diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 7b645d1b799eccaea1e8c28660aec34092e66e9a..9d39bdfb413a9573bf6cf223b7d6d25aec146ab6 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -299,7 +299,6 @@ HEADERS += src/MG.h \
     src/ui/uas/QGCUnconnectedInfoWidget.h \
     src/ui/designer/QGCToolWidget.h \
     src/ui/designer/QGCParamSlider.h \
-    src/ui/designer/QGCActionButton.h \
     src/ui/designer/QGCCommandButton.h \
     src/ui/designer/QGCToolWidgetItem.h \
     src/ui/QGCMAVLinkLogPlayer.h \
@@ -425,7 +424,6 @@ SOURCES += src/main.cc \
     src/ui/uas/QGCUnconnectedInfoWidget.cc \
     src/ui/designer/QGCToolWidget.cc \
     src/ui/designer/QGCParamSlider.cc \
-    src/ui/designer/QGCActionButton.cc \
     src/ui/designer/QGCCommandButton.cc \
     src/ui/designer/QGCToolWidgetItem.cc \
     src/ui/QGCMAVLinkLogPlayer.cc \
diff --git a/src/Waypoint.cc b/src/Waypoint.cc
index 2fd5a7099fd5c1ff1c793d72c90c712fbdeba3e6..bfcde0c4c194806facc8fc51af292dd21f98dbf6 100644
--- a/src/Waypoint.cc
+++ b/src/Waypoint.cc
@@ -109,7 +109,8 @@ void Waypoint::setId(quint16 id)
 
 void Waypoint::setX(double x)
 {
-    if (this->x != x && (this->frame == MAV_FRAME_LOCAL)) {
+    if (!isinf(x) && !isnan(x) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    {
         this->x = x;
         emit changed(this);
     }
@@ -117,7 +118,8 @@ void Waypoint::setX(double x)
 
 void Waypoint::setY(double y)
 {
-    if (this->y != y && (this->frame == MAV_FRAME_LOCAL)) {
+    if (!isinf(y) && !isnan(y) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    {
         this->y = y;
         emit changed(this);
     }
@@ -125,7 +127,8 @@ void Waypoint::setY(double y)
 
 void Waypoint::setZ(double z)
 {
-    if (this->z != z && (this->frame == MAV_FRAME_LOCAL)) {
+    if (!isinf(z) && !isnan(z) && ((this->frame == MAV_FRAME_LOCAL_NED) || (this->frame == MAV_FRAME_LOCAL_ENU)))
+    {
         this->z = z;
         emit changed(this);
     }
@@ -133,7 +136,8 @@ void Waypoint::setZ(double z)
 
 void Waypoint::setLatitude(double lat)
 {
-    if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
+    if (this->x != lat && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    {
         this->x = lat;
         emit changed(this);
     }
@@ -141,7 +145,8 @@ void Waypoint::setLatitude(double lat)
 
 void Waypoint::setLongitude(double lon)
 {
-    if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
+    if (this->y != lon && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    {
         this->y = lon;
         emit changed(this);
     }
@@ -149,7 +154,8 @@ void Waypoint::setLongitude(double lon)
 
 void Waypoint::setAltitude(double altitude)
 {
-    if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT))) {
+    if (this->z != altitude && ((this->frame == MAV_FRAME_GLOBAL) || (this->frame == MAV_FRAME_GLOBAL_RELATIVE_ALT)))
+    {
         this->z = altitude;
         emit changed(this);
     }
@@ -157,7 +163,8 @@ void Waypoint::setAltitude(double altitude)
 
 void Waypoint::setYaw(int yaw)
 {
-    if (this->yaw != yaw) {
+    if (this->yaw != yaw)
+    {
         this->yaw = yaw;
         emit changed(this);
     }
@@ -165,7 +172,8 @@ void Waypoint::setYaw(int yaw)
 
 void Waypoint::setYaw(double yaw)
 {
-    if (this->yaw != yaw) {
+    if (this->yaw != yaw)
+    {
         this->yaw = yaw;
         emit changed(this);
     }
@@ -173,7 +181,8 @@ void Waypoint::setYaw(double yaw)
 
 void Waypoint::setAction(int action)
 {
-    if (this->action != (MAV_CMD)action) {
+    if (this->action != (MAV_CMD)action)
+    {
         this->action = (MAV_CMD)action;
         emit changed(this);
     }
@@ -205,7 +214,8 @@ void Waypoint::setAutocontinue(bool autoContinue)
 
 void Waypoint::setCurrent(bool current)
 {
-    if (this->current != current) {
+    if (this->current != current)
+    {
         this->current = current;
         emit changed(this);
     }
@@ -213,7 +223,8 @@ void Waypoint::setCurrent(bool current)
 
 void Waypoint::setAcceptanceRadius(double radius)
 {
-    if (this->param2 != radius) {
+    if (this->param2 != radius)
+    {
         this->param2 = radius;
         emit changed(this);
     }
@@ -223,7 +234,8 @@ void Waypoint::setParam1(double param1)
 {
     //qDebug() << "SENDER:" << QObject::sender();
     //qDebug() << "PARAM1 SET REQ:" << param1;
-    if (this->param1 != param1) {
+    if (this->param1 != param1)
+    {
         this->param1 = param1;
         emit changed(this);
     }
@@ -231,7 +243,8 @@ void Waypoint::setParam1(double param1)
 
 void Waypoint::setParam2(double param2)
 {
-    if (this->param2 != param2) {
+    if (this->param2 != param2)
+    {
         this->param2 = param2;
         emit changed(this);
     }
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 69ee72af4d437d2e56a7eee212d545e22eb9ac3b..098fe65ffa9f7104b63146cab1bc469d8acefe78 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -395,7 +395,7 @@ void MAVLinkProtocol::sendHeartbeat()
 {
     if (m_heartbeatsEnabled) {
         mavlink_message_t beat;
-        mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, OCU, MAV_AUTOPILOT_GENERIC);
+        mavlink_msg_heartbeat_pack(getSystemId(), getComponentId(),&beat, MAV_TYPE_OCU, MAV_CLASS_INVALID);
         sendMessage(beat);
     }
     if (m_authEnabled) {
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 27f40b8498561284b41b4e838c9437ba589b4e92..bc3e193d3a6c28b2745f58c27128471d7f3d1043 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -792,7 +792,8 @@ void HSIDisplay::drawWaypoints(QPainter& painter)
 
         for (int i = 0; i < list.size(); i++) {
             QPointF in;
-            if (list.at(i)->getFrame() == MAV_FRAME_LOCAL) {
+            if (list.at(i)->getFrame() == MAV_FRAME_LOCAL_NED)
+            {
                 // Do not transform
                 in = QPointF(list.at(i)->getX(), list.at(i)->getY());
             } else {
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 1f39e4a270f82bdce497007c098cc9a21cd91032..14d8c4c2ad5b865737ba770f477a03e486a819a4 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -1629,7 +1629,7 @@ void MainWindow::UASCreated(UASInterface* uas)
         }
 
         switch (uas->getAutopilotType()) {
-        case (MAV_AUTOPILOT_SLUGS): {
+        case (MAV_CLASS_SLUGS): {
             // Build Slugs Widgets
             buildSlugsWidgets();
 
@@ -1667,9 +1667,9 @@ void MainWindow::UASCreated(UASInterface* uas)
         }
         break;
         default:
-        case (MAV_AUTOPILOT_GENERIC):
-        case (MAV_AUTOPILOT_ARDUPILOTMEGA):
-        case (MAV_AUTOPILOT_PIXHAWK): {
+        case (MAV_CLASS_GENERIC):
+        case (MAV_CLASS_ARDUPILOTMEGA):
+        case (MAV_CLASS_PIXHAWK): {
             // Build Pixhawk Widgets
             buildPxWidgets();
 
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.cc b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
index 21ae680661abd5d9749f5d3d9ec372fa16037fe8..5933f7e3dfc50c5215dbdfdf7ac10faa55f4afd5 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.cc
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
@@ -270,13 +270,14 @@ void RadioCalibrationWindow::send()
 
 void RadioCalibrationWindow::request()
 {
-    qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
-    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
-    if (uas) {
-        mavlink_message_t msg;
-        mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
-        uas->sendMessage(msg);
-    }
+    // FIXME MAVLINKV10PORTINGNEEDED
+//    qDebug() << __FILE__ << __LINE__ << "READ FROM UAV";
+//    UAS *uas = dynamic_cast<UAS*>(UASManager::instance()->getUASForId(uasId));
+//    if (uas) {
+//        mavlink_message_t msg;
+//        mavlink_msg_action_pack(uasId, 0, &msg, 0, 0, ::MAV_ACTION_CALIBRATE_RC);
+//        uas->sendMessage(msg);
+//    }
 }
 
 void RadioCalibrationWindow::receive(const QPointer<RadioCalibrationData>& radio)
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index 9d157ca142c2dd5ee323bb0f2d1ece6323ba4007..516b68e3f56887a261ba2cc41254ebe656828167 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -52,7 +52,7 @@ WaypointView::WaypointView(Waypoint* wp, QWidget* parent) :
     // add frames
     m_ui->comboBox_frame->addItem("Abs. Alt/Global",MAV_FRAME_GLOBAL);
     m_ui->comboBox_frame->addItem("Rel. Alt/Global", MAV_FRAME_GLOBAL_RELATIVE_ALT);
-    m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL);
+    m_ui->comboBox_frame->addItem("Local/Abs. Alt.",MAV_FRAME_LOCAL_NED);
     m_ui->comboBox_frame->addItem("Mission",MAV_FRAME_MISSION);
 
     // Initialize view correctly
@@ -322,7 +322,7 @@ void WaypointView::updateFrameView(int frame)
         m_ui->comboBox_frame->show();
         m_ui->customActionWidget->hide();
         break;
-    case MAV_FRAME_LOCAL:
+    case MAV_FRAME_LOCAL_NED:
         m_ui->lonSpinBox->hide();
         m_ui->latSpinBox->hide();
         m_ui->altSpinBox->hide();
@@ -386,7 +386,7 @@ void WaypointView::updateValues()
         updateFrameView(frame);
     }
     switch(frame) {
-    case MAV_FRAME_LOCAL: {
+    case MAV_FRAME_LOCAL_NED: {
         if (m_ui->posNSpinBox->value() != wp->getX()) {
             m_ui->posNSpinBox->setValue(wp->getX());
         }
diff --git a/src/ui/designer/QGCActionButton.cc b/src/ui/designer/QGCActionButton.cc
deleted file mode 100644
index 72753e91ff1f804369e3aa76b1ad29a91c3b6ab6..0000000000000000000000000000000000000000
--- a/src/ui/designer/QGCActionButton.cc
+++ /dev/null
@@ -1,136 +0,0 @@
-#include "QGCActionButton.h"
-#include "ui_QGCActionButton.h"
-
-#include "MAVLinkProtocol.h"
-#include "UASManager.h"
-
-const char* kActionLabels[MAV_ACTION_NB] = {
-    "HOLD",
-    "START MOTORS",
-    "LAUNCH",
-    "RETURN",
-    "EMERGENCY LAND",
-    "EMERGENCY KILL",
-    "CONFIRM KILL",
-    "CONTINUE",
-    "STOP MOTORS",
-    "HALT",
-    "SHUTDOWN",
-    "REBOOT",
-    "SET MANUAL",
-    "SET AUTO",
-    "READ STORAGE",
-    "WRITE STORAGE",
-    "CALIBRATE RC",
-    "CALIBRATE GYRO",
-    "CALIBRATE MAG",
-    "CALIBRATE ACC",
-    "CALIBRATE PRESSURE",
-    "START REC",
-    "PAUSE REC",
-    "STOP REC",
-    "TAKEOFF",
-    "NAVIGATE",
-    "LAND",
-    "LOITER",
-    "SET ORIGIN",
-    "RELAY ON",
-//"RELAY OFF",
-//"GET IMAGE",
-//"START VIDEO",
-//"STOP VIDEO",
-    "RESET MAP",
-    "RESET PLAN"
-};
-
-QGCActionButton::QGCActionButton(QWidget *parent) :
-    QGCToolWidgetItem("Button", parent),
-    ui(new Ui::QGCActionButton),
-    uas(NULL)
-{
-    ui->setupUi(this);
-
-    connect(ui->actionButton, SIGNAL(clicked()), this, SLOT(sendAction()));
-    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
-    connect(ui->editButtonName, SIGNAL(textChanged(QString)), this, SLOT(setActionButtonName(QString)));
-    connect(ui->editActionComboBox, SIGNAL(currentIndexChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
-
-    // Hide all edit items
-    ui->editActionComboBox->hide();
-    ui->editActionsRefreshButton->hide();
-    ui->editFinishButton->hide();
-    ui->editNameLabel->hide();
-    ui->editButtonName->hide();
-
-    // add action labels to combobox
-    for (int i = 0; i < MAV_ACTION_NB; i++) {
-        ui->editActionComboBox->addItem(kActionLabels[i]);
-    }
-}
-
-QGCActionButton::~QGCActionButton()
-{
-    delete ui;
-}
-
-void QGCActionButton::sendAction()
-{
-    if (QGCToolWidgetItem::uas) {
-        MAV_ACTION action = static_cast<MAV_ACTION>(
-                                ui->editActionComboBox->currentIndex());
-
-        QGCToolWidgetItem::uas->setAction(action);
-    } else {
-        qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
-    }
-}
-
-void QGCActionButton::setActionButtonName(QString text)
-{
-    ui->actionButton->setText(text);
-}
-
-void QGCActionButton::startEditMode()
-{
-    ui->editActionComboBox->show();
-    ui->editActionsRefreshButton->show();
-    ui->editFinishButton->show();
-    ui->editNameLabel->show();
-    ui->editButtonName->show();
-    isInEditMode = true;
-}
-
-void QGCActionButton::endEditMode()
-{
-    ui->editActionComboBox->hide();
-    ui->editActionsRefreshButton->hide();
-    ui->editFinishButton->hide();
-    ui->editNameLabel->hide();
-    ui->editButtonName->hide();
-
-    // Write to settings
-    emit editingFinished();
-
-    isInEditMode = false;
-}
-
-void QGCActionButton::writeSettings(QSettings& settings)
-{
-    settings.setValue("TYPE", "BUTTON");
-    settings.setValue("QGC_ACTION_BUTTON_DESCRIPTION", ui->nameLabel->text());
-    settings.setValue("QGC_ACTION_BUTTON_BUTTONTEXT", ui->actionButton->text());
-    settings.setValue("QGC_ACTION_BUTTON_ACTIONID", ui->editActionComboBox->currentIndex());
-    settings.sync();
-}
-
-void QGCActionButton::readSettings(const QSettings& settings)
-{
-    ui->editNameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
-    ui->editButtonName->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
-
-    ui->nameLabel->setText(settings.value("QGC_ACTION_BUTTON_DESCRIPTION", "ERROR LOADING BUTTON").toString());
-    ui->actionButton->setText(settings.value("QGC_ACTION_BUTTON_BUTTONTEXT", "UNKNOWN").toString());
-    ui->editActionComboBox->setCurrentIndex(settings.value("QGC_ACTION_BUTTON_ACTIONID", 0).toInt());
-    qDebug() << "DONE READING SETTINGS";
-}
diff --git a/src/ui/designer/QGCActionButton.h b/src/ui/designer/QGCActionButton.h
deleted file mode 100644
index a145e9a00be5c3d947eff113c293296a0ccb82ec..0000000000000000000000000000000000000000
--- a/src/ui/designer/QGCActionButton.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef QGCACTIONBUTTON_H
-#define QGCACTIONBUTTON_H
-
-#include "QGCToolWidgetItem.h"
-
-namespace Ui
-{
-class QGCActionButton;
-}
-
-class UASInterface;
-
-class QGCActionButton : public QGCToolWidgetItem
-{
-    Q_OBJECT
-
-public:
-    explicit QGCActionButton(QWidget *parent = 0);
-    ~QGCActionButton();
-
-public slots:
-    void sendAction();
-    void setActionButtonName(QString text);
-    void startEditMode();
-    void endEditMode();
-    void writeSettings(QSettings& settings);
-    void readSettings(const QSettings& settings);
-
-private:
-    Ui::QGCActionButton *ui;
-    UASInterface* uas;
-};
-
-#endif // QGCACTIONBUTTON_H
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index 6a0f7678ca8519bc49c6ece7ee6f84c1c2088ae3..9a3fb8ec26545aac87a753bbb5f2a673209d74e0 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -11,7 +11,6 @@
 #include <QDesktopServices>
 
 #include "QGCParamSlider.h"
-#include "QGCActionButton.h"
 #include "QGCCommandButton.h"
 #include "UASManager.h"
 
@@ -129,10 +128,7 @@ void QGCToolWidget::loadSettings(QSettings& settings)
         QString type = settings.value("TYPE", "UNKNOWN").toString();
         if (type != "UNKNOWN") {
             QGCToolWidgetItem* item = NULL;
-            if (type == "BUTTON") {
-                item = new QGCActionButton(this);
-                qDebug() << "CREATED BUTTON";
-            } else if (type == "COMMANDBUTTON") {
+            if (type == "COMMANDBUTTON") {
                 item = new QGCCommandButton(this);
                 qDebug() << "CREATED COMMANDBUTTON";
             } else if (type == "SLIDER") {
@@ -303,17 +299,6 @@ void QGCToolWidget::addParam()
     slider->startEditMode();
 }
 
-void QGCToolWidget::addAction()
-{
-    QGCActionButton* button = new QGCActionButton(this);
-    if (ui->hintLabel) {
-        ui->hintLabel->deleteLater();
-        ui->hintLabel = NULL;
-    }
-    toolLayout->addWidget(button);
-    button->startEditMode();
-}
-
 void QGCToolWidget::addCommand()
 {
     QGCCommandButton* button = new QGCCommandButton(this);
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
index 7d8b74dadc8dad24494ff8d495f81f4706f79270..81c9cf4eb10edaff9bdb5026359aa48892500714 100644
--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -82,8 +82,6 @@ protected:
 
 protected slots:
     void addParam();
-    /** @deprecated */
-    void addAction();
     void addCommand();
     void setTitle();
     void setTitle(QString title);