diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
index 21b7187f4a..b5fa838df0 100644
--- a/message_definitions/v1.0/common.xml
+++ b/message_definitions/v1.0/common.xml
@@ -1294,12 +1294,16 @@
                <field type="uint16_t" name="motor_left_sw">Left motor in + configuration, back left motor in x configuration</field>
           </message>
           <message id="61" name="SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST">
-               <description></description>
-               <field type="uint8_t[6]" name="target_systems">System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs</field>
-               <field type="int16_t[6]" name="roll">Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5</field>
-               <field type="int16_t[6]" name="pitch">Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5</field>
-               <field type="int16_t[6]" name="yaw">Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5</field>
-               <field type="uint16_t[6]" name="thrust">Collective thrust, scaled to uint16 for 6 quadrotors: 0..5</field>
+               <description>Setpoint for up to four quadrotors in a group / wing</description>
+               <field type="uint8_t" name="group">ID of the quadrotor group (0 - 255, up to 256 groups supported)</field>
+               <field type="uint8_t" name="mode">ID of the flight mode (0 - 255, up to 256 modes supported)</field>
+               <field type="uint8_t[4]" name="led_red">RGB red channel (0-255)</field>
+               <field type="uint8_t[4]" name="led_blue">RGB green channel (0-255)</field>
+               <field type="uint8_t[4]" name="led_green">RGB blue channel (0-255)</field>
+               <field type="int16_t[4]" name="roll">Desired roll angle in radians +-PI (+-32767)</field>
+               <field type="int16_t[4]" name="pitch">Desired pitch angle in radians +-PI (+-32767)</field>
+               <field type="int16_t[4]" name="yaw">Desired yaw angle in radians, scaled to int16 +-PI (+-32767)</field>
+               <field type="uint16_t[4]" name="thrust">Collective thrust, scaled to uint16 (0..65535)</field>
           </message>
           <message id="62" name="NAV_CONTROLLER_OUTPUT">
                <description>Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters.</description>
diff --git a/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h b/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
index 50b4fd6bca..fb8c5ee1f8 100644
--- a/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
+++ b/pymavlink/generator/C/include_v0.9/test/mavlink_msg_test_types.h
@@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co
 	_mav_put_int64_t_array(buf, 119, s64_array, 3);
 	_mav_put_float_array(buf, 143, f_array, 3);
 	_mav_put_double_array(buf, 155, d_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179);
 #else
 	mavlink_test_types_t packet;
 	packet.c = c;
@@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co
 	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
 	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
 	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
@@ -219,7 +219,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8
 	_mav_put_int64_t_array(buf, 119, s64_array, 3);
 	_mav_put_float_array(buf, 143, f_array, 3);
 	_mav_put_double_array(buf, 155, d_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179);
 #else
 	mavlink_test_types_t packet;
 	packet.c = c;
@@ -244,7 +244,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8
 	mav_array_memcpy(packet.s64_array, s64_array, sizeof(int64_t)*3);
 	mav_array_memcpy(packet.f_array, f_array, sizeof(float)*3);
 	mav_array_memcpy(packet.d_array, d_array, sizeof(double)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
diff --git a/pymavlink/generator/C/include_v0.9/test/test.h b/pymavlink/generator/C/include_v0.9/test/test.h
index 23ee65986d..46b47bec18 100644
--- a/pymavlink/generator/C/include_v0.9/test/test.h
+++ b/pymavlink/generator/C/include_v0.9/test/test.h
@@ -20,13 +20,17 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}}
 #endif
 
 #include "../protocol.h"
 
 #define MAVLINK_ENABLED_TEST
 
+// ENUM DEFINITIONS
+
+
+
 
 
 // MAVLINK VERSION
@@ -40,10 +44,6 @@ extern "C" {
 #define MAVLINK_VERSION 3
 #endif
 
-// ENUM DEFINITIONS
-
-
-
 // MESSAGE DEFINITIONS
 #include "./mavlink_msg_test_types.h"
 
diff --git a/pymavlink/generator/C/include_v0.9/test/version.h b/pymavlink/generator/C/include_v0.9/test/version.h
index 64ca0cb38b..d4c4fc60be 100644
--- a/pymavlink/generator/C/include_v0.9/test/version.h
+++ b/pymavlink/generator/C/include_v0.9/test/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Mar  1 15:11:54 2012"
+#define MAVLINK_BUILD_DATE "Thu May 10 08:27:40 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "0.9"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  
diff --git a/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h b/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
index 2a3a89ff90..9300998f81 100644
--- a/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
+++ b/pymavlink/generator/C/include_v1.0/test/mavlink_msg_test_types.h
@@ -129,7 +129,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co
 	_mav_put_char_array(buf, 161, s, 10);
 	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
 	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179);
 #else
 	mavlink_test_types_t packet;
 	packet.u64 = u64;
@@ -154,7 +154,7 @@ static inline uint16_t mavlink_msg_test_types_pack(uint8_t system_id, uint8_t co
 	mav_array_memcpy(packet.s, s, sizeof(char)*10);
 	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
 	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
@@ -219,7 +219,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8
 	_mav_put_char_array(buf, 161, s, 10);
 	_mav_put_uint8_t_array(buf, 173, u8_array, 3);
 	_mav_put_int8_t_array(buf, 176, s8_array, 3);
-        memcpy(_MAV_PAYLOAD(msg), buf, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 179);
 #else
 	mavlink_test_types_t packet;
 	packet.u64 = u64;
@@ -244,7 +244,7 @@ static inline uint16_t mavlink_msg_test_types_pack_chan(uint8_t system_id, uint8
 	mav_array_memcpy(packet.s, s, sizeof(char)*10);
 	mav_array_memcpy(packet.u8_array, u8_array, sizeof(uint8_t)*3);
 	mav_array_memcpy(packet.s8_array, s8_array, sizeof(int8_t)*3);
-        memcpy(_MAV_PAYLOAD(msg), &packet, 179);
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 179);
 #endif
 
 	msg->msgid = MAVLINK_MSG_ID_TEST_TYPES;
diff --git a/pymavlink/generator/C/include_v1.0/test/test.h b/pymavlink/generator/C/include_v1.0/test/test.h
index 4dc04f889f..06192f031d 100644
--- a/pymavlink/generator/C/include_v1.0/test/test.h
+++ b/pymavlink/generator/C/include_v1.0/test/test.h
@@ -20,13 +20,17 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_INFO
-#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}, {NULL}}
+#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_TEST_TYPES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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 #endif
 
 #include "../protocol.h"
 
 #define MAVLINK_ENABLED_TEST
 
+// ENUM DEFINITIONS
+
+
+
 
 
 // MAVLINK VERSION
@@ -40,10 +44,6 @@ extern "C" {
 #define MAVLINK_VERSION 3
 #endif
 
-// ENUM DEFINITIONS
-
-
-
 // MESSAGE DEFINITIONS
 #include "./mavlink_msg_test_types.h"
 
diff --git a/pymavlink/generator/C/include_v1.0/test/version.h b/pymavlink/generator/C/include_v1.0/test/version.h
index 867641e218..519527edae 100644
--- a/pymavlink/generator/C/include_v1.0/test/version.h
+++ b/pymavlink/generator/C/include_v1.0/test/version.h
@@ -5,7 +5,7 @@
 #ifndef MAVLINK_VERSION_H
 #define MAVLINK_VERSION_H
 
-#define MAVLINK_BUILD_DATE "Thu Mar  1 15:11:58 2012"
+#define MAVLINK_BUILD_DATE "Thu May 10 08:27:44 2012"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
  
diff --git a/pymavlink/mavlinkv10.py b/pymavlink/mavlinkv10.py
index fdfad8bdde..79ddbb0e2f 100644
--- a/pymavlink/mavlinkv10.py
+++ b/pymavlink/mavlinkv10.py
@@ -155,7 +155,7 @@ def pack(self, mav, crc_extra, payload):
 MAV_CMD_OVERRIDE_GOTO = 252 # Hold / continue the current action
 MAV_CMD_MISSION_START = 300 # start running a mission
 MAV_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component
-MAV_CMD_ENUM_END = 401 #
+MAV_CMD_ENUM_END = 401 # 
 
 # FENCE_ACTION
 FENCE_ACTION_NONE = 0 # Disable fenced mode
@@ -204,7 +204,7 @@ def pack(self, mav, crc_extra, payload):
 MAV_TYPE_TRICOPTER = 15 # Octorotor
 MAV_TYPE_FLAPPING_WING = 16 # Flapping wing
 MAV_TYPE_KITE = 17 # Flapping wing
-MAV_TYPE_ENUM_END = 18 #
+MAV_TYPE_ENUM_END = 18 # 
 
 # MAV_MODE_FLAG
 MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 # 0b00000001 Reserved for future use.
@@ -426,7 +426,7 @@ def pack(self, mav, crc_extra, payload):
                         # for these messages.
 MAV_SEVERITY_DEBUG = 7 # Useful non-operational messages that can assist in debugging. These
                         # should not occur during normal operation.
-MAV_SEVERITY_ENUM_END = 8 #
+MAV_SEVERITY_ENUM_END = 8 # 
 
 # message IDs
 MAVLINK_MSG_ID_BAD_DATA = -1
@@ -1735,19 +1735,23 @@ def pack(self, mav):
 
 class MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(MAVLink_message):
         '''
-
+        Setpoint for up to four quadrotors in a group / wing
         '''
-        def __init__(self, target_systems, roll, pitch, yaw, thrust):
+        def __init__(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
                 MAVLink_message.__init__(self, MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, 'SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST')
-                self._fieldnames = ['target_systems', 'roll', 'pitch', 'yaw', 'thrust']
-                self.target_systems = target_systems
+                self._fieldnames = ['group', 'mode', 'led_red', 'led_blue', 'led_green', 'roll', 'pitch', 'yaw', 'thrust']
+                self.group = group
+                self.mode = mode
+                self.led_red = led_red
+                self.led_blue = led_blue
+                self.led_green = led_green
                 self.roll = roll
                 self.pitch = pitch
                 self.yaw = yaw
                 self.thrust = thrust
 
         def pack(self, mav):
-                return MAVLink_message.pack(self, mav, 200, struct.pack('<6h6h6h6H6s', self.roll, self.pitch, self.yaw, self.thrust, self.target_systems))
+                return MAVLink_message.pack(self, mav, 89, struct.pack('<4h4h4h4HBB4s4s4s', self.roll, self.pitch, self.yaw, self.thrust, self.group, self.mode, self.led_red, self.led_blue, self.led_green))
 
 class MAVLink_nav_controller_output_message(MAVLink_message):
         '''
@@ -2278,7 +2282,7 @@ def pack(self, mav):
         MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_thrust_setpoint_message, [0, 1, 2, 3, 4], 239 ),
         MAVLINK_MSG_ID_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT : ( '<Iffff', MAVLink_roll_pitch_yaw_speed_thrust_setpoint_message, [0, 1, 2, 3, 4], 238 ),
         MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT : ( '<HHHHB', MAVLink_set_quad_motors_setpoint_message, [4, 0, 1, 2, 3], 30 ),
-        MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST : ( '<6h6h6h6H6s', MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message, [4, 0, 1, 2, 3], 200 ),
+        MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST : ( '<4h4h4h4HBB4s4s4s', MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message, [4, 5, 6, 7, 8, 0, 1, 2, 3], 89 ),
         MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT : ( '<fffffhhH', MAVLink_nav_controller_output_message, [0, 1, 5, 6, 7, 2, 3, 4], 183 ),
         MAVLINK_MSG_ID_STATE_CORRECTION : ( '<fffffffff', MAVLink_state_correction_message, [0, 1, 2, 3, 4, 5, 6, 7, 8], 130 ),
         MAVLINK_MSG_ID_REQUEST_DATA_STREAM : ( '<HBBBB', MAVLink_request_data_stream_message, [1, 2, 3, 0, 4], 148 ),
@@ -4654,7 +4658,7 @@ def set_quad_motors_setpoint_encode(self, target_system, motor_front_nw, motor_r
                 msg = MAVLink_set_quad_motors_setpoint_message(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw)
                 msg.pack(self)
                 return msg
-
+            
         def set_quad_motors_setpoint_send(self, target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw):
                 '''
                 Setpoint in the four motor speeds
@@ -4667,35 +4671,43 @@ def set_quad_motors_setpoint_send(self, target_system, motor_front_nw, motor_rig
 
                 '''
                 return self.send(self.set_quad_motors_setpoint_encode(target_system, motor_front_nw, motor_right_ne, motor_back_se, motor_left_sw))
-
-        def set_quad_swarm_roll_pitch_yaw_thrust_encode(self, target_systems, roll, pitch, yaw, thrust):
+            
+        def set_quad_swarm_roll_pitch_yaw_thrust_encode(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
                 '''
+                Setpoint for up to four quadrotors in a group / wing
 
-
-                target_systems            : System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs (uint8_t)
-                roll                      : Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
-                pitch                     : Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
-                yaw                       : Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
-                thrust                    : Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 (uint16_t)
+                group                     : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
+                mode                      : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
+                led_red                   : RGB red channel (0-255) (uint8_t)
+                led_blue                  : RGB green channel (0-255) (uint8_t)
+                led_green                 : RGB blue channel (0-255) (uint8_t)
+                roll                      : Desired roll angle in radians +-PI (+-32767) (int16_t)
+                pitch                     : Desired pitch angle in radians +-PI (+-32767) (int16_t)
+                yaw                       : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
+                thrust                    : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
 
                 '''
-                msg = MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(target_systems, roll, pitch, yaw, thrust)
+                msg = MAVLink_set_quad_swarm_roll_pitch_yaw_thrust_message(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust)
                 msg.pack(self)
                 return msg
-
-        def set_quad_swarm_roll_pitch_yaw_thrust_send(self, target_systems, roll, pitch, yaw, thrust):
+            
+        def set_quad_swarm_roll_pitch_yaw_thrust_send(self, group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust):
                 '''
+                Setpoint for up to four quadrotors in a group / wing
 
-
-                target_systems            : System IDs for 6 quadrotors: 0..5, the ID's are the MAVLink IDs (uint8_t)
-                roll                      : Desired roll angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
-                pitch                     : Desired pitch angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
-                yaw                       : Desired yaw angle in radians, scaled to int16 for 6 quadrotors: 0..5 (int16_t)
-                thrust                    : Collective thrust, scaled to uint16 for 6 quadrotors: 0..5 (uint16_t)
+                group                     : ID of the quadrotor group (0 - 255, up to 256 groups supported) (uint8_t)
+                mode                      : ID of the flight mode (0 - 255, up to 256 modes supported) (uint8_t)
+                led_red                   : RGB red channel (0-255) (uint8_t)
+                led_blue                  : RGB green channel (0-255) (uint8_t)
+                led_green                 : RGB blue channel (0-255) (uint8_t)
+                roll                      : Desired roll angle in radians +-PI (+-32767) (int16_t)
+                pitch                     : Desired pitch angle in radians +-PI (+-32767) (int16_t)
+                yaw                       : Desired yaw angle in radians, scaled to int16 +-PI (+-32767) (int16_t)
+                thrust                    : Collective thrust, scaled to uint16 (0..65535) (uint16_t)
 
                 '''
-                return self.send(self.set_quad_swarm_roll_pitch_yaw_thrust_encode(target_systems, roll, pitch, yaw, thrust))
-
+                return self.send(self.set_quad_swarm_roll_pitch_yaw_thrust_encode(group, mode, led_red, led_blue, led_green, roll, pitch, yaw, thrust))
+            
         def nav_controller_output_encode(self, nav_roll, nav_pitch, nav_bearing, target_bearing, wp_dist, alt_error, aspd_error, xtrack_error):
                 '''
                 Outputs of the APM navigation controller. The primary use of this
@@ -5030,7 +5042,7 @@ def local_position_ned_system_global_offset_encode(self, time_boot_ms, x, y, z,
                 msg = MAVLink_local_position_ned_system_global_offset_message(time_boot_ms, x, y, z, roll, pitch, yaw)
                 msg.pack(self)
                 return msg
-
+            
         def local_position_ned_system_global_offset_send(self, time_boot_ms, x, y, z, roll, pitch, yaw):
                 '''
                 The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages
@@ -5049,7 +5061,7 @@ def local_position_ned_system_global_offset_send(self, time_boot_ms, x, y, z, ro
 
                 '''
                 return self.send(self.local_position_ned_system_global_offset_encode(time_boot_ms, x, y, z, roll, pitch, yaw))
-
+            
         def hil_state_encode(self, time_usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc):
                 '''
                 Sent from simulation to autopilot. This packet is useful for high