I have set up ardupilot with the shield installed and xbee 900's to transmit the data. all the blinking lights seem to be good. eg. i get satelite lock on gps. i also see data being transfered from the xbees as the lights on the adapoters are blinking. in my terminal i have set it to 57600 (i also used xtcu to sety my xbees to 57600 for the em406 adapter) and all i get is garbled data. its not readable. i think i have missed something but im not sure where.**sorry for my first post it got screwed up somehow alot of it didnt show up and the title was gone.