diff --git a/ArduCopterMega/motors_hexa.pde b/ArduCopterMega/motors_hexa.pde
index 009bde589d..35511bbfb8 100644
--- a/ArduCopterMega/motors_hexa.pde
+++ b/ArduCopterMega/motors_hexa.pde
@@ -19,8 +19,8 @@ void output_motors_armed()
 	g.rc_4.calc_pwm();
 
 	if(g.frame_orientation == X_FRAME){
-		roll_out 	 	= (float)g.rc_1.pwm_out * .866;
-		pitch_out 	 	= g.rc_2.pwm_out / 2;
+		roll_out 	 	= g.rc_1.pwm_out / 2;
+		pitch_out 	 	= (float)g.rc_2.pwm_out * .866;
 
 		//left side
 		motor_out[CH_2]		= g.rc_3.radio_out + g.rc_1.pwm_out;		// CCW Middle
@@ -33,7 +33,7 @@ void output_motors_armed()
 		motor_out[CH_4] 	= g.rc_3.radio_out - roll_out - pitch_out;	// CCW Back
 
 	}else{
-		roll_out 		= g.rc_1.pwm_out;
+		roll_out 	 	= (float)g.rc_1.pwm_out * .866;
 		pitch_out 	 	= g.rc_2.pwm_out / 2;
 
 		//Front side
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index dacd9785c6..bfded12549 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -37,7 +37,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "AC 2.0.22 Beta", main_menu_commands);
+MENU(main_menu, "AC 2.0.23 Beta", main_menu_commands);
 
 void init_ardupilot()
 {
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 59a06cc847..715997ba54 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -18,9 +18,9 @@ static int8_t	test_tuning(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_current(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_relay(uint8_t argc,	 	const Menu::arg *argv);
 static int8_t	test_wp(uint8_t argc, 			const Menu::arg *argv);
-static int8_t	test_altitude(uint8_t argc, 	const Menu::arg *argv);
+static int8_t	test_baro(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_mag(uint8_t argc, 			const Menu::arg *argv);
-//static int8_t	test_sonar(uint8_t argc, 		const Menu::arg *argv);
+static int8_t	test_sonar(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_xbee(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_eedump(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_rawgps(uint8_t argc, 		const Menu::arg *argv);
@@ -64,9 +64,9 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"relay",		test_relay},
 	{"waypoints",	test_wp},
 #if HIL_MODE != HIL_MODE_ATTITUDE
-	{"altitude",	test_altitude},
+	{"altitude",	test_baro},
 #endif
-	//{"sonar",		test_sonar},
+	{"sonar",		test_sonar},
 	{"compass",		test_mag},
 	{"xbee",		test_xbee},
 	{"eedump",		test_eedump},
@@ -814,10 +814,9 @@ test_xbee(uint8_t argc, const Menu::arg *argv)
 
 #if HIL_MODE != HIL_MODE_ATTITUDE
 static int8_t
-test_altitude(uint8_t argc, const Menu::arg *argv)
+test_baro(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
-
 	init_barometer();
 
 	while(1){
@@ -825,14 +824,7 @@ test_altitude(uint8_t argc, const Menu::arg *argv)
 
 		baro_alt 		= read_barometer();
 
-		if(g.sonar_enabled){
-			// decide which sensor we're usings
-			sonar_alt 		= sonar.read();
-		}
-
-		Serial.printf_P(PSTR("B_alt: %d, S_alt: %d\n"),
-					baro_alt,
-					sonar_alt);
+		Serial.printf_P(PSTR("Baro: %dcm\n"), baro_alt);
 
 		if(Serial.available() > 0){
 			return (0);
@@ -877,22 +869,21 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 /*
   test the sonar
  */
-/*static int8_t
+static int8_t
 test_sonar(uint8_t argc, const Menu::arg *argv)
 {
 	print_hit_enter();
-	delay(1000);
-
 	while(1) {
-		Serial.printf_P(PSTR("%d cm\n"), sonar.read());
 		delay(100);
+
+		Serial.printf_P(PSTR("Sonar: %d cm\n"), sonar.read());
+
 		if(Serial.available() > 0){
 			return (0);
 		}
 	}
 	return (0);
 }
-*/
 
 static int8_t
 test_mission(uint8_t argc, const Menu::arg *argv)