diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index 6047113f14..9c9de65b75 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -611,7 +611,7 @@ void medium_loop()
 			medium_loopCounter++;
 
 			if (g.log_bitmask & MASK_LOG_ATTITUDE_MED && (g.log_bitmask & MASK_LOG_ATTITUDE_FAST == 0))
-				Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (int)dcm.yaw_sensor);
+				Log_Write_Attitude((int)dcm.roll_sensor, (int)dcm.pitch_sensor, (uint16_t)dcm.yaw_sensor);
 
 			#if HIL_MODE != HIL_MODE_ATTITUDE
 			if (g.log_bitmask & MASK_LOG_CTUN)
diff --git a/ArduCopterMega/Mavlink_Common.h b/ArduCopterMega/Mavlink_Common.h
index 38c2ef74de..fe55369f8f 100644
--- a/ArduCopterMega/Mavlink_Common.h
+++ b/ArduCopterMega/Mavlink_Common.h
@@ -185,10 +185,10 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					motor_out[1],
 					motor_out[2],
 					motor_out[3],
-					0,
-					0,
-					0,
-					0);
+					motor_out[4],
+					motor_out[5],
+					motor_out[6],
+					motor_out[7]);
 			break;
 		}
 
@@ -276,4 +276,4 @@ void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8
 
 #endif // mavlink in use
 
-#endif // inclusion guard
+#endif // inclusion guard
diff --git a/ArduCopterMega/motors.pde b/ArduCopterMega/motors.pde
index b0c8aba5b9..c062a24cea 100644
--- a/ArduCopterMega/motors.pde
+++ b/ArduCopterMega/motors.pde
@@ -71,7 +71,7 @@ set_servos_4()
 
 		// limit Yaw control so we don't clip and loose altitude
 		// this is only a partial solution.
-		g.rc_4.pwm_out = min(g.rc_4.pwm_out, (g.rc_3.radio_out - out_min));
+		//g.rc_4.pwm_out = min(g.rc_4.pwm_out, (g.rc_3.radio_out - out_min));
 
 		//Serial.printf("out: %d %d %d %d\n", g.rc_1.radio_out, g.rc_2.radio_out, g.rc_3.radio_out, g.rc_4.radio_out);
 		//Serial.printf("yaw: %d ", g.rc_4.radio_out);