diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
index 1ccccece88..0e0a5a8241 100644
--- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
+++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
@@ -507,34 +507,6 @@
Component ID
-
- Report from MAVLink enabled gimbal to vehicle. The deltas are in gimbal sensor frame. Joint measurements assume a 312 ordering (azimuth, roll, pitch).
- System ID
- Component ID
- Time since last update (seconds)
- Delta angle X, radians
- Delta angle Y, radians
- Delta angle Z, radians
- Delta velocity X, m/s
- Delta velocity Y, m/s
- Delta velocity Z, m/s
- Joint roll, radians
- Joint pitch, radians
- Joint yaw, radians
-
-
-
- Control packet from vehicle to MAVLink enabled gimbal. All values in gimbal sensor frame
- System ID
- Component ID
- Demanded angular rate X, radians/s
- Demanded angular rate Y, radians/s
- Demanded angular rate Z, radians/s
- Gyro bias X, radians/s
- Gyro bias Y, radians/s
- Gyro bias Z, radians/s
-
-
Control vehicle LEDs
System ID
@@ -545,11 +517,8 @@
Custom Bytes
-
-
-
EKF Status message including flags and variances
@@ -561,5 +530,33 @@
Terrain Altitude variance
+
+ 3 axis gimbal mesuraments
+ System ID
+ Component ID
+ Time since last update (seconds)
+ Delta angle X (radians)
+ Delta angle Y (radians)
+ Delta angle X (radians)
+ Delta velocity X (m/s)
+ Delta velocity Y (m/s)
+ Delta velocity Z (m/s)
+ Joint ROLL (radians)
+ Joint EL (radians)
+ Joint AZ (radians)
+
+
+
+ Control message for rate gimbal
+ System ID
+ Component ID
+ Demanded angular rate X (rad/s)
+ Demanded angular rate Y (rad/s)
+ Demanded angular rate Z (rad/s)
+
+
+
+
+