Corrected battery monitoring in apo.

apo/ControllerQuad.h

@@ -127,7 +127,7 @@ public:
 			_mode = MAV_MODE_FAILSAFE;
 			_hal->gcs->sendText(SEVERITY_HIGH, PSTR("configure gcs to send heartbeat"));
 		// if battery less than 5%, go to failsafe
-		} else if (_hal->batteryMonitor->getPercentage() < 5) {
+		} else if (_hal->batteryMonitor && _hal->batteryMonitor->getPercentage() < 5) {
 			_mode = MAV_MODE_FAILSAFE;
 			_hal->gcs->sendText(SEVERITY_HIGH, PSTR("recharge battery"));
 		// manual/auto switch

libraries/APO/AP_Autopilot.cpp

@@ -211,10 +211,10 @@ void AP_Autopilot::callback2(void * data) {
 	if (apo->getHal()->gcs) {
 		// send messages
 		apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GPS_RAW);
-		//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
+		apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_SCALED);
+		apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
 		//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_GLOBAL_POSITION);
-		//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_RC_CHANNELS_RAW);
-		//apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
+		apo->getHal()->gcs->sendMessage(MAVLINK_MSG_ID_SCALED_IMU);
 	}
 
 	/*