diff --git a/hal_api.h b/hal_api.h
index f53efcb..222c989 100644
--- a/hal_api.h
+++ b/hal_api.h
@@ -119,6 +119,7 @@ extern "C"
     {
         uint16_t channels[18];
         uint8_t seq;
+        uint8_t id;
         uint8_t valid;
     } HAL_sbus_in_t;
 
@@ -232,5 +233,4 @@ extern "C"
 }
 #endif
 
-#endif // _HAL_H_
-
+#endif // _HAL_H_
\ No newline at end of file
diff --git a/hal_api.sldd b/hal_api.sldd
index b34cc6f..d08b705 100644
Binary files a/hal_api.sldd and b/hal_api.sldd differ
diff --git a/hal_api_busdef.m b/hal_api_busdef.m
index e378af8..575fa2c 100644
--- a/hal_api_busdef.m
+++ b/hal_api_busdef.m
@@ -140,6 +140,7 @@ cellInfo = { ...
     '-1', {... 
 {'channels', 18, 'uint16', -1, 'real', 'Sample', 'Fixed', [], [], sprintf('us'), ''}; ...
 {'seq', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
+{'id', 1, 'uint8', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
 {'valid', 1, 'boolean', -1, 'real', 'Sample', 'Fixed', [], [], '', ''}; ...
     } ...
   } ...
diff --git a/hal_api_ctrls_bld.slx b/hal_api_ctrls_bld.slx
index 77f63ee..cfbab24 100644
Binary files a/hal_api_ctrls_bld.slx and b/hal_api_ctrls_bld.slx differ
diff --git a/hal_sbus_in.c b/hal_sbus_in.c
index 021cfdd..5031d6b 100644
--- a/hal_sbus_in.c
+++ b/hal_sbus_in.c
@@ -26,7 +26,7 @@
  * | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |
  *  ------------------------------------------------------------------------- 
  *
- * Created: Tue Mar 24 14:55:05 2020
+ * Created: Wed Jun 03 15:45:18 2020
  */
 
 #define S_FUNCTION_LEVEL 2
@@ -320,7 +320,7 @@ static void mdlStart(SimStruct *S)
     const char *bpath = ssGetPath(S);
 	DTypeId HAL_sbus_in_tId = ssGetDataTypeId(S, "HAL_sbus_in_t");
 
-	busInfoStruct *busInfo = (busInfoStruct *)malloc(6*sizeof(busInfoStruct));
+	busInfoStruct *busInfo = (busInfoStruct *)malloc(8*sizeof(busInfoStruct));
 	if(busInfo==NULL) {
         ssSetErrorStatus(S, "Memory allocation failure");
         return;
@@ -335,8 +335,11 @@ static void mdlStart(SimStruct *S)
 	busInfo[1].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
 	busInfo[1].numElems = 1;
 	busInfo[2].offset   = dtaGetDataTypeElementOffset(dta, bpath, HAL_sbus_in_tId, 2);
-	busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "boolean"));
+	busInfo[2].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "uint8"));
 	busInfo[2].numElems = 1;
+	busInfo[3].offset   = dtaGetDataTypeElementOffset(dta, bpath, HAL_sbus_in_tId, 3);
+	busInfo[3].elemSize = dtaGetDataTypeSize(dta, bpath, ssGetDataTypeId(S, "boolean"));
+	busInfo[3].numElems = 1;
 	ssSetUserData(S, busInfo);
     const int_T   p_width0  = mxGetNumberOfElements(PARAM_DEF0(S));
     const uint8_T *id = (const uint8_T *) mxGetData(PARAM_DEF0(S));
@@ -367,7 +370,8 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 	/* Copy temporary structure into output bus */
 	(void) memcpy(sbus + busInfo[0].offset, _sbusBUS.channels, busInfo[0].elemSize * busInfo[0].numElems);
 	(void) memcpy(sbus + busInfo[1].offset, &_sbusBUS.seq, busInfo[1].elemSize * busInfo[1].numElems);
-	(void) memcpy(sbus + busInfo[2].offset, &_sbusBUS.valid, busInfo[2].elemSize * busInfo[2].numElems);
+	(void) memcpy(sbus + busInfo[2].offset, &_sbusBUS.id, busInfo[2].elemSize * busInfo[2].numElems);
+	(void) memcpy(sbus + busInfo[3].offset, &_sbusBUS.valid, busInfo[3].elemSize * busInfo[3].numElems);
 
 }
 
diff --git a/hal_sbus_in.mexw64 b/hal_sbus_in.mexw64
index 3760a7f..8b13b86 100644
Binary files a/hal_sbus_in.mexw64 and b/hal_sbus_in.mexw64 differ
diff --git a/hal_sbus_in.tlc b/hal_sbus_in.tlc
index a7cd97a..1bc2ac8 100644
--- a/hal_sbus_in.tlc
+++ b/hal_sbus_in.tlc
@@ -1,5 +1,5 @@
 %% File : hal_sbus_in.tlc
-%% Created : Tue Mar 24 14:55:05 2020
+%% Created : Wed Jun 03 15:45:18 2020
 %%
 %% Description: 
 %%   Simulink Coder wrapper functions interface generated for 
diff --git a/template/hal_sbus_in_wrapper.c b/template/hal_sbus_in_wrapper.c
index c61f4ae..97dfa57 100644
--- a/template/hal_sbus_in_wrapper.c
+++ b/template/hal_sbus_in_wrapper.c
@@ -12,6 +12,7 @@
 
 #include "hal_api.h"
 
+
 /* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
 #ifdef HAL_IMPL
 //#include "param_mgr.h"
@@ -49,20 +50,20 @@ void sbus_input_init(uint8_t id)
  */
 void hal_sbus_in_Start_wrapper(const uint8_T *id, const int_T p_width0)
 {
-  /* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
-  sbus_input_init(id[0]);
-  /* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
+/* %%%-SFUNWIZ_wrapper_Start_Changes_BEGIN --- EDIT HERE TO _END */
+sbus_input_init(id[0]);
+/* %%%-SFUNWIZ_wrapper_Start_Changes_END --- EDIT HERE TO _BEGIN */
 }
 /*
  * Output function
  *
  */
 void hal_sbus_in_Outputs_wrapper(HAL_sbus_in_t *sbus,
-                                 int32_T *ErrorCode,
-                                 const uint8_T *id, const int_T p_width0)
+			int32_T *ErrorCode,
+			const uint8_T *id, const int_T p_width0)
 {
-  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
-  ErrorCode[0] = -1;
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
+ErrorCode[0] = -1;
   /*
  * input *AI* from ADC channels from *start_idx* to *start_idx*+y_width-1.
  * 
@@ -74,11 +75,14 @@ void hal_sbus_in_Outputs_wrapper(HAL_sbus_in_t *sbus,
     if (is_sbus_in_init[0])
     {
 #ifdef HAL_IMPL
+
       // TODO set sbus outputs
       ErrorCode[0] = 0;
 #endif
     }
     break;
   }
-  /* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
+/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
 }
+
+