PARAM SR0_EXTRA1 - stream rate of ATTITUDE to GCS, in Hz
PARAM SR1_RAW_SENS - " of RAW_IMU, SCALED_IMU, SCALED_PRESSURE, and SENSOR_OFFSETS

msgReceived = mavlink_parse_char(MAVLINK_COMM_1, cp, &message, &status);

write_message(const mavlink_message_t &message)
{
	char buf[300];

	// Translate message to buffer
	unsigned len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);

	// Write buffer to serial port, locks port while writing
	int bytesWritten = _write_port(buf,len);

	return bytesWritten;
}