diff --git a/src/LogCompressor.cc b/src/LogCompressor.cc
index 0a36b2e0be5fb50bc8ee572c0f35c9260bac5f57..ffaeed864e8a74ccc94e2dd07be460604a22241e 100644
--- a/src/LogCompressor.cc
+++ b/src/LogCompressor.cc
@@ -60,8 +60,17 @@ void LogCompressor::run()
 		return;
 	}
 
+//    outFileName = logFileName;
+
+    QString outFileName;
+
+    QStringList parts =  QFileInfo(infile.fileName()).absoluteFilePath().split(".", QString::SkipEmptyParts);
+
+    parts.replace(parts.size()-2, "compressed." + parts.last());
+    outFileName = parts.join(".");
+
 	// Verify that the output file is useable
-    QFile outTmpFile("processed_" + outFileName);
+    QFile outTmpFile(outFileName);
     if (!outTmpFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
 		emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outTmpFile.fileName()).absoluteFilePath()));
 		return;
@@ -146,11 +155,11 @@ void LogCompressor::run()
 //	QFile::remove(outFileName);
 //	outTmpFile.copy(outFileName);
 //	outTmpFile.close();
-	emit logProcessingStatusChanged(tr("Log Compressor: Writing output to file %1").arg(QFileInfo(outFileName).absoluteFilePath()));
+    emit logProcessingStatusChanged(tr("Log Compressor: Writing output to file %1").arg(QFileInfo(outFileName).absoluteFilePath()));
 
 	// Clean up and update the status before we return.
 	currentDataLine = 0;
-	emit logProcessingStatusChanged(tr("Log compressor: Finished processing file: %1").arg(outFileName));
+    emit logProcessingStatusChanged(tr("Log compressor: Finished processing file: %1").arg(outFileName));
 	emit finishedFile(outFileName);
 	qDebug() << "Done with logfile processing";
 	running = false;
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index dd605760da28a2d79bba87c23ed3f512f7e97ef3..25547d1307503dc62de1e9c07501b3138dadc2d5 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -766,7 +766,7 @@ void MAVLinkSimulationLink::writeBytes(const char* data, qint64 size)
             case MAVLINK_MSG_ID_MANUAL_CONTROL: {
                 mavlink_manual_control_t control;
                 mavlink_msg_manual_control_decode(&msg, &control);
-                qDebug() << "\n" << "ROLL:" << control.roll << "PITCH:" << control.pitch;
+                qDebug() << "\n" << "ROLL:" << control.x << "PITCH:" << control.y;
             }
             break;
 #endif
diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index 948fcecbd4cdf5cc7889159e41c223b2cfc8fafe..8a0e2c5e0630a862c6e8219d1fb2bfd64d7adda3 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -1,6 +1,7 @@
 #include <QDebug>
 #include <cmath>
 #include <qmath.h>
+#include <QGC.h>
 
 #include "MAVLinkSimulationMAV.h"
 
@@ -76,7 +77,7 @@ void MAVLinkSimulationMAV::mainloop()
         planner.handleMessage(msg);
 
         mavlink_servo_output_raw_t servos;
-        servos.time_usec = 0;
+        servos.time_boot_ms = 0;
         servos.servo1_raw = 1000;
         servos.servo2_raw = 1250;
         servos.servo3_raw = 1400;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index e299fafba1f865d1645704240172ec7ba38f3ca8..a7c9547d03a4c175c4673a2e0533183269d09588 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1652,7 +1652,7 @@ void UAS::sendMessage(mavlink_message_t message)
     foreach (LinkInterface* link, *links)
     {
         //qDebug() << "ITERATING THROUGH LINKS";
-        if (link)
+        if (LinkManager::instance()->getLinks().contains(link))
         {
             sendMessage(link, message);
             //qDebug() << "SENT MESSAGE";
@@ -2407,8 +2407,10 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
     // If system has manual inputs enabled and is armed
     if(((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (mode & MAV_MODE_FLAG_HIL_ENABLED))
     {
+        // XXX FIXME ADD BUTTON SUPPORT
+        quint16 buttons = 0;
         mavlink_message_t message;
-        mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
+        mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualThrust, (float)manualYawAngle, buttons);
         sendMessage(message);
         //qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
 
diff --git a/src/ui/QGCVehicleConfig.cc b/src/ui/QGCVehicleConfig.cc
index b393f77803cb3e1765acec732615a5094a4ef7ec..9744e8794a5519bc6c1d2e8339fbb5bba8e326c4 100644
--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -26,7 +26,7 @@ QGCVehicleConfig::QGCVehicleConfig(QWidget *parent) :
 
     setActiveUAS(UASManager::instance()->getActiveUAS());
 
-    for (int i = 0; i < chanMax; i++)
+    for (unsigned int i = 0; i < chanMax; i++)
     {
         rcValue[i] = 1500;
     }
diff --git a/src/ui/linechart/LinechartPlot.cc b/src/ui/linechart/LinechartPlot.cc
index c17613393e379056912e709d50a675b58d943942..baf7dcc498fc88d9a39f4c12703726696864ae52 100644
--- a/src/ui/linechart/LinechartPlot.cc
+++ b/src/ui/linechart/LinechartPlot.cc
@@ -280,9 +280,9 @@ void LinechartPlot::appendData(QString dataname, quint64 ms, double value)
     if(!data.contains(dataname)) {
         addCurve(dataname);
         enforceGroundTime(m_groundTime);
-        qDebug() << "ADDING CURVE WITH" << dataname << ms << value;
-        qDebug() << "MINTIME:" << minTime << "MAXTIME:" << maxTime;
-        qDebug() << "LASTTIME:" << lastTime;
+//        qDebug() << "ADDING CURVE WITH" << dataname << ms << value;
+//        qDebug() << "MINTIME:" << minTime << "MAXTIME:" << maxTime;
+//        qDebug() << "LASTTIME:" << lastTime;
     }
 
     // Add new value
diff --git a/src/ui/linechart/LinechartWidget.cc b/src/ui/linechart/LinechartWidget.cc
index 85834ce5ac1fe51032a4266f29f6f40a8225e178..1b009ce6f1feaa0552580aee9f2a767810485f55 100644
--- a/src/ui/linechart/LinechartWidget.cc
+++ b/src/ui/linechart/LinechartWidget.cc
@@ -181,7 +181,8 @@ void LinechartWidget::writeSettings()
 {
     QSettings settings;
     settings.beginGroup("LINECHART");
-    if (timeButton) settings.setValue("ENFORCE_GROUNDTIME", timeButton->isChecked());
+    bool enforceGT = (!autoGroundTimeSet && timeButton->isChecked()) ? true : false;
+    if (timeButton) settings.setValue("ENFORCE_GROUNDTIME", enforceGT);
     if (ui.showUnitsCheckBox) settings.setValue("SHOW_UNITS", ui.showUnitsCheckBox->isChecked());
     if (ui.shortNameCheckBox) settings.setValue("SHORT_NAMES", ui.shortNameCheckBox->isChecked());
     settings.endGroup();
@@ -197,6 +198,7 @@ void LinechartWidget::readSettings()
         timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
         activePlot->enforceGroundTime(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
         timeButton->setChecked(settings.value("ENFORCE_GROUNDTIME", timeButton->isChecked()).toBool());
+        //userGroundTimeSet = settings.value("USER_GROUNDTIME", timeButton->isChecked()).toBool();
     }
     if (ui.showUnitsCheckBox) ui.showUnitsCheckBox->setChecked(settings.value("SHOW_UNITS", ui.showUnitsCheckBox->isChecked()).toBool());
     if (ui.shortNameCheckBox) ui.shortNameCheckBox->setChecked(settings.value("SHORT_NAMES", ui.shortNameCheckBox->isChecked()).toBool());
@@ -349,18 +351,29 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
         intData.insert(curve+unit, value);
     }
 
+    if (lastTimestamp == 0 && usec != 0)
+    {
+        lastTimestamp = usec;
+    } else if (usec != 0) {
+        // Difference larger than 5 secs, enforce ground time
+        if (abs((int)((qint64)usec - (quint64)lastTimestamp)) > 5000)
+        {
+            autoGroundTimeSet = true;
+            if (activePlot) activePlot->groundTime();
+        }
+    }
+
     // Log data
     if (logging)
     {
         if (activePlot->isVisible(curve+unit))
         {
-            if (usec == 0) usec = QGC::groundTimeMilliseconds();
+            if (usec == 0 || autoGroundTimeSet) usec = QGC::groundTimeMilliseconds();
             if (logStartTime == 0) logStartTime = usec;
             qint64 time = usec - logStartTime;
             if (time < 0) time = 0;
 
             logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
-            logFile->flush();
         }
     }
 }
@@ -384,12 +397,24 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
         intData.insert(curve+unit, value);
     }
 
+    if (lastTimestamp == 0 && usec != 0)
+    {
+        lastTimestamp = usec;
+    } else if (usec != 0) {
+        // Difference larger than 5 secs, enforce ground time
+        if (abs((int)((qint64)usec - (quint64)lastTimestamp)) > 5000)
+        {
+            autoGroundTimeSet = true;
+            if (activePlot) activePlot->groundTime();
+        }
+    }
+
     // Log data
     if (logging)
     {
         if (activePlot->isVisible(curve+unit))
         {
-            if (usec == 0) usec = QGC::groundTimeMilliseconds();
+            if (usec == 0 || autoGroundTimeSet) usec = QGC::groundTimeMilliseconds();
             if (logStartTime == 0) logStartTime = usec;
             qint64 time = usec - logStartTime;
             if (time < 0) time = 0;
@@ -416,12 +441,24 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
         }
     }
 
+    if (lastTimestamp == 0 && usec != 0)
+    {
+        lastTimestamp = usec;
+    } else if (usec != 0) {
+        // Difference larger than 1 sec, enforce ground time
+        if (abs((int)((qint64)usec - (quint64)lastTimestamp)) > 1000)
+        {
+            autoGroundTimeSet = true;
+            if (activePlot) activePlot->groundTime();
+        }
+    }
+
     // Log data
     if (logging)
     {
         if (activePlot->isVisible(curve+unit))
         {
-            if (usec == 0) usec = QGC::groundTimeMilliseconds();
+            if (usec == 0 || autoGroundTimeSet) usec = QGC::groundTimeMilliseconds();
             if (logStartTime == 0) logStartTime = usec;
             qint64 time = usec - logStartTime;
             if (time < 0) time = 0;
diff --git a/src/ui/linechart/LinechartWidget.h b/src/ui/linechart/LinechartWidget.h
index d111b2548f15a0234e711f5e33e980142dcc0722..3e57975c73529fc5f284a60c74d7100fd3777030 100644
--- a/src/ui/linechart/LinechartWidget.h
+++ b/src/ui/linechart/LinechartWidget.h
@@ -173,6 +173,9 @@ protected:
     LogCompressor* compressor;
     QCheckBox* selectAllCheckBox;
     int selectedMAV; ///< The MAV for which plot items are accepted, -1 for all systems
+    quint64 lastTimestamp;
+    bool userGroundTimeSet;
+    bool autoGroundTimeSet;
     static const int updateInterval = 1000; ///< Time between number updates, in milliseconds
 
     static const int MAX_CURVE_MENUITEM_NUMBER = 8;