diff --git a/ground/src/plugins/hitlil2/il2bridge.cpp b/ground/src/plugins/hitlil2/il2bridge.cpp
index 42b59e9bf..6b8ba4206 100644
--- a/ground/src/plugins/hitlil2/il2bridge.cpp
+++ b/ground/src/plugins/hitlil2/il2bridge.cpp
@@ -273,7 +273,7 @@ return;
     old=current;
 
     int t;
-    for (t=0; t<fields->length(); t++) {
+    for (t=0; t<fields.length(); t++) {
     	QStringList values = fields[t].split("\\");
 	int id = values[0].toInt();
 	float value = values[1].toFloat();
@@ -299,6 +299,7 @@ return;
 	    case 48:
 	        current.pitch=value;
 		break;
+        }
     }
 
     current.dT = ((float)time->restart()) / 1000.0;
@@ -323,7 +324,7 @@ return;
     AttitudeActual::DataFields attActualData;
     attActualData.Roll = current.roll;
     attActualData.Pitch = current.pitch;
-    attActualData.Yaw = current.yaw;
+    attActualData.Yaw = current.azimuth;
     attActualData.q1 = 0;
     attActualData.q2 = 0;
     attActualData.q3 = 0;
diff --git a/ground/src/plugins/hitlil2/il2bridge.h b/ground/src/plugins/hitlil2/il2bridge.h
index 8b6d4db6b..f14bc57af 100644
--- a/ground/src/plugins/hitlil2/il2bridge.h
+++ b/ground/src/plugins/hitlil2/il2bridge.h
@@ -101,12 +101,12 @@ private:
     static const float FT2M = 0.3048;
     static const float KT2MPS = 0.514444444;
     static const float MPS2KMH = 3.6;
-    static const float KMH2MPS = (1.0/MPS2KMH);
+    static const float KMH2MPS = (1.0/3.6);
     static const float INHG2KPA = 3.386;
     static const float RAD2DEG = (180.0/M_PI);
-    static const float DEG2RAD = (1.0/RAD2DEG);
+    static const float DEG2RAD = (M_PI/180.0);
     static const float M2DEG =  60.*1852.; // 60 miles per degree times 1852 meters per mile
-    static const float DEG2M = (1.0/M2DEG);
+    static const float DEG2M = (1.0/(60.*1852.));
 
     static const float AIR_CONST = 8314.32; // N*m/(Kmol*K) 
     static const float GROUNDDENSITY = 1.225; // kg/m³ ;)
@@ -114,8 +114,8 @@ private:
     static const float TEMP_LAPSE_RATE = -0.0065; //degrees per meter
     static const float AIR_CONST_FACTOR = -0.0341631947363104; //several nature constants calculated into one
 
-    struct FlightParams current;
-    struct FlightParams old;
+    struct flightParams current;
+    struct flightParams old;
     QUdpSocket* outSocket;
     ActuatorDesired* actDesired;
     AltitudeActual* altActual;
@@ -132,6 +132,9 @@ private:
     bool il2ConnectionStatus;
     int il2Timeout;
 
+    float DENSITY(float pressure);
+    float PRESSURE(float alt);
+    float TAS(float ias,float alt);
     void processUpdate(QString& data);
     void setupOutputObject(UAVObject* obj, int updatePeriod);
     void setupInputObject(UAVObject* obj, int updatePeriod);