diydrones/ardupilot — pull request #658 by arthurbenemann (2013-11-05 20:21:08+00:00)
Title: Copter: Send valid MAVLink data via the NAV message when in STABILIZE

Currently the nav_pitch and nav_roll fields only have garbage when in STABILIZe mode. This takes use of those fields to send something useful like the current requested angle.