diff --git a/mavlink.c b/mavlink.c
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+// -*- Mode: C; c-basic-offset: 8; -*-
+//
+// Copyright (c) 2012 Andrew Tridgell, All Rights Reserved
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  o Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  o 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.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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
+// COPYRIGHT HOLDER 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.
+//
+
+///
+/// @file	mavlink.c
+///
+/// mavlink reporting code
+///
+
+#include <stdarg.h>
+#include "radio.h"
+#include "packet.h"
+#include "timer.h"
+
+extern __xdata uint8_t pbuf[MAX_PACKET_LENGTH];
+static __pdata uint8_t seqnum;
+extern bool using_mavlink_10;
+
+#define MAVLINK_MSG_ID_RADIO 166
+#define MAVLINK_RADIO_CRC_EXTRA 21
+
+// use '3D' for 3DRadio
+#define RADIO_SOURCE_SYSTEM '3'
+#define RADIO_SOURCE_COMPONENT 'D'
+
+/*
+ * Calculates the MAVLink checksum on a packet in pbuf[] 
+ * and append it after the data
+ */
+static void mavlink_crc(void)
+{
+	register uint8_t length = pbuf[1];
+        __pdata uint16_t sum = 0xFFFF;
+	__pdata uint8_t i, stoplen;
+
+	stoplen = length + 6;
+
+	if (using_mavlink_10) {
+		// MAVLink 1.0 has an extra CRC seed
+		pbuf[length+6] = MAVLINK_RADIO_CRC_EXTRA;
+		stoplen++;
+	}
+
+	i = 1;
+	while (i<stoplen) {
+		register uint8_t tmp;
+		tmp = pbuf[i] ^ (uint8_t)(sum&0xff);
+		tmp ^= (tmp<<4);
+		sum = (sum>>8) ^ (tmp<<8) ^ (tmp<<3) ^ (tmp>>4);
+		i++;
+        }
+
+	pbuf[length+6] = sum&0xFF;
+	pbuf[length+7] = sum>>8;
+}
+
+
+/*
+          we use a hand-crafted MAVLink packet based on the following
+	  message definition
+
+	  <message name="RADIO" id="166">
+	    <description>Status generated by radio</description>
+            <field type="uint8_t" name="rssi">local signal strength</field>
+            <field type="uint8_t" name="remrssi">remote signal strength</field>
+	    <field type="uint8_t" name="txbuf">percentage free space in transmit buffer</field>
+	    <field type="uint8_t" name="noise">background noise level</field>
+	    <field type="uint8_t" name="remnoise">remote background noise level</field>
+	    <field type="uint16_t" name="rxerrors">receive errors</field>
+	    <field type="uint16_t" name="fixed">count of error corrected packets</field>
+	  </message>
+*/
+struct mavlink_RADIO_v09 {
+	uint8_t rssi;
+	uint8_t remrssi;
+	uint8_t txbuf;
+	uint8_t noise;
+	uint8_t remnoise;
+	uint16_t rxerrors;
+	uint16_t fixed;
+};
+struct mavlink_RADIO_v10 {
+	uint16_t rxerrors;
+	uint16_t fixed;
+	uint8_t rssi;
+	uint8_t remrssi;
+	uint8_t txbuf;
+	uint8_t noise;
+	uint8_t remnoise;
+};
+
+static void swap_bytes(__pdata uint8_t ofs, __pdata uint8_t len)
+{
+	register uint8_t i;
+	for (i=ofs; i<ofs+len; i+=2) {
+		register uint8_t tmp = pbuf[i];
+		pbuf[i] = pbuf[i+1];
+		pbuf[i+1] = tmp;
+	}
+}
+
+/// send a MAVLink status report packet
+void MAVLink_report(void)
+{
+	pbuf[0] = using_mavlink_10?254:'U';
+	pbuf[1] = sizeof(struct mavlink_RADIO_v09);
+	pbuf[2] = seqnum++;
+	pbuf[3] = RADIO_SOURCE_SYSTEM;
+	pbuf[4] = RADIO_SOURCE_COMPONENT;
+	pbuf[5] = MAVLINK_MSG_ID_RADIO;
+
+	if (using_mavlink_10) {
+		struct mavlink_RADIO_v10 *m = (struct mavlink_RADIO_v10 *)&pbuf[6];
+		m->rxerrors = errors.rx_errors;
+		m->fixed    = errors.corrected_packets;
+		m->txbuf    = serial_read_space();
+		m->rssi     = statistics.average_rssi;
+		m->remrssi  = remote_statistics.average_rssi;
+		m->noise    = statistics.average_noise;
+		m->remnoise = remote_statistics.average_noise;
+	} else {
+		struct mavlink_RADIO_v09 *m = (struct mavlink_RADIO_v09 *)&pbuf[6];
+		m->rxerrors = errors.rx_errors;
+		m->fixed    = errors.corrected_packets;
+		m->txbuf    = serial_read_space();
+		m->rssi     = statistics.average_rssi;
+		m->remrssi  = remote_statistics.average_rssi;
+		m->noise    = statistics.average_noise;
+		m->remnoise = remote_statistics.average_noise;
+		swap_bytes(6+5, 4);
+	}
+	mavlink_crc();
+
+	if (serial_write_space() < sizeof(struct mavlink_RADIO_v09)+8) {
+		// don't cause an overflow
+		return;
+	}
+
+	serial_write_buf(pbuf, sizeof(struct mavlink_RADIO_v09)+8);
+}