diff --git a/qgcimages.qrc b/qgcimages.qrc
index 446cea18c16d5dbcd93ede94a573713954ec79bd..2da131ce591fcbc22cfce1fd8aefe8fc4a5e1d7e 100644
--- a/qgcimages.qrc
+++ b/qgcimages.qrc
@@ -1,6 +1,5 @@
 <RCC>
     <qresource prefix="/qmlimages">
-        <file alias="camera.svg">resources/camera.svg</file>
         <file alias="adsbVehicle.svg">src/FlightMap/Images/adsbVehicle.svg</file>
         <file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
         <file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
@@ -59,6 +58,7 @@
         <file alias="attitudePointer.svg">src/FlightMap/Images/attitudePointer.svg</file>
         <file alias="AwarenessAircraft.svg">src/FlightMap/Images/AwarenessAircraft.svg</file>
         <file alias="Battery.svg">src/ui/toolbar/Images/Battery.svg</file>
+        <file alias="camera.svg">resources/camera.svg</file>
         <file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
         <file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
         <file alias="CameraComponentIcon.png">src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png</file>
@@ -91,6 +91,7 @@
         <file alias="Hamburger.svg">src/ui/toolbar/Images/Hamburger.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
         <file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
+        <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>
         <file alias="Home.svg">src/FlightMap/Images/Home.svg</file>
         <file alias="Joystick.png">src/ui/toolbar/Images/Joystick.png</file>
         <file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
@@ -117,6 +118,7 @@
         <file alias="MotorComponentIcon.svg">src/AutoPilotPlugins/Common/Images/MotorComponentIcon.svg</file>
         <file alias="no-logging-light.svg">src/AutoPilotPlugins/PX4/Images/no-logging-light.svg</file>
         <file alias="no-logging.svg">src/AutoPilotPlugins/PX4/Images/no-logging.svg</file>
+        <file alias="ObjectAvoidance.svg">src/AutoPilotPlugins/PX4/Images/ObjectAvoidance.svg</file>
         <file alias="PaperPlane.svg">src/ui/toolbar/Images/PaperPlane.svg</file>
         <file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
         <file alias="pipHide.svg">src/FlightMap/Images/pipHide.svg</file>
diff --git a/src/AutoPilotPlugins/PX4/Images/HITL.svg b/src/AutoPilotPlugins/PX4/Images/HITL.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d8b318bac4e16fcfdc34f910b2296965b8a660a0
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/HITL.svg
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+	.st1{fill:#FFFFFF;stroke:#FFFFFF;}
+	.st2{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
+	.st3{fill:none;stroke:#FFFFFF;stroke-width:3;}
+	.st4{fill:#FFFFFF;stroke:#FFFFFF;stroke-width:3;}
+</style>
+<g>
+	<path class="st0" d="M274.534,5.498H13.465C6.043,5.498,0,11.545,0,18.963v200.232c0,7.418,6.042,13.465,13.465,13.465h94.671
+		l-6.086,39.603H85.606c-2.825,0-5.12,2.294-5.12,5.115c0,2.83,2.294,5.124,5.12,5.124h116.789c2.83,0,5.124-2.294,5.124-5.124
+		c0-2.821-2.294-5.115-5.124-5.115h-16.594l-6.091-39.603h94.825c7.427,0,13.465-6.047,13.465-13.465V18.963
+		C287.999,11.545,281.961,5.498,274.534,5.498z M112.417,272.262l6.086-39.603h50.836l6.1,39.603H112.417z M277.76,222.411H10.244
+		v-39.814H277.76V222.411z M277.76,172.349H10.244V15.746H277.76V172.349z"/>
+	<path class="st0" d="M144,209.843c4.447,0,8.068-3.621,8.068-8.068c0-4.447-3.621-8.068-8.068-8.068s-8.064,3.621-8.064,8.068
+		C135.936,206.222,139.553,209.843,144,209.843z"/>
+</g>
+<g>
+	<g>
+		<g>
+			<path id="path2991_3_" class="st1" d="M103.117,52.265c-0.629,3.062-4.237,4.993-8.034,4.185c-3.8-0.811-6.185-4.017-5.35-7.037
+				c0.835-3.02,4.405-4.745,7.999-3.982C101.323,46.2,103.746,49.204,103.117,52.265z"/>
+			<path id="path3761_3_" class="st2" d="M96.75,68.016c-12.195-0.512-21.83-9.625-20.95-19.012
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+			<path id="path2991-6_3_" class="st1" d="M192.972,56.45c-3.8,0.811-7.408-1.12-8.034-4.185c-0.629-3.062,1.794-6.068,5.388-6.834
+				c3.594-0.766,7.164,0.962,7.999,3.982C199.157,52.434,196.772,55.643,192.972,56.45z"/>
+			<path id="path3761-1_3_" class="st2" d="M172.269,57.533c-3.477-8.831,2.261-18.332,11.889-22.067
+				c9.625-3.735,20.802-0.814,25.919,7.267c5.116,8.082,0.962,18.995-10.305,23.482c-2.725,1.086-5.676,1.704-8.625,1.807"/>
+			<path id="path2991-9_3_" class="st1" d="M200.916,130.179c-0.629-3.062,2.969-6.278,8.01-7.35
+				c5.037-1.072,9.772,0.368,10.604,3.385c0.835,3.02-2.715,6.515-7.958,7.632S201.545,133.244,200.916,130.179z"/>
+			<path id="path3761-2_3_" class="st2" d="M201.225,113.174c13.889-4.567,29.125-2.852,35.069,4.972
+				c5.945,7.824-0.904,19.658-16.404,25.125s-32.437,1.68-36.77-7.047c-1.048-2.11-1.33-4.381-0.88-6.673"/>
+			<path id="path2991-6-9_3_" class="st1" d="M79.13,122.829c5.037,1.072,8.635,4.288,8.01,7.35
+				c-0.629,3.062-5.412,4.783-10.655,3.666c-5.244-1.117-8.79-4.615-7.958-7.632C69.357,123.197,74.092,121.757,79.13,122.829z"/>
+			<path id="path3761-1-5_3_" class="st2" d="M105.835,129.678c1.752,9.47-9.7,17.39-26.156,16.047
+				c-16.456-1.344-30.155-11.662-30.1-21.304c0.052-9.642,12.363-14.94,27.015-13.425c3.546,0.368,7.072,1.124,10.425,2.244"/>
+		</g>
+		<path class="st3" d="M77.803,128.338c44.532-18.558,83.381-38.595,113.846-77.395"/>
+		<path class="st3" d="M210.262,128.338c-44.532-18.558-83.381-38.595-113.849-77.395"/>
+		<path class="st4" d="M176.661,93.677c1.68,12.408-12.889,24.599-32.633,24.599s-34.313-12.191-32.633-24.599
+			c1.68-12.408,16.256-20.699,32.633-20.699S174.977,81.266,176.661,93.677z"/>
+	</g>
+</g>
+</svg>
diff --git a/src/AutoPilotPlugins/PX4/Images/LandMode.svg b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
index d6dabab67e323daeeb4551e262252b916d8ba3c9..5a6f9801e7da7be140d71b467ee47ffa56f6c3fc 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandMode.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
@@ -1,26 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 39.07 60.197" style="enable-background:new 0 0 39.07 60.197;" xml:space="preserve">
+	 viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
 <style type="text/css">
 	.st0{fill:#FFFFFF;}
 	.st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
 	.st2{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;stroke-dasharray:3.0018,3.0018;}
 </style>
-<path class="st0" d="M39.022,8.423c0.114,0.401,0.022,0.755-0.277,1.064l-6.363,6.092l-1.061,7.694
-	c-0.072,0.405-0.29,0.681-0.654,0.828c-0.364,0.147-0.713,0.099-1.045-0.143l-3.348-2.531l-7.891,7.554
-	c-0.105,0.089-0.218,0.159-0.34,0.207c-0.162,0.065-0.34,0.09-0.534,0.074c-0.308-0.064-0.56-0.221-0.755-0.472L0.157,1.617
-	c-0.22-0.429-0.209-0.81,0.033-1.142c0.113-0.187,0.271-0.321,0.473-0.402s0.409-0.094,0.62-0.038l36.96,7.68
-	C38.648,7.786,38.908,8.023,39.022,8.423L39.022,8.423z M7.294,3.397L30.75,14.332l0.067-0.097c0.044-0.065,0.079-0.126,0.103-0.183
-	l4.933-4.74L7.294,3.397z M3.952,2.98l25.516,18.148l0.823-5.835L3.952,2.98z M4.649,4.886l13.253,21.679l6.909-6.665
-	c0.146-0.106,0.332-0.228,0.558-0.366L4.649,4.886z"/>
+<path class="st0" d="M59.2,10.2c0.1,0.5,0,0.9-0.3,1.3l-7.6,7.3L50,27.9c-0.1,0.5-0.3,0.8-0.8,1C48.8,29,48.4,29,48,28.7l-4-3
+	l-9.4,9c-0.1,0.1-0.3,0.2-0.4,0.2C34,35,33.8,35,33.6,35c-0.4-0.1-0.7-0.3-0.9-0.6L12.9,2.1c-0.3-0.5-0.2-1,0-1.4
+	c0.1-0.2,0.3-0.4,0.6-0.5s0.5-0.1,0.7,0l44,9.1C58.7,9.4,59.1,9.7,59.2,10.2L59.2,10.2z M21.4,4.2l27.9,13l0.1-0.1
+	c0.1-0.1,0.1-0.1,0.1-0.2l5.9-5.6L21.4,4.2z M17.5,3.7l30.4,21.6l1-6.9L17.5,3.7z M18.3,6l15.8,25.8l8.2-7.9
+	c0.2-0.1,0.4-0.3,0.7-0.4L18.3,6z"/>
 <g>
 	<g>
-		<line class="st1" x1="19.535" y1="54.901" x2="19.535" y2="53.401"/>
-		<line class="st2" x1="19.535" y1="50.4" x2="19.535" y2="33.89"/>
-		<line class="st1" x1="19.535" y1="32.389" x2="19.535" y2="30.889"/>
+		<line class="st1" x1="36" y1="65.5" x2="36" y2="63.7"/>
+		<line class="st2" x1="36" y1="60.2" x2="36" y2="40.5"/>
+		<line class="st1" x1="36" y1="38.7" x2="36" y2="36.9"/>
 		<g>
-			<polygon class="st0" points="19.535,60.197 22.584,52.735 19.535,54.506 16.486,52.735 			"/>
+			<polygon class="st0" points="36,71.8 39.6,62.9 36,65 32.4,62.9 			"/>
 		</g>
 	</g>
 </g>
diff --git a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
index 5cb700fba2acfb3934876d545002c59d084d4caa..fb79a66645404809a3f6f1af573c51a57df49bf4 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandModeCopter.svg
@@ -1,10 +1,10 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 59.671 87.808" style="enable-background:new 0 0 59.671 87.808;" xml:space="preserve">
+	 viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
 <style type="text/css">
-	.st0{fill:none;stroke:#FFFFFF;stroke-width:2;stroke-miterlimit:10;}
-	.st1{fill:none;stroke:#FFFFFF;stroke-width:2;stroke-miterlimit:10;stroke-dasharray:2.8321,2.8321;}
+	.st0{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
+	.st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;stroke-dasharray:3.0018,3.0018;}
 	.st2{fill:#FFFFFF;}
 	.st3{fill:#FFFFFF;stroke:#FFFFFF;}
 	.st4{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
@@ -13,69 +13,38 @@
 </style>
 <g>
 	<g>
-		<line class="st0" x1="29.835" y1="77.217" x2="29.835" y2="75.717"/>
-		<line class="st1" x1="29.835" y1="72.885" x2="29.835" y2="40.315"/>
-		<line class="st0" x1="29.835" y1="38.899" x2="29.835" y2="37.399"/>
+		<line class="st0" x1="36" y1="65.5" x2="36" y2="63.7"/>
+		<line class="st1" x1="36" y1="60.2" x2="36" y2="40.5"/>
+		<line class="st0" x1="36" y1="38.7" x2="36" y2="36.9"/>
 		<g>
-			<polygon class="st2" points="29.835,87.808 35.934,72.884 29.835,76.425 23.739,72.884 			"/>
+			<polygon class="st2" points="36,71.8 39.6,62.9 36,65 32.4,62.9 			"/>
 		</g>
 	</g>
 </g>
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+				c2.1,2.764-0.319,6.943-5.794,8.874s-11.457,0.593-12.988-2.489c-0.37-0.745-0.47-1.547-0.311-2.357"/>
+			<path id="path2991-6-9_3_" class="st7" d="M229.653,103.506c1.779,0.379,3.05,1.515,2.829,2.596
+				c-0.222,1.081-1.912,1.689-3.764,1.295c-1.852-0.394-3.105-1.63-2.811-2.696C226.201,103.636,227.874,103.127,229.653,103.506z"
+				/>
+			<path id="path3761-1-5_3_" class="st8" d="M239.086,105.925c0.619,3.345-3.426,6.142-9.239,5.668s-10.651-4.119-10.632-7.525
+				c0.018-3.406,4.367-5.277,9.542-4.742c1.253,0.13,2.498,0.397,3.682,0.793"/>
 		</g>
-		<path class="st9" d="M230.281,94.257c15.501-6.427,26.238-13.176,37.581-25.54"/>
-		<path class="st9" d="M274.06,94.257c-15.501-6.427-26.238-13.175-37.581-25.54"/>
-		<path class="st10" d="M262.941,82.831c0.56,4.096-4.25,8.127-10.773,8.127s-11.332-4.031-10.773-8.127
-			c0.56-4.096,5.372-6.828,10.773-6.828C257.57,76.003,262.382,78.735,262.941,82.831z"/>
+		<path class="st9" d="M229.185,105.451c15.729-6.555,29.451-13.632,40.212-27.337"/>
+		<path class="st9" d="M275.971,105.451c-15.729-6.555-29.451-13.632-40.213-27.337"/>
+		<path class="st10" d="M264.102,93.209c0.594,4.383-4.552,8.689-11.526,8.689s-12.12-4.306-11.526-8.689
+			c0.593-4.383,5.742-7.311,11.526-7.311C258.36,85.898,263.507,88.825,264.102,93.209z"/>
 	</g>
 </g>
 </svg>
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index a510fe893d05956b13fa0f2291d7c2bd55224996..c40ace809950b026f4dc5390f79f300760e9df49 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -18,7 +18,7 @@ import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
-
+import QGroundControl.Palette       1.0
 
 SetupPage {
     id:             safetyPage
@@ -27,8 +27,8 @@ SetupPage {
         id: pageComponent
 
         Item {
-            width:  Math.max(availableWidth, outerGrid.width)
-            height: _hitlAvailable ? (lastRect.y + lastRect.height) : (otherLastRect.y + otherLastRect.height)
+            width:      Math.max(availableWidth, outerColumn.width)
+            height:     outerColumn.height
 
             FactPanelController {
                 id:         controller
@@ -37,539 +37,625 @@ SetupPage {
             readonly property string hitlParam: "SYS_HITL"
 
             property real _margins:         ScreenTools.defaultFontPixelHeight
-            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth * 20
-            property real _imageWidth:      ScreenTools.defaultFontPixelWidth * 15
+            property real _labelWidth:      ScreenTools.defaultFontPixelWidth  * 30
+            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth  * 24
             property real _imageHeight:     ScreenTools.defaultFontPixelHeight * 3
-
-            property Fact _enableLogging:   controller.getParameterFact(-1, "SDLOG_MODE")
-            property Fact _fenceAction:     controller.getParameterFact(-1, "GF_ACTION")
-            property Fact _fenceRadius:     controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
-            property Fact _fenceAlt:        controller.getParameterFact(-1, "GF_MAX_VER_DIST")
-            property Fact _rtlLandDelay:    controller.getParameterFact(-1, "RTL_LAND_DELAY")
-            property Fact _lowBattAction:   controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
-            property Fact _rcLossAction:    controller.getParameterFact(-1, "NAV_RCL_ACT")
-            property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
-            property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
-            property Fact _landSpeedMC:     controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
-            property bool _hitlAvailable:   controller.parameterExists(-1, hitlParam)
-            property Fact _hitlEnabled:     controller.getParameterFact(-1, hitlParam, false)
-
-            Rectangle {
-                x:      lowBattGrid.x + outerGrid.x - _margins
-                y:      lowBattGrid.y + outerGrid.y - _margins
-                width:  lowBattGrid.width + (_margins * 2)
-                height: lowBattGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      rcLossGrid.x + outerGrid.x - _margins
-                y:      rcLossGrid.y + outerGrid.y - _margins
-                width:  rcLossGrid.width + (_margins * 2)
-                height: rcLossGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      dataLinkLossGrid.x + outerGrid.x - _margins
-                y:      dataLinkLossGrid.y + outerGrid.y - _margins
-                width:  dataLinkLossGrid.width + (_margins * 2)
-                height: dataLinkLossGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      geoFenceGrid.x + outerGrid.x - _margins
-                y:      geoFenceGrid.y + outerGrid.y - _margins
-                width:  geoFenceGrid.width + (_margins * 2)
-                height: geoFenceGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      returnHomeGrid.x + outerGrid.x - _margins
-                y:      returnHomeGrid.y + outerGrid.y - _margins
-                width:  returnHomeGrid.width + (_margins * 2)
-                height: returnHomeGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      landModeGrid.x + outerGrid.x - _margins
-                y:      landModeGrid.y + outerGrid.y - _margins
-                width:  landModeGrid.width + (_margins * 2)
-                height: landModeGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                id:     otherLastRect
-                x:      loggingGrid.x + outerGrid.x - _margins
-                y:      loggingGrid.y + outerGrid.y - _margins
-                width:  loggingGrid.width + (_margins * 2)
-                height: loggingGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                id:         lastRect
-                x:          hitlGrid.x + outerGrid.x - _margins
-                y:          hitlGrid.y + outerGrid.y - _margins
-                width:      hitlGrid.width + (_margins * 2)
-                height:     hitlGrid.height + (_margins * 2)
-                color:      qgcPal.windowShade
-                visible:    _hitlAvailable
-            }
-
-            GridLayout {
-                id:         outerGrid
-                columns:    3
+            property real _imageWidth:      _imageHeight * 2
+
+            property Fact _enableLogging:       controller.getParameterFact(-1, "SDLOG_MODE")
+            property Fact _fenceAction:         controller.getParameterFact(-1, "GF_ACTION")
+            property Fact _fenceRadius:         controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
+            property Fact _fenceAlt:            controller.getParameterFact(-1, "GF_MAX_VER_DIST")
+            property Fact _rtlLandDelay:        controller.getParameterFact(-1, "RTL_LAND_DELAY")
+            property Fact _lowBattAction:       controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+            property Fact _rcLossAction:        controller.getParameterFact(-1, "NAV_RCL_ACT")
+            property Fact _dlLossAction:        controller.getParameterFact(-1, "NAV_DLL_ACT")
+            property Fact _disarmLandDelay:     controller.getParameterFact(-1, "COM_DISARM_LAND")
+            property Fact _collisionPrevention: controller.getParameterFact(-1, "MPC_COL_PREV_D")
+            property Fact _objectAvoidance:     controller.getParameterFact(-1, "COM_OBS_AVOID")
+            property Fact _landSpeedMC:         controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
+            property bool _hitlAvailable:       controller.parameterExists(-1, hitlParam)
+            property Fact _hitlEnabled:         controller.getParameterFact(-1, hitlParam, false)
+
+            ColumnLayout {
+                id:         outerColumn
+                spacing:    _margins
                 anchors.horizontalCenter:   parent.horizontalCenter
 
                 QGCLabel {
-                    text:               qsTr("Low Battery Failsafe Trigger")
-                    Layout.columnSpan:  3
+                    text:                   qsTr("Low Battery Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
+                Rectangle {
+                    width:                  mainRow.width  + (_margins * 2)
+                    height:                 mainRow.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 mainRow
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _lowBattAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                Item { width: _margins; height: 1 }
+                            QGCLabel {
+                                text:               qsTr("Battery Warn Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_LOW_THR")
+                                Layout.fillWidth:   true
+                            }
 
-                GridLayout {
-                    id:         lowBattGrid
-                    columns:    3
+                            QGCLabel {
+                                text:               qsTr("Battery Failsafe Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_CRIT_THR")
+                                Layout.fillWidth:   true
+                            }
 
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
-                        Layout.rowSpan:         4
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
+                            QGCLabel {
+                                text:               qsTr("Battery Emergency Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_EMERGEN_THR")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
+                }
 
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _lowBattAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                QGCLabel {
+                    text:                   qsTr("Object Detection")
+                }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Warn Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_LOW_THR")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width + (_margins * 2)
+                    height:                 odRow.height  + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 odRow
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             "/qmlimages/ObjectAvoidance.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight * 2
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Collision Prevention:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _collisionPrevention
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                Component.onCompleted: {
+                                    currentIndex = _collisionPrevention ? (_collisionPrevention.value > 0 ? 1 : 0) : 0
+                                }
+                                onActivated: {
+                                    if(_collisionPrevention) {
+                                        _collisionPrevention.value = index > 0 ? 5 : -1
+                                    }
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Failsafe Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_CRIT_THR")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:               qsTr("Obstacle Avoidance:")
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _objectAvoidance
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                Component.onCompleted: {
+                                    if(_objectAvoidance) {
+                                        currentIndex = _objectAvoidance.value === 0 ? 0 : 1
+                                    }
+                                }
+                                onActivated: {
+                                    if(_objectAvoidance) {
+                                        _objectAvoidance.value = index > 0 ? 1 : 0
+                                    }
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Emergency Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_EMERGEN_THR")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("Minimum Distance:")
+                                Layout.fillWidth:   true
+                                Layout.alignment:   Qt.AlignVCenter
+                            }
+                            QGCSlider {
+                                width:              _editFieldWidth
+                                enabled:            _collisionPrevention
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.minimumHeight:   ScreenTools.defaultFontPixelHeight * 2
+                                Layout.fillWidth:   true
+                                Layout.fillHeight:  true
+                                maximumValue:       1
+                                minimumValue:       15
+                                stepSize:           1
+                                displayValue:       true
+                                updateValueWhileDragging:   false
+                                Layout.alignment:   Qt.AlignVCenter
+                                Component.onCompleted: {
+                                    if(_collisionPrevention && _collisionPrevention.value > 0) {
+                                        value = _collisionPrevention.value
+                                    }
+                                }
+                                onValueChanged: {
+                                    if(_collisionPrevention) {
+                                        _collisionPrevention.value = value
+                                    }
+                                }
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("RC Loss Failsafe Trigger")
-                    Layout.columnSpan: 3
+                    text:                   qsTr("RC Loss Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         rcLossGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _rcLossAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width     + (_margins * 2)
+                    height:                 rcLossGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 rcLossGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _rcLossAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("RC Loss Timeout:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "COM_RC_LOSS_T")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("RC Loss Timeout:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "COM_RC_LOSS_T")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("Data Link Loss Failsafe Trigger")
-                    Layout.columnSpan: 3
+                    text:                   qsTr("Data Link Loss Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         dataLinkLossGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _dlLossAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width           + (_margins * 2)
+                    height:                 dataLinkLossGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 dataLinkLossGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _dlLossAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Data Link Loss Timeout:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "COM_DL_LOSS_T")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("Data Link Loss Timeout:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "COM_DL_LOSS_T")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("Geofence Failsafe Trigger")
-                    Layout.columnSpan:  3
+                    text:                   qsTr("Geofence Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         geoFenceGrid
-                    columns:    3
+                Rectangle {
+                    width:                  mainRow.width       + (_margins * 2)
+                    height:                 geoFenceGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 geoFenceGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
 
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
 
-                    QGCLabel {
-                        text:               qsTr("Action on breach:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _fenceAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:               qsTr("Action on breach:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _fenceAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 fenceRadiusCheckBox
-                        text:               qsTr("Max Radius:")
-                        checked:            _fenceRadius.value > 0
-                        onClicked:          _fenceRadius.value = checked ? 100 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _fenceRadius
-                        enabled:                fenceRadiusCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCCheckBox {
+                                id:                 fenceRadiusCheckBox
+                                text:               qsTr("Max Radius:")
+                                checked:            _fenceRadius.value > 0
+                                onClicked:          _fenceRadius.value = checked ? 100 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _fenceRadius
+                                enabled:            fenceRadiusCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 fenceAltMaxCheckBox
-                        text:               qsTr("Max Altitude:")
-                        checked:            _fenceAlt ? _fenceAlt.value > 0 : false
-                        onClicked:          _fenceAlt.value = checked ? 100 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _fenceAlt
-                        enabled:                fenceAltMaxCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCCheckBox {
+                                id:                 fenceAltMaxCheckBox
+                                text:               qsTr("Max Altitude:")
+                                checked:            _fenceAlt ? _fenceAlt.value > 0 : false
+                                onClicked:          _fenceAlt.value = checked ? 100 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _fenceAlt
+                                enabled:            fenceAltMaxCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Return Home Settings")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         returnHomeGrid
-                    columns:    3
-
-                    QGCColoredImage {
-                        color:                  qgcPal.text
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
-                        Layout.rowSpan:         7
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Climb to altitude of:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Return home, then:")
-                        Layout.columnSpan:  2
-                    }
-                    Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
-                            text:               qsTr("Land immediately")
-                            onClicked:          _rtlLandDelay.value = 0
-                        }
-                    }
+                Rectangle {
+                    width:              mainRow.width         + (_margins * 2)
+                    height:             returnHomeGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
                     Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLoiterNoLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
-                            text:               qsTr("Loiter and do not land")
-                            onClicked:          _rtlLandDelay.value = -1
-                        }
-                    }
-                    Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLoiterLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
-                            text:               qsTr("Loiter and land after specified time")
-                            onClicked:          _rtlLandDelay.value = 60
+                        id:                 returnHomeGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight * 2
+                                anchors.centerIn:   parent
+                            }
                         }
-                    }
+                        GridLayout {
+                            columns:                    2
+                            anchors.verticalCenter:     parent.verticalCenter
+
+                            QGCLabel {
+                                text:                   qsTr("Climb to altitude of:")
+                                Layout.minimumWidth:    _labelWidth
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
+                                Layout.minimumWidth:    _editFieldWidth
+                                Layout.fillWidth:       true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Loiter Time")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
-                        enabled:                homeLoiterLandRadio.checked === true
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:                   qsTr("Return home, then:")
+                                Layout.columnSpan:      2
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
+                                    text:               qsTr("Land immediately")
+                                    onClicked:          _rtlLandDelay.value = 0
+                                }
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLoiterNoLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
+                                    text:               qsTr("Loiter and do not land")
+                                    onClicked:          _rtlLandDelay.value = -1
+                                }
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLoiterLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
+                                    text:               qsTr("Loiter and land after specified time")
+                                    onClicked:          _rtlLandDelay.value = 60
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Loiter Altitude")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
-                        enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:                   qsTr("Loiter Time")
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
+                                enabled:                homeLoiterLandRadio.checked === true
+                                Layout.fillWidth:       true
+                            }
+
+                            QGCLabel {
+                                text:                   qsTr("Loiter Altitude")
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+                                enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
+                                Layout.fillWidth:       true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Land Mode Settings")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         landModeGrid
-                    columns:    3
-
-                    QGCColoredImage {
-                        color:                  qgcPal.text
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
-                        Layout.rowSpan:         landVelocityLabel.visible ? 2 : 1
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                    }
-
-                    QGCLabel {
-                        id:                 landVelocityLabel
-                        text:               qsTr("Landing Descent Rate:")
-                        Layout.fillWidth:   true
-                        visible:            controller.vehicle && !controller.vehicle.fixedWing
-                    }
-                    FactTextField {
-                        fact:                   _landSpeedMC
-                        Layout.minimumWidth:    _editFieldWidth
-                        visible:                controller.vehicle && !controller.vehicle.fixedWing
-                    }
+                Rectangle {
+                    width:              mainRow.width       + (_margins * 2)
+                    height:             landModeGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    Row {
+                        id:                 landModeGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                id:                 landVelocityLabel
+                                text:               qsTr("Landing Descent Rate:")
+                                visible:            controller.vehicle && !controller.vehicle.fixedWing
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _landSpeedMC
+                                visible:            controller.vehicle && !controller.vehicle.fixedWing
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 disarmDelayCheckBox
-                        text:               qsTr("Disarm After:")
-                        checked:            _disarmLandDelay.value > 0
-                        onClicked:          _disarmLandDelay.value = checked ? 2 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _disarmLandDelay
-                        enabled:                disarmDelayCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCCheckBox {
+                                id:                 disarmDelayCheckBox
+                                text:               qsTr("Disarm After:")
+                                checked:            _disarmLandDelay.value > 0
+                                onClicked:          _disarmLandDelay.value = checked ? 2 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _disarmLandDelay
+                                enabled:            disarmDelayCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Vehicle Telemetry Logging")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:                         loggingGrid
-                    columns:                    4
-                    columnSpacing:              ScreenTools.defaultFontPixelWidth * 4
-                    Item {
-                        Layout.fillWidth:       true
-                    }
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-                    QGCCheckBox {
-                        text:                   qsTr("Enable telemetry logging to vehicle storage")
-                        checkedState:           _enableLogging ? (_enableLogging.value >= 0 ? Qt.Checked : Qt.Unchecked) : Qt.Unchecked
-                        Layout.minimumWidth:    _editFieldWidth
-                        Layout.alignment:       Qt.AlignVCenter
-                        onClicked:  {
-                            if(_enableLogging) {
-                                _enableLogging.value = checked ? 0 : -1
+                Rectangle {
+                    width:              mainRow.width      + (_margins * 2)
+                    height:             loggingGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    Row {
+                        id:                 loggingGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCLabel {
+                                text:               qsTr("Telemetry logging to vehicle storage:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _enableLogging
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                Component.onCompleted: {
+                                    currentIndex = _enableLogging ? (_enableLogging.value >= 0 ? 1 : 0) : 0
+                                }
+                                onActivated: {
+                                    if(_enableLogging) {
+                                        _enableLogging.value = index > 0 ? 0 : -1
+                                    }
+                                }
                             }
                         }
-                    }
-                    Item {
-                        Layout.fillWidth:   true
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
                 QGCLabel {
                     text:               qsTr("Hardware in the Loop Simulation")
-                    Layout.columnSpan:  3
                     visible:            _hitlAvailable
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
-                Item { width: _margins; height: 1; visible: _hitlAvailable }
-
-                GridLayout {
-                    id:         hitlGrid
-                    columns:    3
-                    visible:    _hitlAvailable
-
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
-                        Layout.rowSpan:         3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("HITL Enabled:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _hitlEnabled
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
+                Rectangle {
+                    width:              mainRow.width   + (_margins * 2)
+                    height:             hitlGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    visible:            _hitlAvailable
+                    Row {
+                        id:                 hitlGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             "/qmlimages/HITL.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCLabel {
+                                text:               qsTr("HITL Enabled:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _hitlEnabled
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
-
             }
         }
     }
diff --git a/src/QmlControls/QGCColoredImage.qml b/src/QmlControls/QGCColoredImage.qml
index 58a0ff2136d4c6de0880788b4a1272165236ec4b..a6639f6a0f4a9991831d3fde062bc96c8ec10720 100644
--- a/src/QmlControls/QGCColoredImage.qml
+++ b/src/QmlControls/QGCColoredImage.qml
@@ -27,18 +27,19 @@ Item {
     height: image.height
 
     Image {
-        id:             image
-        smooth:         true
-        mipmap:         true
-        antialiasing:   true
-        visible:        false
-        fillMode:       Image.PreserveAspectFit
-        anchors.fill:   parent
+        id:                 image
+        smooth:             true
+        mipmap:             true
+        antialiasing:       true
+        visible:            false
+        fillMode:           Image.PreserveAspectFit
+        anchors.fill:       parent
+        sourceSize.height:  height
     }
 
     ColorOverlay {
-        anchors.fill:   image
-        source:         image
-        color:          parent.color
+        anchors.fill:       image
+        source:             image
+        color:              parent.color
     }
 }