diff --git a/APMrover2/APM_Config_Rover.h b/APMrover2/APM_Config_Rover.h
index 6a62c63683..f67fd01a56 100644
--- a/APMrover2/APM_Config_Rover.h
+++ b/APMrover2/APM_Config_Rover.h
@@ -61,7 +61,7 @@ the when the rover approach the wp, it slow down to 4 m/s (TRIM_ARSPD_CM)...
 This feature works only if the ROV_AWPR_NAV is set to 0
 */
 
-#define BOOSTER              1    // booster factor x1 = 1 or x2 = 2
+#define BOOSTER              2    // booster factor x1 = 1 or x2 = 2
 #define AUTO_WP_RADIUS       DISABLED
 #define AIRSPEED_CRUISE      4    // 4m/s
 #define THROTTLE_SLEW_LIMIT  2    // set to 2 for a smooth acceleration by 0.2 step
diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index a61fb6593b..549a28dcf2 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#define THISFIRMWARE "APMrover v2.20a JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR
+#define THISFIRMWARE "APMrover v2.20b JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR
 
 // This is the APMrover firmware derived from the Arduplane v2.32 by Jean-Louis Naudin (JLN) 
 /*
@@ -14,11 +14,12 @@ modify it under the terms of the GNU Lesser General Public
 License as published by the Free Software Foundation; either
 version 2.1 of the License, or (at your option) any later version.
 //
-// JLN updates: last update 2012-06-13
+// JLN updates: last update 2012-06-21
 // DOLIST:
 //-------------------------------------------------------------------------------------------------------------------------
 // Dev Startup : 2012-04-21
 //
+//  2012-06-21: Update for HIL mode with mavlink 1.0 (new lib)
 //  2012-06-13: use RangeFinder optical SharpGP2Y instead of ultrasonic sonar
 //  2012-06-13: added Test sonar
 //  2012-05-17: added speed_boost during straight line
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index ae63e96560..87dd0b1038 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -377,7 +377,9 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
     
     int thr_out = constrain((g.channel_throttle.servo_out *2) - 100, -100, 100);  // throttle set from -100 to 100
     mavlink_msg_rc_channels_scaled_send(
-	chan,
+        chan,
+        millis(),
+        0, // port 0
 	g.channel_roll.servo_out,
 	g.channel_pitch.servo_out,
         100 * thr_out,
@@ -386,7 +388,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
         10000 * g.channel_pitch.norm_output(),
         10000 * g.channel_throttle.norm_output(),
         10000 * g.channel_rudder.norm_output(),
-	rssi);
+        rssi);    
 #else
     mavlink_msg_rc_channels_scaled_send(
         chan,