diff --git a/files/images/devices/AC-0004-11-2.jpg b/files/images/devices/AC-0004-11-2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..334486b6756e6b2671c1a2dd1099f2c051e4a20c
Binary files /dev/null and b/files/images/devices/AC-0004-11-2.jpg differ
diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index b40e399506aa99057a2e25523a249abf192b7469..2f8034f33df93fcbf35c335d9927f628d4131184 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -111,6 +111,7 @@
         <file>files/images/mavs/frames-05.png</file>
         <file>files/images/devices/BR-HMC5883-01-2.jpg</file>
         <file>files/images/devices/BR-APMPWRDEAN-2.jpg</file>
+        <file>files/images/devices/AC-0004-11-2.jpg</file>
     </qresource>
     <qresource prefix="/general">
         <file alias="vera.ttf">files/styles/Vera.ttf</file>
diff --git a/src/ui/configuration/SonarConfig.cc b/src/ui/configuration/SonarConfig.cc
index fa9ce05d704c6b8621026b96cb497586ca7ddcb7..fb3481d90836c49b8e0c3b253e36f6d66606ae16 100644
--- a/src/ui/configuration/SonarConfig.cc
+++ b/src/ui/configuration/SonarConfig.cc
@@ -1,11 +1,68 @@
 #include "SonarConfig.h"
+#include <QMessageBox>
 
-
-SonarConfig::SonarConfig(QWidget *parent) : QWidget(parent)
+SonarConfig::SonarConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
+    connect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(checkBoxToggled(bool)));
+    connect(ui.sonarTypeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(sonarTypeChanged(int)));
+
+    ui.sonarTypeComboBox->addItem("XL-EZ0 / XL-EZ4");
+    ui.sonarTypeComboBox->addItem("LV-EZ0");
+    ui.sonarTypeComboBox->addItem("XL-EZL0");
+    ui.sonarTypeComboBox->addItem("HRLV");
 }
 
 SonarConfig::~SonarConfig()
 {
 }
+void SonarConfig::checkBoxToggled(bool enabled)
+{
+    if (enabled)
+    {
+        ui.sonarTypeComboBox->setEnabled(false);
+    }
+    if (!m_uas)
+    {
+        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        return;
+    }
+    m_uas->setParameter(0,"SONAR_ENABLE",ui.enableCheckBox->isChecked() ? 1 : 0);
+}
+void SonarConfig::sonarTypeChanged(int index)
+{
+    if (!m_uas)
+    {
+        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        return;
+    }
+    m_uas->setParameter(0,"SONAR_TYPE",ui.sonarTypeComboBox->currentIndex());
+}
+
+void SonarConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (parameterName == "SONAR_ENABLE")
+    {
+        if (value.toInt() == 0)
+        {
+            //Disabled
+            disconnect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(checkBoxToggled(bool)));
+            ui.enableCheckBox->setChecked(false);
+            connect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(checkBoxToggled(bool)));
+            ui.sonarTypeComboBox->setEnabled(false);
+        }
+        else
+        {
+            disconnect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(checkBoxToggled(bool)));
+            ui.enableCheckBox->setChecked(true);
+            connect(ui.enableCheckBox,SIGNAL(toggled(bool)),this,SLOT(checkBoxToggled(bool)));
+            ui.sonarTypeComboBox->setEnabled(true);
+        }
+    }
+    else if (parameterName == "SONAR_TYPE")
+    {
+        disconnect(ui.sonarTypeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(sonarTypeChanged(int)));
+        ui.sonarTypeComboBox->setCurrentIndex(value.toInt());
+        connect(ui.sonarTypeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(sonarTypeChanged(int)));
+    }
+}
diff --git a/src/ui/configuration/SonarConfig.h b/src/ui/configuration/SonarConfig.h
index 07dc9cfbcde908401b91b1764c984b14d7200a3e..825591a65294e37f5359675d715103031bf601c9 100644
--- a/src/ui/configuration/SonarConfig.h
+++ b/src/ui/configuration/SonarConfig.h
@@ -2,16 +2,20 @@
 #define SONARCONFIG_H
 
 #include <QWidget>
+#include "AP2ConfigWidget.h"
 #include "ui_SonarConfig.h"
 
-class SonarConfig : public QWidget
+class SonarConfig : public AP2ConfigWidget
 {
     Q_OBJECT
     
 public:
     explicit SonarConfig(QWidget *parent = 0);
     ~SonarConfig();
-    
+private slots:
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void checkBoxToggled(bool enabled);
+    void sonarTypeChanged(int index);
 private:
     Ui::SonarConfig ui;
 };
diff --git a/src/ui/configuration/SonarConfig.ui b/src/ui/configuration/SonarConfig.ui
index e286253853b60b192241715a33dcecf0e1298689..6bce3475ae776af46200c947cb29004b44b9e676 100644
--- a/src/ui/configuration/SonarConfig.ui
+++ b/src/ui/configuration/SonarConfig.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>300</height>
+    <width>651</width>
+    <height>432</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -29,7 +29,51 @@
     <bool>false</bool>
    </property>
   </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>30</x>
+     <y>60</y>
+     <width>91</width>
+     <height>81</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string/>
+   </property>
+   <property name="pixmap">
+    <pixmap resource="../../../qgroundcontrol.qrc">:/files/images/devices/AC-0004-11-2.jpg</pixmap>
+   </property>
+   <property name="scaledContents">
+    <bool>true</bool>
+   </property>
+  </widget>
+  <widget class="QCheckBox" name="enableCheckBox">
+   <property name="geometry">
+    <rect>
+     <x>140</x>
+     <y>60</y>
+     <width>70</width>
+     <height>17</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>CheckBox</string>
+   </property>
+  </widget>
+  <widget class="QComboBox" name="sonarTypeComboBox">
+   <property name="geometry">
+    <rect>
+     <x>150</x>
+     <y>100</y>
+     <width>171</width>
+     <height>22</height>
+    </rect>
+   </property>
+  </widget>
  </widget>
- <resources/>
+ <resources>
+  <include location="../../../qgroundcontrol.qrc"/>
+ </resources>
  <connections/>
 </ui>