diff --git a/libraries/APM_ADC/APM_ADC.cpp b/libraries/APM_ADC/APM_ADC.cpp
index 069b21c94a..d9bf92720c 100644
--- a/libraries/APM_ADC/APM_ADC.cpp
+++ b/libraries/APM_ADC/APM_ADC.cpp
@@ -165,12 +165,18 @@ int APM_ADC_HIL_Class::Ch(unsigned char ch_num)
 int APM_ADC_HIL_Class::setHIL(float p, float q, float r, float gyroTemp,
     float aX, float aY, float aZ, float diffPress)
 {
+    static const float adcPerG = 418;
+    static const float gyroGainX = 0.4;
+    static const float gyroGainY = 0.41;
+    static const float gyroGainZ = 0.41;
+    static const float deg2rad = 3.14159/180.0;
     // TODO: map floats to raw
-    adc_value[0] = r;
-    adc_value[1] = p;
-    adc_value[2] = q;
+    adc_value[0] = r/(gyroGainX*deg2rad) + 1665;
+    adc_value[1] = p/(gyroGainY*deg2rad) + 1665;
+    adc_value[2] = q/(gyroGainZ*deg2rad) + 1665;
     adc_value[4] = gyroTemp; 
-    adc_value[5] = aX;
-    adc_value[6] = aY;
-    adc_value[7] = aZ;
+    adc_value[5] = -(aX*adcPerG)/1e3 + 2025;
+    adc_value[6] = -(aY*adcPerG)/1e3 + 2025;
+    adc_value[7] = -(aZ*adcPerG)/1e3 + 2025;
+    adc_value[8] = diffPress;
 }
diff --git a/libraries/AP_GPS/AP_GPS_HIL.cpp b/libraries/AP_GPS/AP_GPS_HIL.cpp
index d2a1505ecc..e21ee4ea21 100644
--- a/libraries/AP_GPS/AP_GPS_HIL.cpp
+++ b/libraries/AP_GPS/AP_GPS_HIL.cpp
@@ -38,12 +38,12 @@ void AP_GPS_HIL::setHIL(long _time, long _latitude, long _longitude, long _altit
     long _ground_speed, long _ground_course, long _speed_3d, uint8_t _num_sats)
 {
     time = _time;
-    latitude = _latitude;
-    longitude = _longitude;
-    altitude = _altitude;
-    ground_speed = _ground_speed;
-    ground_course = _ground_course;
-    speed_3d = _speed_3d;
+    latitude = _latitude*1e7;
+    longitude = _longitude*1e7;
+    altitude = _altitude*1e2;
+    ground_speed = _ground_speed*1e2;
+    ground_course = _ground_course*1e2;
+    speed_3d = _speed_3d*1e2;
     num_sats = _num_sats;
     new_data = true;
     fix = true;
diff --git a/libraries/AP_GPS/AP_GPS_HIL.h b/libraries/AP_GPS/AP_GPS_HIL.h
index db9cb5b550..ad31bb29b4 100644
--- a/libraries/AP_GPS/AP_GPS_HIL.h
+++ b/libraries/AP_GPS/AP_GPS_HIL.h
@@ -20,6 +20,16 @@ public:
 	void init(void);
 	void update(void);
     int status(void);
+    /**
+     * Hardware in the loop set function
+     * @param latitude  - latitude in deggrees
+     * @param longitude - longitude in degrees
+     * @param altitude - altitude in degrees
+     * @param ground_speed - ground speed in meters/second
+     * @param ground_course - ground course in degrees
+     * @param speed_3d - ground speed in meters/second
+     * @param altitude - altitude in meters
+     */
     void setHIL(long time, long latitude, long longitude, long altitude,
             long ground_speed, long ground_course, long speed_3d, uint8_t num_sats);
 };