From f486d8427189f1de3aae16999f7c80f032764a81 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 17 Jul 2011 19:08:17 +0000
Subject: [PATCH] 2.0.37 Added rate of change limit for noisy Sonars. converted
 to static functions - Tridge

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2901 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/Mavlink_Common.h | 4 ++--
 ArduCopterMega/test.pde         | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ArduCopterMega/Mavlink_Common.h b/ArduCopterMega/Mavlink_Common.h
index ea1bae729e..976a4bdb99 100644
--- a/ArduCopterMega/Mavlink_Common.h
+++ b/ArduCopterMega/Mavlink_Common.h
@@ -201,9 +201,9 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					motor_out[2],
 					motor_out[3],
 					motor_out[4],
+					motor_out[5],
 					motor_out[6],
-					motor_out[7],
-					0);
+					motor_out[7]);
 			break;
 		}
 
diff --git a/ArduCopterMega/test.pde b/ArduCopterMega/test.pde
index 0afa8cf085..a455f1636e 100644
--- a/ArduCopterMega/test.pde
+++ b/ArduCopterMega/test.pde
@@ -960,6 +960,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
 		delay(100);
 
 		Serial.printf_P(PSTR("Sonar: %d cm\n"), sonar.read());
+		//Serial.printf_P(PSTR("Sonar, %d, %d\n"), sonar.read(), sonar.raw_value);
 
 		if(Serial.available() > 0){
 			return (0);