void sendMocapPos()
{
  msg_att_pos_mocap mapm= new msg_att_pos_mocap();
  byte[] buffer;
  int counter =0;
  mapm.time_usec=234324;
  mapm.q[0] = 1;
  mapm.q[1] =0;
  mapm.q[2] =0;
  mapm.q[3] =0;
  mapm.x =32;
  mapm.y=312;
  mapm.z=65;
  MAVLinkPacket pck = mapm.pack();
  buffer = pck.encodePacket();
  int len = buffer.length;
  while(counter<len)
  {
    portSerial8.write(buffer[counter]);
    counter++;
  }
}