diff --git a/MavLinkCom/mavlink/mavlink_get_info.h b/MavLinkCom/mavlink/mavlink_get_info.h
new file mode 100644
index 0000000000..1118105895
--- /dev/null
+++ b/MavLinkCom/mavlink/mavlink_get_info.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#ifdef MAVLINK_USE_MESSAGE_INFO
+#define MAVLINK_HAVE_GET_MESSAGE_INFO
+/*
+  return the message_info struct for a message
+*/
+MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg)
+{
+	static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO;
+        /*
+	  use a bisection search to find the right entry. A perfect hash may be better
+	  Note that this assumes the table is sorted with primary key msgid
+	*/
+	uint32_t msgid = msg->msgid;
+        uint32_t low=0, high=sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]);
+        while (low < high) {
+            uint32_t mid = (low+1+high)/2;
+            if (msgid < mavlink_message_info[mid].msgid) {
+                high = mid-1;
+                continue;
+            }
+            if (msgid > mavlink_message_info[mid].msgid) {
+                low = mid;
+                continue;
+            }
+            low = mid;
+            break;
+        }
+        if (mavlink_message_info[low].msgid == msgid) {
+            return &mavlink_message_info[low];
+        }
+        return NULL;
+}
+#endif // MAVLINK_USE_MESSAGE_INFO
+
+
diff --git a/MavLinkCom/mavlink/mavlink_sha256.h b/MavLinkCom/mavlink/mavlink_sha256.h
new file mode 100644
index 0000000000..317feb9e18
--- /dev/null
+++ b/MavLinkCom/mavlink/mavlink_sha256.h
@@ -0,0 +1,252 @@
+#pragma once
+
+/*
+  sha-256 implementation for MAVLink based on Heimdal sources, with
+  modifications to suit mavlink headers
+ */
+/*
+ * Copyright (c) 1995 - 2001 Kungliga Tekniska Högskolan
+ * (Royal Institute of Technology, Stockholm, Sweden).
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+/*
+  allow implementation to provide their own sha256 with the same API
+*/
+#ifndef HAVE_MAVLINK_SHA256
+
+#ifdef MAVLINK_USE_CXX_NAMESPACE
+namespace mavlink {
+#endif
+
+#ifndef MAVLINK_HELPER
+#define MAVLINK_HELPER
+#endif
+
+typedef struct {
+  unsigned int sz[2];
+  uint32_t counter[8];
+  union {
+      unsigned char save_bytes[64];
+      uint32_t save_u32[16];
+  } u;
+} mavlink_sha256_ctx;
+
+#define Ch(x,y,z) (((x) & (y)) ^ ((~(x)) & (z)))
+#define Maj(x,y,z) (((x) & (y)) ^ ((x) & (z)) ^ ((y) & (z)))
+
+#define ROTR(x,n)   (((x)>>(n)) | ((x) << (32 - (n))))
+
+#define Sigma0(x)	(ROTR(x,2)  ^ ROTR(x,13) ^ ROTR(x,22))
+#define Sigma1(x)	(ROTR(x,6)  ^ ROTR(x,11) ^ ROTR(x,25))
+#define sigma0(x)	(ROTR(x,7)  ^ ROTR(x,18) ^ ((x)>>3))
+#define sigma1(x)	(ROTR(x,17) ^ ROTR(x,19) ^ ((x)>>10))
+
+#define A m->counter[0]
+#define B m->counter[1]
+#define C m->counter[2]
+#define D m->counter[3]
+#define E m->counter[4]
+#define F m->counter[5]
+#define G m->counter[6]
+#define H m->counter[7]
+
+static const uint32_t mavlink_sha256_constant_256[64] = {
+    0x428a2f98, 0x71374491, 0xb5c0fbcf, 0xe9b5dba5,
+    0x3956c25b, 0x59f111f1, 0x923f82a4, 0xab1c5ed5,
+    0xd807aa98, 0x12835b01, 0x243185be, 0x550c7dc3,
+    0x72be5d74, 0x80deb1fe, 0x9bdc06a7, 0xc19bf174,
+    0xe49b69c1, 0xefbe4786, 0x0fc19dc6, 0x240ca1cc,
+    0x2de92c6f, 0x4a7484aa, 0x5cb0a9dc, 0x76f988da,
+    0x983e5152, 0xa831c66d, 0xb00327c8, 0xbf597fc7,
+    0xc6e00bf3, 0xd5a79147, 0x06ca6351, 0x14292967,
+    0x27b70a85, 0x2e1b2138, 0x4d2c6dfc, 0x53380d13,
+    0x650a7354, 0x766a0abb, 0x81c2c92e, 0x92722c85,
+    0xa2bfe8a1, 0xa81a664b, 0xc24b8b70, 0xc76c51a3,
+    0xd192e819, 0xd6990624, 0xf40e3585, 0x106aa070,
+    0x19a4c116, 0x1e376c08, 0x2748774c, 0x34b0bcb5,
+    0x391c0cb3, 0x4ed8aa4a, 0x5b9cca4f, 0x682e6ff3,
+    0x748f82ee, 0x78a5636f, 0x84c87814, 0x8cc70208,
+    0x90befffa, 0xa4506ceb, 0xbef9a3f7, 0xc67178f2
+};
+
+MAVLINK_HELPER void mavlink_sha256_init(mavlink_sha256_ctx *m)
+{
+    m->sz[0] = 0;
+    m->sz[1] = 0;
+    A = 0x6a09e667;
+    B = 0xbb67ae85;
+    C = 0x3c6ef372;
+    D = 0xa54ff53a;
+    E = 0x510e527f;
+    F = 0x9b05688c;
+    G = 0x1f83d9ab;
+    H = 0x5be0cd19;
+}
+
+static inline void mavlink_sha256_calc(mavlink_sha256_ctx *m, uint32_t *in)
+{
+    uint32_t AA, BB, CC, DD, EE, FF, GG, HH;
+    uint32_t data[64];
+    int i;
+
+    AA = A;
+    BB = B;
+    CC = C;
+    DD = D;
+    EE = E;
+    FF = F;
+    GG = G;
+    HH = H;
+
+    for (i = 0; i < 16; ++i)
+	data[i] = in[i];
+    for (i = 16; i < 64; ++i)
+	data[i] = sigma1(data[i-2]) + data[i-7] + 
+	    sigma0(data[i-15]) + data[i - 16];
+
+    for (i = 0; i < 64; i++) {
+	uint32_t T1, T2;
+
+	T1 = HH + Sigma1(EE) + Ch(EE, FF, GG) + mavlink_sha256_constant_256[i] + data[i];
+	T2 = Sigma0(AA) + Maj(AA,BB,CC);
+			     
+	HH = GG;
+	GG = FF;
+	FF = EE;
+	EE = DD + T1;
+	DD = CC;
+	CC = BB;
+	BB = AA;
+	AA = T1 + T2;
+    }
+
+    A += AA;
+    B += BB;
+    C += CC;
+    D += DD;
+    E += EE;
+    F += FF;
+    G += GG;
+    H += HH;
+}
+
+MAVLINK_HELPER void mavlink_sha256_update(mavlink_sha256_ctx *m, const void *v, uint32_t len)
+{
+    const unsigned char *p = (const unsigned char *)v;
+    uint32_t old_sz = m->sz[0];
+    uint32_t offset;
+
+    m->sz[0] += len * 8;
+    if (m->sz[0] < old_sz)
+	++m->sz[1];
+    offset = (old_sz / 8) % 64;
+    while(len > 0){
+	uint32_t l = 64 - offset;
+        if (len < l) {
+            l = len;
+        }
+	memcpy(m->u.save_bytes + offset, p, l);
+	offset += l;
+	p += l;
+	len -= l;
+	if(offset == 64){
+	    int i;
+	    uint32_t current[16];
+	    const uint32_t *u = m->u.save_u32;
+	    for (i = 0; i < 16; i++){
+                const uint8_t *p1 = (const uint8_t *)&u[i];
+                uint8_t *p2 = (uint8_t *)&current[i];
+                p2[0] = p1[3];
+                p2[1] = p1[2];
+                p2[2] = p1[1];
+                p2[3] = p1[0];
+	    }
+	    mavlink_sha256_calc(m, current);
+	    offset = 0;
+	}
+    }
+}
+
+/*
+  get first 48 bits of final sha256 hash
+ */
+MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t result[6])
+{
+    unsigned char zeros[72];
+    unsigned offset = (m->sz[0] / 8) % 64;
+    unsigned int dstart = (120 - offset - 1) % 64 + 1;
+    uint8_t *p = (uint8_t *)&m->counter[0];
+    
+    *zeros = 0x80;
+    memset (zeros + 1, 0, sizeof(zeros) - 1);
+    zeros[dstart+7] = (m->sz[0] >> 0) & 0xff;
+    zeros[dstart+6] = (m->sz[0] >> 8) & 0xff;
+    zeros[dstart+5] = (m->sz[0] >> 16) & 0xff;
+    zeros[dstart+4] = (m->sz[0] >> 24) & 0xff;
+    zeros[dstart+3] = (m->sz[1] >> 0) & 0xff;
+    zeros[dstart+2] = (m->sz[1] >> 8) & 0xff;
+    zeros[dstart+1] = (m->sz[1] >> 16) & 0xff;
+    zeros[dstart+0] = (m->sz[1] >> 24) & 0xff;
+
+    mavlink_sha256_update(m, zeros, dstart + 8);
+
+    // this ordering makes the result consistent with taking the first
+    // 6 bytes of more conventional sha256 functions. It assumes
+    // little-endian ordering of m->counter
+    result[0] = p[3];
+    result[1] = p[2];
+    result[2] = p[1];
+    result[3] = p[0];
+    result[4] = p[7];
+    result[5] = p[6];
+}
+
+// prevent conflicts with users of the header
+#undef A
+#undef B
+#undef C
+#undef D
+#undef E
+#undef F
+#undef G
+#undef H
+#undef Ch
+#undef ROTR
+#undef Sigma0
+#undef Sigma1
+#undef sigma0
+#undef sigma1
+
+#ifdef MAVLINK_USE_CXX_NAMESPACE
+} // namespace mavlink
+#endif
+
+#endif // HAVE_MAVLINK_SHA256