@chaviw well I'm back again! I was able to get the new object instantiated in my code, but for the life of me, I can't figure out how to pass the data I need to the created object. In looking at the actual 'msg_att_pos_mocap.class' file, it doesn't look like there is a constructor setup to pass along any data. I basically have the q array, and xyz variables being automatically updated in the app, but still can't understand how to pass them through to the new object so I can use the 'ACTION_SEND_MAVLINK_MESSAGE' to send it to the pixhawk (would this need to be in a loop to keep updating continuously?). I feel like I'm making this much harder than it should be, but I'm just not seeing it and the mechanical engineering degree just isn't helping :). Any additional help would be greatly appreciated. Dinner is on me if we can get this figured out!