 
 void sendFeedback()
 {
+  mavlink_message_t msg; 
+  uint8_t bufout[MAVLINK_MAX_PACKET_LEN];
+  uint16_t len;
+  uint64_t time_us = micros();
+  int group_mlx = 0;
+  uint8_t system_id = 100;
+  uint8_t target_system = system_id;
+  uint8_t component_id = 1;
+  uint8_t target_component = 2;// Sabertooth
+  
   // All the feedback values are normalized in the range 0-1023 (10 bits resolution)
   if (isFeedbackRequested)
   {
+    
+    if (isRFUpdated)
+    {
+      float fdbk[8];//fdbk
+      fdbk[0] = float(Input1);
+      fdbk[1] = float(Input2);
+      fdbk[2] = float(Input3);
+
+      isRFUpdated = false;
+
+      //mavlink_msg_actuator_control_target_pack(system_id, component_id, &msg, time_us, group_mlx, fdbk);
+      //len = mavlink_msg_to_send_buffer(bufout, &msg);
+      //Serial.write(bufout, len);
+    }
+    float orders[8];
+    orders[0] = float(power1/127.);
+    orders[1] = float(power2/127.);
+    //mavlink_msg_set_actuator_control_target_pack(system_id, component_id, &msg, time_us, group_mlx, target_system, target_component, orders);
+    //len = mavlink_msg_to_send_buffer(bufout, &msg);
+    //Serial.write(bufout, len);
+    
     Serial.print((power1+127)*4);
     Serial.print(", ");
     Serial.print((power2+127)*4);

        }
        if (feedback_request.isUpdated())
        {
          isFeedbackRequested = true;
          digitalWrite(LED_PIN, HIGH);
        }

	{ 
          data[i] = buf[i];
        }
        isRFUpdated = true;       
    }
}

