diff --git a/data/kinect.cal b/data/kinect.cal
index 47c331e938110dde47bbbeb6177dc189d844f14b..ee802fa7c43fcac35c76f002e4d856a39a0e0dfd 100644
--- a/data/kinect.cal
+++ b/data/kinect.cal
@@ -27,7 +27,7 @@ R13=0.005927
 R21=-0.000563
 R22=0.999999
 R23=0.001235
-R33=-0.005926
+R31=-0.005926
 R32=-0.001239
 R33=0.999982
 Tx=-0.024287
diff --git a/deploy/mac_create_dmg.sh b/deploy/mac_create_dmg.sh
index b35a041869d3121e99887eecde6e642b055ce22a..bcdfe4381a653e1ee7b0af1901be6fa6dfe49cd9 100644
--- a/deploy/mac_create_dmg.sh
+++ b/deploy/mac_create_dmg.sh
@@ -12,6 +12,7 @@ cp -r ../bin/mac/qgroundcontrol.app mac/.
 
 cp -r ../audio mac/qgroundcontrol.app/Contents/MacOs/.
 mkdir -p mac/qgroundcontrol.app/Contents/Frameworks/
+# SDL is not copied by Qt - for whatever reason
 cp -r SDL.framework mac/qgroundcontrol.app/Contents/Frameworks/.
 echo -e '\n\nStarting to create disk image. This may take a while..\n'
 macdeployqt mac/qgroundcontrol.app -dmg
diff --git a/deploy/qgroundcontrol_installer.nsi b/deploy/qgroundcontrol_installer.nsi
index dca29cb1b430bc963ef31544818ff2bf02a062e5..d2c351a6f692f5b95fe80dd9467bc4edb9d17b33 100644
--- a/deploy/qgroundcontrol_installer.nsi
+++ b/deploy/qgroundcontrol_installer.nsi
@@ -16,20 +16,20 @@ LicenseData ..\license.txt
 Section ""
 
   SetOutPath $INSTDIR
-  File qgroundcontrol\*.*
-  WriteUninstaller $INSTDIR\QGroundcontrol_uninstall.exe
+  File ..\release\*.*
+  WriteUninstaller $INSTDIR\QGroundControl_uninstall.exe
 SectionEnd 
 
 Section "Uninstall"
-  Delete $INSTDIR\QGroundcontrol_uninstall.exe
+  Delete $INSTDIR\QGroundControl_uninstall.exe
   Delete $INSTDIR\*.*
   RMDir $INSTDIR
-  Delete "$SMPROGRAMS\QGroundcontrol\*.*"
-  RMDir "$SMPROGRAMS\QGroundcontrol\"
+  Delete "$SMPROGRAMS\QGroundControl\*.*"
+  RMDir "$SMPROGRAMS\QGroundControl\"
 SectionEnd
 
 Section "create Start Menu Shortcuts"
-  CreateDirectory "$SMPROGRAMS\QGroundcontrol"
-  CreateShortCut "$SMPROGRAMS\QGroundcontrol\uninstall.lnk" "$INSTDIR\QGroundcontrol_uninstall.exe" "" "$INSTDIR\QGroundcontrol_uninstall.exe" 0
-  CreateShortCut "$SMPROGRAMS\QGroundcontrol\QGroundcontrol.lnk" "$INSTDIR\qgroundcontrol.exe" "" "$INSTDIR\qgroundcontrol.exe" 0
+  CreateDirectory "$SMPROGRAMS\QGroundControl"
+  CreateShortCut "$SMPROGRAMS\QGroundControl\uninstall.lnk" "$INSTDIR\QGroundControl_uninstall.exe" "" "$INSTDIR\QGroundControl_uninstall.exe" 0
+  CreateShortCut "$SMPROGRAMS\QGroundControl\QGroundControl.lnk" "$INSTDIR\qgroundcontrol.exe" "" "$INSTDIR\qgroundcontrol.exe" 0
 SectionEnd
\ No newline at end of file
diff --git a/images/earth.html b/images/earth.html
index b345e27c4ae74cd8b27ec7192fad44c407697d91..240f1b5d70d457d9ad2661f61a8bbffbf40ff7ce 100644
--- a/images/earth.html
+++ b/images/earth.html
@@ -7,6 +7,7 @@
 <!-- QGroundControl -->
     <title>QGroundControl Google Earth View</title>
     <!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
+    <script type="text/javascript" src="https://getfirebug.com/firebug-lite-beta.js"></script>
     <script type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
     <script type="text/javascript">
 google.load("earth", "1", { 'language': 'en'});
@@ -47,8 +48,10 @@ var aircraft = [];
 var attitudes = [];
 var locations = [];
 var trails = [];
-var trail;
-var lineStringPlacemark;
+var trailPlacemarks = [];
+var trailsVisible = [];
+var trailColors = [];
+//var trailPlacemarks[id];
 var lineStyle;
 
 // Aircraft class
@@ -134,54 +137,72 @@ function createAircraft(id, type, color)
           locations[id] = planeLoc;
           //planeColor = color;
           
-          //createTrail(id, color);
+          createTrail(id, color);
+          console.log(color);
 }
 
 function createTrail(id, color)
 {
-          lineStringPlacemark = ge.createPlacemark('');
+          trailPlacemarks[id] = ge.createPlacemark('');
           // Create the placemark
 // Create the LineString; set it to extend down to the ground
 // and set the altitude mode
-trail = ge.createLineString('');
-lineStringPlacemark.setGeometry(trail);
-trail.setExtrude(false);
-trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+trails[id] = ge.createLineString('');
+trailPlacemarks[id].setGeometry(trails[id]);
+trails[id].setExtrude(false);
+trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
 //lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
 
 // Create a style and set width and color of line
-lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set(planeColor);  // aabbggrr format
-//lineStyle.getColor().set(color);
-//lineStyle.getColor().set(color);  // aabbggrr format
+trailColors[id] = color;
+lineStyle.getColor().set('00000000');  // aabbggrr format
+
+trailsVisible[id] = false;
 
 // Add the feature to Earth
-ge.getFeatures().appendChild(lineStringPlacemark);
+//ge.getFeatures().appendChild(trailPlacemarks[id]);
 
 }
 
+function hideTrail(id)
+{
+	trailsVisible[id] = false;
+	ge.getFeatures().removeChild(trailPlacemarks[id]);
+}
+
+function showTrail(id)
+{
+	ge.getFeatures().appendChild(trailPlacemarks[id]);
+	trailsVisible[id] = true;
+}
+
+function setViewRange(dist)
+{
+	currViewRange = dist;
+}
+
 function addTrailPosition(id, lat, lon, alt)
 {
-	trail.setExtrude(false);
-trail.setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
+	trails[id].setExtrude(false);
+trails[id].setAltitudeMode(ge.ALTITUDE_ABSOLUTE);
 
 // Add LineString points
-//lineString.getCoordinates().pushLatLngAlt(48.754, -121.835, 700);
-trail.getCoordinates().pushLatLngAlt(currLat, currLon, currAlt);
+trails[id].getCoordinates().pushLatLngAlt(lat, lon, alt);
 
 // Create a style and set width and color of line
-lineStringPlacemark.setStyleSelector(ge.createStyle(''));
-lineStyle = lineStringPlacemark.getStyleSelector().getLineStyle();
+trailPlacemarks[id].setStyleSelector(ge.createStyle(''));
+lineStyle = trailPlacemarks[id].getStyleSelector().getLineStyle();
 lineStyle.setWidth(5);
-lineStyle.getColor().set(planeColor);  // aabbggrr format
+lineStyle.getColor().set(trailColors[id]);  // aabbggrr format
 //lineStyle.getColor().set(color);  // aabbggrr format
 
 // Add the feature to Earth
-ge.getFeatures().replaceChild(lineStringPlacemark, lineStringPlacemark);
+if (trailsVisible[id] == true) ge.getFeatures().replaceChild(trailPlacemarks[id], trailPlacemarks[id]);
 }
 
 function initCallback(object)
@@ -199,9 +220,6 @@ function initCallback(object)
         ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
 
-        createTrail(220, 'bb2222ff');
-        createAircraft(220);
-
         initialized = true;
         
         
diff --git a/lib/QMapControl/src/layer.cpp b/lib/QMapControl/src/layer.cpp
index 32f63583277935c897a6edfac2f59c3866a3f10d..62d78f1de186ce76c5d23c3a73911a5f3863cf1b 100644
--- a/lib/QMapControl/src/layer.cpp
+++ b/lib/QMapControl/src/layer.cpp
@@ -99,9 +99,10 @@ namespace qmapcontrol
 
     Geometry* Layer::get_Geometry(int index)
     {
+        Geometry* geo = NULL;
         if(geometrySelected)
         {
-            return geometrySelected;
+            geo = geometrySelected;
         }
         else
         {
@@ -110,7 +111,7 @@ namespace qmapcontrol
                 Geometry *geometry = geometries[i];
                 if(geometry->name() == QString::number(index))
                 {
-                  return geometry;
+                  geo = geometry;
                 }
             }
 
@@ -124,7 +125,7 @@ namespace qmapcontrol
 
 //           }
         }
-
+        return geo;
     }
 
     bool Layer::isVisible() const
diff --git a/lib/QMapControl/src/layermanager.cpp b/lib/QMapControl/src/layermanager.cpp
index 3e10bb225a580e39e6ed11dc755aef0ced94bb19..3358605a41af94821e9c45b9783d0c0db6293d02 100644
--- a/lib/QMapControl/src/layermanager.cpp
+++ b/lib/QMapControl/src/layermanager.cpp
@@ -112,7 +112,14 @@ namespace qmapcontrol
 
     void LayerManager::setView(const QPointF& coordinate)
     {
+        QPoint oldMapPx = mapmiddle_px;
+
         mapmiddle_px = layer()->mapadapter()->coordinateToDisplay(coordinate);
+
+        scroll += mapmiddle_px - oldMapPx;
+        zoomImageScroll+= mapmiddle_px - oldMapPx;
+
+
         mapmiddle = coordinate;
 
         //TODO: muss wegen moveTo() raus
@@ -125,7 +132,8 @@ namespace qmapcontrol
             //TODO:
             // verschiebung ausrechnen
             // oder immer neues offscreenimage
-            newOffscreenImage();
+            //newOffscreenImage();
+            moveWidgets();
         }
     }
 
diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri
index d21ef7c5ccc5e0e7de617740558e9d6ef1c47a3b..d3be98e82ed0bcfce2c5965c290637039163134d 100644
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -29,6 +29,7 @@
 #               $$BASEDIR/lib/openjaus/libopenJaus/include
 
 message(Qt version $$[QT_VERSION])
+message(Using Qt from $QTDIR)
 
 release {
 #    DEFINES += QT_NO_DEBUG_OUTPUT
@@ -50,6 +51,7 @@ macx {
     contains( HARDWARE_PLATFORM, 9.6.0 ) || contains( HARDWARE_PLATFORM, 9.7.0 ) || contains( HARDWARE_PLATFORM, 9.8.0 ) || contains( HARDWARE_PLATFORM, 9.9.0 ) {
         # x86 Mac OS X Leopard 10.5 and earlier
         CONFIG += x86 cocoa phonon
+        CONFIG -= x86_64
         message(Building for Mac OS X 32bit/Leopard 10.5 and earlier)
 
                 # Enable function-profiling with the OS X saturn tool
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index eadd028c0d79f9b5d678f5f7621b9e993b4faae3..01348b2cba9438fea4fd2a26ece70fdd29e41fde 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -145,13 +145,15 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCWebView.ui \
     src/ui/map3D/QGCGoogleEarthView.ui \
     src/ui/map3D/QGCGoogleEarthViewWin.ui \
-    src/ui/map3D/QGCGoogleEarthControls.ui \
     src/ui/SlugsDataSensorView.ui \
     src/ui/SlugsHilSim.ui \
     src/ui/SlugsPIDControl.ui \
     src/ui/SlugsVideoCamControl.ui \
     src/ui/SlugsPadCameraControl.ui \
-    src/ui/uas/QGCUnconnectedInfoWidget.ui
+    src/ui/uas/QGCUnconnectedInfoWidget.ui \
+    src/ui/designer/QGCToolWidget.ui \
+    src/ui/designer/QGCParamSlider.ui \
+    src/ui/designer/QGCActionButton.ui
 
 INCLUDEPATH += src \
     src/ui \
@@ -166,7 +168,8 @@ INCLUDEPATH += src \
     src/ui/mavlink \
     src/ui/param \
     src/ui/watchdog \
-    src/ui/map3D
+    src/ui/map3D \
+    src/ui/designer
 
 HEADERS += src/MG.h \
     src/Core.h \
@@ -252,7 +255,11 @@ HEADERS += src/MG.h \
     src/ui/SlugsPadCameraControl.h \
     src/ui/QGCMainWindowAPConfigurator.h \
     src/comm/MAVLinkSwarmSimulationLink.h \
-    src/ui/uas/QGCUnconnectedInfoWidget.h
+    src/ui/uas/QGCUnconnectedInfoWidget.h \
+    src/ui/designer/QGCToolWidget.h \
+    src/ui/designer/QGCParamSlider.h \
+    src/ui/designer/QGCActionButton.h \
+    src/ui/designer/QGCToolWidgetItem.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008: {
@@ -369,7 +376,11 @@ SOURCES += src/main.cc \
     src/ui/SlugsPadCameraControl.cpp \
     src/ui/QGCMainWindowAPConfigurator.cc \
     src/comm/MAVLinkSwarmSimulationLink.cc \
-    src/ui/uas/QGCUnconnectedInfoWidget.cc
+    src/ui/uas/QGCUnconnectedInfoWidget.cc \
+    src/ui/designer/QGCToolWidget.cc \
+    src/ui/designer/QGCParamSlider.cc \
+    src/ui/designer/QGCActionButton.cc \
+    src/ui/designer/QGCToolWidgetItem.cc
 
 macx|win32-msvc2008: {
     SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/Core.cc b/src/Core.cc
index 2beaf58764a4d5b5ba6ef97789db9a19e0434ea3..b49eed18eab00942c85dadd72ccfd89f98197b69 100644
--- a/src/Core.cc
+++ b/src/Core.cc
@@ -122,6 +122,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
 #endif
     // MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(MG::DIR::getSupportFilesDirectory() + "/demo-log.txt");
     MAVLinkSimulationLink* simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
+    simulationLink->disconnect();
     //mainWindow->addLink(simulationLink);
 
     mainWindow = MainWindow::instance();
diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index 2bdf16ab834b9bcde71f85724278b6440b76bfaf..87c66503a1ffd5769262c39b0e167679f97839c9 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -30,6 +30,7 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include <QApplication>
+#include <QSettings>
 #include <QTemporaryFile>
 #include "GAudioOutput.h"
 #include "MG.h"
@@ -85,10 +86,19 @@ GAudioOutput* GAudioOutput::instance()
     return _instance;
 }
 
+#define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
+
 GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
 voiceIndex(0),
-emergency(false)
+emergency(false),
+muted(false)
 {
+    // Load settings
+    QSettings settings;
+    settings.sync();
+    muted = settings.value(QGC_GAUDIOOUTPUT_KEY+"muted", muted).toBool();
+
+
 #ifdef Q_OS_LINUX
     flite_init();
 #endif
@@ -134,13 +144,28 @@ emergency(false)
 
 GAudioOutput::~GAudioOutput()
 {
+    QSettings settings;
+    settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", muted);
+    settings.sync();
 #ifdef _MSC_VER2
 	::CoUninitialize();
 #endif
 }
 
+void GAudioOutput::mute(bool mute)
+{
+    this->muted = mute;
+}
+
+bool GAudioOutput::isMuted()
+{
+    return this->muted;
+}
+
 bool GAudioOutput::say(QString text, int severity)
 {
+    if (!muted)
+    {
     // TODO Add severity filter
     Q_UNUSED(severity);
     bool res = false;
@@ -183,13 +208,18 @@ bool GAudioOutput::say(QString text, int severity)
     }
     return res;
 }
+    else
+    {
+        return false;
+    }
+}
 
 /**
  * @param text This message will be played after the alert beep
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency)
+    if (!emergency || !muted)
     {
         // Play alert sound
         beep();
@@ -205,19 +235,25 @@ bool GAudioOutput::alert(QString text)
 
 void GAudioOutput::notifyPositive()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 void GAudioOutput::notifyNegative()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 /**
  * The emergency sound will be played continously during the emergency.
@@ -232,7 +268,7 @@ bool GAudioOutput::startEmergency()
     {
         emergency = true;
         // Beep immediately and then start timer
-        beep();
+        if (!muted) beep();
         emergencyTimer->start(1500);
         QTimer::singleShot(5000, this, SLOT(stopEmergency()));
     }
@@ -257,11 +293,14 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
+    if (!muted)
+    {
     // Use QFile to transform path for all OS
     QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
     m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
     m_media->play();
 }
+}
 
 void GAudioOutput::selectFemaleVoice()
 {
diff --git a/src/GAudioOutput.h b/src/GAudioOutput.h
index 349e99652f02700c83fc2ae98a2a39e1ff0b2e71..a4889829d3ddcb14c8964b8ca616bc930fccf396 100644
--- a/src/GAudioOutput.h
+++ b/src/GAudioOutput.h
@@ -99,6 +99,10 @@ public slots:
     void notifyPositive();
     /** @brief Notify about negative event */
     void notifyNegative();
+    /** @brief Mute/unmute sound */
+    void mute(bool mute);
+    /** @brief Get the mute state */
+    bool isMuted();
 
 protected:
 #ifdef Q_OS_MAC
@@ -112,6 +116,7 @@ protected:
     Phonon::AudioOutput* m_audioOutput;
     bool emergency;   ///< Emergency status flag
     QTimer* emergencyTimer;
+    bool muted;
 private:
     GAudioOutput(QObject* parent=NULL);
 	~GAudioOutput();
diff --git a/src/QGC.h b/src/QGC.h
index c4e4fed4b4c0b33d2dd61fd6cde677b51bee80bc..e21a17d105b80dc8839f1bd2f83cb0eabc8fbaf6 100644
--- a/src/QGC.h
+++ b/src/QGC.h
@@ -11,6 +11,7 @@ namespace QGC
     const QColor colorGreen(20, 200, 20);
     const QColor colorYellow(255, 255, 0);
     const QColor colorDarkYellow(180, 180, 0);
+    const QColor colorBackground("#050508");
 
     /** @brief Get the current ground time in microseconds */
     quint64 groundTimeUsecs();
diff --git a/src/comm/LinkInterface.h b/src/comm/LinkInterface.h
index b632b26ba5533c98082895a4f8bdfbcc181f4232..21efec7a0dbf9bc15d99130d4ab86ee10f8b5fd4 100644
--- a/src/comm/LinkInterface.h
+++ b/src/comm/LinkInterface.h
@@ -42,6 +42,7 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
 class LinkInterface : public QThread {
     Q_OBJECT
 public:
+    LinkInterface(QObject* parent = 0) : QThread(parent) {}
     //virtual ~LinkInterface() = 0;
 
     /* Connection management */
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index b992633a428f3982fe0eda1b1b92dfff2a25a4c3..fc9ccea4737c917b0132a995f26a94fd4de5da40 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -33,6 +33,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 #include <QTime>
 #include <QApplication>
+#include <QMessageBox>
 
 #include "MG.h"
 #include "MAVLinkProtocol.h"
@@ -45,6 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include "ArduPilotMegaMAV.h"
 #include "configuration.h"
 #include "LinkManager.h"
+#include "MainWindow.h"
 #include <QGCMAVLink.h>
 #include "QGC.h"
 
@@ -141,8 +143,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // of its existence, as it only then can send and receive
                 // it's first messages.
 
-                // FIXME Current debugging
-                // check if the UAS has the same id like this system
+                // Check if the UAS has the same id like this system
                 if (message.sysid == getSystemId())
                 {
                     qDebug() << "WARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\nWARNING\n\n RECEIVED MESSAGE FROM THIS SYSTEM WITH ID" << message.msgid << "FROM COMPONENT" << message.compid;
@@ -155,7 +156,26 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 // First create new UAS object
                 // Decode heartbeat message
                 mavlink_heartbeat_t heartbeat;
+                // Reset version field to 0
+                heartbeat.mavlink_version = 0;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
+
+                // Check if the UAS has a different protocol version
+                if (heartbeat.mavlink_version != MAVLINK_VERSION)
+                {
+                    // Bring up dialog to inform user
+                    QMessageBox msgBox(MainWindow::instance());
+                    msgBox.setIcon(QMessageBox::Critical);
+                    msgBox.setText(tr("The MAVLink protocol version on the MAV and QGroundControl mismatch!"));
+                    msgBox.setInformativeText(tr("It is unsafe to use different MAVLink versions. QGroundControl therefore refuses to connect to system %1, which sends MAVLink version %2 (QGroundControl uses version %3).").arg(message.sysid).arg(heartbeat.mavlink_version).arg(MAVLINK_VERSION));
+                    msgBox.setStandardButtons(QMessageBox::Ok);
+                    msgBox.setDefaultButton(QMessageBox::Ok);
+                    msgBox.exec();
+
+                    // Ignore this message and continue gracefully
+                    continue;
+                }
+
                 switch (heartbeat.autopilot)
                 {
                 case MAV_AUTOPILOT_GENERIC:
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index abf1a5ecfbf0ea0651a23bc0188179553e3f179d..9dcd0bc928f5848bcbb3a3bd4ccbe838752e0e01 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -55,7 +55,7 @@ This file is part of the QGROUNDCONTROL project
  * @param writeFile The received messages are written to that file
  * @param rate The rate at which the messages are sent (in intervals of milliseconds)
  **/
-MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate) :
+MAVLinkSimulationLink::MAVLinkSimulationLink(QString readFile, QString writeFile, int rate, QObject* parent) : LinkInterface(parent),
         readyBytes(0),
         timeOffset(0)
 {
@@ -289,16 +289,19 @@ void MAVLinkSimulationLink::mainloop()
                     if (keys.value(i, "") == "Gyro_Phi")
                     {
                         rawImuValues.xgyro = d;
+                        attitude.rollspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65;
                     }
 
                     if (keys.value(i, "") == "Gyro_Theta")
                     {
                         rawImuValues.ygyro = d;
+                        attitude.pitchspeed = ((d-29.000)/15000.0)*2.7-2.7-2.65;
                     }
 
                     if (keys.value(i, "") == "Gyro_Psi")
                     {
                         rawImuValues.zgyro = d;
+                        attitude.yawspeed = ((d-29.000)/3000.0)*2.7-2.7-2.65;
                     }
 #ifdef MAVLINK_ENABLED_PIXHAWK
                     if (keys.value(i, "") == "Pressure")
@@ -419,6 +422,20 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+        // GLOBAL POSITION VEHICLE 2
+        mavlink_msg_global_position_int_pack(54, componentId, &ret, (473780.28137103+(x+0.002))*1E3, (85489.9892510421+((y/2)+0.3))*1E3, (z+570.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+        //add data into datastream
+        memcpy(stream+streampointer,buffer, bufferlength);
+        streampointer += bufferlength;
+
+//        // GLOBAL POSITION VEHICLE 3
+//        mavlink_msg_global_position_int_pack(60, componentId, &ret, (473780.28137103+(x/2+0.002))*1E3, (85489.9892510421+((y*2)+0.3))*1E3, (z+590.0)*1000.0, 0*100.0, 0*100.0, 0*100.0);
+//        bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
+//        //add data into datastream
+//        memcpy(stream+streampointer,buffer, bufferlength);
+//        streampointer += bufferlength;
+
         static int rcCounter = 0;
         if (rcCounter == 2)
         {
@@ -431,6 +448,7 @@ void MAVLinkSimulationLink::mainloop()
             chan.chan6_raw = (chan.chan3_raw + chan.chan2_raw) / 2.0f;
             chan.chan7_raw = (chan.chan4_raw + chan.chan2_raw) / 2.0f;
             chan.chan8_raw = (chan.chan6_raw + chan.chan2_raw) / 2.0f;
+            chan.rssi = 100;
             messageSize = mavlink_msg_rc_channels_raw_encode(systemId, componentId, &msg, &chan);
             // Allocate buffer with packet data
             bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
@@ -594,6 +612,16 @@ void MAVLinkSimulationLink::mainloop()
         memcpy(stream+streampointer,buffer, bufferlength);
         streampointer += bufferlength;
 
+//        // HEARTBEAT VEHICLE 3
+
+//        // Pack message and get size of encoded byte string
+//        messageSize = mavlink_msg_heartbeat_pack(60, componentId, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK);
+//        // Allocate buffer with packet data
+//        bufferlength = mavlink_msg_to_send_buffer(buffer, &msg);
+//        //add data into datastream
+//        memcpy(stream+streampointer,buffer, bufferlength);
+//        streampointer += bufferlength;
+
         // STATUS VEHICLE 2
         mavlink_sys_status_t status2;
         status2.mode = MAV_MODE_LOCKED;
diff --git a/src/comm/MAVLinkSimulationLink.h b/src/comm/MAVLinkSimulationLink.h
index 4e40139b3056bef21c9fa4b77acd1d05987667df..383cb71aac0527b1291b50e78ce2230b177cc91b 100644
--- a/src/comm/MAVLinkSimulationLink.h
+++ b/src/comm/MAVLinkSimulationLink.h
@@ -47,7 +47,7 @@ class MAVLinkSimulationLink : public LinkInterface
 {
     Q_OBJECT
 public:
-    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
+    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5, QObject* parent = 0);
     ~MAVLinkSimulationLink();
     bool isConnected();
     qint64 bytesAvailable();
@@ -128,7 +128,7 @@ protected:
     void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
 
     static const uint8_t systemId = 220;
-    static const uint8_t componentId = 0;
+    static const uint8_t componentId = 200;
     static const uint16_t version = 1000;
 
 signals:
diff --git a/src/comm/MAVLinkSwarmSimulationLink.cc b/src/comm/MAVLinkSwarmSimulationLink.cc
index c94c52896a7cd7a98e3b3d641b0a56e7a2726840..a3ec913d9a1aefd9c01cde27dcefe6fbcc0133bc 100644
--- a/src/comm/MAVLinkSwarmSimulationLink.cc
+++ b/src/comm/MAVLinkSwarmSimulationLink.cc
@@ -1,7 +1,7 @@
 #include "MAVLinkSwarmSimulationLink.h"
 
-MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QObject *parent) :
-    MAVLinkSimulationLink()
+MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QString readFile, QString writeFile, int rate, QObject *parent) :
+    MAVLinkSimulationLink(readFile, writeFile, rate, parent)
 {
 }
 
diff --git a/src/comm/MAVLinkSwarmSimulationLink.h b/src/comm/MAVLinkSwarmSimulationLink.h
index d4b4996d0f9d77fac7d8252dea05a4b356657e5f..8a35c43e1f01fd8116c5af9e3b768995d5f97d3c 100644
--- a/src/comm/MAVLinkSwarmSimulationLink.h
+++ b/src/comm/MAVLinkSwarmSimulationLink.h
@@ -7,7 +7,7 @@ class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink
 {
     Q_OBJECT
 public:
-    explicit MAVLinkSwarmSimulationLink(QObject *parent = 0);
+    MAVLinkSwarmSimulationLink(QString readFile="", QString writeFile="", int rate=5, QObject *parent = 0);
 
 signals:
 
diff --git a/src/comm/MAVLinkXMLParser.cc b/src/comm/MAVLinkXMLParser.cc
index 8c2e6df1efc04f89a322b488c6134c3702b62dac..cca446668350a87461cf71bd55112a4ab5c1afcd 100644
--- a/src/comm/MAVLinkXMLParser.cc
+++ b/src/comm/MAVLinkXMLParser.cc
@@ -90,6 +90,8 @@ bool MAVLinkXMLParser::generate()
     QString messagesDirName = ".";//"generated";
     QDir dir(outputDirName + "/" + messagesDirName);
 
+    int mavlinkVersion = 0;
+
 
 
     // Start main header
@@ -180,6 +182,33 @@ bool MAVLinkXMLParser::generate()
 
                         }
                         // Handle all enum tags
+                        else if (e.tagName() == "version")
+                        {
+                            //QString fieldType = e.attribute("type", "");
+                            //QString fieldName = e.attribute("name", "");
+                            QString fieldText = e.text();
+
+                            // Check if version has been previously set
+                            if (mavlinkVersion != 0)
+                            {
+                                emit parseState(QString("<font color=\"red\">ERROR: Protocol version tag set twice, please use it only once. First version was %1, second version is %2.\nAbort.</font>").arg(mavlinkVersion).arg(fieldText));
+                                return false;
+                            }
+
+                            bool ok;
+                            int version = fieldText.toInt(&ok);
+                            if (ok && (version > 0) && (version < 256))
+                            {
+                                // Set MAVLink version
+                                mavlinkVersion = version;
+                            }
+                            else
+                            {
+                                emit parseState(QString("<font color=\"red\">ERROR: Reading version string failed: %1, string is not an integer number between 1 and 255.\nAbort.</font>").arg(fieldText));
+                                return false;
+                            }
+                        }
+                        // Handle all enum tags
                         else if (e.tagName() == "enums")
                         {
                             // One down into the enums list
@@ -255,7 +284,7 @@ bool MAVLinkXMLParser::generate()
                                                 QString fieldComment;
                                                 if (e2.text().length() > 0)
                                                 {
-                                                     fieldComment = " /* " + e2.text() + "*/";
+                                                    fieldComment = " /* " + e2.text() + "*/";
                                                 }
                                                 currEnum += "\t" + fieldName.toUpper() + "=" + fieldValue + "," + fieldComment + "\n";
                                             }
@@ -330,7 +359,11 @@ bool MAVLinkXMLParser::generate()
                                         QString messageType("mavlink_message_t");
 
                                         // Build up function call
-                                        QString commentContainer("/**\n * @brief Send a %1 message\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n");
+                                        QString commentContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n *\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n");
+                                        QString commentPackChanContainer("/**\n * @brief Pack a %1 message\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param chan The MAVLink channel this message was sent over\n * @param msg The MAVLink message to compress the data into\n%2 * @return length of the message in bytes (excluding serial stream start sign)\n */\n");
+                                        QString commentSendContainer("/**\n * @brief Send a %1 message\n * @param chan MAVLink channel to send the message\n *\n%2 */\n");
+                                        QString commentEncodeContainer("/**\n * @brief Encode a %1 struct into a message\n *\n * @param system_id ID of this system\n * @param component_id ID of this component (e.g. 200 for IMU)\n * @param msg The MAVLink message to compress the data into\n * @param %1 C-struct to read the message contents from\n */\n");
+                                        QString commentDecodeContainer("/**\n * @brief Decode a %1 message into a struct\n *\n * @param msg The message to decode\n * @param %1 C-struct to decode the message contents into\n */\n");
                                         QString commentEntry(" * @param %1 %2\n");
                                         QString idDefine = QString("#define MAVLINK_MSG_ID_%1 %2").arg(messageName.toUpper(), QString::number(messageId));
                                         QString arrayDefines;
@@ -369,11 +402,28 @@ bool MAVLinkXMLParser::generate()
                                                 QString unpackingCode;
                                                 QString unpackingComment = QString("/**\n * @brief Get field %1 from %2 message\n *\n * @return %3\n */\n").arg(fieldName, messageName, fieldText);
 
-                                                // Send arguments are the same for integral types and arrays
-                                                sendArguments += ", " + fieldName;
+                                                // Send arguments do not work for the version field
+                                                if (!fieldType.contains("uint8_t_mavlink_version"))
+                                                {
+                                                    // Send arguments are the same for integral types and arrays
+                                                    sendArguments += ", " + fieldName;
+                                                    commentLines += commentEntry.arg(fieldName, fieldText);
+                                                }
+
+                                                // MAVLink version field
+                                                // this is a special field always containing the version define
+                                                if (fieldType.contains("uint8_t_mavlink_version"))
+                                                {
+                                                    // Add field to C structure
+                                                    cStructLines += QString("\t%1 %2; ///< %3\n").arg("uint8_t", fieldName, fieldText);
+                                                    // Add pack line to message_xx_pack function
+                                                    packLines += QString("\ti += put_uint8_t_by_index(%1, i, msg->payload); // %2\n").arg(mavlinkVersion).arg(fieldText);
+                                                    // Add decode function for this type
+                                                    decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
+                                                }
 
                                                 // Array handling is different from simple types
-                                                if (fieldType.startsWith("array"))
+                                                else if (fieldType.startsWith("array"))
                                                 {
                                                     int arrayLength = QString(fieldType.split("[").at(1).split("]").first()).toInt();
                                                     QString arrayType = fieldType.split("[").first();
@@ -383,7 +433,7 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("int8_t", fieldName, QString::number(arrayLength), fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
+                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
                                                     // Add decode function for this type
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
@@ -398,7 +448,7 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg("char", fieldName, QString::number(arrayLength), fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); //%4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
+                                                    packLines += QString("\ti += put_%1_by_index(%2, %3, i, msg->payload); // %4\n").arg(arrayType, fieldName, QString::number(arrayLength), e2.text());
                                                     // Add decode function for this type
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
@@ -414,7 +464,7 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2[%3]; ///< %4\n").arg(arrayType, fieldName, QString::number(arrayLength), fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); //%4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
+                                                    packLines += QString("\ti += put_array_by_index((int8_t*)%1, sizeof(%2)*%3, i, msg->payload); // %4\n").arg(fieldName, arrayType, QString::number(arrayLength), fieldText);
                                                     // Add decode function for this type
                                                     decodeLines += QString("\tmavlink_msg_%1_get_%2(msg, %1->%2);\n").arg(messageName, fieldName);
                                                     arrayDefines += QString("#define MAVLINK_MSG_%1_FIELD_%2_LEN %3\n").arg(messageName.toUpper(), fieldName.toUpper(), QString::number(arrayLength));
@@ -435,16 +485,20 @@ bool MAVLinkXMLParser::generate()
                                                     // Add field to C structure
                                                     cStructLines += QString("\t%1 %2; ///< %3\n").arg(fieldType, fieldName, fieldText);
                                                     // Add pack line to message_xx_pack function
-                                                    packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); //%3\n").arg(fieldType, fieldName, e2.text());
+                                                    packLines += QString("\ti += put_%1_by_index(%2, i, msg->payload); // %3\n").arg(fieldType, fieldName, e2.text());
                                                     // Add decode function for this type
                                                     decodeLines += QString("\t%1->%2 = mavlink_msg_%1_get_%2(msg);\n").arg(messageName, fieldName);
                                                 }
-                                                commentLines += commentEntry.arg(fieldName, fieldText);
+
 
                                                 //
                                                 //                                                QString unpackingCode;
 
-                                                if (fieldType == "uint8_t" || fieldType == "int8_t")
+                                                if (fieldType == "uint8_t_mavlink_version")
+                                                {
+                                                    unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg("uint8_t", prepends);
+                                                }
+                                                else if (fieldType == "uint8_t" || fieldType == "int8_t")
                                                 {
                                                     unpackingCode = QString("\treturn (%1)(msg->payload%2)[0];").arg(fieldType, prepends);
                                                 }
@@ -475,8 +529,14 @@ bool MAVLinkXMLParser::generate()
 
 
                                                 // Generate the message decoding function
+                                                if (fieldType.contains("uint8_t_mavlink_version"))
+                                                {
+                                                    unpacking += unpackingComment + QString("static inline %1 mavlink_msg_%2_get_%3(const mavlink_message_t* msg)\n{\n%4\n}\n\n").arg("uint8_t", messageName, fieldName, unpackingCode);
+                                                    decodeLines += "";
+                                                    prepends += "+sizeof(uint8_t)";
+                                                }
                                                 // Array handling is different from simple types
-                                                if (fieldType.startsWith("array"))
+                                                else if (fieldType.startsWith("array"))
                                                 {
                                                     unpacking += unpackingComment + QString("static inline uint16_t mavlink_msg_%1_get_%2(const mavlink_message_t* msg, int8_t* r_data)\n{\n%4\n}\n\n").arg(messageName, fieldName, unpackingCode);
                                                     decodeLines += "";
@@ -511,7 +571,7 @@ bool MAVLinkXMLParser::generate()
                                         encode = encode.arg(messageName).arg(cStructName).arg(packArguments);
                                         decode = decode.arg(messageName).arg(cStructName).arg(decodeLines);
                                         compactSend = compactSend.arg(channelType, messageType, messageName, sendArguments, packParameters);
-                                        QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + packChan + encode + "\n" + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + decode;
+                                        QString cFile = "// MESSAGE " + messageName.toUpper() + " PACKING\n\n" + idDefine + "\n\n" + cStruct + "\n\n" + arrayDefines + "\n\n" + commentContainer.arg(messageName.toLower(), commentLines) + pack + commentPackChanContainer.arg(messageName.toLower(), commentLines) + packChan + commentEncodeContainer.arg(messageName.toLower()) + encode + "\n" + commentSendContainer.arg(messageName.toLower(), commentLines) + compactSend + "\n" + "// MESSAGE " + messageName.toUpper() + " UNPACKING\n\n" + unpacking + commentDecodeContainer.arg(messageName.toLower()) + decode;
                                         cFiles.append(qMakePair(QString("mavlink_msg_%1.h").arg(messageName), cFile));
                                     } // Check if tag = message
                                 } // Check if e = NULL
@@ -531,6 +591,12 @@ bool MAVLinkXMLParser::generate()
         n = n.nextSibling();
     } // While through root children
 
+    // Add version to main header
+
+    mainHeader += "// MAVLINK VERSION\n\n";
+    mainHeader += QString("#ifndef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion);
+    mainHeader += QString("#if (MAVLINK_VERSION == 0)\n#undef MAVLINK_VERSION\n#define MAVLINK_VERSION %1\n#endif\n\n").arg(mavlinkVersion);
+
     // Add enums to main header
 
     mainHeader += "// ENUM DEFINITIONS\n\n";
diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 236493000159d1368b71a6d825ca9d8509c46f80..afb4da35eb6ec34cbe76e3ab36c6569f81286d67 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -1,24 +1,4 @@
 /*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
 ======================================================================*/
 /**
  * @file
@@ -58,34 +38,16 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set unique ID and add link to the list of links
     this->id = getNextLinkId();
 
-    // Load defaults from settings
-    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-    settings.sync();
-    if (settings.contains("SERIALLINK_COMM_PORT"))
-    {
-        this->porthandle = settings.value("SERIALLINK_COMM_PORT").toString();
-    }
-
     // *nix (Linux, MacOS tested) serial port support
     port = new QextSerialPort(porthandle, QextSerialPort::Polling);
     //port = new QextSerialPort(porthandle, QextSerialPort::EventDriven);
 
-    if (settings.contains("SERIALLINK_COMM_PORT"))
-    {
-        setBaudRate(settings.value("SERIALLINK_COMM_BAUD").toInt());
-        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
-        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
-        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
-    }
-    else
-    {
-        this->baudrate = baudrate;
-        this->flow = flow;
-        this->parity = parity;
-        this->dataBits = dataBits;
-        this->stopBits = stopBits;
-        this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
-    }
+    this->baudrate = baudrate;
+    this->flow = flow;
+    this->parity = parity;
+    this->dataBits = dataBits;
+    this->stopBits = stopBits;
+    this->timeout = 1; ///< The timeout controls how long the program flow should wait for new serial bytes. As we're polling, we don't want to wait at all.
     port->setTimeout(timeout); // Timeout of 0 ms, we don't want to wait for data, we just poll again next time
     port->setBaudRate(baudrate);
     port->setFlowControl(flow);
@@ -96,7 +58,7 @@ SerialLink::SerialLink(QString portname, BaudRateType baudrate, FlowType flow, P
     // Set the port name
     if (porthandle == "")
     {
-//        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
+        //        name = tr("serial link ") + QString::number(getId()) + tr(" (unconfigured)");
         name = tr("Serial Link ") + QString::number(getId());
     }
     else
@@ -134,6 +96,33 @@ SerialLink::~SerialLink()
     port = NULL;
 }
 
+void SerialLink::loadSettings()
+{
+    // Load defaults from settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.sync();
+    if (settings.contains("SERIALLINK_COMM_PORT"))
+    {
+        setPortName(settings.value("SERIALLINK_COMM_PORT").toString());
+        setBaudRateType(settings.value("SERIALLINK_COMM_BAUD").toInt());
+        setParityType(settings.value("SERIALLINK_COMM_PARITY").toInt());
+        setStopBitsType(settings.value("SERIALLINK_COMM_STOPBITS").toInt());
+        setDataBitsType(settings.value("SERIALLINK_COMM_DATABITS").toInt());
+    }
+}
+
+void SerialLink::writeSettings()
+{
+    // Store settings
+    QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
+    settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
+    settings.setValue("SERIALLINK_COMM_BAUD", getBaudRateType());
+    settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
+    settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
+    settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
+    settings.sync();
+}
+
 
 /**
  * @brief Runs the thread
@@ -189,13 +178,13 @@ void SerialLink::writeBytes(const char* data, qint64 size)
         // Increase write counter
         bitsSentTotal += size * 8;
 
-//        int i;
-//        for (i=0; i<size; i++)
-//        {
-//            unsigned char v=data[i];
+        //        int i;
+        //        for (i=0; i<size; i++)
+        //        {
+        //            unsigned char v=data[i];
 
-//            //fprintf(stderr,"%02x ", v);
-//        }
+        //            //fprintf(stderr,"%02x ", v);
+        //        }
     }
 }
 
@@ -321,18 +310,12 @@ bool SerialLink::hardwareConnect()
     statisticsMutex.unlock();
 
     bool connectionUp = isConnected();
-    if(connectionUp) {
+    if(connectionUp)
+    {
         emit connected();
         emit connected(true);
 
-        // Store settings
-        QSettings settings(QGC::COMPANYNAME, QGC::APPNAME);
-        settings.setValue("SERIALLINK_COMM_PORT", this->porthandle);
-        settings.setValue("SERIALLINK_COMM_BAUD", getBaudRate());
-        settings.setValue("SERIALLINK_COMM_PARITY", getParityType());
-        settings.setValue("SERIALLINK_COMM_STOPBITS", getStopBitsType());
-        settings.setValue("SERIALLINK_COMM_DATABITS", getDataBitsType());
-        settings.sync();
+        writeSettings();
     }
 
     return connectionUp;
@@ -376,7 +359,8 @@ void SerialLink::setName(QString name)
 qint64 SerialLink::getNominalDataRate()
 {
     qint64 dataRate = 0;
-    switch (baudrate) {
+    switch (baudrate)
+    {
     case BAUD50:
         dataRate = 50;
         break;
@@ -442,6 +426,13 @@ qint64 SerialLink::getNominalDataRate()
         break;
     case BAUD256000:
         dataRate = 256000;
+        // Windows-specific high-end baudrates
+    case BAUD230400:
+        dataRate = 230400;
+    case BAUD460800:
+        dataRate = 460800;
+    case BAUD921600:
+        dataRate = 921600;
         break;
     }
     return dataRate;
@@ -543,7 +534,8 @@ bool SerialLink::setPortName(QString portName)
     if(portName.trimmed().length() > 0)
     {
         bool reconnect = false;
-        if(isConnected()) {
+        if(isConnected())
+        {
             disconnect();
             reconnect = true;
         }
@@ -650,8 +642,17 @@ bool SerialLink::setBaudRateType(int rateIndex)
         baudrate = BAUD128000;
         break;
     case 21:
+        baudrate = BAUD230400;
+        break;
+    case 22:
         baudrate = BAUD256000;
         break;
+    case 23:
+        baudrate = BAUD460800;
+        break;
+    case 24:
+        baudrate = BAUD921600;
+        break;
     default:
         // If none of the above cases matches, there must be an error
         accepted = false;
@@ -671,12 +672,14 @@ bool SerialLink::setBaudRate(int rate)
 {
     bool reconnect = false;
     bool accepted = true; // This is changed if none of the data rates matches
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (rate) {
+    switch (rate)
+    {
     case 50:
         baudrate = BAUD50;
         break;
@@ -740,9 +743,18 @@ bool SerialLink::setBaudRate(int rate)
     case 128000:
         baudrate = BAUD128000;
         break;
+    case 230400:
+        baudrate = BAUD230400;
+        break;
     case 256000:
         baudrate = BAUD256000;
         break;
+    case 460800:
+        baudrate = BAUD460800;
+        break;
+    case 921600:
+        baudrate = BAUD921600;
+        break;
     default:
         // If none of the above cases matches, there must be an error
         accepted = false;
@@ -765,12 +777,14 @@ bool SerialLink::setFlowType(int flow)
 {
     bool reconnect = false;
     bool accepted = true;
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (flow) {
+    switch (flow)
+    {
     case FLOW_OFF:
         this->flow = FLOW_OFF;
         break;
@@ -794,12 +808,14 @@ bool SerialLink::setParityType(int parity)
 {
     bool reconnect = false;
     bool accepted = true;
-    if(isConnected()) {
+    if(isConnected())
+    {
         disconnect();
         reconnect = true;
     }
 
-    switch (parity) {
+    switch (parity)
+    {
     case PAR_NONE:
         this->parity = PAR_NONE;
         break;
@@ -826,11 +842,14 @@ bool SerialLink::setParityType(int parity)
     return accepted;
 }
 
+
+// FIXME Works not as anticipated by user!
 bool SerialLink::setDataBitsType(int dataBits)
 {
     bool accepted = true;
 
-    switch (dataBits) {
+    switch (dataBits)
+    {
     case 5:
         this->dataBits = DATA_5;
         break;
@@ -858,6 +877,7 @@ bool SerialLink::setDataBitsType(int dataBits)
     return accepted;
 }
 
+// FIXME WORKS NOT AS ANTICIPATED BY USER!
 bool SerialLink::setStopBitsType(int stopBits)
 {
     bool reconnect = false;
@@ -867,7 +887,8 @@ bool SerialLink::setStopBitsType(int stopBits)
         reconnect = true;
     }
 
-    switch (stopBits) {
+    switch (stopBits)
+    {
     case 1:
         this->stopBits = STOP_1;
         break;
diff --git a/src/comm/SerialLink.h b/src/comm/SerialLink.h
index dce2386e06d5132831a94022c23028fa144a9185..3bac202b8cf753e0510663815de76b464dbbfc17 100644
--- a/src/comm/SerialLink.h
+++ b/src/comm/SerialLink.h
@@ -91,6 +91,9 @@ public:
     qint64 getBitsSent();
     qint64 getBitsReceived();
 
+    void loadSettings();
+    void writeSettings();
+
     void run();
 
     int getLinkQuality();
diff --git a/src/comm/SerialLinkInterface.h b/src/comm/SerialLinkInterface.h
index 22e00a8615a11df20fc7d99606a9c006962911cb..49b5335f9811db78cd9873c505e9b14e0ed89f44 100644
--- a/src/comm/SerialLinkInterface.h
+++ b/src/comm/SerialLinkInterface.h
@@ -57,6 +57,8 @@ public slots:
 	virtual bool setParityType(int parity) = 0;
 	virtual bool setDataBitsType(int dataBits) = 0;
 	virtual bool setStopBitsType(int stopBits) = 0;
+        virtual void loadSettings() = 0;
+        virtual void writeSettings() = 0;
 
 };
 
diff --git a/src/lib/qextserialport/posix_qextserialport.cpp b/src/lib/qextserialport/posix_qextserialport.cpp
index 32c6320caf5f6f1907a7c43e18803ce767d18ed6..99247130b041c23ef84584331203465e984ffe2d 100644
--- a/src/lib/qextserialport/posix_qextserialport.cpp
+++ b/src/lib/qextserialport/posix_qextserialport.cpp
@@ -41,7 +41,7 @@ This constructor assigns the device name to the name of the first port on the sp
 See the other constructors if you need to open a different port.
 */
 Posix_QextSerialPort::Posix_QextSerialPort(QextSerialBase::QueryMode mode)
-: QextSerialBase()
+    : QextSerialBase()
 {
     setQueryMode(mode);
     init();
@@ -52,9 +52,9 @@ Posix_QextSerialPort::Posix_QextSerialPort(QextSerialBase::QueryMode mode)
 Copy constructor.
 */
 Posix_QextSerialPort::Posix_QextSerialPort(const Posix_QextSerialPort& s)
- : QextSerialBase(s.port)
+    : QextSerialBase(s.port)
 {
-	setOpenMode(s.openMode());
+    setOpenMode(s.openMode());
     port = s.port;
     Settings.BaudRate=s.Settings.BaudRate;
     Settings.DataBits=s.Settings.DataBits;
@@ -76,7 +76,7 @@ name is the name of the device, which is windowsystem-specific,
 e.g."COM1" or "/dev/ttyS0".
 */
 Posix_QextSerialPort::Posix_QextSerialPort(const QString & name, QextSerialBase::QueryMode mode)
- : QextSerialBase(name)
+    : QextSerialBase(name)
 {
     setQueryMode(mode);
     init();
@@ -87,7 +87,7 @@ Posix_QextSerialPort::Posix_QextSerialPort(const QString & name, QextSerialBase:
 Constructs a port with default name and specified settings.
 */
 Posix_QextSerialPort::Posix_QextSerialPort(const PortSettings& settings, QextSerialBase::QueryMode mode)
- : QextSerialBase()
+    : QextSerialBase()
 {
     setBaudRate(settings.BaudRate);
     setDataBits(settings.DataBits);
@@ -105,7 +105,7 @@ Posix_QextSerialPort::Posix_QextSerialPort(const PortSettings& settings, QextSer
 Constructs a port with specified name and settings.
 */
 Posix_QextSerialPort::Posix_QextSerialPort(const QString & name, const PortSettings& settings, QextSerialBase::QueryMode mode)
- : QextSerialBase(name)
+    : QextSerialBase(name)
 {
     setBaudRate(settings.BaudRate);
     setDataBits(settings.DataBits);
@@ -123,8 +123,8 @@ Posix_QextSerialPort::Posix_QextSerialPort(const QString & name, const PortSetti
 Override the = operator.
 */
 Posix_QextSerialPort& Posix_QextSerialPort::operator=(const Posix_QextSerialPort& s)
-{
-   	setOpenMode(s.openMode());
+                                                     {
+    setOpenMode(s.openMode());
     port = s.port;
     Settings.BaudRate=s.Settings.BaudRate;
     Settings.DataBits=s.Settings.DataBits;
@@ -142,9 +142,9 @@ Posix_QextSerialPort& Posix_QextSerialPort::operator=(const Posix_QextSerialPort
 
 void Posix_QextSerialPort::init()
 {
-	fd = 0;
-	if (queryMode() == QextSerialBase::EventDriven)
-		qWarning("POSIX doesn't have event driven mechanism implemented yet");
+    fd = 0;
+    if (queryMode() == QextSerialBase::EventDriven)
+        qWarning("POSIX doesn't have event driven mechanism implemented yet");
 }
 
 /*!
@@ -194,7 +194,10 @@ BAUD1800.
    BAUD76800            57600       76800
   *BAUD115200          115200      115200
    BAUD128000          128000      115200
+   BAUD230400          230400      115200
    BAUD256000          256000      115200
+   BAUD460800          460800      115200
+   BAUD921600          921600      115200
 \endverbatim
 */
 void Posix_QextSerialPort::setBaudRate(BaudRateType baudRate)
@@ -202,300 +205,306 @@ void Posix_QextSerialPort::setBaudRate(BaudRateType baudRate)
     LOCK_MUTEX();
     if (Settings.BaudRate!=baudRate) {
         switch (baudRate) {
-            case BAUD14400:
-                Settings.BaudRate=BAUD9600;
-                break;
+        case BAUD14400:
+            Settings.BaudRate=BAUD9600;
+            break;
 
-            case BAUD56000:
-                Settings.BaudRate=BAUD38400;
-                break;
+        case BAUD56000:
+            Settings.BaudRate=BAUD38400;
+            break;
 
-            case BAUD76800:
+        case BAUD76800:
 
 #ifndef B76800
-                Settings.BaudRate=BAUD57600;
+            Settings.BaudRate=BAUD57600;
 #else
-                Settings.BaudRate=baudRate;
+            Settings.BaudRate=baudRate;
 #endif
-                break;
+            break;
 
-            case BAUD128000:
-            case BAUD256000:
-                Settings.BaudRate=BAUD115200;
-                break;
+        case BAUD128000:
+        case BAUD230400:
+        case BAUD460800:
+        case BAUD921600:
+        case BAUD256000:
+            Settings.BaudRate=BAUD115200;
+            break;
 
-            default:
-                Settings.BaudRate=baudRate;
-                break;
+        default:
+            Settings.BaudRate=baudRate;
+            break;
         }
     }
     if (isOpen()) {
         switch (baudRate) {
 
             /*50 baud*/
-            case BAUD50:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 50 baud operation.");
+        case BAUD50:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 50 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B50;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B50;
 #else
-                cfsetispeed(&Posix_CommConfig, B50);
-                cfsetospeed(&Posix_CommConfig, B50);
+            cfsetispeed(&Posix_CommConfig, B50);
+            cfsetospeed(&Posix_CommConfig, B50);
 #endif
-                break;
+            break;
 
             /*75 baud*/
-            case BAUD75:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 75 baud operation.");
+        case BAUD75:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 75 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B75;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B75;
 #else
-                cfsetispeed(&Posix_CommConfig, B75);
-                cfsetospeed(&Posix_CommConfig, B75);
+            cfsetispeed(&Posix_CommConfig, B75);
+            cfsetospeed(&Posix_CommConfig, B75);
 #endif
-                break;
+            break;
 
             /*110 baud*/
-            case BAUD110:
+        case BAUD110:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B110;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B110;
 #else
-                cfsetispeed(&Posix_CommConfig, B110);
-                cfsetospeed(&Posix_CommConfig, B110);
+            cfsetispeed(&Posix_CommConfig, B110);
+            cfsetospeed(&Posix_CommConfig, B110);
 #endif
-                break;
+            break;
 
             /*134.5 baud*/
-            case BAUD134:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 134.5 baud operation.");
+        case BAUD134:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 134.5 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B134;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B134;
 #else
-                cfsetispeed(&Posix_CommConfig, B134);
-                cfsetospeed(&Posix_CommConfig, B134);
+            cfsetispeed(&Posix_CommConfig, B134);
+            cfsetospeed(&Posix_CommConfig, B134);
 #endif
-                break;
+            break;
 
             /*150 baud*/
-            case BAUD150:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 150 baud operation.");
+        case BAUD150:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 150 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B150;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B150;
 #else
-                cfsetispeed(&Posix_CommConfig, B150);
-                cfsetospeed(&Posix_CommConfig, B150);
+            cfsetispeed(&Posix_CommConfig, B150);
+            cfsetospeed(&Posix_CommConfig, B150);
 #endif
-                break;
+            break;
 
             /*200 baud*/
-            case BAUD200:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 200 baud operation.");
+        case BAUD200:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows does not support 200 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B200;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B200;
 #else
-                cfsetispeed(&Posix_CommConfig, B200);
-                cfsetospeed(&Posix_CommConfig, B200);
+            cfsetispeed(&Posix_CommConfig, B200);
+            cfsetospeed(&Posix_CommConfig, B200);
 #endif
-                break;
+            break;
 
             /*300 baud*/
-            case BAUD300:
+        case BAUD300:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B300;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B300;
 #else
-                cfsetispeed(&Posix_CommConfig, B300);
-                cfsetospeed(&Posix_CommConfig, B300);
+            cfsetispeed(&Posix_CommConfig, B300);
+            cfsetospeed(&Posix_CommConfig, B300);
 #endif
-                break;
+            break;
 
             /*600 baud*/
-            case BAUD600:
+        case BAUD600:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B600;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B600;
 #else
-                cfsetispeed(&Posix_CommConfig, B600);
-                cfsetospeed(&Posix_CommConfig, B600);
+            cfsetispeed(&Posix_CommConfig, B600);
+            cfsetospeed(&Posix_CommConfig, B600);
 #endif
-                break;
+            break;
 
             /*1200 baud*/
-            case BAUD1200:
+        case BAUD1200:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B1200;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B1200;
 #else
-                cfsetispeed(&Posix_CommConfig, B1200);
-                cfsetospeed(&Posix_CommConfig, B1200);
+            cfsetispeed(&Posix_CommConfig, B1200);
+            cfsetospeed(&Posix_CommConfig, B1200);
 #endif
-                break;
+            break;
 
             /*1800 baud*/
-            case BAUD1800:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows and IRIX do not support 1800 baud operation.");
+        case BAUD1800:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows and IRIX do not support 1800 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B1800;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B1800;
 #else
-                cfsetispeed(&Posix_CommConfig, B1800);
-                cfsetospeed(&Posix_CommConfig, B1800);
+            cfsetispeed(&Posix_CommConfig, B1800);
+            cfsetospeed(&Posix_CommConfig, B1800);
 #endif
-                break;
+            break;
 
             /*2400 baud*/
-            case BAUD2400:
+        case BAUD2400:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B2400;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B2400;
 #else
-                cfsetispeed(&Posix_CommConfig, B2400);
-                cfsetospeed(&Posix_CommConfig, B2400);
+            cfsetispeed(&Posix_CommConfig, B2400);
+            cfsetospeed(&Posix_CommConfig, B2400);
 #endif
-                break;
+            break;
 
             /*4800 baud*/
-            case BAUD4800:
+        case BAUD4800:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B4800;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B4800;
 #else
-                cfsetispeed(&Posix_CommConfig, B4800);
-                cfsetospeed(&Posix_CommConfig, B4800);
+            cfsetispeed(&Posix_CommConfig, B4800);
+            cfsetospeed(&Posix_CommConfig, B4800);
 #endif
-                break;
+            break;
 
             /*9600 baud*/
-            case BAUD9600:
+        case BAUD9600:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B9600;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B9600;
 #else
-                cfsetispeed(&Posix_CommConfig, B9600);
-                cfsetospeed(&Posix_CommConfig, B9600);
+            cfsetispeed(&Posix_CommConfig, B9600);
+            cfsetospeed(&Posix_CommConfig, B9600);
 #endif
-                break;
+            break;
 
             /*14400 baud*/
-            case BAUD14400:
-                TTY_WARNING("Posix_QextSerialPort: POSIX does not support 14400 baud operation.  Switching to 9600 baud.");
+        case BAUD14400:
+            TTY_WARNING("Posix_QextSerialPort: POSIX does not support 14400 baud operation.  Switching to 9600 baud.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B9600;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B9600;
 #else
-                cfsetispeed(&Posix_CommConfig, B9600);
-                cfsetospeed(&Posix_CommConfig, B9600);
+            cfsetispeed(&Posix_CommConfig, B9600);
+            cfsetospeed(&Posix_CommConfig, B9600);
 #endif
-                break;
+            break;
 
             /*19200 baud*/
-            case BAUD19200:
+        case BAUD19200:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B19200;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B19200;
 #else
-                cfsetispeed(&Posix_CommConfig, B19200);
-                cfsetospeed(&Posix_CommConfig, B19200);
+            cfsetispeed(&Posix_CommConfig, B19200);
+            cfsetospeed(&Posix_CommConfig, B19200);
 #endif
-                break;
+            break;
 
             /*38400 baud*/
-            case BAUD38400:
+        case BAUD38400:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B38400;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B38400;
 #else
-                cfsetispeed(&Posix_CommConfig, B38400);
-                cfsetospeed(&Posix_CommConfig, B38400);
+            cfsetispeed(&Posix_CommConfig, B38400);
+            cfsetospeed(&Posix_CommConfig, B38400);
 #endif
-                break;
+            break;
 
             /*56000 baud*/
-            case BAUD56000:
-                TTY_WARNING("Posix_QextSerialPort: POSIX does not support 56000 baud operation.  Switching to 38400 baud.");
+        case BAUD56000:
+            TTY_WARNING("Posix_QextSerialPort: POSIX does not support 56000 baud operation.  Switching to 38400 baud.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B38400;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B38400;
 #else
-                cfsetispeed(&Posix_CommConfig, B38400);
-                cfsetospeed(&Posix_CommConfig, B38400);
+            cfsetispeed(&Posix_CommConfig, B38400);
+            cfsetospeed(&Posix_CommConfig, B38400);
 #endif
-                break;
+            break;
 
             /*57600 baud*/
-            case BAUD57600:
+        case BAUD57600:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B57600;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B57600;
 #else
-                cfsetispeed(&Posix_CommConfig, B57600);
-                cfsetospeed(&Posix_CommConfig, B57600);
+            cfsetispeed(&Posix_CommConfig, B57600);
+            cfsetospeed(&Posix_CommConfig, B57600);
 #endif
-                break;
+            break;
 
             /*76800 baud*/
-            case BAUD76800:
-                TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows and some POSIX systems do not support 76800 baud operation.");
+        case BAUD76800:
+            TTY_PORTABILITY_WARNING("Posix_QextSerialPort Portability Warning: Windows and some POSIX systems do not support 76800 baud operation.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag&=(~CBAUD);
 
 #ifdef B76800
-                Posix_CommConfig.c_cflag|=B76800;
+            Posix_CommConfig.c_cflag|=B76800;
 #else
-                TTY_WARNING("Posix_QextSerialPort: Posix_QextSerialPort was compiled without 76800 baud support.  Switching to 57600 baud.");
-                Posix_CommConfig.c_cflag|=B57600;
+            TTY_WARNING("Posix_QextSerialPort: Posix_QextSerialPort was compiled without 76800 baud support.  Switching to 57600 baud.");
+            Posix_CommConfig.c_cflag|=B57600;
 #endif //B76800
 #else  //CBAUD
 #ifdef B76800
-                cfsetispeed(&Posix_CommConfig, B76800);
-                cfsetospeed(&Posix_CommConfig, B76800);
+            cfsetispeed(&Posix_CommConfig, B76800);
+            cfsetospeed(&Posix_CommConfig, B76800);
 #else
-                TTY_WARNING("Posix_QextSerialPort: Posix_QextSerialPort was compiled without 76800 baud support.  Switching to 57600 baud.");
-                cfsetispeed(&Posix_CommConfig, B57600);
-                cfsetospeed(&Posix_CommConfig, B57600);
+            TTY_WARNING("Posix_QextSerialPort: Posix_QextSerialPort was compiled without 76800 baud support.  Switching to 57600 baud.");
+            cfsetispeed(&Posix_CommConfig, B57600);
+            cfsetospeed(&Posix_CommConfig, B57600);
 #endif //B76800
 #endif //CBAUD
-                break;
+            break;
 
             /*115200 baud*/
-            case BAUD115200:
+        case BAUD115200:
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B115200;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B115200;
 #else
-                cfsetispeed(&Posix_CommConfig, B115200);
-                cfsetospeed(&Posix_CommConfig, B115200);
+            cfsetispeed(&Posix_CommConfig, B115200);
+            cfsetospeed(&Posix_CommConfig, B115200);
 #endif
-                break;
+            break;
 
             /*128000 baud*/
-            case BAUD128000:
-                TTY_WARNING("Posix_QextSerialPort: POSIX does not support 128000 baud operation.  Switching to 115200 baud.");
+        case BAUD128000:
+            TTY_WARNING("Posix_QextSerialPort: POSIX does not support 128000 baud operation.  Switching to 115200 baud.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B115200;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B115200;
 #else
-                cfsetispeed(&Posix_CommConfig, B115200);
-                cfsetospeed(&Posix_CommConfig, B115200);
+            cfsetispeed(&Posix_CommConfig, B115200);
+            cfsetospeed(&Posix_CommConfig, B115200);
 #endif
-                break;
+            break;
 
             /*256000 baud*/
-            case BAUD256000:
-                TTY_WARNING("Posix_QextSerialPort: POSIX does not support 256000 baud operation.  Switching to 115200 baud.");
+        case BAUD230400:
+        case BAUD460800:
+        case BAUD921600:
+        case BAUD256000:
+            TTY_WARNING("Posix_QextSerialPort: POSIX does not support baud rates above 115200 baud.  Switching to 115200 baud.");
 #ifdef CBAUD
-                Posix_CommConfig.c_cflag&=(~CBAUD);
-                Posix_CommConfig.c_cflag|=B115200;
+            Posix_CommConfig.c_cflag&=(~CBAUD);
+            Posix_CommConfig.c_cflag|=B115200;
 #else
-                cfsetispeed(&Posix_CommConfig, B115200);
-                cfsetospeed(&Posix_CommConfig, B115200);
+            cfsetispeed(&Posix_CommConfig, B115200);
+            cfsetospeed(&Posix_CommConfig, B115200);
 #endif
-                break;
+            break;
         }
         tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
     }
@@ -536,56 +545,56 @@ void Posix_QextSerialPort::setDataBits(DataBitsType dataBits)
         switch(dataBits) {
 
             /*5 data bits*/
-            case DATA_5:
-                if (Settings.StopBits==STOP_2) {
-                    TTY_WARNING("Posix_QextSerialPort: 5 Data bits cannot be used with 2 stop bits.");
-                }
-                else {
-                    Settings.DataBits=dataBits;
-                    Posix_CommConfig.c_cflag&=(~CSIZE);
-                    Posix_CommConfig.c_cflag|=CS5;
-                    tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                }
-                break;
+        case DATA_5:
+            if (Settings.StopBits==STOP_2) {
+                TTY_WARNING("Posix_QextSerialPort: 5 Data bits cannot be used with 2 stop bits.");
+            }
+            else {
+                Settings.DataBits=dataBits;
+                Posix_CommConfig.c_cflag&=(~CSIZE);
+                Posix_CommConfig.c_cflag|=CS5;
+                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            }
+            break;
 
             /*6 data bits*/
             case DATA_6:
-                if (Settings.StopBits==STOP_1_5) {
-                    TTY_WARNING("Posix_QextSerialPort: 6 Data bits cannot be used with 1.5 stop bits.");
-                }
-                else {
-                    Settings.DataBits=dataBits;
-                    Posix_CommConfig.c_cflag&=(~CSIZE);
-                    Posix_CommConfig.c_cflag|=CS6;
-                    tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                }
-                break;
+            if (Settings.StopBits==STOP_1_5) {
+                TTY_WARNING("Posix_QextSerialPort: 6 Data bits cannot be used with 1.5 stop bits.");
+            }
+            else {
+                Settings.DataBits=dataBits;
+                Posix_CommConfig.c_cflag&=(~CSIZE);
+                Posix_CommConfig.c_cflag|=CS6;
+                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            }
+            break;
 
             /*7 data bits*/
             case DATA_7:
-                if (Settings.StopBits==STOP_1_5) {
-                    TTY_WARNING("Posix_QextSerialPort: 7 Data bits cannot be used with 1.5 stop bits.");
-                }
-                else {
-                    Settings.DataBits=dataBits;
-                    Posix_CommConfig.c_cflag&=(~CSIZE);
-                    Posix_CommConfig.c_cflag|=CS7;
-                    tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                }
-                break;
+            if (Settings.StopBits==STOP_1_5) {
+                TTY_WARNING("Posix_QextSerialPort: 7 Data bits cannot be used with 1.5 stop bits.");
+            }
+            else {
+                Settings.DataBits=dataBits;
+                Posix_CommConfig.c_cflag&=(~CSIZE);
+                Posix_CommConfig.c_cflag|=CS7;
+                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            }
+            break;
 
             /*8 data bits*/
             case DATA_8:
-                if (Settings.StopBits==STOP_1_5) {
-                    TTY_WARNING("Posix_QextSerialPort: 8 Data bits cannot be used with 1.5 stop bits.");
-                }
-                else {
-                    Settings.DataBits=dataBits;
-                    Posix_CommConfig.c_cflag&=(~CSIZE);
-                    Posix_CommConfig.c_cflag|=CS8;
-                    tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                }
-                break;
+            if (Settings.StopBits==STOP_1_5) {
+                TTY_WARNING("Posix_QextSerialPort: 8 Data bits cannot be used with 1.5 stop bits.");
+            }
+            else {
+                Settings.DataBits=dataBits;
+                Posix_CommConfig.c_cflag&=(~CSIZE);
+                Posix_CommConfig.c_cflag|=CS8;
+                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            }
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -625,60 +634,60 @@ void Posix_QextSerialPort::setParity(ParityType parity)
         switch (parity) {
 
             /*space parity*/
-            case PAR_SPACE:
-                if (Settings.DataBits==DATA_8) {
-                    TTY_PORTABILITY_WARNING("Posix_QextSerialPort:  Space parity is only supported in POSIX with 7 or fewer data bits");
-                }
-                else {
-
-                    /*space parity not directly supported - add an extra data bit to simulate it*/
-                    Posix_CommConfig.c_cflag&=~(PARENB|CSIZE);
-                    switch(Settings.DataBits) {
-                        case DATA_5:
-                            Settings.DataBits=DATA_6;
-                            Posix_CommConfig.c_cflag|=CS6;
-                            break;
-
-                        case DATA_6:
-                            Settings.DataBits=DATA_7;
-                            Posix_CommConfig.c_cflag|=CS7;
-                            break;
-
-                        case DATA_7:
-                            Settings.DataBits=DATA_8;
-                            Posix_CommConfig.c_cflag|=CS8;
-                            break;
-
-                        case DATA_8:
-                            break;
-                    }
-                    tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+        case PAR_SPACE:
+            if (Settings.DataBits==DATA_8) {
+                TTY_PORTABILITY_WARNING("Posix_QextSerialPort:  Space parity is only supported in POSIX with 7 or fewer data bits");
+            }
+            else {
+
+                /*space parity not directly supported - add an extra data bit to simulate it*/
+                Posix_CommConfig.c_cflag&=~(PARENB|CSIZE);
+                switch(Settings.DataBits) {
+                case DATA_5:
+                    Settings.DataBits=DATA_6;
+                    Posix_CommConfig.c_cflag|=CS6;
+                    break;
+
+                case DATA_6:
+                    Settings.DataBits=DATA_7;
+                    Posix_CommConfig.c_cflag|=CS7;
+                    break;
+
+                case DATA_7:
+                    Settings.DataBits=DATA_8;
+                    Posix_CommConfig.c_cflag|=CS8;
+                    break;
+
+                case DATA_8:
+                    break;
                 }
-                break;
+                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            }
+            break;
 
             /*mark parity - WINDOWS ONLY*/
             case PAR_MARK:
-                TTY_WARNING("Posix_QextSerialPort: Mark parity is not supported by POSIX.");
-                break;
+            TTY_WARNING("Posix_QextSerialPort: Mark parity is not supported by POSIX.");
+            break;
 
             /*no parity*/
             case PAR_NONE:
-                Posix_CommConfig.c_cflag&=(~PARENB);
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+            Posix_CommConfig.c_cflag&=(~PARENB);
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
 
             /*even parity*/
             case PAR_EVEN:
-                Posix_CommConfig.c_cflag&=(~PARODD);
-                Posix_CommConfig.c_cflag|=PARENB;
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+            Posix_CommConfig.c_cflag&=(~PARODD);
+            Posix_CommConfig.c_cflag|=PARENB;
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
 
             /*odd parity*/
             case PAR_ODD:
-                Posix_CommConfig.c_cflag|=(PARENB|PARODD);
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+            Posix_CommConfig.c_cflag|=(PARENB|PARODD);
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -713,28 +722,28 @@ void Posix_QextSerialPort::setStopBits(StopBitsType stopBits)
         switch (stopBits) {
 
             /*one stop bit*/
-            case STOP_1:
-                Settings.StopBits=stopBits;
-                Posix_CommConfig.c_cflag&=(~CSTOPB);
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+        case STOP_1:
+            Settings.StopBits=stopBits;
+            Posix_CommConfig.c_cflag&=(~CSTOPB);
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
 
             /*1.5 stop bits*/
-            case STOP_1_5:
-                TTY_WARNING("Posix_QextSerialPort: 1.5 stop bit operation is not supported by POSIX.");
-                break;
+        case STOP_1_5:
+            TTY_WARNING("Posix_QextSerialPort: 1.5 stop bit operation is not supported by POSIX.");
+            break;
 
             /*two stop bits*/
-            case STOP_2:
-                if (Settings.DataBits==DATA_5) {
-                    TTY_WARNING("Posix_QextSerialPort: 2 stop bits cannot be used with 5 data bits");
-                }
-                else {
-                    Settings.StopBits=stopBits;
-                    Posix_CommConfig.c_cflag|=CSTOPB;
-                    tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                }
-                break;
+        case STOP_2:
+            if (Settings.DataBits==DATA_5) {
+                TTY_WARNING("Posix_QextSerialPort: 2 stop bits cannot be used with 5 data bits");
+            }
+            else {
+                Settings.StopBits=stopBits;
+                Posix_CommConfig.c_cflag|=CSTOPB;
+                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            }
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -763,24 +772,24 @@ void Posix_QextSerialPort::setFlowControl(FlowType flow)
         switch(flow) {
 
             /*no flow control*/
-            case FLOW_OFF:
-                Posix_CommConfig.c_cflag&=(~CRTSCTS);
-                Posix_CommConfig.c_iflag&=(~(IXON|IXOFF|IXANY));
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+        case FLOW_OFF:
+            Posix_CommConfig.c_cflag&=(~CRTSCTS);
+            Posix_CommConfig.c_iflag&=(~(IXON|IXOFF|IXANY));
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
 
             /*software (XON/XOFF) flow control*/
-            case FLOW_XONXOFF:
-                Posix_CommConfig.c_cflag&=(~CRTSCTS);
-                Posix_CommConfig.c_iflag|=(IXON|IXOFF|IXANY);
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+        case FLOW_XONXOFF:
+            Posix_CommConfig.c_cflag&=(~CRTSCTS);
+            Posix_CommConfig.c_iflag|=(IXON|IXOFF|IXANY);
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
 
-            case FLOW_HARDWARE:
-                Posix_CommConfig.c_cflag|=CRTSCTS;
-                Posix_CommConfig.c_iflag&=(~(IXON|IXOFF|IXANY));
-                tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
-                break;
+        case FLOW_HARDWARE:
+            Posix_CommConfig.c_cflag|=CRTSCTS;
+            Posix_CommConfig.c_iflag&=(~(IXON|IXOFF|IXANY));
+            tcsetattr(fd, TCSAFLUSH, &Posix_CommConfig);
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -811,11 +820,11 @@ void Posix_QextSerialPort::setTimeout(long millisec)
     Posix_Copy_Timeout.tv_usec = millisec % 1000;
     if (isOpen()) {
         if (millisec == -1)
-        	fcntl(fd, F_SETFL, O_NDELAY);
+            fcntl(fd, F_SETFL, O_NDELAY);
         else
-        	//O_SYNC should enable blocking ::write() 
-        	//however this seems not working on Linux 2.6.21 (works on OpenBSD 4.2)
-        	fcntl(fd, F_SETFL, O_SYNC);
+            //O_SYNC should enable blocking ::write()
+            //however this seems not working on Linux 2.6.21 (works on OpenBSD 4.2)
+            fcntl(fd, F_SETFL, O_SYNC);
         tcgetattr(fd, & Posix_CommConfig);
         Posix_CommConfig.c_cc[VTIME] = millisec/100;
         tcsetattr(fd, TCSAFLUSH, & Posix_CommConfig);
@@ -969,18 +978,18 @@ Translates a system-specific error code to a QextSerialPort error code.  Used in
 void Posix_QextSerialPort::translateError(ulong error)
 {
     switch (error) {
-        case EBADF:
-        case ENOTTY:
-            lastErr=E_INVALID_FD;
-            break;
-
-        case EINTR:
-            lastErr=E_CAUGHT_NON_BLOCKED_SIGNAL;
-            break;
-
-        case ENOMEM:
-            lastErr=E_NO_MEMORY;
-            break;
+    case EBADF:
+    case ENOTTY:
+        lastErr=E_INVALID_FD;
+        break;
+
+    case EINTR:
+        lastErr=E_CAUGHT_NON_BLOCKED_SIGNAL;
+        break;
+
+    case ENOMEM:
+        lastErr=E_NO_MEMORY;
+        break;
     }
 }
 
@@ -1122,7 +1131,7 @@ qint64 Posix_QextSerialPort::writeData(const char * data, qint64 maxSize)
     int retVal = 0;
     retVal = ::write(fd, data, maxSize);
     if (retVal == -1)
-       lastErr = E_WRITE_FAILED;
+        lastErr = E_WRITE_FAILED;
     UNLOCK_MUTEX();
     
     return (qint64)retVal;
diff --git a/src/lib/qextserialport/qextserialbase.h b/src/lib/qextserialport/qextserialbase.h
index c4656c1d35c69c7478513f70731c6068599fa2c7..0b4a2765185309e8a398658c6907bdee6f9e8a01 100644
--- a/src/lib/qextserialport/qextserialbase.h
+++ b/src/lib/qextserialport/qextserialbase.h
@@ -92,8 +92,11 @@ enum BaudRateType
     BAUD57600,
     BAUD76800,             //POSIX ONLY
     BAUD115200,
-    BAUD128000,            //WINDOWS ONLY
-    BAUD256000             //WINDOWS ONLY
+    BAUD128000,            // WINDOWS ONLY
+    BAUD230400,            // WINDOWS ONLY
+    BAUD256000,            // WINDOWS ONLY
+    BAUD460800,            // WINDOWS ONLY
+    BAUD921600             // WINDOWS ONLY
 };
 
 enum DataBitsType 
diff --git a/src/lib/qextserialport/win_qextserialport.cpp b/src/lib/qextserialport/win_qextserialport.cpp
index 49c5fc8c06a755404d55c3e380ed30f5b7f970e4..39768baf45a54702020ba8f15df4ab5dd0cdb4bb 100644
--- a/src/lib/qextserialport/win_qextserialport.cpp
+++ b/src/lib/qextserialport/win_qextserialport.cpp
@@ -114,19 +114,19 @@ Win_QextSerialPort::Win_QextSerialPort(const QString & name, const PortSettings&
     setFlowControl(settings.FlowControl);
     setTimeout(settings.Timeout_Millisec);
     setQueryMode(mode);
-	init();
+    init();
 }
 
 void Win_QextSerialPort::init()
 {
-	_bytesToWrite = 0;
-	overlap.Internal = 0;
-	overlap.InternalHigh = 0;
-	overlap.Offset = 0;
-	overlap.OffsetHigh = 0;
-	overlap.hEvent = CreateEvent(NULL, true, false, NULL);
-	overlapThread = new Win_QextSerialThread(this);
-	bytesToWriteLock = new QReadWriteLock;
+    _bytesToWrite = 0;
+    overlap.Internal = 0;
+    overlap.InternalHigh = 0;
+    overlap.Offset = 0;
+    overlap.OffsetHigh = 0;
+    overlap.hEvent = CreateEvent(NULL, true, false, NULL);
+    overlapThread = new Win_QextSerialThread(this);
+    bytesToWriteLock = new QReadWriteLock;
 }
 
 /*!
@@ -178,11 +178,11 @@ if the port associated with the class is already open.  The port is also configu
 settings, as stored in the Settings structure.
 */
 bool Win_QextSerialPort::open(OpenMode mode) {
-	unsigned long confSize = sizeof(COMMCONFIG);
-	Win_CommConfig.dwSize = confSize;
-	DWORD dwFlagsAndAttributes = 0;
-	if (queryMode() == QextSerialBase::EventDriven)
-		dwFlagsAndAttributes += FILE_FLAG_OVERLAPPED;
+    unsigned long confSize = sizeof(COMMCONFIG);
+    Win_CommConfig.dwSize = confSize;
+    DWORD dwFlagsAndAttributes = 0;
+    if (queryMode() == QextSerialBase::EventDriven)
+        dwFlagsAndAttributes += FILE_FLAG_OVERLAPPED;
 
     LOCK_MUTEX();
     if (mode == QIODevice::NotOpen)
@@ -190,7 +190,7 @@ bool Win_QextSerialPort::open(OpenMode mode) {
     if (!isOpen()) {
         /*open the port*/
         Win_Handle=CreateFileA(port.toAscii(), GENERIC_READ|GENERIC_WRITE,
-                              FILE_SHARE_READ|FILE_SHARE_WRITE, NULL, OPEN_EXISTING, dwFlagsAndAttributes, NULL);
+                               FILE_SHARE_READ|FILE_SHARE_WRITE, NULL, OPEN_EXISTING, dwFlagsAndAttributes, NULL);
         if (Win_Handle!=INVALID_HANDLE_VALUE) {
             /*configure port settings*/
             GetCommConfig(Win_Handle, &Win_CommConfig, &confSize);
@@ -211,24 +211,24 @@ bool Win_QextSerialPort::open(OpenMode mode) {
             SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
 
             //init event driven approach
-			if (queryMode() == QextSerialBase::EventDriven) {
-		        Win_CommTimeouts.ReadIntervalTimeout = MAXDWORD;
-		        Win_CommTimeouts.ReadTotalTimeoutMultiplier = 0;
-		        Win_CommTimeouts.ReadTotalTimeoutConstant = 0;
-				Win_CommTimeouts.WriteTotalTimeoutMultiplier = 0;
-				Win_CommTimeouts.WriteTotalTimeoutConstant = 0;
-				SetCommTimeouts(Win_Handle, &Win_CommTimeouts);
+            if (queryMode() == QextSerialBase::EventDriven) {
+                Win_CommTimeouts.ReadIntervalTimeout = MAXDWORD;
+                Win_CommTimeouts.ReadTotalTimeoutMultiplier = 0;
+                Win_CommTimeouts.ReadTotalTimeoutConstant = 0;
+                Win_CommTimeouts.WriteTotalTimeoutMultiplier = 0;
+                Win_CommTimeouts.WriteTotalTimeoutConstant = 0;
+                SetCommTimeouts(Win_Handle, &Win_CommTimeouts);
             	if (!SetCommMask( Win_Handle, EV_TXEMPTY | EV_RXCHAR | EV_DSR)) {
-            		qWarning("failed to set Comm Mask. Error code: %ld", GetLastError());
-					UNLOCK_MUTEX();
-            		return false;
+                    qWarning("failed to set Comm Mask. Error code: %ld", GetLastError());
+                    UNLOCK_MUTEX();
+                    return false;
             	}
             	overlapThread->start();
             }
-			QIODevice::open(mode);
+            QIODevice::open(mode);
         }
     } else {
-		UNLOCK_MUTEX();
+        UNLOCK_MUTEX();
     	return false;
     }
     UNLOCK_MUTEX();
@@ -245,16 +245,16 @@ void Win_QextSerialPort::close()
     LOCK_MUTEX();
 
     if (isOpen()) {
-		flush();
-		if (overlapThread->isRunning()) {
-			overlapThread->stop();
-			if (QThread::currentThread() != overlapThread)
-				overlapThread->wait();
-		}
+        flush();
+        if (overlapThread->isRunning()) {
+            overlapThread->stop();
+            if (QThread::currentThread() != overlapThread)
+                overlapThread->wait();
+        }
         if (CloseHandle(Win_Handle))
             Win_Handle = INVALID_HANDLE_VALUE;
-		_bytesToWrite = 0;
-		QIODevice::close();
+        _bytesToWrite = 0;
+        QIODevice::close();
     }
 
     UNLOCK_MUTEX();
@@ -353,32 +353,32 @@ is currently open (use isOpen() function to check if port is open).
 qint64 Win_QextSerialPort::readData(char *data, qint64 maxSize)
 {
     DWORD retVal;
-	
+
     LOCK_MUTEX();
     
     retVal = 0;
-	if (queryMode() == QextSerialBase::EventDriven) {
-		OVERLAPPED overlapRead;
-		overlapRead.Internal = 0;
-		overlapRead.InternalHigh = 0;
-		overlapRead.Offset = 0;
-		overlapRead.OffsetHigh = 0;
-		overlapRead.hEvent = CreateEvent(NULL, true, false, NULL);
-		if (!ReadFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, & overlapRead)) {
-			if (GetLastError() == ERROR_IO_PENDING)
-				GetOverlappedResult(Win_Handle, & overlapRead, & retVal, true);
-			else {
-	        	lastErr = E_READ_FAILED;
-	        	retVal = (DWORD)-1;
-			}
-		}
-		CloseHandle(overlapRead.hEvent);
-	} else if (!ReadFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, NULL)) {
+    if (queryMode() == QextSerialBase::EventDriven) {
+        OVERLAPPED overlapRead;
+        overlapRead.Internal = 0;
+        overlapRead.InternalHigh = 0;
+        overlapRead.Offset = 0;
+        overlapRead.OffsetHigh = 0;
+        overlapRead.hEvent = CreateEvent(NULL, true, false, NULL);
+        if (!ReadFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, & overlapRead)) {
+            if (GetLastError() == ERROR_IO_PENDING)
+                GetOverlappedResult(Win_Handle, & overlapRead, & retVal, true);
+            else {
+                lastErr = E_READ_FAILED;
+                retVal = (DWORD)-1;
+            }
+        }
+        CloseHandle(overlapRead.hEvent);
+    } else if (!ReadFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, NULL)) {
         lastErr = E_READ_FAILED;
         retVal = (DWORD)-1;
     }
 
-	UNLOCK_MUTEX();
+    UNLOCK_MUTEX();
 
     return (qint64)retVal;
 }
@@ -394,8 +394,8 @@ is currently open (use isOpen() function to check if port is open).
 */
 qint64 Win_QextSerialPort::writeData(const char *data, qint64 maxSize)
 {
-	DWORD retVal;
-	
+    DWORD retVal;
+
     LOCK_MUTEX();
 
     retVal = 0;
@@ -403,21 +403,21 @@ qint64 Win_QextSerialPort::writeData(const char *data, qint64 maxSize)
     	bytesToWriteLock->lockForWrite();
     	_bytesToWrite += maxSize;
     	bytesToWriteLock->unlock();
-		overlapWrite.Internal = 0;
-		overlapWrite.InternalHigh = 0;
-		overlapWrite.Offset = 0;
-		overlapWrite.OffsetHigh = 0;
-		overlapWrite.hEvent = CreateEvent(NULL, true, false, NULL);
-		if (!WriteFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, & overlapWrite)) {
-			lastErr = E_WRITE_FAILED;
-			retVal = (DWORD)-1;
-	   	} else
-	   		retVal = maxSize;
+        overlapWrite.Internal = 0;
+        overlapWrite.InternalHigh = 0;
+        overlapWrite.Offset = 0;
+        overlapWrite.OffsetHigh = 0;
+        overlapWrite.hEvent = CreateEvent(NULL, true, false, NULL);
+        if (!WriteFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, & overlapWrite)) {
+            lastErr = E_WRITE_FAILED;
+            retVal = (DWORD)-1;
+        } else
+            retVal = maxSize;
     } else if (!WriteFile(Win_Handle, (void*)data, (DWORD)maxSize, & retVal, NULL)) {
-		lastErr = E_WRITE_FAILED;
-		retVal = (DWORD)-1;
-   	}
-   	
+        lastErr = E_WRITE_FAILED;
+        retVal = (DWORD)-1;
+    }
+
     UNLOCK_MUTEX();
 
     return (qint64)retVal;
@@ -453,30 +453,30 @@ void Win_QextSerialPort::setFlowControl(FlowType flow) {
         switch(flow) {
 
             /*no flow control*/
-            case FLOW_OFF:
-                Win_CommConfig.dcb.fOutxCtsFlow=FALSE;
-                Win_CommConfig.dcb.fRtsControl=RTS_CONTROL_DISABLE;
-                Win_CommConfig.dcb.fInX=FALSE;
-                Win_CommConfig.dcb.fOutX=FALSE;
-                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                break;
+        case FLOW_OFF:
+            Win_CommConfig.dcb.fOutxCtsFlow=FALSE;
+            Win_CommConfig.dcb.fRtsControl=RTS_CONTROL_DISABLE;
+            Win_CommConfig.dcb.fInX=FALSE;
+            Win_CommConfig.dcb.fOutX=FALSE;
+            SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            break;
 
             /*software (XON/XOFF) flow control*/
-            case FLOW_XONXOFF:
-                Win_CommConfig.dcb.fOutxCtsFlow=FALSE;
-                Win_CommConfig.dcb.fRtsControl=RTS_CONTROL_DISABLE;
-                Win_CommConfig.dcb.fInX=TRUE;
-                Win_CommConfig.dcb.fOutX=TRUE;
-                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                break;
+        case FLOW_XONXOFF:
+            Win_CommConfig.dcb.fOutxCtsFlow=FALSE;
+            Win_CommConfig.dcb.fRtsControl=RTS_CONTROL_DISABLE;
+            Win_CommConfig.dcb.fInX=TRUE;
+            Win_CommConfig.dcb.fOutX=TRUE;
+            SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            break;
 
-            case FLOW_HARDWARE:
-                Win_CommConfig.dcb.fOutxCtsFlow=TRUE;
-                Win_CommConfig.dcb.fRtsControl=RTS_CONTROL_HANDSHAKE;
-                Win_CommConfig.dcb.fInX=FALSE;
-                Win_CommConfig.dcb.fOutX=FALSE;
-                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                break;
+        case FLOW_HARDWARE:
+            Win_CommConfig.dcb.fOutxCtsFlow=TRUE;
+            Win_CommConfig.dcb.fRtsControl=RTS_CONTROL_HANDSHAKE;
+            Win_CommConfig.dcb.fInX=FALSE;
+            Win_CommConfig.dcb.fOutX=FALSE;
+            SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -503,33 +503,33 @@ void Win_QextSerialPort::setParity(ParityType parity) {
         switch (parity) {
 
             /*space parity*/
-            case PAR_SPACE:
-                if (Settings.DataBits==DATA_8) {
-                    TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: Space parity with 8 data bits is not supported by POSIX systems.");
-                }
-                Win_CommConfig.dcb.fParity=TRUE;
-                break;
+        case PAR_SPACE:
+            if (Settings.DataBits==DATA_8) {
+                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: Space parity with 8 data bits is not supported by POSIX systems.");
+            }
+            Win_CommConfig.dcb.fParity=TRUE;
+            break;
 
             /*mark parity - WINDOWS ONLY*/
             case PAR_MARK:
-                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning:  Mark parity is not supported by POSIX systems");
-                Win_CommConfig.dcb.fParity=TRUE;
-                break;
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning:  Mark parity is not supported by POSIX systems");
+            Win_CommConfig.dcb.fParity=TRUE;
+            break;
 
             /*no parity*/
             case PAR_NONE:
-                Win_CommConfig.dcb.fParity=FALSE;
-                break;
+            Win_CommConfig.dcb.fParity=FALSE;
+            break;
 
             /*even parity*/
             case PAR_EVEN:
-                Win_CommConfig.dcb.fParity=TRUE;
-                break;
+            Win_CommConfig.dcb.fParity=TRUE;
+            break;
 
             /*odd parity*/
             case PAR_ODD:
-                Win_CommConfig.dcb.fParity=TRUE;
-                break;
+            Win_CommConfig.dcb.fParity=TRUE;
+            break;
         }
         SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
     }
@@ -570,48 +570,48 @@ void Win_QextSerialPort::setDataBits(DataBitsType dataBits) {
         switch(dataBits) {
 
             /*5 data bits*/
-            case DATA_5:
-                if (Settings.StopBits==STOP_2) {
-                    TTY_WARNING("Win_QextSerialPort: 5 Data bits cannot be used with 2 stop bits.");
-                }
-                else {
-                    Win_CommConfig.dcb.ByteSize=5;
-                    SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                }
-                break;
+        case DATA_5:
+            if (Settings.StopBits==STOP_2) {
+                TTY_WARNING("Win_QextSerialPort: 5 Data bits cannot be used with 2 stop bits.");
+            }
+            else {
+                Win_CommConfig.dcb.ByteSize=5;
+                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            }
+            break;
 
             /*6 data bits*/
             case DATA_6:
-                if (Settings.StopBits==STOP_1_5) {
-                    TTY_WARNING("Win_QextSerialPort: 6 Data bits cannot be used with 1.5 stop bits.");
-                }
-                else {
-                    Win_CommConfig.dcb.ByteSize=6;
-                    SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                }
-                break;
+            if (Settings.StopBits==STOP_1_5) {
+                TTY_WARNING("Win_QextSerialPort: 6 Data bits cannot be used with 1.5 stop bits.");
+            }
+            else {
+                Win_CommConfig.dcb.ByteSize=6;
+                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            }
+            break;
 
             /*7 data bits*/
             case DATA_7:
-                if (Settings.StopBits==STOP_1_5) {
-                    TTY_WARNING("Win_QextSerialPort: 7 Data bits cannot be used with 1.5 stop bits.");
-                }
-                else {
-                    Win_CommConfig.dcb.ByteSize=7;
-                    SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                }
-                break;
+            if (Settings.StopBits==STOP_1_5) {
+                TTY_WARNING("Win_QextSerialPort: 7 Data bits cannot be used with 1.5 stop bits.");
+            }
+            else {
+                Win_CommConfig.dcb.ByteSize=7;
+                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            }
+            break;
 
             /*8 data bits*/
             case DATA_8:
-                if (Settings.StopBits==STOP_1_5) {
-                    TTY_WARNING("Win_QextSerialPort: 8 Data bits cannot be used with 1.5 stop bits.");
-                }
-                else {
-                    Win_CommConfig.dcb.ByteSize=8;
-                    SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                }
-                break;
+            if (Settings.StopBits==STOP_1_5) {
+                TTY_WARNING("Win_QextSerialPort: 8 Data bits cannot be used with 1.5 stop bits.");
+            }
+            else {
+                Win_CommConfig.dcb.ByteSize=8;
+                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            }
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -649,33 +649,33 @@ void Win_QextSerialPort::setStopBits(StopBitsType stopBits) {
         switch (stopBits) {
 
             /*one stop bit*/
-            case STOP_1:
-                Win_CommConfig.dcb.StopBits=ONESTOPBIT;
-                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                break;
+        case STOP_1:
+            Win_CommConfig.dcb.StopBits=ONESTOPBIT;
+            SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            break;
 
             /*1.5 stop bits*/
-            case STOP_1_5:
-                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: 1.5 stop bit operation is not supported by POSIX.");
-                if (Settings.DataBits!=DATA_5) {
-                    TTY_WARNING("Win_QextSerialPort: 1.5 stop bits can only be used with 5 data bits");
-                }
-                else {
-                    Win_CommConfig.dcb.StopBits=ONE5STOPBITS;
-                    SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                }
-                break;
+        case STOP_1_5:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: 1.5 stop bit operation is not supported by POSIX.");
+            if (Settings.DataBits!=DATA_5) {
+                TTY_WARNING("Win_QextSerialPort: 1.5 stop bits can only be used with 5 data bits");
+            }
+            else {
+                Win_CommConfig.dcb.StopBits=ONE5STOPBITS;
+                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            }
+            break;
 
             /*two stop bits*/
             case STOP_2:
-                if (Settings.DataBits==DATA_5) {
-                    TTY_WARNING("Win_QextSerialPort: 2 stop bits cannot be used with 5 data bits");
-                }
-                else {
-                    Win_CommConfig.dcb.StopBits=TWOSTOPBITS;
-                    SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
-                }
-                break;
+            if (Settings.DataBits==DATA_5) {
+                TTY_WARNING("Win_QextSerialPort: 2 stop bits cannot be used with 5 data bits");
+            }
+            else {
+                Win_CommConfig.dcb.StopBits=TWOSTOPBITS;
+                SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
+            }
+            break;
         }
     }
     UNLOCK_MUTEX();
@@ -713,156 +713,175 @@ are speeds that are usable on both Windows and POSIX.
   *BAUD115200          115200      115200
    BAUD128000          128000      115200
    BAUD256000          256000      115200
+   BAUD230400          230400      115200
+   BAUD256000          256000      115200
+   BAUD460800          460800      115200
+   BAUD921600          921600      115200
 \endverbatim
 */
 void Win_QextSerialPort::setBaudRate(BaudRateType baudRate) {
     LOCK_MUTEX();
     if (Settings.BaudRate!=baudRate) {
         switch (baudRate) {
-            case BAUD50:
-            case BAUD75:
-            case BAUD134:
-            case BAUD150:
-            case BAUD200:
-                Settings.BaudRate=BAUD110;
-                break;
-
-            case BAUD1800:
-                Settings.BaudRate=BAUD1200;
-                break;
-
-            case BAUD76800:
-                Settings.BaudRate=BAUD57600;
-                break;
-
-            default:
-                Settings.BaudRate=baudRate;
-                break;
+        case BAUD50:
+        case BAUD75:
+        case BAUD134:
+        case BAUD150:
+        case BAUD200:
+            Settings.BaudRate=BAUD110;
+            break;
+
+        case BAUD1800:
+            Settings.BaudRate=BAUD1200;
+            break;
+
+        case BAUD76800:
+            Settings.BaudRate=BAUD57600;
+            break;
+
+        default:
+            Settings.BaudRate=baudRate;
+            break;
         }
     }
     if (isOpen()) {
         switch (baudRate) {
 
             /*50 baud*/
-            case BAUD50:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 50 baud operation.  Switching to 110 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_110;
-                break;
+        case BAUD50:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 50 baud operation.  Switching to 110 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_110;
+            break;
 
             /*75 baud*/
-            case BAUD75:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 75 baud operation.  Switching to 110 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_110;
-                break;
+        case BAUD75:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 75 baud operation.  Switching to 110 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_110;
+            break;
 
             /*110 baud*/
-            case BAUD110:
-                Win_CommConfig.dcb.BaudRate=CBR_110;
-                break;
+        case BAUD110:
+            Win_CommConfig.dcb.BaudRate=CBR_110;
+            break;
 
             /*134.5 baud*/
-            case BAUD134:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 134.5 baud operation.  Switching to 110 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_110;
-                break;
+        case BAUD134:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 134.5 baud operation.  Switching to 110 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_110;
+            break;
 
             /*150 baud*/
-            case BAUD150:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 150 baud operation.  Switching to 110 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_110;
-                break;
+        case BAUD150:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 150 baud operation.  Switching to 110 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_110;
+            break;
 
             /*200 baud*/
-            case BAUD200:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 200 baud operation.  Switching to 110 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_110;
-                break;
+        case BAUD200:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 200 baud operation.  Switching to 110 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_110;
+            break;
 
             /*300 baud*/
-            case BAUD300:
-                Win_CommConfig.dcb.BaudRate=CBR_300;
-                break;
+        case BAUD300:
+            Win_CommConfig.dcb.BaudRate=CBR_300;
+            break;
 
             /*600 baud*/
-            case BAUD600:
-                Win_CommConfig.dcb.BaudRate=CBR_600;
-                break;
+        case BAUD600:
+            Win_CommConfig.dcb.BaudRate=CBR_600;
+            break;
 
             /*1200 baud*/
-            case BAUD1200:
-                Win_CommConfig.dcb.BaudRate=CBR_1200;
-                break;
+        case BAUD1200:
+            Win_CommConfig.dcb.BaudRate=CBR_1200;
+            break;
 
             /*1800 baud*/
-            case BAUD1800:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 1800 baud operation.  Switching to 1200 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_1200;
-                break;
+        case BAUD1800:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 1800 baud operation.  Switching to 1200 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_1200;
+            break;
 
             /*2400 baud*/
-            case BAUD2400:
-                Win_CommConfig.dcb.BaudRate=CBR_2400;
-                break;
+        case BAUD2400:
+            Win_CommConfig.dcb.BaudRate=CBR_2400;
+            break;
 
             /*4800 baud*/
-            case BAUD4800:
-                Win_CommConfig.dcb.BaudRate=CBR_4800;
-                break;
+        case BAUD4800:
+            Win_CommConfig.dcb.BaudRate=CBR_4800;
+            break;
 
             /*9600 baud*/
-            case BAUD9600:
-                Win_CommConfig.dcb.BaudRate=CBR_9600;
-                break;
+        case BAUD9600:
+            Win_CommConfig.dcb.BaudRate=CBR_9600;
+            break;
 
             /*14400 baud*/
-            case BAUD14400:
-                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 14400 baud operation.");
-                Win_CommConfig.dcb.BaudRate=CBR_14400;
-                break;
+        case BAUD14400:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 14400 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_14400;
+            break;
 
             /*19200 baud*/
-            case BAUD19200:
-                Win_CommConfig.dcb.BaudRate=CBR_19200;
-                break;
+        case BAUD19200:
+            Win_CommConfig.dcb.BaudRate=CBR_19200;
+            break;
 
             /*38400 baud*/
-            case BAUD38400:
-                Win_CommConfig.dcb.BaudRate=CBR_38400;
-                break;
+        case BAUD38400:
+            Win_CommConfig.dcb.BaudRate=CBR_38400;
+            break;
 
             /*56000 baud*/
-            case BAUD56000:
-                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 56000 baud operation.");
-                Win_CommConfig.dcb.BaudRate=CBR_56000;
-                break;
+        case BAUD56000:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 56000 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_56000;
+            break;
 
             /*57600 baud*/
-            case BAUD57600:
-                Win_CommConfig.dcb.BaudRate=CBR_57600;
-                break;
+        case BAUD57600:
+            Win_CommConfig.dcb.BaudRate=CBR_57600;
+            break;
 
             /*76800 baud*/
-            case BAUD76800:
-                TTY_WARNING("Win_QextSerialPort: Windows does not support 76800 baud operation.  Switching to 57600 baud.");
-                Win_CommConfig.dcb.BaudRate=CBR_57600;
-                break;
+        case BAUD76800:
+            TTY_WARNING("Win_QextSerialPort: Windows does not support 76800 baud operation.  Switching to 57600 baud.");
+            Win_CommConfig.dcb.BaudRate=CBR_57600;
+            break;
 
             /*115200 baud*/
-            case BAUD115200:
-                Win_CommConfig.dcb.BaudRate=CBR_115200;
-                break;
+        case BAUD115200:
+            Win_CommConfig.dcb.BaudRate=CBR_115200;
+            break;
 
             /*128000 baud*/
-            case BAUD128000:
-                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 128000 baud operation.");
-                Win_CommConfig.dcb.BaudRate=CBR_128000;
-                break;
+        case BAUD128000:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 128000 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_128000;
+            break;
 
             /*256000 baud*/
-            case BAUD256000:
-                TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 256000 baud operation.");
-                Win_CommConfig.dcb.BaudRate=CBR_256000;
-                break;
+        case BAUD256000:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 256000 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_256000;
+            break;
+            /*230400 baud*/
+        case BAUD230400:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 230400 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_230400;
+            break;
+            /*460800 baud*/
+        case BAUD460800:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 460800 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_460800;
+            break;
+            /*921600 baud*/
+        case BAUD921600:
+            TTY_PORTABILITY_WARNING("Win_QextSerialPort Portability Warning: POSIX does not support 921600 baud operation.");
+            Win_CommConfig.dcb.BaudRate=CBR_921600;
+            break;
         }
         SetCommConfig(Win_Handle, &Win_CommConfig, sizeof(COMMCONFIG));
     }
@@ -948,55 +967,55 @@ ulong Win_QextSerialPort::lineStatus(void) {
 
 bool Win_QextSerialPort::waitForReadyRead(int msecs)
 {
-	//@todo implement
-	return false;
+    //@todo implement
+    return false;
 }
 
 qint64 Win_QextSerialPort::bytesToWrite() const
 {
-	return _bytesToWrite;
+    return _bytesToWrite;
 }
 
 void Win_QextSerialPort::monitorCommEvent()
 {
-	DWORD eventMask = 0;
-
-	ResetEvent(overlap.hEvent);
-	if (!WaitCommEvent(Win_Handle, & eventMask, & overlap))
-		if (GetLastError() != ERROR_IO_PENDING)
-			qCritical("WaitCommEvent error %ld\n", GetLastError());
-
-	if (WaitForSingleObject(overlap.hEvent, INFINITE) == WAIT_OBJECT_0) {
-		//overlap event occured
-		DWORD undefined;
-		if (!GetOverlappedResult(Win_Handle, & overlap, & undefined, false)) {
-			qWarning("CommEvent overlapped error %ld", GetLastError());
-			return;
-		}
-		if (eventMask & EV_RXCHAR) {
-			if (sender() != this)
-				emit readyRead();
-		}
-		if (eventMask & EV_TXEMPTY) {
-			DWORD numBytes;
-			GetOverlappedResult(Win_Handle, & overlapWrite, & numBytes, true);
-			bytesToWriteLock->lockForWrite();
-			if (sender() != this)
-				emit bytesWritten(bytesToWrite());
-			_bytesToWrite = 0;
-			bytesToWriteLock->unlock();
-		}
-		if (eventMask & EV_DSR)
-			if (lineStatus() & LS_DSR)
-				emit dsrChanged(true);
-			else
-				emit dsrChanged(false);
-	}
+    DWORD eventMask = 0;
+
+    ResetEvent(overlap.hEvent);
+    if (!WaitCommEvent(Win_Handle, & eventMask, & overlap))
+        if (GetLastError() != ERROR_IO_PENDING)
+            qCritical("WaitCommEvent error %ld\n", GetLastError());
+
+    if (WaitForSingleObject(overlap.hEvent, INFINITE) == WAIT_OBJECT_0) {
+        //overlap event occured
+        DWORD undefined;
+        if (!GetOverlappedResult(Win_Handle, & overlap, & undefined, false)) {
+            qWarning("CommEvent overlapped error %ld", GetLastError());
+            return;
+        }
+        if (eventMask & EV_RXCHAR) {
+            if (sender() != this)
+                emit readyRead();
+        }
+        if (eventMask & EV_TXEMPTY) {
+            DWORD numBytes;
+            GetOverlappedResult(Win_Handle, & overlapWrite, & numBytes, true);
+            bytesToWriteLock->lockForWrite();
+            if (sender() != this)
+                emit bytesWritten(bytesToWrite());
+            _bytesToWrite = 0;
+            bytesToWriteLock->unlock();
+        }
+        if (eventMask & EV_DSR)
+            if (lineStatus() & LS_DSR)
+                emit dsrChanged(true);
+        else
+            emit dsrChanged(false);
+    }
 }
 
 void Win_QextSerialPort::terminateCommWait()
 {
-	SetCommMask(Win_Handle, 0);
+    SetCommMask(Win_Handle, 0);
 }
 
 
@@ -1013,17 +1032,17 @@ void Win_QextSerialPort::setTimeout(long millisec) {
     LOCK_MUTEX();
     Settings.Timeout_Millisec = millisec;
 
-	if (millisec == -1) {
-		Win_CommTimeouts.ReadIntervalTimeout = MAXDWORD;
-		Win_CommTimeouts.ReadTotalTimeoutConstant = 0;
-	} else {
-		Win_CommTimeouts.ReadIntervalTimeout = millisec;
-		Win_CommTimeouts.ReadTotalTimeoutConstant = millisec;
-	}
-	Win_CommTimeouts.ReadTotalTimeoutMultiplier = 0;
-	Win_CommTimeouts.WriteTotalTimeoutMultiplier = millisec;
-	Win_CommTimeouts.WriteTotalTimeoutConstant = 0;
-	if (queryMode() != QextSerialBase::EventDriven)
+    if (millisec == -1) {
+        Win_CommTimeouts.ReadIntervalTimeout = MAXDWORD;
+        Win_CommTimeouts.ReadTotalTimeoutConstant = 0;
+    } else {
+        Win_CommTimeouts.ReadIntervalTimeout = millisec;
+        Win_CommTimeouts.ReadTotalTimeoutConstant = millisec;
+    }
+    Win_CommTimeouts.ReadTotalTimeoutMultiplier = 0;
+    Win_CommTimeouts.WriteTotalTimeoutMultiplier = millisec;
+    Win_CommTimeouts.WriteTotalTimeoutConstant = 0;
+    if (queryMode() != QextSerialBase::EventDriven)
       	SetCommTimeouts(Win_Handle, &Win_CommTimeouts);
 
     UNLOCK_MUTEX();
@@ -1033,19 +1052,19 @@ void Win_QextSerialPort::setTimeout(long millisec) {
 Win_QextSerialThread::Win_QextSerialThread(Win_QextSerialPort * qesp):
 	QThread()
 {
-	this->qesp = qesp;
-	terminate = false;
+    this->qesp = qesp;
+    terminate = false;
 }
 
 void Win_QextSerialThread::stop()
 {
-	terminate = true;
-	qesp->terminateCommWait();
+    terminate = true;
+    qesp->terminateCommWait();
 }
 
 void Win_QextSerialThread::run()
 {
-	while (!terminate)
-		qesp->monitorCommEvent();
-	terminate = false;
+    while (!terminate)
+        qesp->monitorCommEvent();
+    terminate = false;
 }
diff --git a/src/lib/qextserialport/win_qextserialport.h b/src/lib/qextserialport/win_qextserialport.h
index 1de6138c4f3bdda56b203510a57dde7e2c095a10..d3358f2d5b67648674db1513662a6b899005f2c4 100644
--- a/src/lib/qextserialport/win_qextserialport.h
+++ b/src/lib/qextserialport/win_qextserialport.h
@@ -5,6 +5,16 @@
 #include <windows.h>
 #include <QThread>
 
+/* These baudrates work on windows, but are not part of the windows headers */
+#ifndef CBR_230400
+#define CBR_230400 230400
+#endif
+#ifndef CBR_460800
+#define CBR_460800 460800
+#endif
+#ifndef CBR_921600
+#define CBR_921600 921600
+#endif
 
 /*if all warning messages are turned off, flag portability warnings to be turned off as well*/
 #ifdef _TTY_NOWARN_
diff --git a/src/uas/ArduPilotMegaMAV.cc b/src/uas/ArduPilotMegaMAV.cc
index f87ebc9dd7031dcec77f4d253d2158d27f34ee67..b2f9a7b1e262d1e6aa325ed53bc53c4191aa2d30 100644
--- a/src/uas/ArduPilotMegaMAV.cc
+++ b/src/uas/ArduPilotMegaMAV.cc
@@ -54,11 +54,11 @@ void ArduPilotMegaMAV::receiveMessage(LinkInterface* link, mavlink_message_t mes
         {
         case MAVLINK_MSG_ID_HEARTBEAT:
             {
-                qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
+                //qDebug() << "ARDUPILOT RECEIVED HEARTBEAT";
                 break;
             }
         default:
-            qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
+            //qDebug() << "\nARDUPILOT RECEIVED MESSAGE WITH ID" << message.msgid;
             break;
         }
     }
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index a7510d4bbbfcb4272e8d1089b839ac115f2b7968..7fc1a66aebdf09878ee138b03d2015baf272b3d9 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1,24 +1,4 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
+/*===================================================================
 ======================================================================*/
 
 /**
@@ -46,47 +26,61 @@ This file is part of the QGROUNDCONTROL project
 #include "LinkManager.h"
 #include "SerialLink.h"
 
+#ifndef M_PI
+#define M_PI        3.14159265358979323846  /* pi */
+#endif
+
+#ifndef M_PI_2
+#define M_PI_2      1.57079632679489661923  /* pi/2 */
+#endif
+
+#ifndef M_PI_4
+#define M_PI_4      0.78539816339744830962  /* pi/4 */
+#endif
+
+
 
 UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
-        uasId(id),
-        startTime(MG::TIME::getGroundTimeNow()),
-        commStatus(COMM_DISCONNECTED),
-        name(""),
-        autopilot(-1),
-        links(new QList<LinkInterface*>()),
-        unknownPackets(),
-        mavlink(protocol),
-        waypointManager(*this),
-        thrustSum(0),
-        thrustMax(10),
-        startVoltage(0),
-        currentVoltage(12.0f),
-        lpVoltage(12.0f),
-        mode(MAV_MODE_UNINIT),
-        status(MAV_STATE_UNINIT),
-        onboardTimeOffset(0),
-        controlRollManual(true),
-        controlPitchManual(true),
-        controlYawManual(true),
-        controlThrustManual(true),
-        manualRollAngle(0),
-        manualPitchAngle(0),
-        manualYawAngle(0),
-        manualThrust(0),
-        receiveDropRate(0),
-        sendDropRate(0),
-        lowBattAlarm(false),
-        positionLock(false),
-        localX(0.0),
-        localY(0.0),
-        localZ(0.0),
-        latitude(0.0),
-        longitude(0.0),
-        altitude(0.0),
-        roll(0.0),
-        pitch(0.0),
-        yaw(0.0),
-        statusTimeout(new QTimer(this))
+uasId(id),
+startTime(MG::TIME::getGroundTimeNow()),
+commStatus(COMM_DISCONNECTED),
+name(""),
+autopilot(-1),
+links(new QList<LinkInterface*>()),
+unknownPackets(),
+mavlink(protocol),
+waypointManager(*this),
+thrustSum(0),
+thrustMax(10),
+startVoltage(0),
+currentVoltage(12.0f),
+lpVoltage(12.0f),
+mode(MAV_MODE_UNINIT),
+status(MAV_STATE_UNINIT),
+onboardTimeOffset(0),
+controlRollManual(true),
+controlPitchManual(true),
+controlYawManual(true),
+controlThrustManual(true),
+manualRollAngle(0),
+manualPitchAngle(0),
+manualYawAngle(0),
+manualThrust(0),
+receiveDropRate(0),
+sendDropRate(0),
+lowBattAlarm(false),
+positionLock(false),
+localX(0.0),
+localY(0.0),
+localZ(0.0),
+latitude(0.0),
+longitude(0.0),
+altitude(0.0),
+roll(0.0),
+pitch(0.0),
+yaw(0.0),
+statusTimeout(new QTimer(this)),
+paramsOnceRequested(false)
 {
     color = UASInterface::getNextColor();
     setBattery(LIPOLY, 3);
@@ -133,14 +127,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
     if (!links->contains(link))
     {
         addLink(link);
-//        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
+        //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
     }
-//    else
-//    {
-//        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
-//    }
+    //    else
+    //    {
+    //        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
+    //    }
 
-//    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
+    //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;
 
     if (message.sysid == uasId)
     {
@@ -187,7 +181,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                     emit statusChanged(this, uasState, stateDescription);
                     emit statusChanged(this->status);
                     emit loadChanged(this,state.load/10.0f);
-                    emit UAS::valueChanged(this, "Load", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
+                    emit UAS::valueChanged(uasId, "Load", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
                     stateAudio = " changed status to " + uasState;
                 }
 
@@ -288,9 +282,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, "Accel. X", raw.xacc, time);
                 emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
                 emit valueChanged(uasId, "Accel. Z", raw.zacc, time);
-                emit valueChanged(uasId, "Gyro Phi", raw.xgyro, time);
-                emit valueChanged(uasId, "Gyro Theta", raw.ygyro, time);
-                emit valueChanged(uasId, "Gyro Psi", raw.zgyro, time);
+                emit valueChanged(uasId, "Gyro Phi", static_cast<double>(raw.xgyro), time);
+                emit valueChanged(uasId, "Gyro Theta", static_cast<double>(raw.ygyro), time);
+                emit valueChanged(uasId, "Gyro Psi", static_cast<double>(raw.zgyro), time);
                 emit valueChanged(uasId, "Mag. X", raw.xmag, time);
                 emit valueChanged(uasId, "Mag. Y", raw.ymag, time);
                 emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
@@ -306,15 +300,24 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 roll = attitude.roll;
                 pitch = attitude.pitch;
                 yaw = attitude.yaw;
+//                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
+//                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
+//                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
                 emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
                 emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
                 emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
-                emit valueChanged(this, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
-                emit valueChanged(this, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
-                emit valueChanged(this, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
                 emit valueChanged(uasId, "rollspeed IMU", attitude.rollspeed, time);
                 emit valueChanged(uasId, "pitchspeed IMU", attitude.pitchspeed, time);
                 emit valueChanged(uasId, "yawspeed IMU", attitude.yawspeed, time);
+
+                // Emit in angles
+                emit valueChanged(uasId, "roll (deg)", (attitude.roll/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitch (deg)", (attitude.pitch/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yaw (deg)", (attitude.yaw/M_PI)*180.0, time);
+                emit valueChanged(uasId, "roll V (deg/s)", (attitude.rollspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "pitch V (deg/s)", (attitude.pitchspeed/M_PI)*180.0, time);
+                emit valueChanged(uasId, "yaw V (deg/s)", (attitude.yawspeed/M_PI)*180.0, time);
+
                 emit attitudeChanged(this, mavlink_msg_attitude_get_roll(&message), mavlink_msg_attitude_get_pitch(&message), mavlink_msg_attitude_get_yaw(&message), time);
             }
             break;
@@ -337,8 +340,8 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
 
-//                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
-//                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
+                //                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
+                //                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;
 
                 //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
                 // Set internal state
@@ -356,7 +359,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_global_position_int_t pos;
                 mavlink_msg_global_position_int_decode(&message, &pos);
-                quint64 time = QGC::groundTimeUsecs();
+                quint64 time = QGC::groundTimeUsecs()/1000;
                 latitude = pos.lat/(double)1E7;
                 longitude = pos.lon/(double)1E7;
                 altitude = pos.alt/1000.0;
@@ -391,7 +394,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
                 // SANITY CHECK
                 // only accept values in a realistic range
-               // quint64 time = getUnixTime(pos.usec);
+                // quint64 time = getUnixTime(pos.usec);
                 quint64 time = MG::TIME::getGroundTimeNow();
 
                 emit valueChanged(uasId, "lat", pos.lat, time);
@@ -440,6 +443,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // FIXME Emit to other components
             }
             break;
+            case MAVLINK_MSG_ID_RAW_PRESSURE:
+            {
+                mavlink_raw_pressure_t pressure;
+                mavlink_msg_raw_pressure_decode(&message, &pressure);
+                emit valueChanged(uasId, "Abs pressure", pressure.press_abs, this->getUnixTime(0));
+                emit valueChanged(uasId, "Diff pressure 1", pressure.press_diff1, this->getUnixTime(0));
+                emit valueChanged(uasId, "Diff pressure 2", pressure.press_diff2, this->getUnixTime(0));
+            }
+            break;
         case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
             {
                 mavlink_rc_channels_raw_t channels;
@@ -474,7 +486,23 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_param_value_t value;
                 mavlink_msg_param_value_decode(&message, &value);
-                emit parameterChanged(uasId, message.compid, QString((char*)value.param_id), value.param_value);
+
+                QString parameterName = QString((char*)value.param_id);
+                int component = message.compid;
+                float val = value.param_value;
+
+                // Insert component if necessary
+                if (!parameters.contains(component))
+                {
+                    parameters.insert(component, new QMap<QString, float>());
+                }
+
+                // Insert parameter into registry
+                if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);
+                parameters.value(component)->insert(parameterName, val);
+
+                // Emit change
+                emit parameterChanged(uasId, message.compid, parameterName, val);
             }
             break;
         case MAVLINK_MSG_ID_DEBUG:
@@ -595,22 +623,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit valueChanged(uasId, str+".z", vect.z, time);
             }
             break;
-//#ifdef MAVLINK_ENABLED_PIXHAWK
-//            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
-//            {
-//                mavlink_point_of_interest_t poi;
-//                mavlink_msg_point_of_interest_decode(&message, &poi);
-//                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
-//            }
-//            break;
-//            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
-//            {
-//                mavlink_point_of_interest_connection_t poi;
-//                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
-//                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
-//            }
-//            break;
-//#endif
+            //#ifdef MAVLINK_ENABLED_PIXHAWK
+            //            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
+            //            {
+            //                mavlink_point_of_interest_t poi;
+            //                mavlink_msg_point_of_interest_decode(&message, &poi);
+            //                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
+            //            }
+            //            break;
+            //            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
+            //            {
+            //                mavlink_point_of_interest_connection_t poi;
+            //                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
+            //                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
+            //            }
+            //            break;
+            //#endif
 #ifdef MAVLINK_ENABLED_UALBERTA
         case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
             {
@@ -703,58 +731,58 @@ void UAS::setLocalOriginAtCurrentGPSPosition()
 
 void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
 {
-    #ifdef MAVLINK_ENABLED_PIXHAWK
+#ifdef MAVLINK_ENABLED_PIXHAWK
     mavlink_message_t msg;
     mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
     sendMessage(msg);
-    #else
+#else
     Q_UNUSED(x);
     Q_UNUSED(y);
     Q_UNUSED(z);
     Q_UNUSED(yaw);
-    #endif
+#endif
 }
 
 void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
 {
 #ifdef MAVLINK_ENABLED_PIXHAWK
-  mavlink_message_t msg;
-  mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
-  sendMessage(msg);
+    mavlink_message_t msg;
+    mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
+    sendMessage(msg);
 #else
-Q_UNUSED(x);
-Q_UNUSED(y);
-Q_UNUSED(z);
-Q_UNUSED(yaw);
+    Q_UNUSED(x);
+    Q_UNUSED(y);
+    Q_UNUSED(z);
+    Q_UNUSED(yaw);
 #endif
 }
 
 void UAS::startRadioControlCalibration()
 {
-  mavlink_message_t msg;
-  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_RC);
-  sendMessage(msg);
+    mavlink_message_t msg;
+    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_RC);
+    sendMessage(msg);
 }
 
 void UAS::startDataRecording()
 {
-  mavlink_message_t msg;
-  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_START);
-  sendMessage(msg);
+    mavlink_message_t msg;
+    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_START);
+    sendMessage(msg);
 }
 
 void UAS::pauseDataRecording()
 {
-  mavlink_message_t msg;
-  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_PAUSE);
-  sendMessage(msg);
+    mavlink_message_t msg;
+    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_PAUSE);
+    sendMessage(msg);
 }
 
 void UAS::stopDataRecording()
 {
-  mavlink_message_t msg;
-  mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_STOP);
-  sendMessage(msg);
+    mavlink_message_t msg;
+    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_STOP);
+    sendMessage(msg);
 }
 
 void UAS::startMagnetometerCalibration()
@@ -803,9 +831,9 @@ quint64 UAS::getUnixTime(quint64 time)
 #ifndef _MSC_VER
     else if (time < 1261440000000000LLU)
 #else
-    else if (time < 1261440000000000)
+        else if (time < 1261440000000000)
 #endif
-    {
+        {
         if (onboardTimeOffset == 0)
         {
             onboardTimeOffset = MG::TIME::getGroundTimeNow() - time/1000;
@@ -820,6 +848,23 @@ quint64 UAS::getUnixTime(quint64 time)
     }
 }
 
+QList<QString> UAS::getParameterNames(int component)
+{
+    if (parameters.contains(component))
+    {
+        return parameters.value(component)->keys();
+    }
+    else
+    {
+        return QList<QString>();
+    }
+}
+
+QList<int> UAS::getComponentIds()
+{
+    return parameters.keys();
+}
+
 void UAS::setMode(int mode)
 {
     if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING)
@@ -1299,15 +1344,15 @@ void UAS::setManualControlCommands(double roll, double pitch, double yaw, double
     manualYawAngle = yaw * yawScaling;
     manualThrust = thrust * thrustScaling;
 
-//    if(mode == (int)MAV_MODE_MANUAL)
-//    {
-        mavlink_message_t message;
-        mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
-        sendMessage(message);
-        qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
+    //    if(mode == (int)MAV_MODE_MANUAL)
+    //    {
+    mavlink_message_t message;
+    mavlink_msg_manual_control_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
+    sendMessage(message);
+    qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;
 
-        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
-//    }
+    emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
+    //    }
 }
 
 int UAS::getSystemType()
@@ -1329,7 +1374,7 @@ void UAS::receiveButton(int buttonIndex)
 
         break;
     }
-//    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";
+    //    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";
 
 }
 
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 7826b819f89d8ee12deccdc6c7b3e6ec3ce5485c..d246b6772a0cd166e6ecef4276edc96cb9cb71d5 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -153,6 +153,8 @@ protected:
     double pitch;
     double yaw;
     QTimer* statusTimeout;      ///< Timer for various status timeouts
+    QMap<int, QMap<QString, float>* > parameters; ///< All parameters
+    bool paramsOnceRequested;   ///< If the parameter list has been read at least once
 
     /** @brief Set the current battery type */
     void setBattery(BatteryType type, int cells);
@@ -199,7 +201,7 @@ public slots:
 
     //void requestWaypoints();  FIXME tbd
     //void clearWaypointList();   FIXME tbd
-    void requestParameters();
+
     /** @brief Enable the motors */
     void enable_motors();
     /** @brief Disable the motors */
@@ -230,6 +232,9 @@ public slots:
     /** @brief Set current mode of operation, e.g. auto or manual */
     void setMode(int mode);
 
+    /** @brief Request all parameters */
+    void requestParameters();
+
     /** @brief Set a system parameter */
     void setParameter(int component, QString id, float value);
 
@@ -238,6 +243,12 @@ public slots:
     /** @brief Read parameters from permanent storage */
     void readParametersFromStorage();
 
+    /** @brief Get the names of all parameters */
+    QList<QString> getParameterNames(int component);
+
+    /** @brief Get the ids of all components */
+    QList<int> getComponentIds();
+
     void enableAllDataTransmission(int rate);
     void enableRawSensorDataTransmission(int rate);
     void enableExtendedSystemStatusTransmission(int rate);
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index 332f90e44c5a441037ed6bed836212889fd17516..ae577205ef6297cc118fcbb01f9a561cf146d475 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -126,6 +126,7 @@ public:
             ///> Map will start from beginning when the first 20 colors are exceeded
 
             colors.append(QColor(231,72,28));
+            colors.append(QColor(104,64,240));
             colors.append(QColor(203,254,121));
             colors.append(QColor(161,252,116));
             colors.append(QColor(232,33,47));
@@ -140,11 +141,10 @@ public:
             colors.append(QColor(87,231,246));
             colors.append(QColor(151,59,239));
             colors.append(QColor(81,183,244));
-            colors.append(QColor(104,64,240));
             colors.append(QColor(75,133,243));
             colors.append(QColor(242,255,128));
             colors.append(QColor(230,126,23));
-            nextColor++;
+            nextColor = 0;
         }
         return colors[nextColor++];
     }
diff --git a/src/uas/UASManager.cc b/src/uas/UASManager.cc
index cb3183cb97f9008f47dddd1bce1e4960ba98b05d..37f02e79c827e0ae10f3af57a2c21583a82ac4b2 100644
--- a/src/uas/UASManager.cc
+++ b/src/uas/UASManager.cc
@@ -104,12 +104,12 @@ QList<UASInterface*> UASManager::getUASList()
 
 UASInterface* UASManager::getActiveUAS()
 {
-    if(!activeUAS)
-    {
-        QMessageBox msgBox;
-        msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
-        msgBox.exec();
-    }
+//    if(!activeUAS)
+//    {
+//        QMessageBox msgBox;
+//        msgBox.setText(tr("No Micro Air Vehicle connected. Please connect one first."));
+//        msgBox.exec();
+//    }
     return activeUAS; ///< Return zero pointer if no UAS has been loaded
 }
 
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index d1761bd3b093817d805cf63aedc4a1909b200d18..0b039674b7728b3d9cb5d9f21046c4251b6e1d08 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -394,11 +394,14 @@ void UASWaypointManager::loadWaypoints(const QString &loadFile)
 
 void UASWaypointManager::globalAddWaypoint(Waypoint *wp)
 {
-
+    // FIXME Will be removed
+    Q_UNUSED(wp);
 }
 
 int UASWaypointManager::globalRemoveWaypoint(quint16 seq)
 {
+    // FIXME Will be removed
+    Q_UNUSED(seq);
     return 0;
 }
 
diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc
index 1192494028880a965092f5a44ac8942f679eeae5..a73bbccc48349e3e5d4e2f7d2911cc4917092453 100644
--- a/src/ui/HDDisplay.cc
+++ b/src/ui/HDDisplay.cc
@@ -1,24 +1,4 @@
 /*=====================================================================
-
-PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
-
-(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
-
-This file is part of the PIXHAWK project
-
-    PIXHAWK is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    PIXHAWK is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
-
 ======================================================================*/
 
 /**
@@ -33,7 +13,11 @@ This file is part of the PIXHAWK project
 #include <QGLWidget>
 #include <QStringList>
 #include <QGraphicsTextItem>
+#include <QDockWidget>
+#include <QInputDialog>
 #include <QMouseEvent>
+#include <QMenu>
+#include <QSettings>
 #include "UASManager.h"
 #include "HDDisplay.h"
 #include "ui_HDDisplay.h"
@@ -44,7 +28,7 @@ This file is part of the PIXHAWK project
 #endif
 #include <QDebug>
 
-HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
+HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
         QGraphicsView(parent),
         uas(NULL),
         values(QMap<QString, float>()),
@@ -73,52 +57,61 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
         strongStrokeWidth(1.5f),
         normalStrokeWidth(1.0f),
         fineStrokeWidth(0.5f),
-        acceptList(plotList),
+        acceptList(new QStringList()),
         lastPaintTime(0),
+        columns(3),
         m_ui(new Ui::HDDisplay)
 {
+    setWindowTitle(title);
     //m_ui->setupUi(this);
 
-        // Check if acceptlist exists
-    if (!acceptList)
+    // Add all items in accept list to gauge
+    if (plotList)
     {
-        acceptList = new QStringList();
+        for(int i = 0; i < plotList->length(); ++i)
+        {
+            addGauge(plotList->at(i));
+        }
     }
 
-//    setBackgroundBrush(QBrush(backgroundColor));
-//    setDragMode(QGraphicsView::ScrollHandDrag);
-//    setCacheMode(QGraphicsView::CacheBackground);
-//    // FIXME Handle full update with care - ressource intensive
-//    setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
-//
-//    setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
-//
-//    //Set-up the scene
-//    QGraphicsScene* Scene = new QGraphicsScene(this);
-//    setScene(Scene);
-//
-//    //Populate the scene
-//    for(int x = 0; x < 1000; x = x + 25) {
-//        for(int y = 0; y < 1000; y = y + 25) {
-//
-//            if(x % 100 == 0 && y % 100 == 0) {
-//                Scene->addRect(x, y, 2, 2);
-//
-//                QString pointString;
-//                QTextStream stream(&pointString);
-//                stream << "(" << x << "," << y << ")";
-//                QGraphicsTextItem* item = Scene->addText(pointString);
-//                item->setPos(x, y);
-//            } else {
-//                Scene->addRect(x, y, 1, 1);
-//            }
-//        }
-//    }
-//
-//    //Set-up the view
-//    setSceneRect(0, 0, 1000, 1000);
-//    setCenter(QPointF(500.0, 500.0)); //A modified version of centerOn(), handles special cases
-//    setCursor(Qt::OpenHandCursor);
+    restoreState();
+
+    createActions();
+
+    //    setBackgroundBrush(QBrush(backgroundColor));
+    //    setDragMode(QGraphicsView::ScrollHandDrag);
+    //    setCacheMode(QGraphicsView::CacheBackground);
+    //    // FIXME Handle full update with care - ressource intensive
+    //    setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
+    //
+    //    setRenderHints(QPainter::Antialiasing | QPainter::SmoothPixmapTransform);
+    //
+    //    //Set-up the scene
+    //    QGraphicsScene* Scene = new QGraphicsScene(this);
+    //    setScene(Scene);
+    //
+    //    //Populate the scene
+    //    for(int x = 0; x < 1000; x = x + 25) {
+    //        for(int y = 0; y < 1000; y = y + 25) {
+    //
+    //            if(x % 100 == 0 && y % 100 == 0) {
+    //                Scene->addRect(x, y, 2, 2);
+    //
+    //                QString pointString;
+    //                QTextStream stream(&pointString);
+    //                stream << "(" << x << "," << y << ")";
+    //                QGraphicsTextItem* item = Scene->addText(pointString);
+    //                item->setPos(x, y);
+    //            } else {
+    //                Scene->addRect(x, y, 1, 1);
+    //            }
+    //        }
+    //    }
+    //
+    //    //Set-up the view
+    //    setSceneRect(0, 0, 1000, 1000);
+    //    setCenter(QPointF(500.0, 500.0)); //A modified version of centerOn(), handles special cases
+    //    setCursor(Qt::OpenHandCursor);
 
 
     this->setMinimumHeight(125);
@@ -147,12 +140,13 @@ HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
 
 HDDisplay::~HDDisplay()
 {
+    saveState();
     delete m_ui;
 }
 
 void HDDisplay::enableGLRendering(bool enable)
 {
-    Q_UNUSED(enable)
+    Q_UNUSED(enable);
 }
 
 void HDDisplay::triggerUpdate()
@@ -170,6 +164,172 @@ void HDDisplay::paintEvent(QPaintEvent * event)
     renderOverlay();
 }
 
+void HDDisplay::contextMenuEvent (QContextMenuEvent* event)
+{
+    QMenu menu(this);
+    menu.addAction(addGaugeAction);
+    menu.addActions(getItemRemoveActions());
+    menu.addSeparator();
+    menu.addAction(setColumnsAction);
+    menu.addAction(setTitleAction);
+    menu.exec(event->globalPos());
+}
+
+void HDDisplay::saveState()
+{
+    QSettings settings;
+
+    QString instruments;
+    // Restore instrument settings
+    for (int i = 0; i < acceptList->count(); i++)
+    {
+        QString key = acceptList->at(i);
+        instruments += "|" + QString::number(minValues.value(key, -1.0))+","+key+","+QString::number(maxValues.value(key, +1.0));
+    }
+
+    qDebug() << "Saving" << instruments;
+
+    settings.setValue(windowTitle()+"_gauges", instruments);
+    settings.sync();
+}
+
+void HDDisplay::restoreState()
+{
+    QSettings settings;
+    settings.sync();
+
+    QStringList instruments = settings.value(windowTitle()+"_gauges").toString().split('|');
+    for (int i = 0; i < instruments.count(); i++)
+    {
+        addGauge(instruments.at(i));
+    }
+}
+
+QList<QAction*> HDDisplay::getItemRemoveActions()
+{
+    QList<QAction*> actions;
+    for(int i = 0; i < acceptList->length(); ++i)
+    {
+        QString gauge = acceptList->at(i);
+        QAction* remove = new QAction(tr("Remove %1 gauge").arg(gauge), this);
+        remove->setStatusTip(tr("Removes the %1 gauge from the view.").arg(gauge));
+        remove->setData(gauge);
+        connect(remove, SIGNAL(triggered()), this, SLOT(removeItemByAction()));
+        actions.append(remove);
+    }
+    return actions;
+}
+
+void HDDisplay::removeItemByAction()
+{
+    QAction* trigger = qobject_cast<QAction*>(QObject::sender());
+    if (trigger)
+    {
+        QString item = trigger->data().toString();
+        int index = acceptList->indexOf(item);
+        acceptList->removeAt(index);
+        minValues.remove(item);
+        maxValues.remove(item);
+    }
+}
+
+void HDDisplay::addGauge()
+{
+    QStringList items;
+    for (int i = 0; i < values.count(); ++i)
+    {
+        items.append(QString("%1,%2,%3").arg("-180").arg(values.keys().at(i)).arg("+180"));
+    }
+    bool ok;
+    QString item = QInputDialog::getItem(this, tr("Add Gauge Instrument"),
+                                         tr("Format: min, curve name, max"), items, 0, true, &ok);
+    if (ok && !item.isEmpty())
+    {
+        addGauge(item);
+    }
+}
+
+void HDDisplay::addGauge(const QString& gauge)
+{
+    if (gauge.length() > 0)
+    {
+        QStringList parts = gauge.split(',');
+        if (parts.count() > 1)
+        {
+            double val;
+            bool ok;
+
+            QString key = parts.at(1);
+
+            if (!acceptList->contains(key))
+            {
+                // Convert min to double number
+                val = parts.first().toDouble(&ok);
+                if (ok) minValues.insert(key, val);
+                // Convert max to double number
+                val = parts.last().toDouble(&ok);
+                if (ok) maxValues.insert(key, val);
+                // Add value to acceptlist
+                acceptList->append(key);
+            }
+        }
+        else
+        {
+            if (!acceptList->contains(gauge))
+            {
+                acceptList->append(parts.first());
+            }
+        }
+    }
+}
+
+void HDDisplay::createActions()
+{
+    addGaugeAction = new QAction(tr("New &Gauge"), this);
+    addGaugeAction->setStatusTip(tr("Add a new gauge to the view by adding its name from the linechart"));
+    connect(addGaugeAction, SIGNAL(triggered()), this, SLOT(addGauge()));
+
+    setTitleAction = new QAction(tr("Set Widget Title"), this);
+    setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
+    connect(setTitleAction, SIGNAL(triggered()), this, SLOT(setTitle()));
+
+    setColumnsAction = new QAction(tr("Set Number of Instrument Columns"), this);
+    setColumnsAction->setStatusTip(tr("Set number of columns to draw"));
+    connect(setColumnsAction, SIGNAL(triggered()), this, SLOT(setColumns()));
+}
+
+
+void HDDisplay::setColumns()
+{
+    bool ok;
+    int i = QInputDialog::getInt(this, tr("Number of Instrument Columns"),
+                                 tr("Columns:"), columns, 1, 15, 1, &ok);
+    if (ok)
+    {
+        columns = i;
+    }
+}
+
+void HDDisplay::setColumns(int cols)
+{
+    columns = cols;
+}
+
+void HDDisplay::setTitle()
+{
+    QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
+    if (parent)
+    {
+        bool ok;
+        QString text = QInputDialog::getText(this, tr("New title"),
+                                             tr("Widget title:"), QLineEdit::Normal,
+                                             parent->windowTitle(), &ok);
+        if (ok && !text.isEmpty())
+            parent->setWindowTitle(text);
+        this->setWindowTitle(text);
+    }
+}
+
 void HDDisplay::renderOverlay()
 {
 #if (QGC_EVENTLOOP_DEBUG)
@@ -188,6 +348,13 @@ void HDDisplay::renderOverlay()
     // Update scaling factor
     // adjust scaling to fit both horizontally and vertically
     scalingFactor = this->width()/vwidth;
+
+    // Adjust vheight dynamically according to the number of rows
+    float vColWidth = vwidth / columns;
+    int vRows = ceil(acceptList->length()/(float)columns);
+    // Assuming square instruments, vheight is column width*row count
+    vheight = vColWidth * vRows;
+
     double scalingFactorH = this->height()/vheight;
     if (scalingFactorH < scalingFactor) scalingFactor = scalingFactorH;
 
@@ -195,7 +362,6 @@ void HDDisplay::renderOverlay()
     painter.setRenderHint(QPainter::Antialiasing, true);
     painter.setRenderHint(QPainter::HighQualityAntialiasing, true);
     //painter.fillRect(QRect(0, 0, width(), height()), backgroundColor);
-    const int columns = 3;
     const float spacing = 0.4f; // 40% of width
     const float gaugeWidth = vwidth / (((float)columns) + (((float)columns+1) * spacing + spacing * 0.5f));
     const QColor gaugeColor = QColor(200, 200, 200);
@@ -216,7 +382,7 @@ void HDDisplay::renderOverlay()
         drawGauge(xCoord, yCoord, gaugeWidth/2.0f, minValues.value(value, -1.0f), maxValues.value(value, 1.0f), value, values.value(value, minValues.value(value, 0.0f)), gaugeColor, &painter, goodRanges.value(value, qMakePair(0.0f, 0.5f)), critRanges.value(value, qMakePair(0.7f, 1.0f)), true);
         xCoord += gaugeWidth + leftSpacing;
         // Move one row down if necessary
-        if (xCoord + gaugeWidth > vwidth)
+        if (xCoord + gaugeWidth*0.9f > vwidth)
         {
             yCoord += topSpacing + gaugeWidth;
             xCoord = leftSpacing + gaugeWidth/2.0f;
@@ -234,14 +400,14 @@ void HDDisplay::setActiveUAS(UASInterface* uas)
     if (this->uas != NULL)
     {
         // Disconnect any previously connected active MAV
-        disconnect(this->uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+        disconnect(this->uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(updateValue(int,QString,double,quint64)));
     }
 
     // Now connect the new UAS
 
     //qDebug() << "UAS SET!" << "ID:" << uas->getUASID();
     // Setup communication
-    connect(uas, SIGNAL(valueChanged(UASInterface*,QString,double,quint64)), this, SLOT(updateValue(UASInterface*,QString,double,quint64)));
+    connect(uas, SIGNAL(valueChanged(int,QString,double,quint64)), this, SLOT(updateValue(int,QString,double,quint64)));
     this->uas = uas;
 }
 
@@ -344,9 +510,14 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     // per max. change
     const float rangeScale = ((2.0f * M_PI) / (max - min)) * 0.72f;
 
-    const float nameHeight = radius / 2.5f;
+    const float scaledValue = (value-min)*rangeScale;
+
+    float nameHeight = radius / 2.6f;
     paintText(name.toUpper(), color, nameHeight*0.7f, xRef-radius, yRef-radius, painter);
 
+    // Ensure some space
+    nameHeight *= 1.2f;
+
     if (!solid)
     {
         circlePen.setStyle(Qt::DotLine);
@@ -359,18 +530,17 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     //drawCircle(xRef, yRef+nameHeight, radius, 0.0f, 170.0f, 1.0f, color, painter);
 
     QString label;
-    label.sprintf("%05.1f", value);
+    label.sprintf("% 06.1f", value);
 
 
     // Text
     // height
-    const float textHeight = radius/2.0f;
-    const float textX = xRef-radius/6.0f;
+    const float textHeight = radius/2.1f;
+    const float textX = xRef-radius/3.0f;
     const float textY = yRef+radius/2.0f;
 
     // Draw background rectangle
-    // FIXME add background color for use in instrument panel
-    QBrush brush(QColor(0, 0, 0), Qt::SolidPattern);
+    QBrush brush(QGC::colorBackground, Qt::SolidPattern);
     painter->setBrush(brush);
     painter->setPen(Qt::NoPen);
     painter->drawRect(refToScreenX(xRef-radius/2.5f), refToScreenY(yRef+nameHeight+radius/4.0f), refToScreenX(radius+radius/2.0f), refToScreenY((radius - radius/4.0f)*1.2f));
@@ -396,7 +566,7 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
 
     // Draw the value
     //painter->setPen(textColor);
-    paintText(label, color, textHeight, textX, textY+nameHeight, painter);
+    paintText(label, QGC::colorCyan, textHeight, textX, textY+nameHeight, painter);
     //paintText(label, color, ((radius - radius/3.0f)*1.1f), xRef-radius/2.5f, yRef+radius/3.0f, painter);
 
     // Draw the needle
@@ -414,7 +584,7 @@ void HDDisplay::drawGauge(float xRef, float yRef, float radius, float min, float
     p.replace(5, QPointF(xRef-maxWidth/2.0f, yRef+nameHeight+radius * 0.05f));
 
 
-    rotatePolygonClockWiseRad(p, value*rangeScale+zeroRotation, QPointF(xRef, yRef+nameHeight));
+    rotatePolygonClockWiseRad(p, scaledValue+zeroRotation, QPointF(xRef, yRef+nameHeight));
 
     QBrush indexBrush;
     indexBrush.setColor(color);
@@ -580,20 +750,17 @@ float HDDisplay::refLineWidthToPen(float line)
     return line * 2.50f;
 }
 
-void HDDisplay::updateValue(UASInterface* uas, QString name, double value, quint64 msec)
+void HDDisplay::updateValue(int uasId, QString name, double value, quint64 msec)
 {
-    Q_UNUSED(uas);
-    //if (this->uas == uas)
-    //{
-        // Update mean
-        const float oldMean = valuesMean.value(name, 0.0f);
-        const int meanCount = valuesCount.value(name, 0);
-        valuesMean.insert(name, (oldMean * meanCount +  value) / (meanCount + 1));
-        valuesCount.insert(name, meanCount + 1);
-        valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
-        values.insert(name, value);
-        lastUpdate.insert(name, msec);
-    //}
+    Q_UNUSED(uasId);
+    // Update mean
+    const float oldMean = valuesMean.value(name, 0.0f);
+    const int meanCount = valuesCount.value(name, 0);
+    valuesMean.insert(name, (oldMean * meanCount +  value) / (meanCount + 1));
+    valuesCount.insert(name, meanCount + 1);
+    valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
+    values.insert(name, value);
+    lastUpdate.insert(name, msec);
 }
 
 /**
@@ -664,20 +831,17 @@ void HDDisplay::showEvent(QShowEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    Q_UNUSED(event)
-    {
-        refreshTimer->start(updateInterval);
-    }
+    Q_UNUSED(event);
+    refreshTimer->start(updateInterval);
 }
 
 void HDDisplay::hideEvent(QHideEvent* event)
 {
     // React only to internal (pre-display)
     // events
-    Q_UNUSED(event)
-    {
-        refreshTimer->stop();
-    }
+    Q_UNUSED(event);
+    refreshTimer->stop();
+    saveState();
 }
 
 
diff --git a/src/ui/HDDisplay.h b/src/ui/HDDisplay.h
index 35121b560365c233ad47d6693e04f7cc6ffd05ff..0ddb8a354779982b788ca99ddc79857875f6f451 100644
--- a/src/ui/HDDisplay.h
+++ b/src/ui/HDDisplay.h
@@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QTimer>
 #include <QFontDatabase>
 #include <QMap>
+#include <QContextMenuEvent>
 #include <QPair>
 #include <cmath>
 
@@ -58,14 +59,31 @@ class HDDisplay : public QGraphicsView
 {
     Q_OBJECT
 public:
-    HDDisplay(QStringList* plotList, QWidget *parent = 0);
+    HDDisplay(QStringList* plotList, QString title="", QWidget *parent = 0);
     ~HDDisplay();
 
 public slots:
     /** @brief Update a HDD value */
-    void updateValue(UASInterface* uas, QString name, double value, quint64 msec);
+    void updateValue(int uasId, QString name, double value, quint64 msec);
     void setActiveUAS(UASInterface* uas);
 
+    /** @brief Removes a plot item by the action data */
+    void removeItemByAction();
+    /** @brief Bring up the menu to add a gauge */
+    void addGauge();
+    /** @brief Add a gauge using this spec string */
+    void addGauge(const QString& gauge);
+    /** @brief Set the title of this widget and any existing parent dock widget */
+    void setTitle();
+    /** @brief Set the number of colums via popup */
+    void setColumns();
+    /** @brief Set the number of colums */
+    void setColumns(int cols);
+    /** @brief Save the current layout and state to disk */
+    void saveState();
+    /** @brief Restore the last layout and state from disk */
+    void restoreState();
+
 protected slots:
     void enableGLRendering(bool enable);
     //void render(QPainter* painter, const QRectF& target = QRectF(), const QRect& source = QRect(), Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
@@ -73,10 +91,13 @@ protected slots:
     void triggerUpdate();
 
 protected:
-    void changeEvent(QEvent *e);
-    void paintEvent(QPaintEvent * event);
+    void changeEvent(QEvent* e);
+    void paintEvent(QPaintEvent* event);
     void showEvent(QShowEvent* event);
     void hideEvent(QHideEvent* event);
+    void contextMenuEvent(QContextMenuEvent* event);
+    QList<QAction*> getItemRemoveActions();
+    void createActions();
     float refLineWidthToPen(float line);
     float refToScreenX(float x);
     float refToScreenY(float y);
@@ -155,6 +176,11 @@ protected:
     QStringList* acceptList;   ///< Variable names to plot
 
     quint64 lastPaintTime;     ///< Last time this widget was refreshed
+    int columns;               ///< Number of instrument columns
+
+    QAction* addGaugeAction;   ///< Action adding a gauge
+    QAction* setTitleAction;   ///< Action setting the title
+    QAction* setColumnsAction; ///< Action setting the number of columns
 
 private:
     Ui::HDDisplay *m_ui;
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 6b547aced32ae751a8193d127903251051848479..f8c73ce12d7cb08df7af9d411722465d94dce290 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -46,7 +46,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QDebug>
 
 HSIDisplay::HSIDisplay(QWidget *parent) :
-        HDDisplay(NULL, parent),
+        HDDisplay(NULL, "", parent),
         gpsSatellites(),
         satellitesUsed(0),
         attXSet(0),
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index ddad6c027da283c9f15925499f1dd1a09bb92c6c..336842ff4a23c135342fe6a1138a9b167a03ac31 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -26,6 +26,7 @@
 #include "MainWindow.h"
 #include "JoystickWidget.h"
 #include "GAudioOutput.h"
+#include "QGCToolWidget.h"
 
 #ifdef QGC_OSG_ENABLED
 #include "Q3DWidgetFactory.h"
@@ -107,6 +108,11 @@ MainWindow::MainWindow(QWidget *parent):
 
     // Create actions
     connectCommonActions();
+    // Add option for custom widgets
+    connect(ui.actionNewCustomWidget, SIGNAL(triggered()), this, SLOT(createCustomWidget()));
+    // Allow to mute audio
+    ui.actionMuteAudioOutput->setChecked(GAudioOutput::instance()->isMuted());
+    connect(ui.actionMuteAudioOutput, SIGNAL(triggered(bool)), GAudioOutput::instance(), SLOT(mute(bool)));
 
     // Set dock options
     setDockOptions(AnimatedDocks | AllowTabbedDocks | AllowNestedDocks);
@@ -201,17 +207,19 @@ void MainWindow::buildPxWidgets()
 {
     //FIXME: memory of acceptList will never be freed again
     QStringList* acceptList = new QStringList();
-    acceptList->append("roll IMU");
-    acceptList->append("pitch IMU");
-    acceptList->append("yaw IMU");
-    acceptList->append("rollspeed IMU");
-    acceptList->append("pitchspeed IMU");
-    acceptList->append("yawspeed IMU");
+    acceptList->append("-180,roll (deg),+180");
+    acceptList->append("-180,pitch (deg),+180");
+    acceptList->append("-180,yaw (deg),+180");
+
+    acceptList->append("-500,roll V (deg/s),+500");
+    acceptList->append("-500,pitch V (deg/s),+500");
+    acceptList->append("-500,yaw V (deg/s),+500");
 
     //FIXME: memory of acceptList2 will never be freed again
     QStringList* acceptList2 = new QStringList();
-    acceptList2->append("Battery");
-    acceptList2->append("Pressure");
+    acceptList2->append("0,Abs pressure,65500");
+    acceptList2->append("-2000,Accel. X, 2000");
+    acceptList2->append("-2000,Accel. Y, 2000");
 
     if (!linechartWidget)
     {
@@ -290,15 +298,15 @@ void MainWindow::buildPxWidgets()
 
     if (!headDown1DockWidget)
     {
-        headDown1DockWidget = new QDockWidget(tr("System Stats"), this);
-        headDown1DockWidget->setWidget( new HDDisplay(acceptList, this) );
+        headDown1DockWidget = new QDockWidget(tr("Flight Display"), this);
+        headDown1DockWidget->setWidget( new HDDisplay(acceptList, "Flight Display", this) );
         addToToolsMenu (headDown1DockWidget, tr("Flight Display"), SLOT(showToolWidget()), MENU_HDD_1, Qt::RightDockWidgetArea);
     }
 
     if (!headDown2DockWidget)
     {
         headDown2DockWidget = new QDockWidget(tr("Payload Status"), this);
-        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, this) );
+        headDown2DockWidget->setWidget( new HDDisplay(acceptList2, "Payload Status", this) );
         addToToolsMenu (headDown2DockWidget, tr("Payload Status"), SLOT(showToolWidget()), MENU_HDD_2, Qt::RightDockWidgetArea);
     }
 
@@ -694,7 +702,16 @@ void MainWindow::connectCommonWidgets()
         // it notifies that a waypoint global goes to do create and a map graphic too
         connect(waypointsDockWidget->widget(), SIGNAL(createWaypointAtMap(QPointF)), mapWidget, SLOT(createWaypointGraphAtMap(QPointF)));
     }
+}
 
+void MainWindow::createCustomWidget()
+{
+    qDebug() << "ADDING CUSTOM WIDGET";
+    QGCToolWidget* tool = new QGCToolWidget(this);
+    QDockWidget* dock = new QDockWidget("Unnamed Tool", this);
+    dock->setWidget(tool);
+    this->addDockWidget(Qt::LeftDockWidgetArea, dock);
+    dock->setVisible(true);
 }
 
 void MainWindow::connectPxWidgets()
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index f866e9a1c6339a393d75d920c39ac639f6a996af..4e4302e753f86cc9001ff274f51c026a49317a05 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -140,6 +140,9 @@ public slots:
     /** @brief Reload the CSS style sheet */
     void reloadStylesheet();
 
+    /** @brief Add a custom tool widget */
+    void createCustomWidget();
+
     void closeEvent(QCloseEvent* event);
 
     /*
diff --git a/src/ui/MainWindow.ui b/src/ui/MainWindow.ui
index de35a73d547a73cb8896053fd51a32b07dcd0439..5eafe8d01109c4f0a2f2689fdebb5fb18296f657 100644
--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -46,6 +46,8 @@
      <string>File</string>
     </property>
     <addaction name="actionJoystick_Settings"/>
+    <addaction name="actionNewCustomWidget"/>
+    <addaction name="actionMuteAudioOutput"/>
     <addaction name="actionSimulate"/>
     <addaction name="separator"/>
     <addaction name="actionExit"/>
@@ -108,7 +110,6 @@
    <addaction name="menuPerspectives"/>
    <addaction name="menuHelp"/>
   </widget>
-
   <widget class="QStatusBar" name="statusBar"/>
   <action name="actionExit">
    <property name="icon">
@@ -430,6 +431,27 @@
     <string>Pilot</string>
    </property>
   </action>
+  <action name="actionNewCustomWidget">
+   <property name="text">
+    <string>New Custom Widget</string>
+   </property>
+  </action>
+  <action name="actionMuteAudioOutput">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="icon">
+    <iconset resource="../../mavground.qrc">
+     <normaloff>:/images/status/audio-volume-high.svg</normaloff>
+     <normalon>:/images/status/audio-volume-muted.svg</normalon>
+     <activeon>:/images/status/audio-volume-muted.svg</activeon>
+     <selectedoff>:/images/status/audio-volume-high.svg</selectedoff>
+     <selectedon>:/images/status/audio-volume-muted.svg</selectedon>:/images/status/audio-volume-high.svg</iconset>
+   </property>
+   <property name="text">
+    <string>Mute Audio Output</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <resources>
@@ -454,5 +476,3 @@
   </connection>
  </connections>
 </ui>
-
-
diff --git a/src/ui/MapWidget.cc b/src/ui/MapWidget.cc
index b95e7547086c6b559e69d3a1b6e09550063ed407..385f66f9f8d5b0cf9eb4ef4960c48d38e68bc53c 100644
--- a/src/ui/MapWidget.cc
+++ b/src/ui/MapWidget.cc
@@ -1,24 +1,4 @@
-/*=====================================================================
-
-QGroundControl Open Source Ground Control Station
-
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-
-This file is part of the QGROUNDCONTROL project
-
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-
+/*==================================================================
 ======================================================================*/
 
 /**
@@ -32,7 +12,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QComboBox>
 #include <QGridLayout>
-
+#include <QDir>
 
 #include "MapWidget.h"
 #include "ui_MapWidget.h"
@@ -88,18 +68,18 @@ MapWidget::MapWidget(QWidget *parent) :
 
 
 
-//
-//    Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer);
-//    mc->addLayer(gsatLayer);
+    //
+    //    Layer* gsatLayer = new Layer("Google Satellite", gsat, Layer::MapLayer);
+    //    mc->addLayer(gsatLayer);
 
     // SET INITIAL POSITION AND ZOOM
     // Set default zoom level
     mc->setZoom(16);
     // Zurich, ETH
-    //mc->setView(QPointF(8.548056,47.376389));
+    mc->setView(QPointF(8.548056,47.376389));
 
-    // Veracruz Mexico, ETH
-    mc->setView(QPointF(-96.105208,19.138955));
+    // Veracruz Mexico
+    //mc->setView(QPointF(-96.105208,19.138955));
 
     // Add controls to select map provider
     /////////////////////////////////////////////////
@@ -119,24 +99,24 @@ MapWidget::MapWidget(QWidget *parent) :
             this, SLOT(mapproviderSelected(QAction*)));
 
     // Overlay seems currently broken
-//    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
-//    yahooActionOverlay->setCheckable(true);
-//    yahooActionOverlay->setChecked(overlay->isVisible());
-//    connect(yahooActionOverlay, SIGNAL(toggled(bool)),
-//            overlay, SLOT(setVisible(bool)));
-
-//    mapproviderGroup->addAction(googleSatAction);
-//    mapproviderGroup->addAction(osmAction);
-//    mapproviderGroup->addAction(yahooActionOverlay);
-//    mapproviderGroup->addAction(googleActionMap);
-//    mapproviderGroup->addAction(yahooActionMap);
-//    mapproviderGroup->addAction(yahooActionSatellite);
+    //    yahooActionOverlay = new QAction(tr("Yahoo: street overlay"), this);
+    //    yahooActionOverlay->setCheckable(true);
+    //    yahooActionOverlay->setChecked(overlay->isVisible());
+    //    connect(yahooActionOverlay, SIGNAL(toggled(bool)),
+    //            overlay, SLOT(setVisible(bool)));
+
+    //    mapproviderGroup->addAction(googleSatAction);
+    //    mapproviderGroup->addAction(osmAction);
+    //    mapproviderGroup->addAction(yahooActionOverlay);
+    //    mapproviderGroup->addAction(googleActionMap);
+    //    mapproviderGroup->addAction(yahooActionMap);
+    //    mapproviderGroup->addAction(yahooActionSatellite);
 
     // Create map provider selection menu
     mapMenu = new QMenu(this);
     mapMenu->addActions(mapproviderGroup->actions());
     mapMenu->addSeparator();
-//    mapMenu->addAction(yahooActionOverlay);
+    //    mapMenu->addAction(yahooActionOverlay);
 
     mapButton = new QPushButton(this);
     mapButton->setText("Map Source");
@@ -195,8 +175,16 @@ MapWidget::MapWidget(QWidget *parent) :
     connect(zoomout, SIGNAL(clicked(bool)),
             mc, SLOT(zoomOut()));
 
+    QList<UASInterface*> systems = UASManager::instance()->getUASList();
+    foreach(UASInterface* system, systems)
+    {
+        addUAS(system);
+    }
+
     connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)),
             this, SLOT(addUAS(UASInterface*)));
+
+    activeUASSet(UASManager::instance()->getActiveUAS());
     connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(activeUASSet(UASInterface*)));
 
     connect(mc, SIGNAL(mouseEventCoordinate(const QMouseEvent*, const QPointF)),
@@ -232,10 +220,6 @@ MapWidget::MapWidget(QWidget *parent) :
 
     drawCamBorder = false;
     radioCamera = 10;
-
-
-
-    this->setVisible(false);
 }
 
 
@@ -254,9 +238,9 @@ void MapWidget::mapproviderSelected(QAction* action)
 
         mc->updateRequestNew();
         mc->setZoom(zoom);
-//        yahooActionOverlay->setEnabled(false);
+        //        yahooActionOverlay->setEnabled(false);
         overlay->setVisible(false);
-//        yahooActionOverlay->setChecked(false);
+        //        yahooActionOverlay->setChecked(false);
 
     }
     else if (action == yahooActionMap)
@@ -270,9 +254,9 @@ void MapWidget::mapproviderSelected(QAction* action)
 
         mc->updateRequestNew();
         mc->setZoom(zoom);
-//        yahooActionOverlay->setEnabled(false);
+        //        yahooActionOverlay->setEnabled(false);
         overlay->setVisible(false);
-//        yahooActionOverlay->setChecked(false);
+        //        yahooActionOverlay->setChecked(false);
     }
     else if (action == yahooActionSatellite)
     {
@@ -285,7 +269,7 @@ void MapWidget::mapproviderSelected(QAction* action)
 
         mc->updateRequestNew();
         mc->setZoom(zoom);
-//        yahooActionOverlay->setEnabled(true);
+        //        yahooActionOverlay->setEnabled(true);
     }
     else if (action == googleActionMap)
     {
@@ -297,9 +281,9 @@ void MapWidget::mapproviderSelected(QAction* action)
 
         mc->updateRequestNew();
         mc->setZoom(zoom);
-//        yahooActionOverlay->setEnabled(false);
+        //        yahooActionOverlay->setEnabled(false);
         overlay->setVisible(false);
-//        yahooActionOverlay->setChecked(false);
+        //        yahooActionOverlay->setChecked(false);
     }
     else if (action == googleSatAction)
     {
@@ -311,9 +295,9 @@ void MapWidget::mapproviderSelected(QAction* action)
 
         mc->updateRequestNew();
         mc->setZoom(zoom);
-//        yahooActionOverlay->setEnabled(false);
+        //        yahooActionOverlay->setEnabled(false);
         overlay->setVisible(false);
-//        yahooActionOverlay->setChecked(false);
+        //        yahooActionOverlay->setChecked(false);
     }
     else
     {
@@ -324,7 +308,7 @@ void MapWidget::mapproviderSelected(QAction* action)
 
 void MapWidget::createPathButtonClicked(bool checked)
 {
-  Q_UNUSED(checked);
+    Q_UNUSED(checked);
 
 
 
@@ -338,13 +322,13 @@ void MapWidget::createPathButtonClicked(bool checked)
         // emit signal start to create a Waypoint global
         emit createGlobalWP(true, mc->currentCoordinate());
 
-//        // Clear the previous WP track
-//        // TODO: Move this to an actual clear track button and add a warning dialog
-//        mc->layer("Waypoints")->clearGeometries();
-//        wps.clear();
-//        path->setPoints(wps);
-//        mc->layer("Waypoints")->addGeometry(path);
-//        wpIndex.clear();
+        //        // Clear the previous WP track
+        //        // TODO: Move this to an actual clear track button and add a warning dialog
+        //        mc->layer("Waypoints")->clearGeometries();
+        //        wps.clear();
+        //        path->setPoints(wps);
+        //        mc->layer("Waypoints")->addGeometry(path);
+        //        wpIndex.clear();
 
 
     } else {
@@ -368,100 +352,100 @@ void MapWidget::createPathButtonClicked(bool checked)
 void MapWidget::captureMapClick(const QMouseEvent* event, const QPointF coordinate)
 {
 
-  qDebug() << mc->mouseMode();
+    qDebug() << mc->mouseMode();
 
-  if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
+    if (QEvent::MouseButtonRelease == event->type() && createPath->isChecked())
     {
-    // Create waypoint name
-    QString str;
+        // Create waypoint name
+        QString str;
 
-    str = QString("%1").arg(path->numberOfPoints());
+        str = QString("%1").arg(path->numberOfPoints());
 
-    // create the WP and set everything in the LineString to display the path
-    Waypoint2DIcon* tempCirclePoint;
+        // create the WP and set everything in the LineString to display the path
+        Waypoint2DIcon* tempCirclePoint;
 
-    if (mav)
-    {
-        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
-    }
-    else
-    {
-        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
-    }
-    mc->layer("Waypoints")->addGeometry(tempCirclePoint);
+        if (mav)
+        {
+            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+        }
+        else
+        {
+            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+        }
+        mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
-    qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
-    wps.append(tempPoint);
-    path->addPoint(tempPoint);
+        qmapcontrol::Point* tempPoint = new qmapcontrol::Point(coordinate.x(), coordinate.y(),str);
+        wps.append(tempPoint);
+        path->addPoint(tempPoint);
 
-    wpIndex.insert(str,tempPoint);
+        wpIndex.insert(str,tempPoint);
 
-    // Refresh the screen
-    mc->updateRequestNew();
+        // Refresh the screen
+        mc->updateRequestNew();
 
-    // emit signal mouse was clicked
-    emit captureMapCoordinateClick(coordinate);
+        // emit signal mouse was clicked
+        emit captureMapCoordinateClick(coordinate);
 
-  }
+    }
 }
 
 void MapWidget::createWaypointGraphAtMap(const QPointF coordinate)
 {
-  if (!wpExists(coordinate)){
-    // Create waypoint name
-    QString str;
+    if (!wpExists(coordinate)){
+        // Create waypoint name
+        QString str;
 
 
-    str = QString("%1").arg(path->numberOfPoints());
+        str = QString("%1").arg(path->numberOfPoints());
 
-    // create the WP and set everything in the LineString to display the path
-    //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
-    Waypoint2DIcon* tempCirclePoint;
+        // create the WP and set everything in the LineString to display the path
+        //CirclePoint* tempCirclePoint = new CirclePoint(coordinate.x(), coordinate.y(), 10, str);
+        Waypoint2DIcon* tempCirclePoint;
 
-    if (mav)
-    {
-        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
-    }
-    else
-    {
-        tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
-    }
+        if (mav)
+        {
+            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle, new QPen(mav->getColor()));
+        }
+        else
+        {
+            tempCirclePoint = new Waypoint2DIcon(coordinate.x(), coordinate.y(), 20, str, qmapcontrol::Point::Middle);
+        }
 
 
-    mc->layer("Waypoints")->addGeometry(tempCirclePoint);
+        mc->layer("Waypoints")->addGeometry(tempCirclePoint);
 
-    Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
-    wps.append(tempPoint);
-    path->addPoint(tempPoint);
+        Point* tempPoint = new Point(coordinate.x(), coordinate.y(),str);
+        wps.append(tempPoint);
+        path->addPoint(tempPoint);
 
-    wpIndex.insert(str,tempPoint);
+        wpIndex.insert(str,tempPoint);
         qDebug()<<"Funcion createWaypointGraphAtMap WP= "<<str<<" -> x= "<<tempPoint->latitude()<<" y= "<<tempPoint->longitude();
 
         // Refresh the screen
-    mc->updateRequestNew();
-  }
+        mc->updateRequestNew();
+    }
 
-////    // emit signal mouse was clicked
-//    emit captureMapCoordinateClick(coordinate);
+    ////    // emit signal mouse was clicked
+    //    emit captureMapCoordinateClick(coordinate);
 }
 
 int MapWidget::wpExists(const QPointF coordinate){
-  for (int i = 0; i < wps.size(); i++){
-    if (wps.at(i)->latitude() == coordinate.y() &&
-        wps.at(i)->longitude()== coordinate.x()){
-      return 1;
+    for (int i = 0; i < wps.size(); i++){
+        if (wps.at(i)->latitude() == coordinate.y() &&
+            wps.at(i)->longitude()== coordinate.x()){
+            return 1;
+        }
     }
-  }
-  return 0;
+    return 0;
 }
 
 
 void MapWidget::captureGeometryClick(Geometry* geom, QPoint point)
 {
-  Q_UNUSED(geom);
-  Q_UNUSED(point);
+    Q_UNUSED(geom);
+    Q_UNUSED(point);
 
-  mc->setMouseMode(qmapcontrol::MapControl::None);
+    mc->setMouseMode(qmapcontrol::MapControl::None);
 
 }
 
@@ -469,43 +453,45 @@ void MapWidget::captureGeometryDrag(Geometry* geom, QPointF coordinate)
 {
 
 
-  waypointIsDrag = true;
+    waypointIsDrag = true;
 
-  // Refresh the screen
-  mc->updateRequestNew();
+    // Refresh the screen
+    mc->updateRequestNew();
 
-  int temp = 0;
-  qmapcontrol::Point* point2Find;
-  point2Find = wpIndex[geom->name()];
+    int temp = 0;
+    qmapcontrol::Point* point2Find;
+    point2Find = wpIndex[geom->name()];
 
-  if (point2Find)
-  {
-      point2Find->setCoordinate(coordinate);
+    if (point2Find)
+    {
+        point2Find->setCoordinate(coordinate);
 
-      point2Find = dynamic_cast <qmapcontrol::Point*> (geom);
-      if (point2Find)
-      {
-          point2Find->setCoordinate(coordinate);
+        point2Find = dynamic_cast <qmapcontrol::Point*> (geom);
+        if (point2Find)
+        {
+            point2Find->setCoordinate(coordinate);
 
-          // qDebug() << geom->name();
-          temp = geom->get_myIndex();
-          //qDebug() << temp;
-          emit sendGeometryEndDrag(coordinate,temp);
-      }
-  }
+            // qDebug() << geom->name();
+            temp = geom->get_myIndex();
+            //qDebug() << temp;
+            emit sendGeometryEndDrag(coordinate,temp);
+        }
+    }
 
 }
 
 void MapWidget::captureGeometryEndDrag(Geometry* geom, QPointF coordinate)
 {
+    Q_UNUSED(geom);
+    Q_UNUSED(coordinate);
+    // TODO: Investigate why when creating the waypoint path this slot is being called
 
-  // TODO: Investigate why when creating the waypoint path this slot is being called
-
-  // Only change the mouse mode back to panning when not creating a WP path
-  if (!createPath->isChecked()){
-    waypointIsDrag = false;
-    mc->setMouseMode(qmapcontrol::MapControl::Panning);
-  }
+    // Only change the mouse mode back to panning when not creating a WP path
+    if (!createPath->isChecked())
+    {
+        waypointIsDrag = false;
+        mc->setMouseMode(qmapcontrol::MapControl::Panning);
+    }
 
 }
 
@@ -519,6 +505,10 @@ MapWidget::~MapWidget()
  */
 void MapWidget::addUAS(UASInterface* uas)
 {
+    if(mav != NULL)
+    {
+        disconnect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
+    }
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
 }
 
@@ -571,7 +561,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
             // A QPen also can use transparency
 
             QList<qmapcontrol::Point*> points;
-            points.append(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            points.append(new qmapcontrol::Point(lat, lon, ""));
             QPen* linepen = new QPen(uasColor.darker());
             linepen->setWidth(2);
             // Add the Points and the QPen to a LineString
@@ -590,7 +580,7 @@ void MapWidget::updateGlobalPosition(UASInterface* uas, double lat, double lon,
                 p->setYaw(uas->getYaw());
             }
             // Extend trail
-            uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, QString("lat: %1 lon: %2").arg(lat, lon)));
+            uasTrails.value(uas->getUASID())->addPoint(new qmapcontrol::Point(lat, lon, ""));
         }
 
 
@@ -610,7 +600,7 @@ void MapWidget::updatePosition(float time, double lat, double lon)
 {
     Q_UNUSED(time);
     //gpsposition->setText(QString::number(time) + " / " + QString::number(lat) + " / " + QString::number(lon));
-    if (followgps->isChecked())
+    if (followgps->isChecked() && isVisible())
     {
         mc->setView(QPointF(lat, lon));
     }
@@ -629,7 +619,7 @@ void MapWidget::wheelEvent(QWheelEvent *event)
     detailZoom = qAbs(qMin(0, mc->currentZoom()-newZoom));
 
     // visual field of camera
-     updateCameraPosition(20*newZoom,0,"no");
+    updateCameraPosition(20*newZoom,0,"no");
 
 }
 
@@ -665,6 +655,16 @@ void MapWidget::resizeEvent(QResizeEvent* event )
     mc->resize(this->size());
 }
 
+void MapWidget::showEvent(QShowEvent* event)
+{
+    Q_UNUSED(event);
+}
+
+void MapWidget::hideEvent(QHideEvent* event)
+{
+    Q_UNUSED(event);
+}
+
 
 void MapWidget::changeEvent(QEvent *e)
 {
@@ -715,26 +715,27 @@ void MapWidget::changeGlobalWaypointPositionBySpinBox(int index, float lat, floa
 
         // Refresh the screen
         mc->updateRequestNew();
-   }
+    }
 
 
 }
 
 void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
 {
+    // FIXME Mariano
     //camPoints.clear();
     QPointF currentPos = mc->currentCoordinate();
-//    QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
+    //    QPointF actualPos = getPointxBearing_Range(currentPos.y(),currentPos.x(),bearing,distance);
 
-//    qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
-//    qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
+    //    qmapcontrol::Point* tempPoint1 = new qmapcontrol::Point(currentPos.x(), currentPos.y(),"inicial",qmapcontrol::Point::Middle);
+    //    qmapcontrol::Point* tempPoint2 = new qmapcontrol::Point(actualPos.x(), actualPos.y(),"final",qmapcontrol::Point::Middle);
 
-//    camPoints.append(tempPoint1);
-//    camPoints.append(tempPoint2);
+    //    camPoints.append(tempPoint1);
+    //    camPoints.append(tempPoint2);
 
-//    camLine->setPoints(camPoints);
+    //    camLine->setPoints(camPoints);
 
-     QPen* camBorderPen = new QPen(QColor(255,0,0));
+    QPen* camBorderPen = new QPen(QColor(255,0,0));
     camBorderPen->setWidth(2);
 
     //radio = mc->currentZoom()
@@ -747,20 +748,20 @@ void MapWidget::updateCameraPosition(double radio, double bearing, QString dir)
         //create a camera borders
         qmapcontrol::CirclePoint* camBorder = new qmapcontrol::CirclePoint(currentPos.x(), currentPos.y(), radio, "camBorder", qmapcontrol::Point::Middle, camBorderPen);
 
-       //camBorder->setCoordinate(currentPos);
+        //camBorder->setCoordinate(currentPos);
 
         mc->layer("Camera")->addGeometry(camBorder);
-       // mc->layer("Camera")->addGeometry(camLine);
+        // mc->layer("Camera")->addGeometry(camLine);
         mc->updateRequestNew();
 
     }
-   else
-   {
-       //clear camera borders
-       mc->layer("Camera")->clearGeometries();
-       mc->updateRequestNew();
+    else
+    {
+        //clear camera borders
+        mc->layer("Camera")->clearGeometries();
+        mc->updateRequestNew();
 
-   }
+    }
 
 
 }
diff --git a/src/ui/MapWidget.h b/src/ui/MapWidget.h
index 66125a4ae33cbad8c550aff2007c3e2527a669fe..f3dde1ed462fce1e1a592d0b43ac034ac089967a 100644
--- a/src/ui/MapWidget.h
+++ b/src/ui/MapWidget.h
@@ -81,6 +81,10 @@ protected:
     void wheelEvent(QWheelEvent *event);
     void keyPressEvent(QKeyEvent *event);
     void resizeEvent(QResizeEvent* event);
+    /** @brief Start widget updating */
+    void showEvent(QShowEvent* event);
+    /** @brief Stop widget updating */
+    void hideEvent(QHideEvent* event);
 
     QAction* osmAction;
     QAction* yahooActionMap;
diff --git a/src/ui/RadioCalibration/AirfoilServoCalibrator.cc b/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
index 99f134cc804dcd40ecccee15d044da8bcb288a94..4d7b587a11b5e925e8f84027cc736d657f8662cd 100644
--- a/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
+++ b/src/ui/RadioCalibration/AirfoilServoCalibrator.cc
@@ -10,7 +10,7 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
 
     /* Add title */
     QHBoxLayout *titleLayout = new QHBoxLayout();
-    QLabel *title;
+    QLabel* title;
     if (type == AILERON)
     {
         title = new QLabel(tr("Aileron"));
@@ -23,6 +23,10 @@ AirfoilServoCalibrator::AirfoilServoCalibrator(AirfoilType type, QWidget *parent
     {
         title = new QLabel(tr("Rudder"));
     }
+    else
+    {
+        title = new QLabel(tr("Unknown"));
+    }
 
     titleLayout->addWidget(title);
     grid->addLayout(titleLayout, 0, 0, 1, 3, Qt::AlignHCenter);
diff --git a/src/ui/RadioCalibration/RadioCalibrationData.cc b/src/ui/RadioCalibration/RadioCalibrationData.cc
index 4d4822ea2dc77b065927eb16c3ab1b8b5dfdb872..aba6ff1a3286d1812ad79fb4b3ad3b728539528b 100644
--- a/src/ui/RadioCalibration/RadioCalibrationData.cc
+++ b/src/ui/RadioCalibration/RadioCalibrationData.cc
@@ -55,6 +55,9 @@ const QVector<float>& RadioCalibrationData::operator ()(int i) const
         return (*data)[i];
     }
 
+    // FIXME Bryan
+    // FIXME James
+
     // This is not good.  If it is ever used after being returned it will cause a crash
 //    return QVector<float>();
 }
diff --git a/src/ui/RadioCalibration/RadioCalibrationWindow.cc b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
index 4bc42ada8613c1a13c9c5cb2e96609e3f954daa1..4f3c7cf76eafe63b84484a74b418f86354cff264 100644
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.cc
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.cc
@@ -84,6 +84,9 @@ void RadioCalibrationWindow::setChannelRaw(int ch, float raw)
 
 void RadioCalibrationWindow::setChannelScaled(int ch, float normalized)
 {
+    // FIXME James
+    // FIXME Bryan
+
 //    /** this expects a particular channel to function mapping
 //       \todo allow run-time channel mapping
 //       */
diff --git a/src/ui/SerialConfigurationWindow.cc b/src/ui/SerialConfigurationWindow.cc
index d85802706f1dc578cfeaf33546a37098a55d7490..11bd3dd915c661b4d4b2095f1eda438290193ace 100644
--- a/src/ui/SerialConfigurationWindow.cc
+++ b/src/ui/SerialConfigurationWindow.cc
@@ -234,6 +234,7 @@ userConfigured(false)
 
     if(serialLink != 0)
     {
+        serialLink->loadSettings();
         this->link = serialLink;
 
         // Setup the user interface according to link type
diff --git a/src/ui/SerialSettings.ui b/src/ui/SerialSettings.ui
index 402d649c549beb840dd5ac436cc528c6da7dad66..b116400b26115baed98620bef520ee674324b5ce 100644
--- a/src/ui/SerialSettings.ui
+++ b/src/ui/SerialSettings.ui
@@ -159,11 +159,26 @@
        <string>128000</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>230400</string>
+      </property>
+     </item>
      <item>
       <property name="text">
        <string>256000</string>
       </property>
      </item>
+     <item>
+      <property name="text">
+       <string>460800</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>921600</string>
+      </property>
+     </item>
     </widget>
    </item>
    <item row="2" column="0">
diff --git a/src/ui/SlugsHilSim.cc b/src/ui/SlugsHilSim.cc
index 09baad795a2cbb81493cc202d2c2d8118fe6498e..a5c584f7c85689c1b8ba114de62316ed12ee4107 100644
--- a/src/ui/SlugsHilSim.cc
+++ b/src/ui/SlugsHilSim.cc
@@ -136,7 +136,9 @@ void SlugsHilSim::activeUasSet(UASInterface* uas){
 }
 
 
-void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
+void SlugsHilSim::processHilDatagram(const QByteArray* datagram)
+{
+    #ifdef MAVLINK_ENABLED_SLUGS
   unsigned char i = 0;
 
   mavlink_message_t msg;
@@ -144,7 +146,6 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
   // GPS
   mavlink_gps_raw_t tmpGpsRaw;
 
-#ifdef MAVLINK_ENABLED_SLUGS
   mavlink_gps_date_time_t tmpGpsTime;
 
   tmpGpsTime.year  = datagram->at(i++);
@@ -167,7 +168,6 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
 
   mavlink_msg_gps_date_time_encode(MG::SYSTEM::ID,MG::SYSTEM::COMPID, &msg, &tmpGpsTime);
   activeUas->sendMessage(hilLink, msg);
-#endif
 
   memset(&msg, 0, sizeof(mavlink_message_t));
 
@@ -180,6 +180,9 @@ void SlugsHilSim::processHilDatagram(const QByteArray* datagram){
   ui->ed_1->setText(QString::number(tmpGpsRaw.hdg));
   ui->ed_2->setText(QString::number(tmpGpsRaw.v));
   ui->ed_3->setText(QString::number(tmpGpsRaw.eph));
+#else
+  Q_UNUSED(datagram);
+#endif
 }
 
 float SlugsHilSim::getFloatFromDatagram (const QByteArray* datagram, unsigned char * i){
@@ -205,4 +208,5 @@ uint16_t SlugsHilSim::getUint16FromDatagram (const QByteArray* datagram, unsigne
 
 void SlugsHilSim::linkSelected(int cbIndex){
   //hilLink = linksAvailable
+    // FIXME Mariano
 }
diff --git a/src/ui/SlugsPIDControl.cpp b/src/ui/SlugsPIDControl.cpp
index 214c55477706499aa056a063f7d7863504ec0419..d9abe37f37838c034f42a48a5e5e0610f1cf5e31 100644
--- a/src/ui/SlugsPIDControl.cpp
+++ b/src/ui/SlugsPIDControl.cpp
@@ -640,6 +640,8 @@ void SlugsPIDControl::sendMessagePIDStatus(int PIDtype)
 
         }
     }
+#else
+    Q_UNUSED(PIDtype);
     #endif // MAVLINK_ENABLED_SLUG
 }
 
diff --git a/src/ui/SlugsPadCameraControl.cpp b/src/ui/SlugsPadCameraControl.cpp
index 3e198c68be7473290b6bb517e3f65250acbdaf51..fdbad00146e75f9d1f76b97662392f12c2fb782c 100644
--- a/src/ui/SlugsPadCameraControl.cpp
+++ b/src/ui/SlugsPadCameraControl.cpp
@@ -221,7 +221,8 @@ double SlugsPadCameraControl::getDistPixel(int x1, int y1, int x2, int y2)
                 */
 QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, double lat1, double lon2, double lat2)
 {
-    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia, marcacion;
+    double cateto_opuesto,cateto_adyacente, hipotenusa, distancia;
+    double marcacion = 0.0;
 
     //latitude and longitude first point
 
@@ -234,7 +235,7 @@ QPointF SlugsPadCameraControl::ObtenerMarcacionDistanciaPixel(double lon1, doubl
     cateto_adyacente = abs((lon1-lon2));
 
     hipotenusa = sqrt(pow(cateto_opuesto,2) + pow(cateto_adyacente,2));
-    distancia = hipotenusa*60;
+    distancia = hipotenusa*60.0;
 
 
     if ((lat1 < lat2) && (lon1 > lon2)) //primer cuadrante
diff --git a/src/ui/WaypointList.cc b/src/ui/WaypointList.cc
index d2d4aaeb2a46bb40c915483b42317da08d0f4f8c..2632a1b71014df9bd73c1a202f6fb54217882356 100644
--- a/src/ui/WaypointList.cc
+++ b/src/ui/WaypointList.cc
@@ -570,5 +570,7 @@ void WaypointList::setIsLoadFileWP()
 
 void WaypointList::setIsReadGlobalWP(bool value)
 {
-   // readGlobalWP = value;
+    // FIXME James Check this
+    Q_UNUSED(value);
+    // readGlobalWP = value;
 }
diff --git a/src/ui/designer/QGCActionButton.cc b/src/ui/designer/QGCActionButton.cc
new file mode 100644
index 0000000000000000000000000000000000000000..84c5f2f85f6cd6acc97bba56e4d321713ffab005
--- /dev/null
+++ b/src/ui/designer/QGCActionButton.cc
@@ -0,0 +1,32 @@
+#include "QGCActionButton.h"
+#include "ui_QGCActionButton.h"
+
+QGCActionButton::QGCActionButton(QWidget *parent) :
+    QGCToolWidgetItem(parent),
+    ui(new Ui::QGCActionButton)
+{
+    ui->setupUi(this);
+    connect(ui->editFinishButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
+    endEditMode();
+}
+
+QGCActionButton::~QGCActionButton()
+{
+    delete ui;
+}
+
+void QGCActionButton::startEditMode()
+{
+    ui->editActionComboBox->show();
+    ui->editActionsRefreshButton->show();
+    ui->editFinishButton->show();
+    isInEditMode = true;
+}
+
+void QGCActionButton::endEditMode()
+{
+    ui->editActionComboBox->hide();
+    ui->editActionsRefreshButton->hide();
+    ui->editFinishButton->hide();
+    isInEditMode = false;
+}
diff --git a/src/ui/designer/QGCActionButton.h b/src/ui/designer/QGCActionButton.h
new file mode 100644
index 0000000000000000000000000000000000000000..63556d6fef07c219543970c07dc1a82fbf1f4410
--- /dev/null
+++ b/src/ui/designer/QGCActionButton.h
@@ -0,0 +1,26 @@
+#ifndef QGCACTIONBUTTON_H
+#define QGCACTIONBUTTON_H
+
+#include "QGCToolWidgetItem.h"
+
+namespace Ui {
+    class QGCActionButton;
+}
+
+class QGCActionButton : public QGCToolWidgetItem
+{
+    Q_OBJECT
+
+public:
+    explicit QGCActionButton(QWidget *parent = 0);
+    ~QGCActionButton();
+
+public slots:
+    void startEditMode();
+    void endEditMode();
+
+private:
+    Ui::QGCActionButton *ui;
+};
+
+#endif // QGCACTIONBUTTON_H
diff --git a/src/ui/designer/QGCActionButton.ui b/src/ui/designer/QGCActionButton.ui
new file mode 100644
index 0000000000000000000000000000000000000000..86224813375e7bbba19927aa7660a41f0389c2cf
--- /dev/null
+++ b/src/ui/designer/QGCActionButton.ui
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCActionButton</class>
+ <widget class="QWidget" name="QGCActionButton">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>111</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="1" column="0" colspan="2">
+    <widget class="QLabel" name="nameLabel">
+     <property name="text">
+      <string>Description</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="2">
+    <widget class="QPushButton" name="actionButton">
+     <property name="text">
+      <string>Button name</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QComboBox" name="editActionComboBox"/>
+   </item>
+   <item row="2" column="1">
+    <widget class="QPushButton" name="editActionsRefreshButton">
+     <property name="text">
+      <string>Refresh Actions</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="2">
+    <widget class="QPushButton" name="editFinishButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="2">
+    <widget class="QLineEdit" name="editButtonName">
+     <property name="text">
+      <string>Button name</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0" colspan="2">
+    <widget class="QLineEdit" name="editNameLabel">
+     <property name="text">
+      <string>Description</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>editButtonName</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>actionButton</receiver>
+   <slot>setWindowTitle(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>310</x>
+     <y>22</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>310</x>
+     <y>55</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>editNameLabel</sender>
+   <signal>textChanged(QString)</signal>
+   <receiver>nameLabel</receiver>
+   <slot>setText(QString)</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>116</x>
+     <y>22</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>116</x>
+     <y>55</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index bfaf3e3258757d933c0af29b5760727285802af4..3b8435e8dcb397f97ffcd9ce4aba21a76a0b80df 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -1,11 +1,16 @@
+#include <QMenu>
+#include <QContextMenuEvent>
+
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
 
 QGCParamSlider::QGCParamSlider(QWidget *parent) :
-    QWidget(parent),
+    QGCToolWidgetItem(parent),
     ui(new Ui::QGCParamSlider)
 {
     ui->setupUi(this);
+    endEditMode();
+    connect(ui->doneButton, SIGNAL(clicked()), this, SLOT(endEditMode()));
 }
 
 QGCParamSlider::~QGCParamSlider()
@@ -13,6 +18,36 @@ QGCParamSlider::~QGCParamSlider()
     delete ui;
 }
 
+void QGCParamSlider::startEditMode()
+{
+    ui->doneButton->show();
+    ui->maxLabel->show();
+    ui->minLabel->show();
+    ui->nameLineEdit->show();
+    ui->instructionsLabel->show();
+    ui->refreshParamsButton->show();
+    ui->selectParamComboBox->show();
+    ui->minSpinBox->show();
+    ui->maxSpinBox->show();
+    ui->typeComboBox->show();
+    isInEditMode = true;
+}
+
+void QGCParamSlider::endEditMode()
+{
+    ui->doneButton->hide();
+    ui->maxLabel->hide();
+    ui->minLabel->hide();
+    ui->nameLineEdit->hide();
+    ui->instructionsLabel->hide();
+    ui->refreshParamsButton->hide();
+    ui->selectParamComboBox->hide();
+    ui->minSpinBox->hide();
+    ui->maxSpinBox->hide();
+    ui->typeComboBox->hide();
+    isInEditMode = false;
+}
+
 void QGCParamSlider::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
index 56f063b96c4fefa4246bce115e8fcbe5060431b6..dadc288d09387e884bf2a629483813d5efcb60a2 100644
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -2,13 +2,16 @@
 #define QGCPARAMSLIDER_H
 
 #include <QWidget>
+#include <QAction>
 #include <QtDesigner/QDesignerExportWidget>
 
+#include "QGCToolWidgetItem.h"
+
 namespace Ui {
     class QGCParamSlider;
 }
 
-class QDESIGNER_WIDGET_EXPORT QGCParamSlider : public QWidget
+class QGCParamSlider : public QGCToolWidgetItem
 {
     Q_OBJECT
 
@@ -16,6 +19,10 @@ public:
     explicit QGCParamSlider(QWidget *parent = 0);
     ~QGCParamSlider();
 
+public slots:
+    void startEditMode();
+    void endEditMode();
+
 protected:
     void changeEvent(QEvent *e);
 
diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui
index 9534679e76f860edb7b862631eee2d9121af53dd..c7022526a3727edbd9717f22775090df76833dff 100644
--- a/src/ui/designer/QGCParamSlider.ui
+++ b/src/ui/designer/QGCParamSlider.ui
@@ -6,41 +6,124 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>400</width>
-    <height>22</height>
+    <width>436</width>
+    <height>136</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout">
-   <property name="spacing">
-    <number>8</number>
-   </property>
-   <property name="margin">
-    <number>0</number>
-   </property>
-   <item>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="1" column="0">
+    <widget class="QLineEdit" name="nameLineEdit">
+     <property name="text">
+      <string>Informal Name..</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1" colspan="2">
+    <widget class="QComboBox" name="typeComboBox">
+     <item>
+      <property name="text">
+       <string>Float</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Integer</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Double</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Short</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Byte/Char</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="1" column="3">
+    <widget class="QLabel" name="minLabel">
+     <property name="text">
+      <string>Min</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="5">
+    <widget class="QLabel" name="maxLabel">
+     <property name="text">
+      <string>Max</string>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
     <widget class="QLabel" name="nameLabel">
      <property name="text">
       <string>Name</string>
      </property>
     </widget>
    </item>
-   <item>
+   <item row="2" column="1">
     <widget class="QLabel" name="valueLabel">
      <property name="text">
       <string>0.00</string>
      </property>
     </widget>
    </item>
-   <item>
+   <item row="2" column="2" colspan="2">
+    <widget class="QDoubleSpinBox" name="minSpinBox"/>
+   </item>
+   <item row="2" column="4">
     <widget class="QSlider" name="valueSlider">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
      </property>
     </widget>
    </item>
+   <item row="2" column="5">
+    <widget class="QDoubleSpinBox" name="maxSpinBox"/>
+   </item>
+   <item row="3" column="5">
+    <widget class="QPushButton" name="doneButton">
+     <property name="text">
+      <string>Done</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <widget class="QComboBox" name="selectParamComboBox">
+     <item>
+      <property name="text">
+       <string>Select Parameter..</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="3" column="2" colspan="2">
+    <widget class="QPushButton" name="refreshParamsButton">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="text">
+      <string>Refresh</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0" colspan="6">
+    <widget class="QLabel" name="instructionsLabel">
+     <property name="text">
+      <string>Please configure the parameter slider now:</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
new file mode 100644
index 0000000000000000000000000000000000000000..ff52d6af2693204565e04bf39f0bcd67009d6e4f
--- /dev/null
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -0,0 +1,100 @@
+#include "QGCToolWidget.h"
+#include "ui_QGCToolWidget.h"
+
+#include <QMenu>
+#include <QList>
+#include <QInputDialog>
+#include <QDockWidget>
+#include <QContextMenuEvent>
+#include "QGCParamSlider.h"
+#include "QGCActionButton.h"
+#include "UASManager.h"
+
+QGCToolWidget::QGCToolWidget(QWidget *parent) :
+        QWidget(parent),
+        toolLayout(new QVBoxLayout(this)),
+        mav(NULL),
+        ui(new Ui::QGCToolWidget)
+{
+    ui->setupUi(this);
+    createActions();
+    toolLayout->setAlignment(Qt::AlignTop);
+
+    QList<UASInterface*> systems = UASManager::instance()->getUASList();
+    foreach (UASInterface* uas, systems)
+    {
+        UAS* newMav = dynamic_cast<UAS*>(uas);
+        if (newMav)
+        {
+            addUAS(uas);
+        }
+    }
+    connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+}
+
+QGCToolWidget::~QGCToolWidget()
+{
+    delete ui;
+}
+
+void QGCToolWidget::addUAS(UASInterface* uas)
+{
+    UAS* newMav = dynamic_cast<UAS*>(uas);
+    if (newMav)
+    {
+        // FIXME Convert to list
+        if (mav == NULL) mav = newMav;
+    }
+}
+
+void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
+{
+    QMenu menu(this);
+    menu.addAction(addParamAction);
+    menu.addAction(addButtonAction);
+    menu.addAction(setTitleAction);
+    menu.exec(event->globalPos());
+}
+
+void QGCToolWidget::createActions()
+{
+    addParamAction = new QAction(tr("New &Parameter Slider"), this);
+    addParamAction->setStatusTip(tr("Add a parameter setting slider widget to the tool"));
+    connect(addParamAction, SIGNAL(triggered()), this, SLOT(addParam()));
+
+    addButtonAction = new QAction(tr("New MAV &Action Button"), this);
+    addButtonAction->setStatusTip(tr("Add a new action button to the tool"));
+    connect(addButtonAction, SIGNAL(triggered()), this, SLOT(addAction()));
+
+    setTitleAction = new QAction(tr("Set Widget Title"), this);
+    setTitleAction->setStatusTip(tr("Set the title caption of this tool widget"));
+    connect(setTitleAction, SIGNAL(triggered()), this, SLOT(setTitle()));
+}
+
+void QGCToolWidget::addParam()
+{
+    QGCParamSlider* slider = new QGCParamSlider(this);
+    toolLayout->addWidget(slider);
+    slider->startEditMode();
+}
+
+void QGCToolWidget::addAction()
+{
+    QGCActionButton* button = new QGCActionButton(this);
+    toolLayout->addWidget(button);
+    button->startEditMode();
+}
+
+void QGCToolWidget::setTitle()
+{
+    QDockWidget* parent = dynamic_cast<QDockWidget*>(this->parentWidget());
+    if (parent)
+    {
+    bool ok;
+        QString text = QInputDialog::getText(this, tr("QInputDialog::getText()"),
+                                             tr("Widget title:"), QLineEdit::Normal,
+                                             parent->windowTitle(), &ok);
+        if (ok && !text.isEmpty())
+        parent->setWindowTitle(text);
+    }
+}
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..90d90eac8be3400581da89d2d225aa746aa36146
--- /dev/null
+++ b/src/ui/designer/QGCToolWidget.h
@@ -0,0 +1,45 @@
+#ifndef QGCTOOLWIDGET_H
+#define QGCTOOLWIDGET_H
+
+#include <QWidget>
+#include <QAction>
+#include <QVBoxLayout>
+
+#include "UAS.h"
+
+namespace Ui {
+    class QGCToolWidget;
+}
+
+class QGCToolWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCToolWidget(QWidget *parent = 0);
+    ~QGCToolWidget();
+
+public slots:
+    void addUAS(UASInterface* uas);
+
+protected:
+    QAction* addParamAction;
+    QAction* addButtonAction;
+    QAction* setTitleAction;
+    QVBoxLayout* toolLayout;
+    UAS* mav;
+
+    void contextMenuEvent(QContextMenuEvent* event);
+    void createActions();
+
+protected slots:
+    void addParam();
+    void addAction();
+    void setTitle();
+
+
+private:
+    Ui::QGCToolWidget *ui;
+};
+
+#endif // QGCTOOLWIDGET_H
diff --git a/src/ui/designer/QGCToolWidget.ui b/src/ui/designer/QGCToolWidget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..212fe670abd8315a7e7aa3d11751dce7fd591717
--- /dev/null
+++ b/src/ui/designer/QGCToolWidget.ui
@@ -0,0 +1,21 @@
+<ui version="4.0">
+ <author/>
+ <comment/>
+ <exportmacro/>
+ <class>QGCToolWidget</class>
+ <widget class="QWidget" name="QGCToolWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+ </widget>
+ <pixmapfunction/>
+ <connections/>
+</ui>
diff --git a/src/ui/designer/QGCToolWidgetItem.cc b/src/ui/designer/QGCToolWidgetItem.cc
new file mode 100644
index 0000000000000000000000000000000000000000..b1f9559899f43e68aac8471c63ee563a70845811
--- /dev/null
+++ b/src/ui/designer/QGCToolWidgetItem.cc
@@ -0,0 +1,37 @@
+#include "QGCToolWidgetItem.h"
+
+#include <QMenu>
+#include <QContextMenuEvent>
+
+QGCToolWidgetItem::QGCToolWidgetItem(QWidget *parent) :
+    QWidget(parent),
+    isInEditMode(false),
+    _component(-1)
+{
+    startEditAction = new QAction("Edit Slider", this);
+    connect(startEditAction, SIGNAL(triggered()), this, SLOT(startEditMode()));
+    stopEditAction = new QAction("Finish Editing Slider", this);
+    connect(stopEditAction, SIGNAL(triggered()), this, SLOT(endEditMode()));
+
+    endEditMode();
+}
+
+QGCToolWidgetItem::~QGCToolWidgetItem()
+{
+    delete startEditAction;
+    delete stopEditAction;
+}
+
+void QGCToolWidgetItem::contextMenuEvent (QContextMenuEvent* event)
+{
+    QMenu menu(this);
+    if (!isInEditMode)
+    {
+        menu.addAction(startEditAction);
+    }
+    else
+    {
+        menu.addAction(stopEditAction);
+    }
+    menu.exec(event->globalPos());
+}
diff --git a/src/ui/designer/QGCToolWidgetItem.h b/src/ui/designer/QGCToolWidgetItem.h
new file mode 100644
index 0000000000000000000000000000000000000000..2577f438e2e69daa790ce742304bbb7a21874e67
--- /dev/null
+++ b/src/ui/designer/QGCToolWidgetItem.h
@@ -0,0 +1,32 @@
+#ifndef QGCTOOLWIDGETITEM_H
+#define QGCTOOLWIDGETITEM_H
+
+#include <QWidget>
+#include <QAction>
+
+class QGCToolWidgetItem : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit QGCToolWidgetItem(QWidget *parent = 0);
+    ~QGCToolWidgetItem();
+
+    int component() {return _component;}
+
+public slots:
+    virtual void startEditMode() {}
+    virtual void endEditMode() {}
+    virtual void setComponent(int comp) {_component = comp;}
+
+protected:
+    QAction* startEditAction;
+    QAction* stopEditAction;
+
+    bool isInEditMode;
+    int _component;          ///< The MAV component (the process or device ID)
+
+    void contextMenuEvent (QContextMenuEvent* event);
+
+};
+
+#endif // QGCTOOLWIDGETITEM_H
diff --git a/src/ui/linechart/LinechartWidget.h b/src/ui/linechart/LinechartWidget.h
index d14269c6dd472779d1dc287904f6a566fb756f76..dbffd698ffc4c460fb85464170d3a223e93a7519 100644
--- a/src/ui/linechart/LinechartWidget.h
+++ b/src/ui/linechart/LinechartWidget.h
@@ -72,7 +72,7 @@ public:
 public slots:
     void addCurve(QString curve);
     void removeCurve(QString curve);
-    void appendData(int sysId, QString curve, double data, quint64 usec);
+    void appendData(int uasId, QString curve, double data, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
diff --git a/src/ui/map3D/Imagery.cc b/src/ui/map3D/Imagery.cc
index 084e0892c071173e5ed195cd9e75919608dfaecd..de93ea78a5b72b678f3568e4356ce0f746e319e5 100644
--- a/src/ui/map3D/Imagery.cc
+++ b/src/ui/map3D/Imagery.cc
@@ -75,7 +75,7 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
         return;
     }
 
-    double tileResolution;
+    double tileResolution = 1.0;
     if (currentImageryType == GOOGLE_SATELLITE ||
         currentImageryType == GOOGLE_MAP)
     {
@@ -131,7 +131,7 @@ Imagery::draw2D(double windowWidth, double windowHeight,
         return;
     }
 
-    double tileResolution;
+    double tileResolution = 1.0;
     if (currentImageryType == GOOGLE_SATELLITE ||
         currentImageryType == GOOGLE_MAP)
     {
diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc
index fb18f3365899cf6632fa80a4457b312cf9f89a6f..da453ba92a40414e2563b4a7ff9dd26ed75fa405 100644
--- a/src/ui/map3D/Pixhawk3DWidget.cc
+++ b/src/ui/map3D/Pixhawk3DWidget.cc
@@ -241,7 +241,7 @@ Pixhawk3DWidget::insertWaypoint(void)
 {
     if (uas)
     {
-        Waypoint* wp;
+        Waypoint* wp = NULL;
         if (frame == MAV_FRAME_GLOBAL)
         {
             double latitude = uas->getLatitude();
diff --git a/src/ui/map3D/PixhawkCheetahGeode.cc b/src/ui/map3D/PixhawkCheetahGeode.cc
index 766de9832ccedbaeff27a2552de1c642d9c68f2d..9db5faa4fcc7e5ef213f241c6a9cea18937de9cb 100644
--- a/src/ui/map3D/PixhawkCheetahGeode.cc
+++ b/src/ui/map3D/PixhawkCheetahGeode.cc
@@ -59300,9 +59300,10 @@ static GLfloat normals [22155][3] = {
 GLfloat textures[1][2]={{0.0f,0.0f}};
 /*Material indicies*/
 /*{material index,face count}*/
-static int material_ref [1][2] = {
-{0,77848}
-};
+//static int material_ref [1][2] = {
+//{0,77848}
+//};
+
 void MyMaterial(GLenum mode, GLfloat * f, GLfloat alpha)
 {
 	GLfloat d[4];
diff --git a/src/ui/map3D/QGCGoogleEarthControls.ui b/src/ui/map3D/QGCGoogleEarthControls.ui
deleted file mode 100644
index 4b7d6a45fb2f7258aed5a05c7df837f1dc0b7b66..0000000000000000000000000000000000000000
--- a/src/ui/map3D/QGCGoogleEarthControls.ui
+++ /dev/null
@@ -1,21 +0,0 @@
-<ui version="4.0" >
- <author></author>
- <comment></comment>
- <exportmacro></exportmacro>
- <class>Form</class>
- <widget class="QWidget" name="Form" >
-  <property name="geometry" >
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>400</width>
-    <height>300</height>
-   </rect>
-  </property>
-  <property name="windowTitle" >
-   <string>Form</string>
-  </property>
- </widget>
- <pixmapfunction></pixmapfunction>
- <connections/>
-</ui>
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index f182156578391fd9825ed490ed96060470003b9e..1ec7fe25453215a5db76d2f4ffce618fbe737734 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -74,26 +74,14 @@ QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
     ui->setupUi(this);
 #if (defined Q_OS_MAC)
     ui->webViewLayout->addWidget(webViewMac);
-    connect(webViewMac, SIGNAL(loadFinished(bool)), this, SLOT(initializeGoogleEarth(bool)));
+    //connect(webViewMac, SIGNAL(loadFinished(bool)), this, SLOT(initializeGoogleEarth(bool)));
 #endif
 
 #ifdef _MSC_VER
     ui->webViewLayout->addWidget(webViewWin);
 #endif
 
-    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
     connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
-
-    // Follow checkbox
-    ui->followAirplaneCheckbox->setChecked(followCamera);
-    connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)));
-
-    // Trail checkbox
-    ui->trailCheckbox->setChecked(trailEnabled);
-    connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)));
-
-    // Go home
-    connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
 }
 
 QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -102,13 +90,45 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
     settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "follow", followCamera);
     settings.setValue(QGCGOOGLEEARTHVIEWSETTINGS + "trail", trailEnabled);
     settings.sync();
+#if (defined Q_OS_MAC)
+        delete webViewMac;
+#endif
+#ifdef _MSC_VER
+        delete webViewWin;
+#endif
     delete ui;
 }
 
+/**
+ * @param range in centimeters
+ */
+void QGCGoogleEarthView::setViewRangeScaledInt(int range)
+{
+    setViewRange(range/100.0f);
+}
+
+/**
+ * @param range in meters (SI-units)
+ */
+void QGCGoogleEarthView::setViewRange(float range)
+{
+    javaScript(QString("setViewRange(%1);").arg(range, 0, 'f', 5));
+}
+
 void QGCGoogleEarthView::addUAS(UASInterface* uas)
 {
-    // uasid, type, color (in aarrbbgg format)
-    javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uas->getColor().name().remove(0, 1).prepend("50")));
+    // uasid, type, color (in #rrbbgg format)
+    QString uasColor = uas->getColor().name().remove(0, 1);
+    // Convert to bbggrr format
+    QString rChannel = uasColor.mid(0, 2);
+    uasColor.remove(0, 2);
+    uasColor.prepend(rChannel);
+    // Set alpha value to 0x66, append JavaScript quotes ('')
+    uasColor.prepend("'66").append("'");
+    javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg(uasColor));
+
+    if (trailEnabled) javaScript(QString("showTrail(%1);").arg(uas->getUASID()));
+
     //javaScript(QString("createAircraft(%1, %2, %3);").arg(uas->getUASID()).arg(uas->getSystemType()).arg("0"));
     // Automatically receive further position updates
     connect(uas, SIGNAL(globalPositionChanged(UASInterface*,double,double,double,quint64)), this, SLOT(updateGlobalPosition(UASInterface*,double,double,double,quint64)));
@@ -123,7 +143,7 @@ void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
     }
 }
 
-void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec)
+void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec)
 {
     Q_UNUSED(usec);
     javaScript(QString("addTrailPosition(%1, %2, %3, %4);").arg(uas->getUASID()).arg(lat, 0, 'f', 15).arg(lon, 0, 'f', 15).arg(alt, 0, 'f', 15));
@@ -133,12 +153,32 @@ void QGCGoogleEarthView::updateGlobalPosition(UASInterface* uas, double lat, dou
 
 void QGCGoogleEarthView::showTrail(bool state)
 {
+    // Check if the current trail has to be hidden
+    if (trailEnabled && !state)
+    {
+        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
+        foreach (UASInterface* currMav, mavs)
+        {
+            javaScript(QString("hideTrail(%1);").arg(currMav->getUASID()));
+        }
+    }
+
+    // Check if the current trail has to be shown
+    if (!trailEnabled && state)
+    {
+        QList<UASInterface*> mavs = UASManager::instance()->getUASList();
+        foreach (UASInterface* currMav, mavs)
+        {
+            javaScript(QString("showTrail(%1);").arg(currMav->getUASID()));
+        }
+    }
+    trailEnabled = state;
     ui->trailCheckbox->setChecked(state);
 }
 
 void QGCGoogleEarthView::showWaypoints(bool state)
 {
-
+    waypointsEnabled = state;
 }
 
 void QGCGoogleEarthView::follow(bool follow)
@@ -163,7 +203,8 @@ void QGCGoogleEarthView::setHome(double lat, double lon, double alt)
 
 void QGCGoogleEarthView::hideEvent(QHideEvent* event)
 {
-    Q_UNUSED(event) updateTimer->stop();
+    Q_UNUSED(event);
+    updateTimer->stop();
 }
 
 void QGCGoogleEarthView::showEvent(QShowEvent* event)
@@ -171,14 +212,14 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
     // React only to internal (pre-display)
     // events
     Q_UNUSED(event)
-    {
         // Enable widget, initialize on first run
+
         if (!webViewInitialized)
         {
 #if (defined Q_OS_MAC)
             webViewMac->setPage(new QGCWebPage(webViewMac));
             webViewMac->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
-            webViewMac->load(QUrl("earth.html"));
+            webViewMac->load(QUrl(QCoreApplication::applicationDirPath()+"/earth.html"));
 #endif
 
 #ifdef _MSC_VER
@@ -190,10 +231,12 @@ void QGCGoogleEarthView::showEvent(QShowEvent* event)
             // Reloading the webpage, this resets Google Earth
             gEarthInitialized = false;
 
-            QTimer::singleShot(2000, this, SLOT(initializeGoogleEarth()));
+            QTimer::singleShot(10000, this, SLOT(initializeGoogleEarth()));
+        }
+        else
+        {
             updateTimer->start(refreshRateMs);
         }
-    }
 }
 
 void QGCGoogleEarthView::printWinException(int no, QString str1, QString str2, QString str3)
@@ -276,18 +319,39 @@ void QGCGoogleEarthView::initializeGoogleEarth()
             // Move to home location
             goHome();
 
-            // Set current UAS
-            setActiveUAS(mav);
-
             // Add all MAVs
             QList<UASInterface*> mavs = UASManager::instance()->getUASList();
-            foreach (UASInterface* mav, mavs)
+            foreach (UASInterface* currMav, mavs)
             {
-                addUAS(mav);
+                addUAS(currMav);
             }
 
+            // Set current UAS
+            setActiveUAS(UASManager::instance()->getActiveUAS());
+
             // Add any further MAV automatically
             connect(UASManager::instance(), SIGNAL(UASCreated(UASInterface*)), this, SLOT(addUAS(UASInterface*)));
+            connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+
+            // Connect UI signals/slots
+
+            // Follow checkbox
+            ui->followAirplaneCheckbox->setChecked(followCamera);
+            connect(ui->followAirplaneCheckbox, SIGNAL(toggled(bool)), this, SLOT(follow(bool)));
+
+            // Trail checkbox
+            ui->trailCheckbox->setChecked(trailEnabled);
+            connect(ui->trailCheckbox, SIGNAL(toggled(bool)), this, SLOT(showTrail(bool)));
+
+            // Go home
+            connect(ui->goHomeButton, SIGNAL(clicked()), this, SLOT(goHome()));
+
+            // Cam distance slider
+            connect(ui->camDistanceSlider, SIGNAL(valueChanged(int)), this, SLOT(setViewRangeScaledInt(int)));
+            setViewRangeScaledInt(ui->camDistanceSlider->value());
+
+            // Start update timer
+            updateTimer->start(refreshRateMs);
 
             gEarthInitialized = true;
         }
@@ -312,15 +376,15 @@ void QGCGoogleEarthView::updateState()
 
         // Update all MAVs
         QList<UASInterface*> mavs = UASManager::instance()->getUASList();
-        foreach (UASInterface* mav, mavs)
+        foreach (UASInterface* currMav, mavs)
         {
-            uasId = mav->getUASID();
-            lat = mav->getLatitude();
-            lon = mav->getLongitude();
-            alt = mav->getAltitude();
-            roll = mav->getRoll();
-            pitch = mav->getPitch();
-            yaw = mav->getYaw();
+            uasId = currMav->getUASID();
+            lat = currMav->getLatitude();
+            lon = currMav->getLongitude();
+            alt = currMav->getAltitude();
+            roll = currMav->getRoll();
+            pitch = currMav->getPitch();
+            yaw = currMav->getYaw();
 
             javaScript(QString("setAircraftPositionAttitude(%1, %2, %3, %4, %6, %7, %8);")
                        .arg(uasId)
diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h
index 21fff8215edea02e5209bdb1256ebbd1479219c8..80131dc7ed1079d3a23d133a797a2a4169c0450f 100644
--- a/src/ui/map3D/QGCGoogleEarthView.h
+++ b/src/ui/map3D/QGCGoogleEarthView.h
@@ -17,30 +17,30 @@
 class QGCWebAxWidget : public QAxWidget
 {
 public:
-	//Q_OBJECT
+    //Q_OBJECT
     QGCWebAxWidget(QWidget* parent = 0, Qt::WindowFlags f = 0)
         : QAxWidget(parent, f)/*,
 		_document(NULL)*/
     {
-		// Set web browser control
-		setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}");
-		// WARNING: Makes it impossible to actually debug javascript. But useful in production mode
-		setProperty("ScriptErrorsSuppressed", true);
-		// see: http://www.codeproject.com/KB/cpp/ExtendedWebBrowser.aspx?fid=285594&df=90&mpp=25&noise=3&sort=Position&view=Quick&fr=151#GoalScriptError
+        // Set web browser control
+        setControl("{8856F961-340A-11D0-A96B-00C04FD705A2}");
+        // WARNING: Makes it impossible to actually debug javascript. But useful in production mode
+        setProperty("ScriptErrorsSuppressed", true);
+        // see: http://www.codeproject.com/KB/cpp/ExtendedWebBrowser.aspx?fid=285594&df=90&mpp=25&noise=3&sort=Position&view=Quick&fr=151#GoalScriptError
+
+        //this->dynamicCall("setProperty(const QString&,
+        //QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&)));
 
-			//this->dynamicCall("setProperty(const QString&, 
-		//QObject::connect(this, SIGNAL(DocumentComplete(IDispatch*, QVariant&)), this, SLOT(setDocument(IDispatch*, QVariant&)));
 
-		
     }
-	/*
+    /*
 	QAxObject* document()
 	{
 		return _document;
 	}*/
 
 protected:
-		/*
+    /*
 	void setDocument(IDispatch* dispatch, QVariant& variant)
 	{
 		_document = this->querySubObject("Document()");
@@ -81,7 +81,7 @@ public slots:
     /** @brief Set the currently selected UAS */
     void setActiveUAS(UASInterface* uas);
     /** @brief Update the global position */
-    void updateGlobalPosition(UASInterface* uas, double lat, double lon, double alt, quint64 usec);
+    void updateGlobalPosition(UASInterface* uas, double lon, double lat, double alt, quint64 usec);
     /** @brief Show the vehicle trail */
     void showTrail(bool state);
     /** @brief Show the waypoints */
@@ -92,14 +92,19 @@ public slots:
     void goHome();
     /** @brief Set the home location */
     void setHome(double lat, double lon, double alt);
+    /** @brief Set camera view range to aircraft in meters */
+    void setViewRange(float range);
+    /** @brief Set camera view range to aircraft in centimeters */
+    void setViewRangeScaledInt(int range);
+
     /** @brief Initialize Google Earth */
     void initializeGoogleEarth();
-	/** @brief Print a Windows exception */
-	void printWinException(int no, QString str1, QString str2, QString str3);
+    /** @brief Print a Windows exception */
+    void printWinException(int no, QString str1, QString str2, QString str3);
 
 public:
-	/** @brief Execute java script inside the Google Earth window */
-	QVariant javaScript(QString javascript);
+    /** @brief Execute java script inside the Google Earth window */
+    QVariant javaScript(QString javascript);
 
 protected:
     void changeEvent(QEvent *e);
@@ -108,12 +113,13 @@ protected:
     UASInterface* mav;
     bool followCamera;
     bool trailEnabled;
+    bool waypointsEnabled;
     bool webViewInitialized;
-	bool jScriptInitialized;
+    bool jScriptInitialized;
     bool gEarthInitialized;
 #ifdef _MSC_VER
     QGCWebAxWidget* webViewWin;
-	QAxObject* jScriptWin;
+    QAxObject* jScriptWin;
 #endif
 #if (defined Q_OS_MAC)
     QWebView* webViewMac;
diff --git a/src/ui/map3D/QGCGoogleEarthView.ui b/src/ui/map3D/QGCGoogleEarthView.ui
index 0731e9a0013d1f44ff78a88b619c158c9aff5f30..53269ab8f5c67477b0cd32ac7a50666e7e130fd2 100644
--- a/src/ui/map3D/QGCGoogleEarthView.ui
+++ b/src/ui/map3D/QGCGoogleEarthView.ui
@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>597</width>
+    <width>828</width>
     <height>300</height>
    </rect>
   </property>
@@ -23,7 +23,7 @@
    <property name="margin">
     <number>2</number>
    </property>
-   <item row="0" column="0" colspan="6">
+   <item row="0" column="0" colspan="10">
     <layout class="QVBoxLayout" name="webViewLayout"/>
    </item>
    <item row="1" column="0">
@@ -50,14 +50,14 @@
      </property>
     </widget>
    </item>
-   <item row="1" column="4">
+   <item row="1" column="5">
     <widget class="QPushButton" name="clearWPButton">
      <property name="text">
       <string>Clear WPs</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="5">
+   <item row="1" column="9">
     <spacer name="horizontalSpacer">
      <property name="orientation">
       <enum>Qt::Horizontal</enum>
@@ -70,6 +70,49 @@
      </property>
     </spacer>
    </item>
+   <item row="1" column="8">
+    <widget class="QSlider" name="camDistanceSlider">
+     <property name="minimum">
+      <number>30</number>
+     </property>
+     <property name="maximum">
+      <number>10000</number>
+     </property>
+     <property name="value">
+      <number>3000</number>
+     </property>
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="7">
+    <widget class="QLabel" name="camDistanceLabel">
+     <property name="text">
+      <string>Cam Distance</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <spacer name="horizontalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>40</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item row="1" column="4">
+    <widget class="QCheckBox" name="waypointsCheckbox">
+     <property name="text">
+      <string>Waypoints</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>
diff --git a/src/ui/map3D/QOSGWidget.cc b/src/ui/map3D/QOSGWidget.cc
index 12029e208c8f6407278b375ab441055edb566fb4..c97eab99d58aaf4ccca27dd86bdc280193820e9d 100644
--- a/src/ui/map3D/QOSGWidget.cc
+++ b/src/ui/map3D/QOSGWidget.cc
@@ -26,7 +26,7 @@ QOSGWidget::QOSGWidget( QWidget * parent, const char * name, WindowFlags f, bool
     QWidget(parent, f), _overrideTraits (overrideTraits)
 {
     createContext();
-    
+    Q_UNUSED(name);
     setAttribute(Qt::WA_PaintOnScreen);
     setAttribute(Qt::WA_NoSystemBackground);
     setFocusPolicy(Qt::ClickFocus);   
@@ -95,6 +95,8 @@ void QOSGWidget::createContext()
 #ifndef WIN32 
 void QOSGWidget::destroyEvent(bool destroyWindow, bool destroySubWindows)
 {   
+    Q_UNUSED(destroyWindow);
+    Q_UNUSED(destroySubWindows);
     _gw->getEventQueue()->closeWindow();
 }
 
@@ -236,7 +238,7 @@ class QViewerTimer : public QWidget
         _timer.stop ();
     }
 
-        virtual void paintEvent (QPaintEvent * event) { _viewer->frame(); }
+        virtual void paintEvent (QPaintEvent * event) { Q_UNUSED(event); _viewer->frame(); }
 
         osg::ref_ptr <osgViewer::CompositeViewer> _viewer;
         QTimer _timer;
diff --git a/src/ui/map3D/WaypointGroupNode.cc b/src/ui/map3D/WaypointGroupNode.cc
index cc706157f47a0500d2195acdd278f1a3060e283f..26ba1612905ad043d683df3e87105158ac21bb92 100644
--- a/src/ui/map3D/WaypointGroupNode.cc
+++ b/src/ui/map3D/WaypointGroupNode.cc
@@ -53,7 +53,9 @@ WaypointGroupNode::update(MAV_FRAME frame, UASInterface *uas)
 {
     if (uas)
     {
-        double robotX, robotY, robotZ;
+        double robotX = 0.0;
+        double robotY = 0.0;
+        double robotZ = 0.0;
         if (frame == MAV_FRAME_GLOBAL)
         {
             double latitude = uas->getLatitude();
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index 7a3700420b3b9d1c398b8a7cb85c1594b2b2539f..01bd37d7fc52d85d7af111347b501dc41498a69a 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -215,6 +215,7 @@ void UASView::hideEvent(QHideEvent* event)
 
 void UASView::receiveHeartbeat(UASInterface* uas)
 {
+    Q_UNUSED(uas);
     QString colorstyle;
     heartbeatColor = QColor(20, 200, 20);
     colorstyle = colorstyle.sprintf("QGroupBox { border: 1px solid #EEEEEE; border-radius: 4px; padding: 0px; margin: 0px; background-color: #%02X%02X%02X;}",