diff --git a/src/Settings/AutoConnect.SettingsGroup.json b/src/Settings/AutoConnect.SettingsGroup.json
index afce2047f2e95fc4a98a91fad72c13af54c61ccd..5abfc0dd5739375ad126de4f455a7e48c956db4e 100644
--- a/src/Settings/AutoConnect.SettingsGroup.json
+++ b/src/Settings/AutoConnect.SettingsGroup.json
@@ -40,5 +40,23 @@
     "longDescription":  "If this option is enabled GroundControl will automatically connect to a LibrePilot board which is connected via USB.",
     "type":             "bool",
     "defaultValue":     true
+},
+{
+    "name":             "AutoconnectUDPListenPort",
+    "shortDescription": "UDP port for autoconnect",
+    "type":             "uint32",
+    "defaultValue":     14550
+},
+{
+    "name":             "AutoconnectUDPTargetHostIP",
+    "shortDescription": "UDP target host IP for autoconnect",
+    "type":             "string",
+    "defaultValue":     ""
+},
+{
+    "name":             "AutoconnectUDPTargetHostPort",
+    "shortDescription": "UDP target host port for autoconnect",
+    "type":             "uint32",
+    "defaultValue":     14550
 }
 ]
diff --git a/src/Settings/AutoConnectSettings.cc b/src/Settings/AutoConnectSettings.cc
index fc1247f84c289394c062b872b0d92ec4882a86fe..ab6bf4e5743872c5aa79f22afa4dcc600095d319 100644
--- a/src/Settings/AutoConnectSettings.cc
+++ b/src/Settings/AutoConnectSettings.cc
@@ -21,17 +21,23 @@ const char* AutoConnectSettings:: autoConnectSiKRadioSettingsName =     "Autocon
 const char* AutoConnectSettings:: autoConnectPX4FlowSettingsName =      "AutoconnectPX4Flow";
 const char* AutoConnectSettings:: autoConnectRTKGPSSettingsName =       "AutoconnectRTKGPS";
 const char* AutoConnectSettings:: autoConnectLibrePilotSettingsName =   "AutoconnectLibrePilot";
+const char* AutoConnectSettings:: udpListenPortName =                   "AutoconnectUDPListenPort";
+const char* AutoConnectSettings:: udpTargetHostIPName =                 "AutoconnectUDPTargetHostIP";
+const char* AutoConnectSettings:: udpTargetHostPortName =               "AutoconnectUDPTargetHostPort";
 
 const char* AutoConnectSettings::autoConnectSettingsGroupName = "AutoConnect";
 
 AutoConnectSettings::AutoConnectSettings(QObject* parent)
-    : SettingsGroup(autoConnectSettingsGroupName, _settingsGroup, parent)
-    , _autoConnectUDPFact(NULL)
-    , _autoConnectPixhawkFact(NULL)
-    , _autoConnectSiKRadioFact(NULL)
-    , _autoConnectPX4FlowFact(NULL)
-    , _autoConnectRTKGPSFact(NULL)
+    : SettingsGroup             (autoConnectSettingsGroupName, _settingsGroup, parent)
+    , _autoConnectUDPFact       (NULL)
+    , _autoConnectPixhawkFact   (NULL)
+    , _autoConnectSiKRadioFact  (NULL)
+    , _autoConnectPX4FlowFact   (NULL)
+    , _autoConnectRTKGPSFact    (NULL)
     , _autoConnectLibrePilotFact(NULL)
+    , _udpListenPortFact        (NULL)
+    , _udpTargetHostIPFact      (NULL)
+    , _udpTargetHostPortFact    (NULL)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<AutoConnectSettings>("QGroundControl.SettingsManager", 1, 0, "AutoConnectSettings", "Reference only");
@@ -90,3 +96,30 @@ Fact* AutoConnectSettings::autoConnectLibrePilot(void)
 
     return _autoConnectLibrePilotFact;
 }
+
+Fact* AutoConnectSettings::udpListenPort(void)
+{
+    if (!_udpListenPortFact) {
+        _udpListenPortFact = _createSettingsFact(udpListenPortName);
+    }
+
+    return _udpListenPortFact;
+}
+
+Fact* AutoConnectSettings::udpTargetHostIP(void)
+{
+    if (!_udpTargetHostIPFact) {
+        _udpTargetHostIPFact = _createSettingsFact(udpTargetHostIPName);
+    }
+
+    return _udpTargetHostIPFact;
+}
+
+Fact* AutoConnectSettings::udpTargetHostPort(void)
+{
+    if (!_udpTargetHostPortFact) {
+        _udpTargetHostPortFact = _createSettingsFact(udpTargetHostPortName);
+    }
+
+    return _udpTargetHostPortFact;
+}
diff --git a/src/Settings/AutoConnectSettings.h b/src/Settings/AutoConnectSettings.h
index 83829fdfe15694428ac019d91e5391c8ad86d759..405cc8f23e58e8005b419ef4c8c1c7c84409382a 100644
--- a/src/Settings/AutoConnectSettings.h
+++ b/src/Settings/AutoConnectSettings.h
@@ -25,6 +25,9 @@ public:
     Q_PROPERTY(Fact* autoConnectPX4Flow     READ autoConnectPX4Flow     CONSTANT)
     Q_PROPERTY(Fact* autoConnectRTKGPS      READ autoConnectRTKGPS      CONSTANT)
     Q_PROPERTY(Fact* autoConnectLibrePilot  READ autoConnectLibrePilot  CONSTANT)
+    Q_PROPERTY(Fact* udpListenPort          READ udpListenPort          CONSTANT)   ///< Port to listen on for UDP autoconnect
+    Q_PROPERTY(Fact* udpTargetHostIP        READ udpTargetHostIP        CONSTANT)   ///< Target host IP for UDP autoconnect, empty string for none
+    Q_PROPERTY(Fact* udpTargetHostPort      READ udpTargetHostPort      CONSTANT)   ///< Target host post for UDP autoconnect
 
     Fact* autoConnectUDP        (void);
     Fact* autoConnectPixhawk    (void);
@@ -32,6 +35,9 @@ public:
     Fact* autoConnectPX4Flow    (void);
     Fact* autoConnectRTKGPS     (void);
     Fact* autoConnectLibrePilot (void);
+    Fact* udpListenPort         (void);
+    Fact* udpTargetHostIP       (void);
+    Fact* udpTargetHostPort     (void);
 
     static const char* autoConnectSettingsGroupName;
 
@@ -41,6 +47,9 @@ public:
     static const char* autoConnectPX4FlowSettingsName;
     static const char* autoConnectRTKGPSSettingsName;
     static const char* autoConnectLibrePilotSettingsName;
+    static const char* udpListenPortName;
+    static const char* udpTargetHostIPName;
+    static const char* udpTargetHostPortName;
 
 private:
     SettingsFact* _autoConnectUDPFact;
@@ -49,6 +58,9 @@ private:
     SettingsFact* _autoConnectPX4FlowFact;
     SettingsFact* _autoConnectRTKGPSFact;
     SettingsFact* _autoConnectLibrePilotFact;
+    SettingsFact* _udpListenPortFact;
+    SettingsFact* _udpTargetHostIPFact;
+    SettingsFact* _udpTargetHostPortFact;
 
     static const char* _settingsGroup;
 };
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index f08b83f9b10fd9af294a0a705913790817e44cd9..3bbe7249d18f64b5af29ef9e8f753152a4cc975a 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -459,8 +459,8 @@ void LinkManager::_updateAutoConnectLinks(void)
     }
     if (!foundUDP && _autoConnectSettings->autoConnectUDP()->rawValue().toBool()) {
         qCDebug(LinkManagerLog) << "New auto-connect UDP port added";
+        // Default UDPConfiguration is set up for autoconnect
         UDPConfiguration* udpConfig = new UDPConfiguration(_defaultUPDLinkName);
-        udpConfig->setLocalPort(QGC_UDP_LOCAL_PORT);
         udpConfig->setDynamic(true);
         SharedLinkConfigurationPointer config = addConfiguration(udpConfig);
         createConnectedLink(config);
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index a0810ba566b76994777a8cd12895cbfd78255963..fb650b25ec6a3114c3d6dec5f17a9b30e4da3a4e 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -23,10 +23,13 @@
 #include <QNetworkProxy>
 #include <QNetworkInterface>
 #include <iostream>
+#include <QHostInfo>
 
 #include "UDPLink.h"
 #include "QGC.h"
-#include <QHostInfo>
+#include "QGCApplication.h"
+#include "SettingsManager.h"
+#include "AutoConnectSettings.h"
 
 #define REMOVE_GONE_HOSTS 0
 
@@ -329,7 +332,12 @@ void UDPLink::_deregisterZeroconf()
 
 UDPConfiguration::UDPConfiguration(const QString& name) : LinkConfiguration(name)
 {
-    _localPort = QGC_UDP_LOCAL_PORT;
+    AutoConnectSettings* settings = qgcApp()->toolbox()->settingsManager()->autoConnectSettings();
+    _localPort = settings->udpListenPort()->rawValue().toInt();
+    QString targetHostIP = settings->udpTargetHostIP()->rawValue().toString();
+    if (!targetHostIP.isEmpty()) {
+        addHost(targetHostIP, settings->udpTargetHostPort()->rawValue().toInt());
+    }
 }
 
 UDPConfiguration::UDPConfiguration(UDPConfiguration* source) : LinkConfiguration(source)
@@ -499,11 +507,13 @@ void UDPConfiguration::saveSettings(QSettings& settings, const QString& root)
 
 void UDPConfiguration::loadSettings(QSettings& settings, const QString& root)
 {
+    AutoConnectSettings* acSettings = qgcApp()->toolbox()->settingsManager()->autoConnectSettings();
+
     _confMutex.lock();
     _hosts.clear();
     _confMutex.unlock();
     settings.beginGroup(root);
-    _localPort = (quint16)settings.value("port", QGC_UDP_LOCAL_PORT).toUInt();
+    _localPort = (quint16)settings.value("port", acSettings->udpListenPort()->rawValue().toInt()).toUInt();
     int hostCount = settings.value("hostCount", 0).toInt();
     for(int i = 0; i < hostCount; i++) {
         QString hkey = QString("host%1").arg(i);
diff --git a/src/comm/UDPLink.h b/src/comm/UDPLink.h
index a20efa26e47c1436d055e23096de416e8db7db68..6bdf5da845e7966049adf9db5037c940c7ccf073 100644
--- a/src/comm/UDPLink.h
+++ b/src/comm/UDPLink.h
@@ -34,9 +34,6 @@
 #include "QGCConfig.h"
 #include "LinkManager.h"
 
-#define QGC_UDP_LOCAL_PORT  14550
-#define QGC_UDP_TARGET_PORT 14555
-
 class UDPConfiguration : public LinkConfiguration
 {
     Q_OBJECT