diff --git a/src/MissionEditor/MissionEditor.qml b/src/MissionEditor/MissionEditor.qml
index e15e66411141a5604ba88e6ba4dd3a93ced94802..c6b79ffec65a9f1a5d0e4024e253de0394e9fb4a 100644
--- a/src/MissionEditor/MissionEditor.qml
+++ b/src/MissionEditor/MissionEditor.qml
@@ -173,14 +173,15 @@ QGCView {
         id: _dropButtonsExclusiveGroup
     }
 
-    function setCurrentItem(index) {
+    function setCurrentItem(sequenceNumber) {
         _currentMissionItem = undefined
         for (var i=0; i<_visualItems.count; i++) {
-            if (i == index) {
-                _currentMissionItem = _visualItems.get(i)
+            var visualItem = _visualItems.get(i)
+            if (visualItem.sequenceNumber == sequenceNumber) {
+                _currentMissionItem = visualItem
                 _currentMissionItem.isCurrentItem = true
             } else {
-                _visualItems.get(i).isCurrentItem = false
+                visualItem.isCurrentItem = false
             }
         }
     }
@@ -306,8 +307,8 @@ QGCView {
                         coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                         coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
                         if (addMissionItemsButton.checked) {
-                            var index = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
-                            setCurrentItem(index)
+                            var sequenceNumber = controller.insertSimpleMissionItem(coordinate, controller.visualItems.count)
+                            setCurrentItem(sequenceNumber)
                         } else {
                             editorMap.mapClicked(coordinate)
                         }
@@ -364,13 +365,7 @@ QGCView {
                     }
                 }
 
-                // Add the simple mission items to the map
-                MapItemView {
-                    model:      controller.visualItems
-                    delegate:   missionItemComponent
-                }
-
-                // Add the complex mission items to the map
+                // Add the complex mission item polygon to the map
                 MapItemView {
                     model:      controller.complexVisualItems
                     delegate:   polygonItemComponent
@@ -386,6 +381,16 @@ QGCView {
                     }
                 }
 
+                // Add the complex mission item grid to the map
+                MapItemView {
+                    model: controller.complexVisualItems
+
+                    delegate: MapPolyline {
+                        line.color: "white"
+                        path:       object.gridPoints
+                    }
+                }
+
                 // Add the complex mission item exit coordinates
                 MapItemView {
                     model:      controller.complexVisualItems
@@ -404,6 +409,12 @@ QGCView {
                     }
                 }
 
+                // Add the simple mission items to the map
+                MapItemView {
+                    model:      controller.visualItems
+                    delegate:   missionItemComponent
+                }
+
                 Component {
                     id: missionItemComponent
 
@@ -417,10 +428,8 @@ QGCView {
 
                         onClicked: setCurrentItem(object.sequenceNumber)
 
-                        function updateItemIndicator()
-                        {
-                            if (object.isCurrentItem && itemIndicator.visible &&
-                                    object.specifiesCoordinate && object.isSimpleItem) {
+                        function updateItemIndicator() {
+                            if (object.isCurrentItem && itemIndicator.visible && object.specifiesCoordinate && object.isSimpleItem) {
                                 // Setup our drag item
                                 itemDragger.visible = true
                                 itemDragger.missionItem = Qt.binding(function() { return object })
@@ -516,8 +525,8 @@ QGCView {
                             }
 
                             onInsert: {
-                                controller.insertSimpleMissionItem(editorMap.center, i)
-                                setCurrentItem(i)
+                                var sequenceNumber = controller.insertSimpleMissionItem(editorMap.center, i)
+                                setCurrentItem(sequenceNumber)
                             }
 
                             onMoveHomeToMapCenter: controller.visualItems.get(0).coordinate = editorMap.center
@@ -567,8 +576,8 @@ QGCView {
                             coordinate.latitude = coordinate.latitude.toFixed(_decimalPlaces)
                             coordinate.longitude = coordinate.longitude.toFixed(_decimalPlaces)
                             coordinate.altitude = coordinate.altitude.toFixed(_decimalPlaces)
-                            var index = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
-                            setCurrentItem(index)
+                            var sequenceNumber = controller.insertComplexMissionItem(coordinate, controller.visualItems.count)
+                            setCurrentItem(sequenceNumber)
                             checked = false
                             addMissionItemsButton.checked = false
                         }
@@ -775,7 +784,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Send to vehicle"
-                    enabled:    !controller.syncInProgress
+                    enabled:    _activeVehicle && !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()
@@ -785,7 +794,7 @@ QGCView {
 
                 QGCButton {
                     text:       "Load from vehicle"
-                    enabled:    !controller.syncInProgress
+                    enabled:    _activeVehicle && !controller.syncInProgress
 
                     onClicked: {
                         syncButton.hideDropDown()
diff --git a/src/MissionEditor/SurveyItemEditor.qml b/src/MissionEditor/SurveyItemEditor.qml
index 14d54468034ab00b32543a599d0d81a970c9e873..141b59c21f80b694bf0dda2f1309eb48b89ffdd1 100644
--- a/src/MissionEditor/SurveyItemEditor.qml
+++ b/src/MissionEditor/SurveyItemEditor.qml
@@ -29,7 +29,7 @@ Rectangle {
         anchors.margins:    _margin
         anchors.top:        parent.top
         anchors.left:       parent.left
-        width:              availableWidth
+        anchors.right:      parent.right
         spacing:            _margin
 
         Connections {
@@ -47,6 +47,30 @@ Rectangle {
             wrapMode:   Text.WordWrap
         }
 
+        Repeater {
+            model: [ missionItem.gridAltitude, missionItem.gridAngle, missionItem.gridSpacing ]
+
+            Item {
+                anchors.left:   parent.left
+                anchors.right:  parent.right
+                height:         textField.height
+
+                QGCLabel {
+                    anchors.baseline:   textField.baseline
+                    anchors.left:       parent.left
+                    text:               modelData.name
+                }
+
+                FactTextField {
+                    id:             textField
+                    anchors.right:  parent.right
+                    width:          _editFieldWidth
+                    showUnits:      true
+                    fact:           modelData
+                }
+            }
+        }
+
         QGCButton {
             text: _addPointsMode ? "Finished" : "Draw Polygon"
             onClicked: {
diff --git a/src/MissionManager/ComplexMissionItem.cc b/src/MissionManager/ComplexMissionItem.cc
index 16c0c4dfa18fd01037b6f6aeeff9dec979acd73f..eaed174ea84cc274d4c5e017741a9857bea5fa3f 100644
--- a/src/MissionManager/ComplexMissionItem.cc
+++ b/src/MissionManager/ComplexMissionItem.cc
@@ -23,11 +23,15 @@ This file is part of the QGROUNDCONTROL project
 #include "ComplexMissionItem.h"
 #include "JsonHelper.h"
 #include "MissionController.h"
+#include "QGCGeo.h"
 
-const char* ComplexMissionItem::_jsonVersionKey =   "version";
-const char* ComplexMissionItem::_jsonTypeKey =      "type";
-const char* ComplexMissionItem::_jsonPolygonKey =   "polygon";
-const char* ComplexMissionItem::_jsonIdKey =        "id";
+const char* ComplexMissionItem::_jsonVersionKey =       "version";
+const char* ComplexMissionItem::_jsonTypeKey =          "type";
+const char* ComplexMissionItem::_jsonPolygonKey =       "polygon";
+const char* ComplexMissionItem::_jsonIdKey =            "id";
+const char* ComplexMissionItem::_jsonGridAltitudeKey =  "gridAltitude";
+const char* ComplexMissionItem::_jsonGridAngleKey =     "gridAngle";
+const char* ComplexMissionItem::_jsonGridSpacingKey =   "gridSpacing";
 
 const char* ComplexMissionItem::_complexType = "survey";
 
@@ -35,12 +39,15 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
     : VisualMissionItem(vehicle, parent)
     , _sequenceNumber(0)
     , _dirty(false)
+    , _gridAltitudeFact (0, "Altitude:",        FactMetaData::valueTypeDouble)
+    , _gridAngleFact    (0, "Grid angle:",      FactMetaData::valueTypeDouble)
+    , _gridSpacingFact  (0, "Grid spacing:",    FactMetaData::valueTypeDouble)
 {
-    MissionItem missionItem;
+    _gridAltitudeFact.setRawValue(25);
+    _gridSpacingFact.setRawValue(5);
 
-    // FIXME: Bogus entries for testing
-    _missionItems += new MissionItem(this);
-    _missionItems += new MissionItem(this);
+    connect(&_gridSpacingFact,  &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
+    connect(&_gridAngleFact,    &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
 }
 
 ComplexMissionItem::ComplexMissionItem(const ComplexMissionItem& other, QObject* parent)
@@ -61,9 +68,12 @@ void ComplexMissionItem::clearPolygon(void)
 
     // Although this code should remove the polygon from the map it doesn't. There appears
     // to be a bug in MapPolygon which causes it to not be redrawn if the list is empty. So
-    // we work around it by using the code above to remove all bu the last point which in turn
+    // we work around it by using the code above to remove all but the last point which in turn
     // will cause the polygon to go away.
     _polygonPath.clear();
+
+    _clearGrid();
+
     emit specifiesCoordinateChanged();
 }
 
@@ -79,11 +89,18 @@ void ComplexMissionItem::addPolygonCoordinate(const QGeoCoordinate coordinate)
         emit specifiesCoordinateChanged();
     }
     _setExitCoordinate(coordinate);
+
+    _generateGrid();
 }
 
 int ComplexMissionItem::lastSequenceNumber(void) const
 {
-    return _sequenceNumber + _missionItems.count() - 1;
+    int lastSeq = _sequenceNumber;
+
+    if (_gridPoints.count()) {
+        lastSeq += _gridPoints.count() - 1;
+    }
+    return lastSeq;
 }
 
 void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
@@ -91,26 +108,26 @@ void ComplexMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
     if (_coordinate != coordinate) {
         _coordinate = coordinate;
         emit coordinateChanged(_coordinate);
-        _missionItems[0]->setCoordinate(coordinate);
-
-        // FIXME: Hack
         _setExitCoordinate(coordinate);
     }
 }
 
 void ComplexMissionItem::setDirty(bool dirty)
 {
-   if (_dirty != dirty) {
-       _dirty = dirty;
-       emit dirtyChanged(_dirty);
-   }
+    if (_dirty != dirty) {
+        _dirty = dirty;
+        emit dirtyChanged(_dirty);
+    }
 }
 
 void ComplexMissionItem::save(QJsonObject& saveObject) const
 {
-    saveObject[_jsonVersionKey] =    1;
-    saveObject[_jsonTypeKey] =       _complexType;
-    saveObject[_jsonIdKey] =         sequenceNumber();
+    saveObject[_jsonVersionKey] =       1;
+    saveObject[_jsonTypeKey] =          _complexType;
+    saveObject[_jsonIdKey] =            sequenceNumber();
+    saveObject[_jsonGridAltitudeKey] =  _gridAltitudeFact.rawValue().toDouble();
+    saveObject[_jsonGridAngleKey] =     _gridAngleFact.rawValue().toDouble();
+    saveObject[_jsonGridSpacingKey] =   _gridSpacingFact.rawValue().toDouble();
 
     // Polygon shape
 
@@ -125,42 +142,21 @@ void ComplexMissionItem::save(QJsonObject& saveObject) const
     }
 
     saveObject[_jsonPolygonKey] = polygonArray;
-
-    // Base mission items
-
-    QJsonArray simpleItems;
-    for (int i=0; i<_missionItems.count(); i++) {
-        MissionItem* missionItem = _missionItems[i];
-
-        QJsonObject jsonObject;
-        missionItem->save(jsonObject);
-        simpleItems.append(jsonObject);
-    }
-    saveObject[MissionController::jsonSimpleItemsKey] = simpleItems;
 }
 
 void ComplexMissionItem::setSequenceNumber(int sequenceNumber)
 {
     if (_sequenceNumber != sequenceNumber) {
         _sequenceNumber = sequenceNumber;
-
-        // Update internal mission items to new numbering
-        for (int i=0; i<_missionItems.count(); i++) {
-            _missionItems[i]->setSequenceNumber(sequenceNumber++);
-        }
-
         emit sequenceNumberChanged(sequenceNumber);
+        emit lastSequenceNumberChanged(lastSequenceNumber());
     }
 }
 
 void ComplexMissionItem::_clear(void)
 {
-    // Clear old settings
-    for (int i=0; i<_missionItems.count(); i++) {
-        _missionItems[i]->deleteLater();
-    }
-    _missionItems.clear();
-    _polygonPath.clear();
+    clearPolygon();
+    _clearGrid();
 }
 
 
@@ -170,7 +166,7 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
 
     // Validate requires keys
     QStringList requiredKeys;
-    requiredKeys << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << MissionController::jsonSimpleItemsKey;
+    requiredKeys << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey;
     if (!JsonHelper::validateRequiredKeys(complexObject, requiredKeys, errorString)) {
         _clear();
         return false;
@@ -179,8 +175,8 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
     // Validate types
     QStringList keyList;
     QList<QJsonValue::Type> typeList;
-    keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << MissionController::jsonSimpleItemsKey;
-    typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Array;
+    keyList << _jsonVersionKey << _jsonTypeKey << _jsonIdKey << _jsonPolygonKey << _jsonGridAltitudeKey << _jsonGridAngleKey << _jsonGridSpacingKey;
+    typeList << QJsonValue::Double << QJsonValue::String << QJsonValue::Double << QJsonValue::Array << QJsonValue::Double << QJsonValue::Double<< QJsonValue::Double;
     if (!JsonHelper::validateKeyTypes(complexObject, keyList, typeList, errorString)) {
         _clear();
         return false;
@@ -200,6 +196,9 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
     }
 
     setSequenceNumber(complexObject[_jsonIdKey].toInt());
+    _gridAltitudeFact.setRawValue(complexObject[_jsonGridAltitudeKey].toDouble());
+    _gridAngleFact.setRawValue(complexObject[_jsonGridAngleKey].toDouble());
+    _gridSpacingFact.setRawValue(complexObject[_jsonGridSpacingKey].toDouble());
 
     // Polygon shape
     QJsonArray polygonArray(complexObject[_jsonPolygonKey].toArray());
@@ -214,51 +213,149 @@ bool ComplexMissionItem::load(const QJsonObject& complexObject, QString& errorSt
         _polygonPath << QVariant::fromValue(pointCoord);
     }
 
-    // Internal mission items
-    QJsonArray itemArray(complexObject[MissionController::jsonSimpleItemsKey].toArray());
-    for (int i=0; i<itemArray.count(); i++) {
-        const QJsonValue& itemValue = itemArray[i];
+    _generateGrid();
 
-        if (!itemValue.isObject()) {
-            errorString = QStringLiteral("Mission item is not an object");
-            _clear();
-            return false;
-        }
+    return true;
+}
 
-        MissionItem* item = new MissionItem(_vehicle, this);
-        if (item->load(itemValue.toObject(), errorString)) {
-            _missionItems.append(item);
-        } else {
-            _clear();
-            return false;
-        }
+void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
+{
+    if (_exitCoordinate != coordinate) {
+        _exitCoordinate = coordinate;
+        emit exitCoordinateChanged(coordinate);
     }
+}
 
-    int itemCount = _missionItems.count();
-    if (itemCount > 0) {
-        _coordinate = _missionItems[0]->coordinate();
-        _exitCoordinate = _missionItems[itemCount - 1]->coordinate();
+bool ComplexMissionItem::specifiesCoordinate(void) const
+{
+    return _polygonPath.count() > 2;
+}
+
+void ComplexMissionItem::_clearGrid(void)
+{
+    // Bug workaround
+    while (_gridPoints.count() > 1) {
+        _gridPoints.takeLast();
     }
+    emit gridPointsChanged();
+    _gridPoints.clear();
+    emit gridPointsChanged();
 
-    qDebug() << coordinate() << exitCoordinate() << _missionItems[0]->coordinate() << _missionItems[1]->coordinate();
+}
+
+void ComplexMissionItem::_generateGrid(void)
+{
+    if (_polygonPath.count() < 3) {
+        _clearGrid();
+        return;
+    }
+
+    _gridPoints.clear();
+
+    QList<Point_t> polygonPoints;
+    QList<Point_t> gridPoints;
+
+    // Convert polygon to NED
+    qDebug() << "Convert polygon";
+    QGeoCoordinate tangentOrigin = _polygonPath[0].value<QGeoCoordinate>();
+    for (int i=0; i<_polygonPath.count(); i++) {
+        double x, y, z;
+        convertGeoToNed(_polygonPath[i].value<QGeoCoordinate>(), tangentOrigin, &x, &y, &z);
+        polygonPoints += Point_t(x, y);
+        qDebug() << _polygonPath[i].value<QGeoCoordinate>() << polygonPoints.last().x << polygonPoints.last().y;
+    }
+
+    // Generate grid
+    _gridGenerator(polygonPoints, gridPoints);
+
+    // Convert to Geo and set altitude
+    for (int i=0; i<gridPoints.count(); i++) {
+        Point_t& point = gridPoints[i];
+
+        QGeoCoordinate geoCoord;
+        convertNedToGeo(point.x, point.y, 0, tangentOrigin, &geoCoord);
+        _gridPoints += QVariant::fromValue(geoCoord);
+    }
+    emit gridPointsChanged();
+    emit lastSequenceNumberChanged(lastSequenceNumber());
+
+    if (_gridPoints.count()) {
+        setCoordinate(_gridPoints.first().value<QGeoCoordinate>());
+        _setExitCoordinate(_gridPoints.last().value<QGeoCoordinate>());
+    }
 
-    return true;
 }
 
-void ComplexMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
+void ComplexMissionItem::_gridGenerator(const QList<Point_t>& polygonPoints, QList<Point_t>& gridPoints)
 {
-    if (_exitCoordinate != coordinate) {
-        _exitCoordinate = coordinate;
-        emit exitCoordinateChanged(coordinate);
+    // FIXME: Hack implementataion
 
-        int itemCount = _missionItems.count();
-        if (itemCount > 0) {
-            _missionItems[itemCount - 1]->setCoordinate(coordinate);
+    gridPoints.clear();
+
+    // Convert polygon to bounding square
+
+    Point_t upperLeft = polygonPoints[0];
+    Point_t lowerRight = polygonPoints[0];
+    for (int i=1; i<polygonPoints.count(); i++) {
+        const Point_t& point = polygonPoints[i];
+
+        upperLeft.x = std::min(upperLeft.x, point.x);
+        upperLeft.y = std::max(upperLeft.y, point.y);
+        lowerRight.x = std::max(lowerRight.x, point.x);
+        lowerRight.y = std::min(lowerRight.y, point.y);
+    }
+    qDebug() << "bounding rect" << upperLeft.x <<  upperLeft.y << lowerRight.x << lowerRight.y;
+
+    // Create simplistic set of parallel lines
+
+    QList<QPair<Point_t, Point_t>> lineList;
+
+    double x = upperLeft.x;
+    double gridSpacing = _gridSpacingFact.rawValue().toDouble();
+    while (x < lowerRight.x) {
+        double yTop = upperLeft.y;
+        double yBottom = lowerRight.y;
+
+        lineList += qMakePair(Point_t(x, yTop), Point_t(x, yBottom));
+        qDebug() << "line" << lineList.last().first.x<< lineList.last().first.y<< lineList.last().second.x<< lineList.last().second.y;
+
+        x += gridSpacing;
+    }
+
+    // Turn into a path
+
+    for (int i=0; i<lineList.count(); i++) {
+        const QPair<Point_t, Point_t> points = lineList[i];
+
+        if (i & 1) {
+            gridPoints << points.second << points.first;
+        } else {
+            gridPoints << points.first << points.second;
         }
     }
 }
 
-bool ComplexMissionItem::specifiesCoordinate(void) const
+QmlObjectListModel*  ComplexMissionItem::getMissionItems(void) const
 {
-    return _polygonPath.count() > 2;
+    QmlObjectListModel* pMissionItems = new QmlObjectListModel;
+
+    int seqNum = _sequenceNumber;
+    for (int i=0; i<_gridPoints.count(); i++) {
+        QGeoCoordinate coord = _gridPoints[i].value<QGeoCoordinate>();
+        double altitude = _gridAltitudeFact.rawValue().toDouble();
+
+        MissionItem* item = new MissionItem(seqNum++,                       // sequence number
+                                            MAV_CMD_NAV_WAYPOINT,           // MAV_CMD
+                                            MAV_FRAME_GLOBAL_RELATIVE_ALT,  // MAV_FRAME
+                                            0.0, 0.0, 0.0, 0.0,             // param 1-4
+                                            coord.latitude(),
+                                            coord.longitude(),
+                                            altitude,
+                                            true,                           // autoContinue
+                                            false,                          // isCurrentItem
+                                            pMissionItems);                 // parent - allow delete on pMissionItems to delete everthing
+        pMissionItems->append(item);
+    }
+
+    return pMissionItems;
 }
diff --git a/src/MissionManager/ComplexMissionItem.h b/src/MissionManager/ComplexMissionItem.h
index c8bb4b403b6d16a06596127f77101b88191da329..e19e93e31becd9cbb905a6f157f594a22c028b99 100644
--- a/src/MissionManager/ComplexMissionItem.h
+++ b/src/MissionManager/ComplexMissionItem.h
@@ -26,6 +26,7 @@
 
 #include "VisualMissionItem.h"
 #include "MissionItem.h"
+#include "Fact.h"
 
 class ComplexMissionItem : public VisualMissionItem
 {
@@ -35,19 +36,30 @@ public:
     ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
     ComplexMissionItem(const ComplexMissionItem& other, QObject* parent = NULL);
 
+    Q_PROPERTY(Fact*        gridAltitude        READ gridAltitude       CONSTANT)
+    Q_PROPERTY(Fact*        gridAngle           READ gridAngle          CONSTANT)
+    Q_PROPERTY(Fact*        gridSpacing         READ gridSpacing        CONSTANT)
     Q_PROPERTY(QVariantList polygonPath         READ polygonPath        NOTIFY polygonPathChanged)
     Q_PROPERTY(int          lastSequenceNumber  READ lastSequenceNumber NOTIFY lastSequenceNumberChanged)
+    Q_PROPERTY(QVariantList gridPoints          READ gridPoints         NOTIFY gridPointsChanged)
 
     Q_INVOKABLE void clearPolygon(void);
     Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
 
     QVariantList polygonPath(void) { return _polygonPath; }
+    QVariantList gridPoints (void) { return _gridPoints; }
 
-    QList<MissionItem*>& missionItems(void) { return _missionItems; }
+    Fact* gridAltitude(void)    { return &_gridAltitudeFact; }
+    Fact* gridAngle(void)       { return &_gridAngleFact; }
+    Fact* gridSpacing(void)     { return &_gridSpacingFact; }
 
     /// @return The last sequence number used by this item. Takes into account child items of the complex item
     int lastSequenceNumber(void) const;
 
+    /// Returns the mission items associated with the complex item. Caller is responsible for freeing. Calling
+    /// delete on returned QmlObjectListModel will free all memory including internal items.
+    QmlObjectListModel* getMissionItems(void) const;
+
     /// Load the complex mission item from Json
     ///     @param complexObject Complex mission item json object
     ///     @param[out] errorString Error if load fails
@@ -78,22 +90,47 @@ public:
 signals:
     void polygonPathChanged(void);
     void lastSequenceNumberChanged(int lastSequenceNumber);
+    void altitudeChanged(double altitude);
+    void gridAngleChanged(double gridAngle);
+    void gridPointsChanged(void);
 
 private:
+    typedef struct Point_s {
+        double x;
+        double y;
+
+        Point_s(double x, double y) {
+            this->x = x;
+            this->y = y;
+        }
+    } Point_t;
+
     void _clear(void);
     void _setExitCoordinate(const QGeoCoordinate& coordinate);
+    void _clearGrid(void);
+    void _generateGrid(void);
+    void _gridGenerator(const QList<Point_t>& polygonPoints, QList<Point_t>& gridPoints);
 
     int                 _sequenceNumber;
     bool                _dirty;
     QVariantList        _polygonPath;
-    QList<MissionItem*> _missionItems;
+    QVariantList        _gridPoints;
     QGeoCoordinate      _coordinate;
     QGeoCoordinate      _exitCoordinate;
+    double              _altitude;
+    double              _gridAngle;
+
+    Fact    _gridAltitudeFact;
+    Fact    _gridAngleFact;
+    Fact    _gridSpacingFact;
 
     static const char* _jsonVersionKey;
     static const char* _jsonTypeKey;
     static const char* _jsonPolygonKey;
     static const char* _jsonIdKey;
+    static const char* _jsonGridAltitudeKey;
+    static const char* _jsonGridAngleKey;
+    static const char* _jsonGridSpacingKey;
 
     static const char* _complexType;
 };
diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 29f3f9413dc0e2a4d44374acf9718dc2d3c665d1..12d0c4606f04865d9f69c8b406c712b0a1775e33 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -132,28 +132,28 @@ void MissionController::sendMissionItems(void)
 {
     if (_activeVehicle) {
         // Convert to MissionItems so we can send to vehicle
-
         QList<MissionItem*> missionItems;
 
-        int sequenceNumber = 0;
         for (int i=0; i<_visualItems->count(); i++) {
             VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));
             if (visualItem->isSimpleItem()) {
-                MissionItem& missionItem = qobject_cast<SimpleMissionItem*>(visualItem)->missionItem();
-                missionItem.setSequenceNumber(sequenceNumber++);
-                missionItems.append(&missionItem);
+                missionItems.append(new MissionItem(qobject_cast<SimpleMissionItem*>(visualItem)->missionItem()));
             } else {
                 ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
-                for (int j=0; j<complexItem->missionItems().count(); j++) {
-                    MissionItem* missionItem = complexItem->missionItems()[i];
-                    missionItem->setSequenceNumber(sequenceNumber++);
-                    missionItems.append(missionItem);
+                QmlObjectListModel* complexMissionItems = complexItem->getMissionItems();
+                for (int j=0; j<complexMissionItems->count(); j++) {
+                    missionItems.append(new MissionItem(*qobject_cast<MissionItem*>(complexMissionItems->get(j))));
                 }
+                delete complexMissionItems;
             }
         }
 
         _activeVehicle->missionManager()->writeMissionItems(missionItems);
         _visualItems->setDirty(false);
+
+        for (int i=0; i<missionItems.count(); i++) {
+            delete missionItems[i];
+        }
     }
 }
 
@@ -175,8 +175,9 @@ int MissionController::_nextSequenceNumber(void)
 
 int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 {
+    int sequenceNumber = _nextSequenceNumber();
     SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_nextSequenceNumber());
+    newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
     newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);
     _initVisualItem(newItem);
@@ -198,13 +199,14 @@ int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)
 
     _recalcAll();
 
-    return _visualItems->count() - 1;
+    return sequenceNumber;
 }
 
 int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i)
 {
+    int sequenceNumber = _nextSequenceNumber();
     ComplexMissionItem* newItem = new ComplexMissionItem(_activeVehicle, this);
-    newItem->setSequenceNumber(_nextSequenceNumber());
+    newItem->setSequenceNumber(sequenceNumber);
     newItem->setCoordinate(coordinate);
     _initVisualItem(newItem);
 
@@ -213,7 +215,7 @@ int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i
 
     _recalcAll();
 
-    return _visualItems->count() - 1;
+    return sequenceNumber;
 }
 
 void MissionController::removeMissionItem(int index)
@@ -771,7 +773,7 @@ void MissionController::_recalcChildItems(void)
         if (item->specifiesCoordinate()) {
             item->childItems()->clear();
             currentParentItem = item;
-        } else {
+        } else if (item->isSimpleItem()) {
             currentParentItem->childItems()->append(item);
         }
     }
@@ -860,13 +862,16 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
 
     if (visualItem->isSimpleItem()) {
         // We need to track commandChanged on simple item since recalc has special handling for takeoff command
-
         SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(visualItem);
         if (simpleItem) {
             connect(&simpleItem->missionItem()._commandFact, &Fact::valueChanged, this, &MissionController::_itemCommandChanged);
         } else {
             qWarning() << "isSimpleItem == true, yet not SimpleMissionItem";
         }
+    } else {
+        // We need to track changes of lastSequenceNumber so we can recalc sequence numbers for subsequence items
+        ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
+        connect(complexItem, &ComplexMissionItem::lastSequenceNumberChanged, this, &MissionController::_recalcSequence);
     }
 }
 
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 05dd1a3e881b331d5a9522a811afd6fb5beb90bf..34956ec9a797311d89335b0e5091bfb94a3853bc 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -59,10 +59,14 @@ public:
     Q_INVOKABLE void removeAllMissionItems(void);
     Q_INVOKABLE QStringList getMobileMissionFiles(void);
 
-    /// @param i: index to insert at
+    /// Add a new simple mission item to the list
+    ///     @param i: index to insert at
+    /// @return Sequence number for new item
     Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
 
-    /// @param i: index to insert at
+    /// Add a new complex mission item to the list
+    ///     @param i: index to insert at
+    /// @return Sequence number for new item
     Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
 
     // Property accessors
diff --git a/src/MissionManager/SimpleMissionItem.h b/src/MissionManager/SimpleMissionItem.h
index 0e6ed0bc8f84c7178a6e6bb99b15b7071c7813d9..88c243fb20888a0d3c298f948fcdb7ee95de2162 100644
--- a/src/MissionManager/SimpleMissionItem.h
+++ b/src/MissionManager/SimpleMissionItem.h
@@ -117,16 +117,13 @@ public slots:
 
 signals:
     void commandChanged             (int command);
-    void coordinateChanged          (const QGeoCoordinate& coordinate);
-    void exitCoordinateChanged      (const QGeoCoordinate& exitCoordinate);
-    //void dirtyChanged               (bool dirty);
     void frameChanged               (int frame);
     void friendlyEditAllowedChanged (bool friendlyEditAllowed);
     void headingDegreesChanged      (double heading);
     void rawEditChanged             (bool rawEdit);
     void uiModelChanged             (void);
     void showHomePositionChanged    (bool showHomePosition);
-    
+
 private slots:
     void _setDirtyFromSignal(void);
     void _sendCommandChanged(void);