << i;
                 channelSet = true;
                 break;
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 70b85e8be1488e65f10ca51ab1a3c9a2cd41b5e1..8a704d7c20dc1c84aadb11666d55fe84047da963 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -214,6 +214,15 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
         {
             decodedFirstPacket = true;
 
+            mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
+            if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
+                qDebug() << "switch to mavlink 2.0" << mavlinkStatus->flags;
+                mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
+            } else if ((mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && !(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
+                qDebug() << "switch to mavlink 1.0" << mavlinkStatus->flags;
+                mavlinkStatus->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
+            }
+
             if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
             {
                 // process telemetry status message
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
index b30c49b6ec836c9ef0a82a981817d82e67b903ab..d6b57a941e3069774677d2845692f800325230f9 100644
--- a/src/ui/MAVLinkDecoder.cc
+++ b/src/ui/MAVLinkDecoder.cc
@@ -1,3 +1,6 @@
+#define MAVLINK_USE_MESSAGE_INFO
+#include <stddef.h>         // Hack workaround for Mav 2.0 header problem with respect to offsetof usage
+#include "QGCMAVLink.h"
 #include "MAVLinkDecoder.h"
 
 #include <QDebug>
@@ -10,8 +13,6 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
     moveToThread(this);
 
-    mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
-    memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
     memset(receivedMessages, 0, sizeof(mavlink_message_t)*256);
     for (unsigned int i = 0; i<255;++i)
     {
@@ -44,7 +45,6 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
     #ifdef MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE
     messageFilter.insert(MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE, false);
     #endif
-    messageFilter.insert(MAVLINK_MSG_ID_EXTENDED_MESSAGE, false);
     messageFilter.insert(MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL, false);
 
     textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
@@ -73,6 +73,7 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
     memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
 
     uint8_t msgid = message.msgid;
+    const mavlink_message_info_t* msgInfo = mavlink_get_message_info(&message);
 
     // Store an arrival time for this message. This value ends up being calculated later.
     quint64 time = 0;
@@ -91,13 +92,13 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
         // See if first value is a time value and if it is, use that as the arrival time for this data.
         uint8_t fieldid = 0;
         uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
-        if (QString(messageInfo[msgid].fields[fieldid].name) == QString("time_boot_ms") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
+        if (QString(msgInfo->fields[fieldid].name) == QString("time_boot_ms") && msgInfo->fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
         {
-            time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            time = *((quint32*)(m+msgInfo->fields[fieldid].wire_offset));
         }
-        else if (QString(messageInfo[msgid].fields[fieldid].name).contains("usec") && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
+        else if (QString(msgInfo->fields[fieldid].name).contains("usec") && msgInfo->fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
         {
-            time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            time = *((quint64*)(m+msgInfo->fields[fieldid].wire_offset));
             time = (time+500)/1000; // Scale to milliseconds, round up/down correctly
         }
     }
@@ -106,7 +107,7 @@ void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t messag
     time = getUnixTimeFromMs(message.sysid, time);
 
     // Send out all field values for this message
-    for (unsigned int i = 0; i < messageInfo[msgid].num_fields; ++i)
+    for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
     {
         emitFieldValue(&message, i, time);
     }
@@ -196,6 +197,7 @@ quint64 MAVLinkDecoder::getUnixTimeFromMs(int systemID, quint64 time)
 void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
 {
     bool multiComponentSourceDetected = false;
+    const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
 
     // Store component ID
     if (componentID[msg->msgid] == -1)
@@ -216,7 +218,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
     // Add field tree widget item
     uint8_t msgid = msg->msgid;
     if (messageFilter.contains(msgid)) return;
-    QString fieldName(messageInfo[msgid].fields[fieldid].name);
+    QString fieldName(msgInfo->fields[fieldid].name);
     QString fieldType;
     uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
     QString name("%1.%2");
@@ -265,7 +267,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         // XXX this is really ugly, but we do not know a better way to do this
         mavlink_rc_channels_raw_t raw;
         mavlink_msg_rc_channels_raw_decode(msg, &raw);
-        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name = name.arg(msgInfo->name).arg(fieldName);
         name.prepend(QString("port%1_").arg(raw.port));
     }
     else if (msgid == MAVLINK_MSG_ID_RC_CHANNELS_SCALED)
@@ -273,7 +275,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         // XXX this is really ugly, but we do not know a better way to do this
         mavlink_rc_channels_scaled_t scaled;
         mavlink_msg_rc_channels_scaled_decode(msg, &scaled);
-        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name = name.arg(msgInfo->name).arg(fieldName);
         name.prepend(QString("port%1_").arg(scaled.port));
     }
     else if (msgid == MAVLINK_MSG_ID_SERVO_OUTPUT_RAW)
@@ -281,12 +283,12 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         // XXX this is really ugly, but we do not know a better way to do this
         mavlink_servo_output_raw_t servo;
         mavlink_msg_servo_output_raw_decode(msg, &servo);
-        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name = name.arg(msgInfo->name).arg(fieldName);
         name.prepend(QString("port%1_").arg(servo.port));
     }
     else
     {
-        name = name.arg(messageInfo[msgid].name).arg(fieldName);
+        name = name.arg(msgInfo->name).arg(fieldName);
     }
 
     if (multiComponentSourceDetected)
@@ -296,31 +298,31 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
 
     name = name.prepend(QString("M%1:").arg(msg->sysid));
 
-    switch (messageInfo[msgid].fields[fieldid].type)
+    switch (msgInfo->fields[fieldid].type)
     {
     case MAVLINK_TYPE_CHAR:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
-            str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
+            str[msgInfo->fields[fieldid].array_length-1] = '\0';
             QString string(name + ": " + str);
             if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, MAV_SEVERITY_INFO, string);
         }
         else
         {
             // Single char
-            char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
-            unit = QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            char b = *((char*)(m+msgInfo->fields[fieldid].wire_offset));
+            unit = QString("char[%1]").arg(msgInfo->fields[fieldid].array_length);
             emit valueChanged(msg->sysid, name, unit, b, time);
         }
         break;
     case MAVLINK_TYPE_UINT8_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
-            fieldType = QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
+            fieldType = QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -328,17 +330,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
             fieldType = "uint8_t";
             emit valueChanged(msg->sysid, name, fieldType, u, time);
         }
         break;
     case MAVLINK_TYPE_INT8_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -346,17 +348,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "int8_t";
             emit valueChanged(msg->sysid, name, fieldType, n, time);
         }
         break;
     case MAVLINK_TYPE_UINT16_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -364,17 +366,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "uint16_t";
             emit valueChanged(msg->sysid, name, fieldType, n, time);
         }
         break;
     case MAVLINK_TYPE_INT16_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -382,17 +384,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "int16_t";
             emit valueChanged(msg->sysid, name, fieldType, n, time);
         }
         break;
     case MAVLINK_TYPE_UINT32_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -400,17 +402,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            uint32_t n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            uint32_t n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "uint32_t";
             emit valueChanged(msg->sysid, name, fieldType, n, time);
         }
         break;
     case MAVLINK_TYPE_INT32_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -418,17 +420,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "int32_t";
             emit valueChanged(msg->sysid, name, fieldType, n, time);
         }
         break;
     case MAVLINK_TYPE_FLOAT:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("float[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (float)(nums[j]), time);
             }
@@ -436,17 +438,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "float";
             emit valueChanged(msg->sysid, name, fieldType, f, time);
         }
         break;
     case MAVLINK_TYPE_DOUBLE:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("double[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
             }
@@ -454,17 +456,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "double";
             emit valueChanged(msg->sysid, name, fieldType, f, time);
         }
         break;
     case MAVLINK_TYPE_UINT64_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (quint64) nums[j], time);
             }
@@ -472,17 +474,17 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "uint64_t";
             emit valueChanged(msg->sysid, name, fieldType, (quint64) n, time);
         }
         break;
     case MAVLINK_TYPE_INT64_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
-            fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
+            fieldType = QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length);
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, (qint64) nums[j], time);
             }
@@ -490,7 +492,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
         else
         {
             // Single value
-            int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
             fieldType = "int64_t";
             emit valueChanged(msg->sysid, name, fieldType, (qint64) n, time);
         }
diff --git a/src/ui/MAVLinkDecoder.h b/src/ui/MAVLinkDecoder.h
index 8eb35fd417bd50306f6280791e401d9380b2f842..d9ac1d52eda3c42127a0e8cf0c7a2b5a1f4263e3 100644
--- a/src/ui/MAVLinkDecoder.h
+++ b/src/ui/MAVLinkDecoder.h
@@ -26,7 +26,6 @@ protected:
     quint64 getUnixTimeFromMs(int systemID, quint64 time);
 
     mavlink_message_t receivedMessages[256]; ///< Available / known messages
-    mavlink_message_info_t messageInfo[256]; ///< Message information
     QMap<uint16_t, bool> messageFilter;               ///< Message/field names not to emit
     QMap<uint16_t, bool> textMessageFilter;           ///< Message/field names not to emit in text mode
     int componentID[256];                             ///< Multi component detection
diff --git a/src/ui/QGCMAVLinkInspector.cc b/src/ui/QGCMAVLinkInspector.cc
index d214ba01c7f20fd43b88e6e5eb696ca39a5dded0..f7f913eaf2388e577528fdc80a3b8ae8c9797cb0 100644
--- a/src/ui/QGCMAVLinkInspector.cc
+++ b/src/ui/QGCMAVLinkInspector.cc
@@ -1,5 +1,5 @@
-#include <QList>
-
+#define MAVLINK_USE_MESSAGE_INFO
+#include <stddef.h>         // Hack workaround for Mav 2.0 header problem with respect to offsetof usage
 #include "QGCMAVLink.h"
 #include "QGCMAVLinkInspector.h"
 #include "MultiVehicleManager.h"
@@ -8,6 +8,7 @@
 
 #include "ui_QGCMAVLinkInspector.h"
 
+#include <QList>
 #include <QDebug>
 
 const float QGCMAVLinkInspector::updateHzLowpass = 0.2f;
@@ -26,10 +27,6 @@ QGCMAVLinkInspector::QGCMAVLinkInspector(const QString& title, QAction* action,
     ui->systemComboBox->addItem(tr("All"), 0);
     ui->componentComboBox->addItem(tr("All"), 0);
 
-    // Store metadata for all MAVLink messages.
-    mavlink_message_info_t msg_infos[256] = MAVLINK_MESSAGE_INFO;
-    memcpy(messageInfo, msg_infos, sizeof(mavlink_message_info_t)*256);
-
     // Set up the column headers for the message listing
     QStringList header;
     header << tr("Name");
@@ -181,8 +178,9 @@ void QGCMAVLinkInspector::refreshView()
 
     for(ite=uasMessageStorage.constBegin(); ite!=uasMessageStorage.constEnd();++ite)
     {
-
         mavlink_message_t* msg = ite.value();
+        const mavlink_message_info_t* msgInfo = mavlink_get_message_info(msg);
+
         // Ignore NULL values
         if (msg->msgid == 0xFF) continue;
 
@@ -227,7 +225,7 @@ void QGCMAVLinkInspector::refreshView()
 
         // Update the tree view
         QString messageName("%1 (%2 Hz, #%3)");
-        messageName = messageName.arg(messageInfo[msg->msgid].name).arg(msgHz, 3, 'f', 1).arg(msg->msgid);
+        messageName = messageName.arg(msgInfo->name).arg(msgHz, 3, 'f', 1).arg(msg->msgid);
 
         addUAStoTree(msg->sysid);
 
@@ -245,7 +243,7 @@ void QGCMAVLinkInspector::refreshView()
             QStringList fields;
             fields << messageName;
             QTreeWidgetItem* widget = new QTreeWidgetItem();
-            for (unsigned int i = 0; i < messageInfo[msg->msgid].num_fields; ++i)
+            for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
             {
                 QTreeWidgetItem* field = new QTreeWidgetItem();
                 widget->addChild(field);
@@ -262,32 +260,12 @@ void QGCMAVLinkInspector::refreshView()
         {
             message->setFirstColumnSpanned(true);
             message->setData(0, Qt::DisplayRole, QVariant(messageName));
-            for (unsigned int i = 0; i < messageInfo[msg->msgid].num_fields; ++i)
+            for (unsigned int i = 0; i < msgInfo->num_fields; ++i)
             {
-                updateField(msg->sysid,msg->msgid, i, message->child(i));
+                updateField(msg, msgInfo, i, message->child(i));
             }
         }
     }
-
-    if (selectedSystemID == 0 || selectedComponentID == 0)
-    {
-        return;
-    }
-
-    for (int i = 0; i < 256; ++i)//mavlink_message_t msg, receivedMessages)
-    {
-        const char* msgname = messageInfo[i].name;
-
-        size_t namelen = strnlen(msgname, 5);
-
-        if (namelen < 3) {
-            continue;
-        }
-
-        if (!strcmp(msgname, "EMPTY")) {
-            continue;
-        }
-    }
 }
 
 void QGCMAVLinkInspector::addUAStoTree(int sysId)
@@ -439,17 +417,17 @@ QGCMAVLinkInspector::~QGCMAVLinkInspector()
     delete ui;
 }
 
-void QGCMAVLinkInspector::updateField(int sysid, int msgid, int fieldid, QTreeWidgetItem* item)
+void QGCMAVLinkInspector::updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item)
 {
     // Add field tree widget item
-    item->setData(0, Qt::DisplayRole, QVariant(messageInfo[msgid].fields[fieldid].name));
+    item->setData(0, Qt::DisplayRole, QVariant(msgInfo->fields[fieldid].name));
     
     bool msgFound = false;
-    QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(sysid);
+    QMap<int, mavlink_message_t* >::const_iterator iteMsg = uasMessageStorage.find(msg->sysid);
     mavlink_message_t* uasMessage = iteMsg.value();
-    while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == sysid))
+    while((iteMsg != uasMessageStorage.end()) && (iteMsg.key() == msg->sysid))
     {
-        if (iteMsg.value()->msgid == msgid)
+        if (iteMsg.value()->msgid == msg->msgid)
         {
             msgFound = true;
             uasMessage = iteMsg.value();
@@ -466,14 +444,14 @@ void QGCMAVLinkInspector::updateField(int sysid, int msgid, int fieldid, QTreeWi
     uint8_t* m = ((uint8_t*)uasMessage)+8;
 
 
-    switch (messageInfo[msgid].fields[fieldid].type)
+    switch (msgInfo->fields[fieldid].type)
     {
     case MAVLINK_TYPE_CHAR:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            char* str = (char*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
-            str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
+            str[msgInfo->fields[fieldid].array_length-1] = '\0';
             QString string(str);
             item->setData(2, Qt::DisplayRole, "char");
             item->setData(1, Qt::DisplayRole, string);
@@ -481,227 +459,227 @@ void QGCMAVLinkInspector::updateField(int sysid, int msgid, int fieldid, QTreeWi
         else
         {
             // Single char
-            char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
-            item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            char b = *((char*)(m+msgInfo->fields[fieldid].wire_offset));
+            item->setData(2, Qt::DisplayRole, QString("char[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, b);
         }
         break;
     case MAVLINK_TYPE_UINT8_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
+            uint8_t* nums = m+msgInfo->fields[fieldid].wire_offset;
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("uint8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            uint8_t u = *(m+msgInfo->fields[fieldid].wire_offset);
             item->setData(2, Qt::DisplayRole, "uint8_t");
             item->setData(1, Qt::DisplayRole, u);
         }
         break;
     case MAVLINK_TYPE_INT8_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            int8_t* nums = (int8_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("int8_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int8_t n = *((int8_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "int8_t");
             item->setData(1, Qt::DisplayRole, n);
         }
         break;
     case MAVLINK_TYPE_UINT16_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            uint16_t* nums = (uint16_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("uint16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            uint16_t n = *((uint16_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "uint16_t");
             item->setData(1, Qt::DisplayRole, n);
         }
         break;
     case MAVLINK_TYPE_INT16_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            int16_t* nums = (int16_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("int16_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int16_t n = *((int16_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "int16_t");
             item->setData(1, Qt::DisplayRole, n);
         }
         break;
     case MAVLINK_TYPE_UINT32_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            uint32_t* nums = (uint32_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("uint32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            float n = *((uint32_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "uint32_t");
             item->setData(1, Qt::DisplayRole, n);
         }
         break;
     case MAVLINK_TYPE_INT32_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            int32_t* nums = (int32_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("int32_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int32_t n = *((int32_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "int32_t");
             item->setData(1, Qt::DisplayRole, n);
         }
         break;
     case MAVLINK_TYPE_FLOAT:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            float* nums = (float*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("float[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            float f = *((float*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "float");
             item->setData(1, Qt::DisplayRole, f);
         }
         break;
     case MAVLINK_TYPE_DOUBLE:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            double* nums = (double*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("double[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            double f = *((double*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "double");
             item->setData(1, Qt::DisplayRole, f);
         }
         break;
     case MAVLINK_TYPE_UINT64_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            uint64_t* nums = (uint64_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("uint64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            uint64_t n = *((uint64_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "uint64_t");
             item->setData(1, Qt::DisplayRole, (quint64) n);
         }
         break;
     case MAVLINK_TYPE_INT64_T:
-        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        if (msgInfo->fields[fieldid].array_length > 0)
         {
-            int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            int64_t* nums = (int64_t*)(m+msgInfo->fields[fieldid].wire_offset);
             // Enforce null termination
             QString tmp("%1, ");
             QString string;
-            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            for (unsigned int j = 0; j < msgInfo->fields[fieldid].array_length; ++j)
             {
                 string += tmp.arg(nums[j]);
             }
-            item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length));
+            item->setData(2, Qt::DisplayRole, QString("int64_t[%1]").arg(msgInfo->fields[fieldid].array_length));
             item->setData(1, Qt::DisplayRole, string);
         }
         else
         {
             // Single value
-            int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            int64_t n = *((int64_t*)(m+msgInfo->fields[fieldid].wire_offset));
             item->setData(2, Qt::DisplayRole, "int64_t");
             item->setData(1, Qt::DisplayRole, (qint64) n);
         }
diff --git a/src/ui/QGCMAVLinkInspector.h b/src/ui/QGCMAVLinkInspector.h
index 9069fb54c0499ce38fdb965dcdedb233ae214039..cd5084d6699bb368edd21ecfef060fb97967526e 100644
--- a/src/ui/QGCMAVLinkInspector.h
+++ b/src/ui/QGCMAVLinkInspector.h
@@ -44,7 +44,6 @@ protected:
     QMap<int, int> components; ///< Already observed components
     QMap<int, float> onboardMessageInterval; ///< Stores the onboard selected data rate
     QTimer updateTimer; ///< Only update at 1 Hz to not overload the GUI
-    mavlink_message_info_t messageInfo[256]; // Store the metadata for all available MAVLink messages.
 
     QMap<int, QTreeWidgetItem* > uasTreeWidgetItems; ///< Tree of available uas with their widget
     QMap<int, QMap<int, QTreeWidgetItem*>* > uasMsgTreeItems; ///< Stores the widget of the received message for each UAS
@@ -57,7 +56,7 @@ protected:
     QMap<int, QMap<int, quint64>* > uasLastMessageUpdate; ///< Stores the time of the last message for each message of each UAS
 
     /* @brief Update one message field */
-    void updateField(int sysid, int msgid, int fieldid, QTreeWidgetItem* item);
+    void updateField(mavlink_message_t* msg, const mavlink_message_info_t* msgInfo, int fieldid, QTreeWidgetItem* item);
     /** @brief Rebuild the list of components */
     void rebuildComponentList();
     /* @brief Create a new tree for a new UAS */