diff --git a/XYK/XYK.h b/XYK/XYK.h
index 0a4fb3a..fbd22c4 100644
--- a/XYK/XYK.h
+++ b/XYK/XYK.h
@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {{30001, 210, 23, 0, 0, 0}, {30002, 99, 21, 0, 0, 0}, {30003, 13, 25, 0, 0, 0}, {30004, 69, 13, 0, 0, 0}, {30005, 93, 15, 0, 0, 0}, {30006, 91, 11, 0, 0, 0}, {30007, 180, 9, 0, 0, 0}, {30010, 74, 2, 0, 0, 0}, {30011, 168, 1, 0, 0, 0}, {30012, 165, 22, 0, 0, 0}, {30013, 138, 5, 0, 0, 0}, {30021, 197, 16, 3, 8, 9}, {30033, 36, 25, 0, 0, 0}, {30034, 146, 3, 0, 0, 0}, {30051, 85, 4, 0, 0, 0}, {30052, 160, 7, 0, 0, 0}, {30054, 128, 44, 0, 0, 0}}
+#define MAVLINK_MESSAGE_CRCS {{30001, 210, 23, 0, 0, 0}, {30002, 99, 21, 0, 0, 0}, {30003, 13, 25, 0, 0, 0}, {30004, 69, 13, 0, 0, 0}, {30005, 93, 15, 0, 0, 0}, {30006, 91, 11, 0, 0, 0}, {30007, 180, 9, 0, 0, 0}, {30010, 74, 2, 0, 0, 0}, {30011, 8, 3, 0, 0, 0}, {30012, 165, 22, 0, 0, 0}, {30013, 138, 5, 0, 0, 0}, {30021, 197, 16, 3, 8, 9}, {30033, 36, 25, 0, 0, 0}, {30034, 146, 3, 0, 0, 0}, {30051, 85, 4, 0, 0, 0}, {30052, 160, 7, 0, 0, 0}, {30054, 128, 44, 0, 0, 0}}
 #endif
 
 #include "../protocol.h"
diff --git a/XYK/mavlink_msg_xyk_command_ack.h b/XYK/mavlink_msg_xyk_command_ack.h
index 7f2c303..5ee15f0 100644
--- a/XYK/mavlink_msg_xyk_command_ack.h
+++ b/XYK/mavlink_msg_xyk_command_ack.h
@@ -5,16 +5,17 @@
 
 MAVPACKED(
 typedef struct __mavlink_xyk_command_ack_t {
+ uint16_t command; /*<  Command ID (of command to send).*/
  uint8_t REQ_status; /*<  status */
 }) mavlink_xyk_command_ack_t;
 
-#define MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN 1
-#define MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN 1
-#define MAVLINK_MSG_ID_30011_LEN 1
-#define MAVLINK_MSG_ID_30011_MIN_LEN 1
+#define MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN 3
+#define MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN 3
+#define MAVLINK_MSG_ID_30011_LEN 3
+#define MAVLINK_MSG_ID_30011_MIN_LEN 3
 
-#define MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC 168
-#define MAVLINK_MSG_ID_30011_CRC 168
+#define MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC 8
+#define MAVLINK_MSG_ID_30011_CRC 8
 
 
 
@@ -22,15 +23,17 @@ typedef struct __mavlink_xyk_command_ack_t {
 #define MAVLINK_MESSAGE_INFO_XYK_COMMAND_ACK { \
     30011, \
     "XYK_COMMAND_ACK", \
-    1, \
-    {  { "REQ_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_xyk_command_ack_t, REQ_status) }, \
+    2, \
+    {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_xyk_command_ack_t, command) }, \
+         { "REQ_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_xyk_command_ack_t, REQ_status) }, \
          } \
 }
 #else
 #define MAVLINK_MESSAGE_INFO_XYK_COMMAND_ACK { \
     "XYK_COMMAND_ACK", \
-    1, \
-    {  { "REQ_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_xyk_command_ack_t, REQ_status) }, \
+    2, \
+    {  { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_xyk_command_ack_t, command) }, \
+         { "REQ_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 2, offsetof(mavlink_xyk_command_ack_t, REQ_status) }, \
          } \
 }
 #endif
@@ -41,19 +44,22 @@ typedef struct __mavlink_xyk_command_ack_t {
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param msg The MAVLink message to compress the data into
  *
+ * @param command  Command ID (of command to send).
  * @param REQ_status  status 
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_xyk_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
-                               uint8_t REQ_status)
+                               uint16_t command, uint8_t REQ_status)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN];
-    _mav_put_uint8_t(buf, 0, REQ_status);
+    _mav_put_uint16_t(buf, 0, command);
+    _mav_put_uint8_t(buf, 2, REQ_status);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN);
 #else
     mavlink_xyk_command_ack_t packet;
+    packet.command = command;
     packet.REQ_status = REQ_status;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN);
@@ -69,20 +75,23 @@ static inline uint16_t mavlink_msg_xyk_command_ack_pack(uint8_t system_id, uint8
  * @param component_id ID of this component (e.g. 200 for IMU)
  * @param chan The MAVLink channel this message will be sent over
  * @param msg The MAVLink message to compress the data into
+ * @param command  Command ID (of command to send).
  * @param REQ_status  status 
  * @return length of the message in bytes (excluding serial stream start sign)
  */
 static inline uint16_t mavlink_msg_xyk_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                mavlink_message_t* msg,
-                                   uint8_t REQ_status)
+                                   uint16_t command,uint8_t REQ_status)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN];
-    _mav_put_uint8_t(buf, 0, REQ_status);
+    _mav_put_uint16_t(buf, 0, command);
+    _mav_put_uint8_t(buf, 2, REQ_status);
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN);
 #else
     mavlink_xyk_command_ack_t packet;
+    packet.command = command;
     packet.REQ_status = REQ_status;
 
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN);
@@ -102,7 +111,7 @@ static inline uint16_t mavlink_msg_xyk_command_ack_pack_chan(uint8_t system_id,
  */
 static inline uint16_t mavlink_msg_xyk_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_xyk_command_ack_t* xyk_command_ack)
 {
-    return mavlink_msg_xyk_command_ack_pack(system_id, component_id, msg, xyk_command_ack->REQ_status);
+    return mavlink_msg_xyk_command_ack_pack(system_id, component_id, msg, xyk_command_ack->command, xyk_command_ack->REQ_status);
 }
 
 /**
@@ -116,26 +125,29 @@ static inline uint16_t mavlink_msg_xyk_command_ack_encode(uint8_t system_id, uin
  */
 static inline uint16_t mavlink_msg_xyk_command_ack_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_xyk_command_ack_t* xyk_command_ack)
 {
-    return mavlink_msg_xyk_command_ack_pack_chan(system_id, component_id, chan, msg, xyk_command_ack->REQ_status);
+    return mavlink_msg_xyk_command_ack_pack_chan(system_id, component_id, chan, msg, xyk_command_ack->command, xyk_command_ack->REQ_status);
 }
 
 /**
  * @brief Send a xyk_command_ack message
  * @param chan MAVLink channel to send the message
  *
+ * @param command  Command ID (of command to send).
  * @param REQ_status  status 
  */
 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 
-static inline void mavlink_msg_xyk_command_ack_send(mavlink_channel_t chan, uint8_t REQ_status)
+static inline void mavlink_msg_xyk_command_ack_send(mavlink_channel_t chan, uint16_t command, uint8_t REQ_status)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char buf[MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN];
-    _mav_put_uint8_t(buf, 0, REQ_status);
+    _mav_put_uint16_t(buf, 0, command);
+    _mav_put_uint8_t(buf, 2, REQ_status);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_XYK_COMMAND_ACK, buf, MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC);
 #else
     mavlink_xyk_command_ack_t packet;
+    packet.command = command;
     packet.REQ_status = REQ_status;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_XYK_COMMAND_ACK, (const char *)&packet, MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC);
@@ -150,7 +162,7 @@ static inline void mavlink_msg_xyk_command_ack_send(mavlink_channel_t chan, uint
 static inline void mavlink_msg_xyk_command_ack_send_struct(mavlink_channel_t chan, const mavlink_xyk_command_ack_t* xyk_command_ack)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
-    mavlink_msg_xyk_command_ack_send(chan, xyk_command_ack->REQ_status);
+    mavlink_msg_xyk_command_ack_send(chan, xyk_command_ack->command, xyk_command_ack->REQ_status);
 #else
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_XYK_COMMAND_ACK, (const char *)xyk_command_ack, MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC);
 #endif
@@ -164,15 +176,17 @@ static inline void mavlink_msg_xyk_command_ack_send_struct(mavlink_channel_t cha
   is usually the receive buffer for the channel, and allows a reply to an
   incoming message with minimum stack space usage.
  */
-static inline void mavlink_msg_xyk_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t REQ_status)
+static inline void mavlink_msg_xyk_command_ack_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint16_t command, uint8_t REQ_status)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
     char *buf = (char *)msgbuf;
-    _mav_put_uint8_t(buf, 0, REQ_status);
+    _mav_put_uint16_t(buf, 0, command);
+    _mav_put_uint8_t(buf, 2, REQ_status);
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_XYK_COMMAND_ACK, buf, MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC);
 #else
     mavlink_xyk_command_ack_t *packet = (mavlink_xyk_command_ack_t *)msgbuf;
+    packet->command = command;
     packet->REQ_status = REQ_status;
 
     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_XYK_COMMAND_ACK, (const char *)packet, MAVLINK_MSG_ID_XYK_COMMAND_ACK_MIN_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN, MAVLINK_MSG_ID_XYK_COMMAND_ACK_CRC);
@@ -185,6 +199,16 @@ static inline void mavlink_msg_xyk_command_ack_send_buf(mavlink_message_t *msgbu
 // MESSAGE XYK_COMMAND_ACK UNPACKING
 
 
+/**
+ * @brief Get field command from xyk_command_ack message
+ *
+ * @return  Command ID (of command to send).
+ */
+static inline uint16_t mavlink_msg_xyk_command_ack_get_command(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint16_t(msg,  0);
+}
+
 /**
  * @brief Get field REQ_status from xyk_command_ack message
  *
@@ -192,7 +216,7 @@ static inline void mavlink_msg_xyk_command_ack_send_buf(mavlink_message_t *msgbu
  */
 static inline uint8_t mavlink_msg_xyk_command_ack_get_REQ_status(const mavlink_message_t* msg)
 {
-    return _MAV_RETURN_uint8_t(msg,  0);
+    return _MAV_RETURN_uint8_t(msg,  2);
 }
 
 /**
@@ -204,6 +228,7 @@ static inline uint8_t mavlink_msg_xyk_command_ack_get_REQ_status(const mavlink_m
 static inline void mavlink_msg_xyk_command_ack_decode(const mavlink_message_t* msg, mavlink_xyk_command_ack_t* xyk_command_ack)
 {
 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    xyk_command_ack->command = mavlink_msg_xyk_command_ack_get_command(msg);
     xyk_command_ack->REQ_status = mavlink_msg_xyk_command_ack_get_REQ_status(msg);
 #else
         uint8_t len = msg->len < MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN? msg->len : MAVLINK_MSG_ID_XYK_COMMAND_ACK_LEN;
diff --git a/XYK/testsuite.h b/XYK/testsuite.h
index c23a966..e801f24 100644
--- a/XYK/testsuite.h
+++ b/XYK/testsuite.h
@@ -615,10 +615,11 @@ static void mavlink_test_xyk_command_ack(uint8_t system_id, uint8_t component_id
         uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
         uint16_t i;
     mavlink_xyk_command_ack_t packet_in = {
-        5
+        17235,139
     };
     mavlink_xyk_command_ack_t packet1, packet2;
         memset(&packet1, 0, sizeof(packet1));
+        packet1.command = packet_in.command;
         packet1.REQ_status = packet_in.REQ_status;
         
         
@@ -634,12 +635,12 @@ static void mavlink_test_xyk_command_ack(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_xyk_command_ack_pack(system_id, component_id, &msg , packet1.REQ_status );
+    mavlink_msg_xyk_command_ack_pack(system_id, component_id, &msg , packet1.command , packet1.REQ_status );
     mavlink_msg_xyk_command_ack_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_xyk_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.REQ_status );
+    mavlink_msg_xyk_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command , packet1.REQ_status );
     mavlink_msg_xyk_command_ack_decode(&msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 
@@ -652,7 +653,7 @@ static void mavlink_test_xyk_command_ack(uint8_t system_id, uint8_t component_id
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
         
         memset(&packet2, 0, sizeof(packet2));
-    mavlink_msg_xyk_command_ack_send(MAVLINK_COMM_1 , packet1.REQ_status );
+    mavlink_msg_xyk_command_ack_send(MAVLINK_COMM_1 , packet1.command , packet1.REQ_status );
     mavlink_msg_xyk_command_ack_decode(last_msg, &packet2);
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
diff --git a/ardupilotmega/ardupilotmega.h b/ardupilotmega/ardupilotmega.h
index 66ff541..5968def 100644
--- a/ardupilotmega/ardupilotmega.h
+++ b/ardupilotmega/ardupilotmega.h
@@ -24,7 +24,7 @@ extern "C" {
 #endif
 
 #ifndef MAVLINK_MESSAGE_CRCS
-#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 0, 0, 0}, {1, 124, 31, 0, 0, 0}, {2, 137, 12, 0, 0, 0}, {4, 237, 14, 3, 12, 13}, {5, 217, 28, 1, 0, 0}, {6, 104, 3, 0, 0, 0}, {7, 119, 32, 0, 0, 0}, {11, 89, 6, 1, 4, 0}, {20, 214, 20, 3, 2, 3}, {21, 159, 2, 3, 0, 1}, {22, 220, 25, 0, 0, 0}, {23, 168, 23, 3, 4, 5}, {24, 24, 30, 0, 0, 0}, {25, 23, 101, 0, 0, 0}, {26, 170, 22, 0, 0, 0}, {27, 144, 26, 0, 0, 0}, {28, 67, 16, 0, 0, 0}, {29, 115, 14, 0, 0, 0}, {30, 39, 28, 0, 0, 0}, {31, 246, 32, 0, 0, 0}, {32, 185, 28, 0, 0, 0}, {33, 104, 28, 0, 0, 0}, {34, 237, 22, 0, 0, 0}, {35, 244, 22, 0, 0, 0}, {36, 222, 21, 0, 0, 0}, {37, 212, 6, 3, 4, 5}, {38, 9, 6, 3, 4, 5}, {39, 254, 37, 3, 32, 33}, {40, 230, 4, 3, 2, 3}, {41, 28, 4, 3, 2, 3}, {42, 28, 2, 0, 0, 0}, {43, 132, 2, 3, 0, 1}, {44, 221, 4, 3, 2, 3}, {45, 232, 2, 3, 0, 1}, {46, 11, 2, 0, 0, 0}, {47, 153, 3, 3, 0, 1}, {48, 41, 13, 1, 12, 0}, {49, 39, 12, 0, 0, 0}, {50, 78, 37, 3, 18, 19}, {51, 196, 4, 3, 2, 3}, {54, 15, 27, 3, 24, 25}, {55, 3, 25, 0, 0, 0}, {61, 167, 72, 0, 0, 0}, {62, 183, 26, 0, 0, 0}, {63, 119, 181, 0, 0, 0}, {64, 191, 225, 0, 0, 0}, {65, 118, 42, 0, 0, 0}, {66, 148, 6, 3, 2, 3}, {67, 21, 4, 0, 0, 0}, {69, 243, 11, 0, 0, 0}, {70, 124, 18, 3, 16, 17}, {73, 38, 37, 3, 32, 33}, {74, 20, 20, 0, 0, 0}, {75, 158, 35, 3, 30, 31}, {76, 152, 33, 3, 30, 31}, {77, 143, 3, 3, 8, 9}, {81, 106, 22, 0, 0, 0}, {82, 49, 39, 3, 36, 37}, {83, 22, 37, 0, 0, 0}, {84, 143, 53, 3, 50, 51}, {85, 140, 51, 0, 0, 0}, {86, 5, 53, 3, 50, 51}, {87, 150, 51, 0, 0, 0}, {89, 231, 28, 0, 0, 0}, {90, 183, 56, 0, 0, 0}, {91, 63, 42, 0, 0, 0}, {92, 54, 33, 0, 0, 0}, {93, 47, 81, 0, 0, 0}, {100, 175, 26, 0, 0, 0}, {101, 102, 32, 0, 0, 0}, {102, 158, 32, 0, 0, 0}, {103, 208, 20, 0, 0, 0}, {104, 56, 32, 0, 0, 0}, {105, 93, 62, 0, 0, 0}, {106, 138, 44, 0, 0, 0}, {107, 108, 64, 0, 0, 0}, {108, 32, 84, 0, 0, 0}, {109, 185, 9, 0, 0, 0}, {110, 84, 254, 3, 1, 2}, {111, 34, 16, 0, 0, 0}, {112, 174, 12, 0, 0, 0}, {113, 124, 36, 0, 0, 0}, {114, 237, 44, 0, 0, 0}, {115, 4, 64, 0, 0, 0}, {116, 76, 22, 0, 0, 0}, {117, 128, 6, 3, 4, 5}, {118, 56, 14, 0, 0, 0}, {119, 116, 12, 3, 10, 11}, {120, 134, 97, 0, 0, 0}, {121, 237, 2, 3, 0, 1}, {122, 203, 2, 3, 0, 1}, {123, 250, 113, 3, 0, 1}, {124, 87, 35, 0, 0, 0}, {125, 203, 6, 0, 0, 0}, {126, 220, 79, 0, 0, 0}, {127, 25, 35, 0, 0, 0}, {128, 226, 35, 0, 0, 0}, {129, 46, 22, 0, 0, 0}, {130, 29, 13, 0, 0, 0}, {131, 223, 255, 0, 0, 0}, {132, 85, 14, 0, 0, 0}, {133, 6, 18, 0, 0, 0}, {134, 229, 43, 0, 0, 0}, {135, 203, 8, 0, 0, 0}, {136, 1, 22, 0, 0, 0}, {137, 195, 14, 0, 0, 0}, {138, 109, 36, 0, 0, 0}, {139, 168, 43, 3, 41, 42}, {140, 181, 41, 0, 0, 0}, {141, 47, 32, 0, 0, 0}, {142, 72, 243, 0, 0, 0}, {143, 131, 14, 0, 0, 0}, {144, 127, 93, 0, 0, 0}, {146, 103, 100, 0, 0, 0}, {147, 154, 36, 0, 0, 0}, {148, 178, 60, 0, 0, 0}, {149, 200, 30, 0, 0, 0}, {150, 134, 42, 0, 0, 0}, {151, 219, 8, 3, 6, 7}, {152, 208, 4, 0, 0, 0}, {153, 188, 12, 0, 0, 0}, {154, 84, 15, 3, 6, 7}, {155, 22, 13, 3, 4, 5}, {156, 19, 6, 3, 0, 1}, {157, 21, 15, 3, 12, 13}, {158, 134, 14, 3, 12, 13}, {160, 78, 12, 3, 8, 9}, {161, 68, 3, 3, 0, 1}, {162, 189, 8, 0, 0, 0}, {163, 127, 28, 0, 0, 0}, {164, 154, 44, 0, 0, 0}, {165, 21, 3, 0, 0, 0}, {166, 21, 9, 0, 0, 0}, {167, 144, 22, 0, 0, 0}, {168, 1, 12, 0, 0, 0}, {169, 234, 18, 0, 0, 0}, {170, 73, 34, 0, 0, 0}, {171, 181, 66, 0, 0, 0}, {172, 22, 98, 0, 0, 0}, {173, 83, 8, 0, 0, 0}, {174, 167, 48, 0, 0, 0}, {175, 138, 19, 3, 14, 15}, {176, 234, 3, 3, 0, 1}, {177, 240, 20, 0, 0, 0}, {178, 47, 24, 0, 0, 0}, {179, 189, 29, 1, 26, 0}, {180, 52, 45, 1, 42, 0}, {181, 174, 4, 0, 0, 0}, {182, 229, 40, 0, 0, 0}, {183, 85, 2, 3, 0, 1}, {184, 159, 206, 3, 4, 5}, {185, 186, 7, 3, 4, 5}, {186, 72, 29, 3, 0, 1}, {191, 92, 27, 0, 0, 0}, {192, 36, 44, 0, 0, 0}, {193, 71, 22, 0, 0, 0}, {194, 98, 25, 0, 0, 0}, {195, 120, 37, 0, 0, 0}, {200, 134, 42, 3, 40, 41}, {201, 205, 14, 3, 12, 13}, {214, 69, 8, 3, 6, 7}, {215, 101, 3, 0, 0, 0}, {216, 50, 3, 3, 0, 1}, {217, 202, 6, 0, 0, 0}, {218, 17, 7, 3, 0, 1}, {219, 162, 2, 0, 0, 0}, {226, 207, 8, 0, 0, 0}, {230, 163, 42, 0, 0, 0}, {231, 105, 40, 0, 0, 0}, {232, 151, 63, 0, 0, 0}, {233, 35, 182, 0, 0, 0}, {234, 150, 40, 0, 0, 0}, {235, 179, 42, 0, 0, 0}, {241, 90, 32, 0, 0, 0}, {242, 104, 52, 0, 0, 0}, {243, 85, 53, 1, 52, 0}, {244, 95, 6, 0, 0, 0}, {245, 130, 2, 0, 0, 0}, {246, 184, 38, 0, 0, 0}, {247, 81, 19, 0, 0, 0}, {248, 8, 254, 3, 3, 4}, {249, 204, 36, 0, 0, 0}, {250, 49, 30, 0, 0, 0}, {251, 170, 18, 0, 0, 0}, {252, 44, 18, 0, 0, 0}, {253, 83, 51, 0, 0, 0}, {254, 46, 9, 0, 0, 0}, {256, 71, 42, 3, 8, 9}, {257, 131, 9, 0, 0, 0}, {258, 187, 32, 3, 0, 1}, {259, 92, 235, 0, 0, 0}, {260, 146, 5, 0, 0, 0}, {261, 179, 27, 0, 0, 0}, {262, 12, 18, 0, 0, 0}, {263, 133, 255, 0, 0, 0}, {264, 49, 28, 0, 0, 0}, {265, 26, 16, 0, 0, 0}, {266, 193, 255, 3, 2, 3}, {267, 35, 255, 3, 2, 3}, {268, 14, 4, 3, 2, 3}, {269, 18, 180, 0, 0, 0}, {270, 253, 177, 3, 14, 15}, {299, 19, 96, 0, 0, 0}, {300, 217, 22, 0, 0, 0}, {310, 28, 17, 0, 0, 0}, {311, 95, 116, 0, 0, 0}, {320, 243, 20, 3, 2, 3}, {321, 88, 2, 3, 0, 1}, {322, 243, 149, 0, 0, 0}, {323, 78, 147, 3, 0, 1}, {324, 132, 146, 0, 0, 0}, {330, 23, 158, 0, 0, 0}, {331, 58, 230, 0, 0, 0}, {332, 91, 229, 0, 0, 0}, {333, 231, 109, 0, 0, 0}, {340, 99, 70, 0, 0, 0}, {350, 232, 20, 0, 0, 0}, {360, 11, 25, 0, 0, 0}, {10001, 209, 20, 0, 0, 0}, {10002, 186, 41, 0, 0, 0}, {10003, 4, 1, 0, 0, 0}, {11000, 134, 51, 3, 4, 5}, {11001, 15, 135, 0, 0, 0}, {11002, 234, 179, 3, 4, 5}, {11003, 64, 5, 0, 0, 0}, {11010, 46, 49, 0, 0, 0}, {11011, 106, 44, 0, 0, 0}, {11020, 205, 16, 0, 0, 0}, {11030, 144, 44, 0, 0, 0}, {11031, 133, 44, 0, 0, 0}, {11032, 85, 44, 0, 0, 0}, {20006, 215, 20, 0, 0, 0}, {20007, 204, 6, 0, 0, 0}, {20008, 241, 201, 0, 0, 0}, {20101, 87, 25, 0, 0, 0}, {20102, 128, 10, 0, 0, 0}, {20103, 187, 85, 0, 0, 0}, {20104, 212, 85, 0, 0, 0}, {20105, 92, 13, 0, 0, 0}, {20106, 92, 39, 0, 0, 0}, {20107, 172, 112, 0, 0, 0}, {20108, 18, 24, 0, 0, 0}, {20109, 112, 64, 0, 0, 0}, {20200, 172, 60, 0, 0, 0}, {20201, 234, 24, 0, 0, 0}, {30001, 210, 23, 0, 0, 0}, {30002, 99, 21, 0, 0, 0}, {30003, 13, 25, 0, 0, 0}, {30004, 69, 13, 0, 0, 0}, {30005, 93, 15, 0, 0, 0}, {30006, 91, 11, 0, 0, 0}, {30007, 180, 9, 0, 0, 0}, {30010, 74, 2, 0, 0, 0}, {30011, 168, 1, 0, 0, 0}, {30012, 165, 22, 0, 0, 0}, {30013, 138, 5, 0, 0, 0}, {30021, 197, 16, 3, 8, 9}, {30033, 36, 25, 0, 0, 0}, {30034, 146, 3, 0, 0, 0}, {30051, 85, 4, 0, 0, 0}, {30052, 160, 7, 0, 0, 0}, {30054, 128, 44, 0, 0, 0}, {42000, 227, 1, 0, 0, 0}, {42001, 239, 46, 0, 0, 0}}
+#define MAVLINK_MESSAGE_CRCS {{0, 50, 9, 0, 0, 0}, {1, 124, 31, 0, 0, 0}, {2, 137, 12, 0, 0, 0}, {4, 237, 14, 3, 12, 13}, {5, 217, 28, 1, 0, 0}, {6, 104, 3, 0, 0, 0}, {7, 119, 32, 0, 0, 0}, {11, 89, 6, 1, 4, 0}, {20, 214, 20, 3, 2, 3}, {21, 159, 2, 3, 0, 1}, {22, 220, 25, 0, 0, 0}, {23, 168, 23, 3, 4, 5}, {24, 24, 30, 0, 0, 0}, {25, 23, 101, 0, 0, 0}, {26, 170, 22, 0, 0, 0}, {27, 144, 26, 0, 0, 0}, {28, 67, 16, 0, 0, 0}, {29, 115, 14, 0, 0, 0}, {30, 39, 28, 0, 0, 0}, {31, 246, 32, 0, 0, 0}, {32, 185, 28, 0, 0, 0}, {33, 104, 28, 0, 0, 0}, {34, 237, 22, 0, 0, 0}, {35, 244, 22, 0, 0, 0}, {36, 222, 21, 0, 0, 0}, {37, 212, 6, 3, 4, 5}, {38, 9, 6, 3, 4, 5}, {39, 254, 37, 3, 32, 33}, {40, 230, 4, 3, 2, 3}, {41, 28, 4, 3, 2, 3}, {42, 28, 2, 0, 0, 0}, {43, 132, 2, 3, 0, 1}, {44, 221, 4, 3, 2, 3}, {45, 232, 2, 3, 0, 1}, {46, 11, 2, 0, 0, 0}, {47, 153, 3, 3, 0, 1}, {48, 41, 13, 1, 12, 0}, {49, 39, 12, 0, 0, 0}, {50, 78, 37, 3, 18, 19}, {51, 196, 4, 3, 2, 3}, {54, 15, 27, 3, 24, 25}, {55, 3, 25, 0, 0, 0}, {61, 167, 72, 0, 0, 0}, {62, 183, 26, 0, 0, 0}, {63, 119, 181, 0, 0, 0}, {64, 191, 225, 0, 0, 0}, {65, 118, 42, 0, 0, 0}, {66, 148, 6, 3, 2, 3}, {67, 21, 4, 0, 0, 0}, {69, 243, 11, 0, 0, 0}, {70, 124, 18, 3, 16, 17}, {73, 38, 37, 3, 32, 33}, {74, 20, 20, 0, 0, 0}, {75, 158, 35, 3, 30, 31}, {76, 152, 33, 3, 30, 31}, {77, 143, 3, 3, 8, 9}, {81, 106, 22, 0, 0, 0}, {82, 49, 39, 3, 36, 37}, {83, 22, 37, 0, 0, 0}, {84, 143, 53, 3, 50, 51}, {85, 140, 51, 0, 0, 0}, {86, 5, 53, 3, 50, 51}, {87, 150, 51, 0, 0, 0}, {89, 231, 28, 0, 0, 0}, {90, 183, 56, 0, 0, 0}, {91, 63, 42, 0, 0, 0}, {92, 54, 33, 0, 0, 0}, {93, 47, 81, 0, 0, 0}, {100, 175, 26, 0, 0, 0}, {101, 102, 32, 0, 0, 0}, {102, 158, 32, 0, 0, 0}, {103, 208, 20, 0, 0, 0}, {104, 56, 32, 0, 0, 0}, {105, 93, 62, 0, 0, 0}, {106, 138, 44, 0, 0, 0}, {107, 108, 64, 0, 0, 0}, {108, 32, 84, 0, 0, 0}, {109, 185, 9, 0, 0, 0}, {110, 84, 254, 3, 1, 2}, {111, 34, 16, 0, 0, 0}, {112, 174, 12, 0, 0, 0}, {113, 124, 36, 0, 0, 0}, {114, 237, 44, 0, 0, 0}, {115, 4, 64, 0, 0, 0}, {116, 76, 22, 0, 0, 0}, {117, 128, 6, 3, 4, 5}, {118, 56, 14, 0, 0, 0}, {119, 116, 12, 3, 10, 11}, {120, 134, 97, 0, 0, 0}, {121, 237, 2, 3, 0, 1}, {122, 203, 2, 3, 0, 1}, {123, 250, 113, 3, 0, 1}, {124, 87, 35, 0, 0, 0}, {125, 203, 6, 0, 0, 0}, {126, 220, 79, 0, 0, 0}, {127, 25, 35, 0, 0, 0}, {128, 226, 35, 0, 0, 0}, {129, 46, 22, 0, 0, 0}, {130, 29, 13, 0, 0, 0}, {131, 223, 255, 0, 0, 0}, {132, 85, 14, 0, 0, 0}, {133, 6, 18, 0, 0, 0}, {134, 229, 43, 0, 0, 0}, {135, 203, 8, 0, 0, 0}, {136, 1, 22, 0, 0, 0}, {137, 195, 14, 0, 0, 0}, {138, 109, 36, 0, 0, 0}, {139, 168, 43, 3, 41, 42}, {140, 181, 41, 0, 0, 0}, {141, 47, 32, 0, 0, 0}, {142, 72, 243, 0, 0, 0}, {143, 131, 14, 0, 0, 0}, {144, 127, 93, 0, 0, 0}, {146, 103, 100, 0, 0, 0}, {147, 154, 36, 0, 0, 0}, {148, 178, 60, 0, 0, 0}, {149, 200, 30, 0, 0, 0}, {150, 134, 42, 0, 0, 0}, {151, 219, 8, 3, 6, 7}, {152, 208, 4, 0, 0, 0}, {153, 188, 12, 0, 0, 0}, {154, 84, 15, 3, 6, 7}, {155, 22, 13, 3, 4, 5}, {156, 19, 6, 3, 0, 1}, {157, 21, 15, 3, 12, 13}, {158, 134, 14, 3, 12, 13}, {160, 78, 12, 3, 8, 9}, {161, 68, 3, 3, 0, 1}, {162, 189, 8, 0, 0, 0}, {163, 127, 28, 0, 0, 0}, {164, 154, 44, 0, 0, 0}, {165, 21, 3, 0, 0, 0}, {166, 21, 9, 0, 0, 0}, {167, 144, 22, 0, 0, 0}, {168, 1, 12, 0, 0, 0}, {169, 234, 18, 0, 0, 0}, {170, 73, 34, 0, 0, 0}, {171, 181, 66, 0, 0, 0}, {172, 22, 98, 0, 0, 0}, {173, 83, 8, 0, 0, 0}, {174, 167, 48, 0, 0, 0}, {175, 138, 19, 3, 14, 15}, {176, 234, 3, 3, 0, 1}, {177, 240, 20, 0, 0, 0}, {178, 47, 24, 0, 0, 0}, {179, 189, 29, 1, 26, 0}, {180, 52, 45, 1, 42, 0}, {181, 174, 4, 0, 0, 0}, {182, 229, 40, 0, 0, 0}, {183, 85, 2, 3, 0, 1}, {184, 159, 206, 3, 4, 5}, {185, 186, 7, 3, 4, 5}, {186, 72, 29, 3, 0, 1}, {191, 92, 27, 0, 0, 0}, {192, 36, 44, 0, 0, 0}, {193, 71, 22, 0, 0, 0}, {194, 98, 25, 0, 0, 0}, {195, 120, 37, 0, 0, 0}, {200, 134, 42, 3, 40, 41}, {201, 205, 14, 3, 12, 13}, {214, 69, 8, 3, 6, 7}, {215, 101, 3, 0, 0, 0}, {216, 50, 3, 3, 0, 1}, {217, 202, 6, 0, 0, 0}, {218, 17, 7, 3, 0, 1}, {219, 162, 2, 0, 0, 0}, {226, 207, 8, 0, 0, 0}, {230, 163, 42, 0, 0, 0}, {231, 105, 40, 0, 0, 0}, {232, 151, 63, 0, 0, 0}, {233, 35, 182, 0, 0, 0}, {234, 150, 40, 0, 0, 0}, {235, 179, 42, 0, 0, 0}, {241, 90, 32, 0, 0, 0}, {242, 104, 52, 0, 0, 0}, {243, 85, 53, 1, 52, 0}, {244, 95, 6, 0, 0, 0}, {245, 130, 2, 0, 0, 0}, {246, 184, 38, 0, 0, 0}, {247, 81, 19, 0, 0, 0}, {248, 8, 254, 3, 3, 4}, {249, 204, 36, 0, 0, 0}, {250, 49, 30, 0, 0, 0}, {251, 170, 18, 0, 0, 0}, {252, 44, 18, 0, 0, 0}, {253, 83, 51, 0, 0, 0}, {254, 46, 9, 0, 0, 0}, {256, 71, 42, 3, 8, 9}, {257, 131, 9, 0, 0, 0}, {258, 187, 32, 3, 0, 1}, {259, 92, 235, 0, 0, 0}, {260, 146, 5, 0, 0, 0}, {261, 179, 27, 0, 0, 0}, {262, 12, 18, 0, 0, 0}, {263, 133, 255, 0, 0, 0}, {264, 49, 28, 0, 0, 0}, {265, 26, 16, 0, 0, 0}, {266, 193, 255, 3, 2, 3}, {267, 35, 255, 3, 2, 3}, {268, 14, 4, 3, 2, 3}, {269, 18, 180, 0, 0, 0}, {270, 253, 177, 3, 14, 15}, {299, 19, 96, 0, 0, 0}, {300, 217, 22, 0, 0, 0}, {310, 28, 17, 0, 0, 0}, {311, 95, 116, 0, 0, 0}, {320, 243, 20, 3, 2, 3}, {321, 88, 2, 3, 0, 1}, {322, 243, 149, 0, 0, 0}, {323, 78, 147, 3, 0, 1}, {324, 132, 146, 0, 0, 0}, {330, 23, 158, 0, 0, 0}, {331, 58, 230, 0, 0, 0}, {332, 91, 229, 0, 0, 0}, {333, 231, 109, 0, 0, 0}, {340, 99, 70, 0, 0, 0}, {350, 232, 20, 0, 0, 0}, {360, 11, 25, 0, 0, 0}, {10001, 209, 20, 0, 0, 0}, {10002, 186, 41, 0, 0, 0}, {10003, 4, 1, 0, 0, 0}, {11000, 134, 51, 3, 4, 5}, {11001, 15, 135, 0, 0, 0}, {11002, 234, 179, 3, 4, 5}, {11003, 64, 5, 0, 0, 0}, {11010, 46, 49, 0, 0, 0}, {11011, 106, 44, 0, 0, 0}, {11020, 205, 16, 0, 0, 0}, {11030, 144, 44, 0, 0, 0}, {11031, 133, 44, 0, 0, 0}, {11032, 85, 44, 0, 0, 0}, {20006, 215, 20, 0, 0, 0}, {20007, 204, 6, 0, 0, 0}, {20008, 241, 201, 0, 0, 0}, {20101, 87, 25, 0, 0, 0}, {20102, 128, 10, 0, 0, 0}, {20103, 187, 85, 0, 0, 0}, {20104, 212, 85, 0, 0, 0}, {20105, 92, 13, 0, 0, 0}, {20106, 92, 39, 0, 0, 0}, {20107, 172, 112, 0, 0, 0}, {20108, 18, 24, 0, 0, 0}, {20109, 112, 64, 0, 0, 0}, {20200, 172, 60, 0, 0, 0}, {20201, 234, 24, 0, 0, 0}, {30001, 210, 23, 0, 0, 0}, {30002, 99, 21, 0, 0, 0}, {30003, 13, 25, 0, 0, 0}, {30004, 69, 13, 0, 0, 0}, {30005, 93, 15, 0, 0, 0}, {30006, 91, 11, 0, 0, 0}, {30007, 180, 9, 0, 0, 0}, {30010, 74, 2, 0, 0, 0}, {30011, 8, 3, 0, 0, 0}, {30012, 165, 22, 0, 0, 0}, {30013, 138, 5, 0, 0, 0}, {30021, 197, 16, 3, 8, 9}, {30033, 36, 25, 0, 0, 0}, {30034, 146, 3, 0, 0, 0}, {30051, 85, 4, 0, 0, 0}, {30052, 160, 7, 0, 0, 0}, {30054, 128, 44, 0, 0, 0}, {42000, 227, 1, 0, 0, 0}, {42001, 239, 46, 0, 0, 0}}
 #endif
 
 #include "../protocol.h"
diff --git a/message_definitions/XYK.xml b/message_definitions/XYK.xml
index 3608ae0..ad30afc 100644
--- a/message_definitions/XYK.xml
+++ b/message_definitions/XYK.xml
@@ -591,6 +591,7 @@
 	</message>
 	<message name ="XYK_COMMAND_ACK" id="30011">
 	  <description>request for </description>
+      <field type="uint16_t" name="command" enum="XYK_COMMAND_ID">Command ID (of command to send).</field>
       <field type="uint8_t" name="REQ_status">status </field>
 	</message>
 	<message name="XYK_COMMAND_LONG" id="30012">
@@ -666,4 +667,4 @@
 		<field type="uint16_t" name="BYTE67"></field>
 	</message>
   </messages>
-</mavlink>
\ No newline at end of file
+</mavlink>