diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
index 64d2fb4859..834ae36903 100644
--- a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
+++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h
@@ -83,6 +83,7 @@ enum MAV_CMD
 	MAV_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, See PARACHUTE_ACTION enum)| Empty| Empty| Empty| Empty| Empty| Empty|  */
+	MAV_CMD_DO_MOTOR_TEST=209, /* Mission command to perform motor test |motor sequence number (a number from 1 to max number of motors on the vehicle)| throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)| throttle| timeout (in seconds)| Empty| Empty| Empty|  */
 	MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|  */
 	MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Compass/Motor interference calibration: 0: no, 1: yes| Empty|  */
 	MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|  */
@@ -172,6 +173,18 @@ enum PARACHUTE_ACTION
 };
 #endif
 
+/** @brief  */
+#ifndef HAVE_ENUM_MOTOR_TEST_THROTTLE_TYPE
+#define HAVE_ENUM_MOTOR_TEST_THROTTLE_TYPE
+enum MOTOR_TEST_THROTTLE_TYPE
+{
+	MOTOR_TEST_THROTTLE_PERCENT=0, /* throttle as a percentage from 0 ~ 100 | */
+	MOTOR_TEST_THROTTLE_PWM=1, /* throttle as an absolute PWM value (normally in range of 1000~2000) | */
+	MOTOR_TEST_THROTTLE_PILOT=2, /* throttle pass-through from pilot's transmitter | */
+	MOTOR_TEST_THROTTLE_TYPE_ENUM_END=3, /*  | */
+};
+#endif
+
 #include "../common/common.h"
 
 // MAVLINK VERSION
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 86a655f423..ec0b9e9214 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 "Mon Apr  7 11:43:28 2014"
+#define MAVLINK_BUILD_DATE "Mon Apr 28 12:26:15 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
  
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 cb3c3d4b71..9b578ea954 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 "Mon Apr  7 11:43:28 2014"
+#define MAVLINK_BUILD_DATE "Mon Apr 28 12:26:15 2014"
 #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
 #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255