diff --git a/libraries/GCS_MAVLink/include/mavlink/v0.9/ardupilotmega/version.h b/libraries/GCS_MAVLink/include/mavlink/v0.9/ardupilotmega/version.h
index ccb6f48dae..be6c3da48e 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v0.9/ardupilotmega/version.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v0.9/ardupilotmega/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
+#define MAVLINK_BUILD_DATE "Mon Jun  4 13:31:56 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/libraries/GCS_MAVLink/include/mavlink/v0.9/common/version.h b/libraries/GCS_MAVLink/include/mavlink/v0.9/common/version.h
index 172a302714..a0ae030382 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v0.9/common/version.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v0.9/common/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
+#define MAVLINK_BUILD_DATE "Mon Jun  4 13:31:56 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_helpers.h b/libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_helpers.h
index 804490add2..e3a8a55ebd 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_helpers.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v0.9/mavlink_helpers.h
@@ -23,7 +23,7 @@ MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
  */
 MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
 {
-
+	
 #if MAVLINK_EXTERNAL_RX_BUFFER
 	// No m_mavlink_message array defined in function,
 	// has to be defined externally
@@ -133,6 +133,25 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
 }
 #endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
+/**
+ * @brief re-send a message over a uart channel
+ * this is more stack efficient than re-marshalling the message
+ */
+MAVLINK_HELPER void mavlink_uart_resend(mavlink_channel_t chan, const mavlink_message_t *msg)
+{
+	uint8_t ck[2];
+
+	ck[0] = (uint8_t)(msg->checksum & 0xFF);
+	ck[1] = (uint8_t)(msg->checksum >> 8);
+
+	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
+	_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
+	_mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
+	_mavlink_send_uart(chan, (const char *)ck, 2);
+	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
+}
+
+
 /**
  * @brief Pack a message to send it over a serial byte stream
  */
diff --git a/libraries/GCS_MAVLink/include/mavlink/v0.9/protocol.h b/libraries/GCS_MAVLink/include/mavlink/v0.9/protocol.h
index 7b3e3c0bd2..6990799e05 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v0.9/protocol.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v0.9/protocol.h
@@ -60,6 +60,7 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t
 MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint8_t msgid, const char *packet, uint8_t length);
 #endif // MAVLINK_CRC_EXTRA
 MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg);
+MAVLINK_HELPER void mavlink_uart_resend(mavlink_channel_t chan, const mavlink_message_t *msg);
 MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg);
 MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c);
 MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status);
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
index 1fa7e057d0..d2724383d4 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
+#define MAVLINK_BUILD_DATE "Mon Jun  4 13:31:56 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
index ac55cc1a71..f8706b6a4c 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/common/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Fri May 25 17:56:06 2012"
+#define MAVLINK_BUILD_DATE "Mon Jun  4 13:31:56 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
  
diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
index 39d6930e5b..6c7748a4aa 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/mavlink_helpers.h
@@ -133,6 +133,25 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
 }
 #endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
+/**
+ * @brief re-send a message over a uart channel
+ * this is more stack efficient than re-marshalling the message
+ */
+MAVLINK_HELPER void mav_uart_resend(mavlink_channel_t chan, const mavlink_message_t *msg)
+{
+	uint8_t ck[2];
+
+	ck[0] = (uint8_t)(msg->checksum & 0xFF);
+	ck[1] = (uint8_t)(msg->checksum >> 8);
+
+	MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
+	_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
+	_mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len);
+	_mavlink_send_uart(chan, ck, 2);
+	MAVLINK_END_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
+}
+
+
 /**
  * @brief Pack a message to send it over a serial byte stream
  */