diff --git a/libs/qwt/qwt_math.h b/libs/qwt/qwt_math.h
index 15a7fa673faadf9c4fe4ed832ad5bf748924eb7c..305b220a61acb9d4a99579c87d7e3f4d3fe04711 100644
--- a/libs/qwt/qwt_math.h
+++ b/libs/qwt/qwt_math.h
@@ -23,8 +23,8 @@
 
 #else // QT_VERSION >= 0x040000
 
-#define qwtMax qMax
-#define qwtMin qMin
+#define qwtMax(x,y) qMax(qreal(x),qreal(y))
+#define qwtMin(x,y) qMin(qreal(x),qreal(y))
 #define qwtAbs qAbs
 
 #endif
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index c98b84a700de13cf68455cc838154ea810e86a98..018611c23ff2f283f4479a26ea0bf5e9f0409c10 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -2000,7 +2000,7 @@ void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
  */
 float UAS::filterVoltage(float value) const
 {
-    return lpVoltage * 0.7f + value * 0.3f;
+    return lpVoltage * 0.6f + value * 0.4f;
 }
 
 /**
@@ -2551,110 +2551,76 @@ void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName,
         parameters.insert(compId, new QMap<QString, QVariant>());
     }
 
-    // Insert parameter into registry
-    if (parameters.value(compId)->contains(paramName)) {
-        parameters.value(compId)->remove(paramName);
-    }
 
     QVariant param;
 
     // Insert with correct type
     // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
-    switch (rawValue.param_type)
-    {
-    case MAV_PARAM_TYPE_REAL32:
-    {
-        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant(paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_float);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-//                qDebug() << "RECEIVED PARAM:" << param;
-    }
-        break;
-    case MAV_PARAM_TYPE_UINT8:
-    {
-        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant(QChar((unsigned char)paramValue.param_float));
-        }
-        else {
-            param = QVariant(QChar((unsigned char)paramValue.param_uint8));
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-        //qDebug() << "RECEIVED PARAM:" << param;
-    }
-        break;
-    case MAV_PARAM_TYPE_INT8:
-    {
-        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant(QChar((char)paramValue.param_float));
-        }
-        else  {
-            param = QVariant(QChar((char)paramValue.param_int8));
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-        //qDebug() << "RECEIVED PARAM:" << param;
-    }
-        break;
-    case MAV_PARAM_TYPE_INT16:
-    {
-        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant((short)paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_int16);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-        //qDebug() << "RECEIVED PARAM:" << param;
-    }
-        break;
-    case MAV_PARAM_TYPE_UINT32:
-    {
-        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant((unsigned int)paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_uint32);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-    }
-        break;
-    case MAV_PARAM_TYPE_INT32:
-    {
-        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
-            param = QVariant((int)paramValue.param_float);
-        }
-        else {
-            param = QVariant(paramValue.param_int32);
-        }
-        parameters.value(compId)->insert(paramName, param);
-        // Emit change
-        emit parameterChanged(uasId, compId, paramName, param);
-        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
-//                qDebug() << "RECEIVED PARAM:" << param;
-    }
-        break;
-    default:
-        qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
+    switch (rawValue.param_type) {
+        case MAV_PARAM_TYPE_REAL32:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant(paramValue.param_float);
+            } else {
+                param = QVariant(paramValue.param_float);
+            }
+            break;
+        case MAV_PARAM_TYPE_UINT8:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant(QChar((unsigned char)paramValue.param_float));
+            } else {
+                param = QVariant(QChar((quint8)paramValue.param_float));
+            }
+            break;
+        case MAV_PARAM_TYPE_INT8:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant(QChar((char)paramValue.param_float));
+            } else {
+                param = QVariant(QChar((qint8)paramValue.param_float));
+            }
+            break;
+        case MAV_PARAM_TYPE_INT16:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant((short)paramValue.param_float);
+            } else {
+                param = QVariant((qint16)paramValue.param_float);
+            }
+            break;
+        case MAV_PARAM_TYPE_UINT16:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant((unsigned short)paramValue.param_float);
+            } else {
+                param = QVariant((quint16)paramValue.param_float);
+            }
+            break;
+        case MAV_PARAM_TYPE_UINT32:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant((unsigned int)paramValue.param_float);
+            } else {
+                param = QVariant((quint32)paramValue.param_float);
+            }
+            break;
+        case MAV_PARAM_TYPE_INT32:
+            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
+                param = QVariant((int)paramValue.param_float);
+            } else {
+                param = QVariant((qint32)paramValue.param_float);
+            }
+            break;
+        default:
+            qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
+            return;
     } //switch (value.param_type)
 
+
+    // We did not return a critical error, now insert parameter into registry
+    if (parameters.value(compId)->contains(paramName)) {
+        parameters.value(compId)->remove(paramName);
+    }
+    // add new values
+    parameters.value(compId)->insert(paramName, param);
+    // Emit change
+    emit parameterChanged(uasId, compId, paramName, param);
+    emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
 }
 
 /**
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 936ffb9957e44a37faa2e7e40d287bdf1d45b0b7..10b1a85960c3aaba778248edfc7abc9a6bcd959d 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -50,7 +50,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     rcThrottle(0.0f),
     rcMode(0.0f),
     rcAssist(0.0f),
-    rcMission(0.0f),
+    rcLoiter(0.0f),
     rcReturn(0.0f),
     rcFlaps(0.0f),
     rcAux1(0.0f),
@@ -72,7 +72,7 @@ QGCPX4VehicleConfig::QGCPX4VehicleConfig(QWidget *parent) :
     channelNames << "Throttle";
     channelNames << "Main Mode Switch";
     channelNames << "Assist Switch";
-    channelNames << "Mission Switch";
+    channelNames << "Loiter Switch";
     channelNames << "Return Switch";
     channelNames << "Flaps";
     channelNames << "Aux1";
@@ -1484,7 +1484,7 @@ void QGCPX4VehicleConfig::remoteControlChannelRawChanged(int chan, float fval)
         rcAssist = normalized; // ASSIST SWITCH
     }
     else if (chan == rcMapping[6]) {
-        rcMission = normalized; // MISSION SWITCH
+        rcLoiter = normalized; // LOITER SWITCH
     }
     else if (chan == rcMapping[7]) {
         rcReturn = normalized; // RETURN SWITCH
@@ -1948,7 +1948,7 @@ void QGCPX4VehicleConfig::updateRcChanLabels()
     }
 
     if (rcValue[rcMapping[6]] != UINT16_MAX) {
-        ui->missionSwChanLabel->setText(labelForRcValue(rcMission));
+        ui->missionSwChanLabel->setText(labelForRcValue(rcLoiter));
     }
     else {
         ui->missionSwChanLabel->setText(blankLabel);
diff --git a/src/ui/QGCPX4VehicleConfig.h b/src/ui/QGCPX4VehicleConfig.h
index 976415281df8f76a957fea568a6c3348fb9bff21..103d169d48584bc597154baa9b69beb6130cff83 100644
--- a/src/ui/QGCPX4VehicleConfig.h
+++ b/src/ui/QGCPX4VehicleConfig.h
@@ -306,7 +306,7 @@ protected:
     float rcThrottle;                   ///< PPM input channel used as throttle control input
     float rcMode;                       ///< PPM input channel used as mode switch control input
     float rcAssist;                     ///< PPM input channel used as assist switch control input
-    float rcMission;                    ///< PPM input channel used as mission switch control input
+    float rcLoiter;                     ///< PPM input channel used as loiter switch control input
     float rcReturn;                     ///< PPM input channel used as return switch control input
     float rcFlaps;                      ///< PPM input channel used as flaps control input
     float rcAux1;                       ///< PPM input channel used as aux 1 input
diff --git a/src/ui/designer/QGCXYPlot.cc b/src/ui/designer/QGCXYPlot.cc
index 079e27eeae027e2b47f99f63eee746616b610a1e..a258feedf2cda0cb59503b85e558c7eb654bef1e 100644
--- a/src/ui/designer/QGCXYPlot.cc
+++ b/src/ui/designer/QGCXYPlot.cc
@@ -33,23 +33,28 @@ public:
 
     /** Append data, returning the number of removed items */
     int appendData(const QPointF &data) {
-        if(!minMaxSet) {
-            xmin = xmax = data.x();
-            ymin = ymax = data.y();
-            minMaxSet = true;
-        } else if(m_autoScale) {
-            xmin = qMin(xmin, data.x());
-            xmax = qMax(xmax, data.x());
-            ymin = qMin(ymin, data.y());
-            ymax = qMax(ymax, data.y());
-        }
-
         m_data.append(data);
         int removed = 0;
-        while(m_data.size() > m_maxStorePoints) {
+        while (m_data.size() > m_maxShowPoints) {
             ++removed;
             m_data.removeFirst();
         }
+        if (!minMaxSet) {
+            xmin = xmax = data.x();
+            ymin = ymax = data.y();
+            minMaxSet = true;
+            previousTime =xmin;
+        } else if (m_autoScale) {
+            if (m_autoScaleTime) {
+                xmin += removed * (data.x() - previousTime);
+                previousTime = data.x();
+            } else {
+                xmin = qMin(qreal(xmin), data.x());
+            }
+            xmax = qMax(qreal(xmax), data.x());
+            ymin = qMin(qreal(ymin), data.y());
+            ymax = qMax(qreal(ymax), data.y());
+        }
         itemChanged();
         return removed;
     }
@@ -61,6 +66,10 @@ public:
     void setColor(const QColor &color) {
         m_color = color;
     }
+    void setTimeSerie(bool state) {
+         clear();
+         m_autoScaleTime = state;
+    }
     void unsetMinMax() {
         if(m_autoScale)
             return;
@@ -70,13 +79,13 @@ public:
             minMaxSet = false;
         else {
             minMaxSet = true;
-            xmax = xmin = m_data.at(0).x();
+            previousTime = xmax = xmin = m_data.at(0).x();
             ymax = ymin = m_data.at(0).y();
             for(int i = 1; i < m_data.size(); i++) {
-                xmin = qMin(xmin, m_data.at(i).x());
-                xmax = qMax(xmax, m_data.at(i).x());
-                ymin = qMin(ymin, m_data.at(i).y());
-                ymax = qMax(ymax, m_data.at(i).y());
+                xmin = qMin(qreal(xmin), m_data.at(i).x());
+                xmax = qMax(qreal(xmax), m_data.at(i).x());
+                ymin = qMin(qreal(ymin), m_data.at(i).y());
+                ymax = qMax(qreal(ymax), m_data.at(i).y());
             }
         }
     }
@@ -164,12 +173,14 @@ private:
     int m_smoothPoints; /** Number of points to average across */
     mutable QColor m_color;
 
+    double previousTime;
     double xmin;
     double xmax;
     double ymin;
     double ymax;
     bool minMaxSet;
     bool m_autoScale;
+    bool m_autoScaleTime;
     int m_startIndex;
 };
 
@@ -220,6 +231,7 @@ QGCXYPlot::QGCXYPlot(QWidget *parent) :
     connect(ui->minY, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings()));
     connect(ui->maxY, SIGNAL(valueChanged(double)),this, SLOT(updateMinMaxSettings()));
     connect(ui->automaticAxisRange, SIGNAL(toggled(bool)),this, SLOT(updateMinMaxSettings()));
+    connect(ui->timeAxisRange, SIGNAL(toggled(bool)),this, SLOT(setTimeAxis()));
     connect(ui->maxDataShowSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings()));
     connect(ui->maxDataStoreSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings()));
     connect(ui->smoothSpinBox, SIGNAL(valueChanged(int)),this, SLOT(updateMinMaxSettings()));
@@ -261,6 +273,7 @@ void QGCXYPlot::setEditMode(bool editMode)
     ui->maxDataShowSpinBox->setVisible(editMode);
     ui->maxDataStoreSpinBox->setVisible(editMode);
     ui->automaticAxisRange->setVisible(editMode);
+    ui->timeAxisRange->setVisible(editMode);
     ui->lblSmooth->setVisible(editMode);
     ui->smoothSpinBox->setVisible(editMode);
 
@@ -286,7 +299,7 @@ void QGCXYPlot::writeSettings(QSettings& settings)
     settings.setValue("QGC_XYPLOT_MAXDATA_SHOW", ui->maxDataShowSpinBox->value());
     settings.setValue("QGC_XYPLOT_AUTO", ui->automaticAxisRange->isChecked());
     settings.setValue("QGC_XYPLOT_SMOOTH", ui->smoothSpinBox->value());
-
+    settings.setValue("QGC_XYPLOT_TIME", ui->timeAxisRange->isChecked());
     settings.sync();
 }
 void QGCXYPlot::readSettings(const QString& pre,const QVariantMap& settings)
@@ -301,6 +314,7 @@ void QGCXYPlot::readSettings(const QString& pre,const QVariantMap& settings)
     ui->maxDataStoreSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_MAXDATA_STORE", 10000).toInt());
     ui->maxDataShowSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_MAXDATA_SHOW", 15).toInt());
     ui->smoothSpinBox->setValue(settings.value(pre + "QGC_XYPLOT_SMOOTH", 1).toInt());
+    ui->timeAxisRange->setChecked(settings.value(pre + "QGC_XYPLOT_TIME", true).toBool());
     plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText());
     plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText());
     updateMinMaxSettings();
@@ -318,6 +332,7 @@ void QGCXYPlot::readSettings(const QSettings& settings)
     ui->maxDataStoreSpinBox->setValue(settings.value("QGC_XYPLOT_MAXDATA_STORE", 10000).toInt());
     ui->maxDataShowSpinBox->setValue(settings.value("QGC_XYPLOT_MAXDATA_SHOW", 15).toInt());
     ui->smoothSpinBox->setValue(settings.value("QGC_XYPLOT_SMOOTH", 1).toInt());
+    ui->timeAxisRange->setChecked(settings.value("QGC_XYPLOT_TIME", true).toBool());
     plot->setAxisTitle(QwtPlot::xBottom, ui->editXParam->currentText());
     plot->setAxisTitle(QwtPlot::yLeft, ui->editYParam->currentText());
     updateMinMaxSettings();
@@ -412,6 +427,11 @@ void QGCXYPlot::updateMinMaxSettings()
     xycurve->setSmoothPoints(ui->smoothSpinBox->value());
 }
 
+void QGCXYPlot::setTimeAxis()
+{
+    xycurve->setTimeSerie(ui->timeAxisRange->isChecked());
+}
+
 void QGCXYPlot::on_maxDataShowSpinBox_valueChanged(int value)
 {
     ui->maxDataStoreSpinBox->setMinimum(value);
diff --git a/src/ui/designer/QGCXYPlot.h b/src/ui/designer/QGCXYPlot.h
index 1b4818d8899d579f94148020f07bd2b59ce4c3cc..d574f2ee4da25f28eec355ace2d4b3d72744b053 100644
--- a/src/ui/designer/QGCXYPlot.h
+++ b/src/ui/designer/QGCXYPlot.h
@@ -31,10 +31,11 @@ public slots:
     void styleChanged(MainWindow::QGC_MAINWINDOW_STYLE style);
     void updateMinMaxSettings();
 
+
 private slots:
     void on_maxDataShowSpinBox_valueChanged(int value);
     void on_stopStartButton_toggled(bool checked);
-
+    void setTimeAxis();
     void on_timeScrollBar_valueChanged(int value);
 
 private:
@@ -42,6 +43,7 @@ private:
     QwtPlot *plot;
     XYPlotCurve* xycurve;
 
+    bool autoScaleTime;
     double x; /**< Last unused value for the x-coordinate */
     quint64 x_timestamp_us; /**< Timestamp that we last recieved a value for x */
     bool x_valid; /**< Whether we have recieved an x value but so far no corresponding y value */