diff --git a/src/Messages/PoseMsg.cs b/src/Messages/PoseMsg.cs
index 1ee0b34..93fd7b9 100644
--- a/src/Messages/PoseMsg.cs
+++ b/src/Messages/PoseMsg.cs
@@ -14,7 +14,7 @@ namespace RoboidControl {
         /// <summary>
         /// The length of the message
         /// </summary>
-        public const byte length = 4 + 4 + 4;
+        public byte length = 4 + 4 + 4;
         /// <summary>
         /// The network ID of the thing
         /// </summary>
@@ -108,12 +108,12 @@ namespace RoboidControl {
             if ((this.poseType & Pose_Position) != 0)
                 this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
             if ((this.poseType & Pose_Orientation) != 0)
-                //this.orientation = SwingTwist.FromQuat32(LowLevelMessages.ReceiveQuat32(buffer, ref ix));
                 this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
             if ((this.poseType & Pose_LinearVelocity) != 0)
-                    this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
             if ((this.poseType & Pose_AngularVelocity) != 0)
                 this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+            this.length = ix;
         }
 
         /// @copydoc Passer::RoboidControl::IMessage::Serialize
@@ -133,7 +133,6 @@ namespace RoboidControl {
             if ((poseType & Pose_Position) != 0)
                 LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
             if ((poseType & Pose_Orientation) != 0)
-                //LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
                 LowLevelMessages.SendSwingTwist(buffer, ref ix, this.orientation);
             if ((poseType & Pose_LinearVelocity) != 0)
                     LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);