diff --git a/Mambo.py b/Mambo.py
index aa4e0a4..088d990 100644
--- a/Mambo.py
+++ b/Mambo.py
@@ -44,14 +44,14 @@ def __init__(self):
         self.speed_ts = 0
 
         # these are only available on wifi
-        self.altitude = None
+        self.altitude = -1
         self.altitude_ts = 0
 
-        self.quaternion_w = None
-        self.quaternion_x = None
-        self.quaternion_y = None
-        self.quaternion_z = None
-        self.quaternion_ts = None
+        self.quaternion_w = -1
+        self.quaternion_x = -1
+        self.quaternion_y = -1
+        self.quaternion_z = -1
+        self.quaternion_ts = -1
 
     def update(self, name, value, sensor_enum):
         """
@@ -101,7 +101,7 @@ def update(self, name, value, sensor_enum):
             self.speed_ts = value
         elif (name == "DroneAltitude_altitude"):
             self.altitude = value
-        elif (name == "DroneAltitude_altitude_ts"):
+        elif (name == "DroneAltitude_ts"):
             self.altitude_ts = value
         elif (name == "DroneQuaternion_q_w"):
             self.quaternion_w = value
@@ -111,7 +111,7 @@ def update(self, name, value, sensor_enum):
             self.quaternion_y = value
         elif (name == "DroneQuaternion_q_z"):
             self.quaternion_z = value
-        elif (name == "DroneQuaternion_tz"):
+        elif (name == "DroneQuaternion_ts"):
             self.quaternion_ts = value
         else:
             #print "new sensor - add me to the struct but saving in the dict for now"
@@ -177,9 +177,19 @@ def update_sensors(self, data_type, buffer_id, sequence_number, raw_data, ack):
         :param data: raw data packet that needs to be parsed
         :param ack: True if this packet needs to be ack'd and False otherwise
         """
-        (sensor_name, sensor_value, sensor_enum, header_tuple) = self.sensor_parser.extract_sensor_values(raw_data)
-        self.sensors.update(sensor_name, sensor_value, sensor_enum)
-        #print(self.sensors)
+
+        sensor_list = self.sensor_parser.extract_sensor_values(raw_data)
+        if (sensor_list is not None):
+            for sensor in sensor_list:
+                (sensor_name, sensor_value, sensor_enum, header_tuple) = sensor
+                if (sensor_name is not None):
+                    self.sensors.update(sensor_name, sensor_value, sensor_enum)
+                    # print(self.sensors)
+                else:
+                    color_print(
+                        "data type %d buffer id %d sequence number %d" % (data_type, buffer_id, sequence_number),
+                        "WARN")
+                    color_print("This sensor is missing (likely because we don't need it)", "WARN")
 
         if (ack):
             self.drone_connection.ack_packet(buffer_id, sequence_number)
diff --git a/commandsandsensors/DroneSensorParser.py b/commandsandsensors/DroneSensorParser.py
index 8570212..e992a8e 100644
--- a/commandsandsensors/DroneSensorParser.py
+++ b/commandsandsensors/DroneSensorParser.py
@@ -44,51 +44,72 @@ def extract_sensor_values(self, data):
         #print("name of sensor is %s" % names)
         #print("data size is %s" % data_sizes)
 
+        packet_offset = 4
         if names is not None:
             for idx, name in enumerate(names):
                 data_size = data_sizes[idx]
                 try:
                     if (data_size == "u8" or data_size == "enum"):
                         # unsigned 8 bit, single byte
-                        sensor_data = struct.unpack_from("<B", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<B", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 1
                     elif (data_size == "i8"):
                         # signed 8 bit, single byte
-                        sensor_data = struct.unpack_from("<b", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<b", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 1
                     elif (data_size == "u16"):
-                        sensor_data = struct.unpack_from("<H", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<H", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 2
                     elif (data_size == "i16"):
-                        sensor_data = struct.unpack_from("<h", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<h", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 2
                     elif (data_size == "u32"):
-                        sensor_data = struct.unpack_from("<I", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<I", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 4
                     elif (data_size == "i32"):
-                        sensor_data = struct.unpack_from("<i", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<i", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 4
                     elif (data_size == "u64"):
-                        sensor_data = struct.unpack_from("<Q", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<Q", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 8
                     elif (data_size == "i64"):
-                        sensor_data = struct.unpack_from("<q", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<q", data, offset=packet_offset)
                         sensor_data = int(sensor_data[0])
+                        packet_offset += 8
                     elif (data_size == "float"):
-                        sensor_data = struct.unpack_from("<f", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<f", data, offset=packet_offset)
                         sensor_data = float(sensor_data[0])
+                        packet_offset += 4
                     elif (data_size == "double"):
-                        sensor_data = struct.unpack_from("<d", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<d", data, offset=packet_offset)
                         sensor_data = float(sensor_data[0])
+                        packet_offset += 8
                     elif (data_size == "string"):
                         # string
-                        sensor_data = struct.unpack_from("<s", data, offset=4*(idx+1))
+                        sensor_data = struct.unpack_from("<s", data, offset=packet_offset)
                         sensor_data = sensor_data[0]
+                        packet_offset += len(sensor_data)
                     else:
-                        sensor_data = None
-                        color_print("Write the parser for this value", "ERROR")
+                        #color_print("Write the parser for this value", "ERROR")
+                        #print("name of sensor is %s" % names)
+                        #print("data size is %s" % data_sizes)
+                        # this is usually a boolean flag stating that values have changed so set the value to True
+                        # and let it return the name
+                        sensor_data = True
                 except:
                     sensor_data = None
+                    #print(header_tuple)
+                    print("name of sensor is %s" % names)
+                    print("data size is %s" % data_sizes)
+                    print(len(data))
+                    print(4*(idx+1))
                     color_print("Error parsing data for sensor", "ERROR")
                 
                 #print("%s %s %s" % (name,idx,sensor_data))