diff --git a/src/ui/configuration/ApmSoftwareConfig.cc b/src/ui/configuration/ApmSoftwareConfig.cc
index c0010ad8e0c6ba8768ad57fb930e321cf53bc650..a12719cf74d1809889a7a09802846a3fd86a4aaf 100644
--- a/src/ui/configuration/ApmSoftwareConfig.cc
+++ b/src/ui/configuration/ApmSoftwareConfig.cc
@@ -15,7 +15,7 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     ui.failSafeButton->setVisible(false);
     ui.advancedParamButton->setVisible(false);
     ui.advParamListButton->setVisible(false);
-    ui.arduCoperPidButton->setVisible(false);
+    ui.arduCopterPidButton->setVisible(false);
 
     /*basicPidConfig = new BasicPidConfig(this);
     ui.stackedWidget->addWidget(basicPidConfig);
@@ -47,10 +47,18 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     buttonToConfigWidgetMap[ui.advancedParamButton] = advancedParamConfig;
     connect(ui.advancedParamButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
 
-    arduCoperPidConfig = new ArduCopterPidConfig(this);
-    ui.stackedWidget->addWidget(arduCoperPidConfig);
-    buttonToConfigWidgetMap[ui.arduCoperPidButton] = arduCoperPidConfig;
-    connect(ui.arduCoperPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+    arduCopterPidConfig = new ArduCopterPidConfig(this);
+    ui.stackedWidget->addWidget(arduCopterPidConfig);
+    buttonToConfigWidgetMap[ui.arduCopterPidButton] = arduCopterPidConfig;
+    connect(ui.arduCopterPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+
+    arduPlanePidConfig = new ArduPlanePidConfig(this);
+    ui.stackedWidget->addWidget(arduPlanePidConfig);
+    buttonToConfigWidgetMap[ui.arduPlanePidButton] = arduPlanePidConfig;
+    connect(ui.arduPlanePidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
     if (UASManager::instance()->getActiveUAS())
@@ -84,7 +92,16 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
     ui.advancedParamButton->setVisible(true);
     ui.advParamListButton->setVisible(true);
 
-    ui.arduCoperPidButton->setVisible(true);
+    if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        ui.arduPlanePidButton->setVisible(true);
+        ui.arduCopterPidButton->setVisible(false);
+    }
+    else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        ui.arduCopterPidButton->setVisible(true);
+        ui.arduPlanePidButton->setVisible(false);
+    }
 
 
     QDir autopilotdir(qApp->applicationDirPath() + "/files/" + uas->getAutopilotTypeName().toLower());
diff --git a/src/ui/configuration/ApmSoftwareConfig.h b/src/ui/configuration/ApmSoftwareConfig.h
index c28d366b0ecaf9a90e9a8d2774995cb12eb3747c..d314450e25ab3a25225b6bc05b108db77deb0b6a 100644
--- a/src/ui/configuration/ApmSoftwareConfig.h
+++ b/src/ui/configuration/ApmSoftwareConfig.h
@@ -10,6 +10,7 @@
 #include "FailSafeConfig.h"
 #include "AdvancedParamConfig.h"
 #include "ArduCopterPidConfig.h"
+#include "ArduPlanePidConfig.h"
 
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -32,7 +33,8 @@ private:
     GeoFenceConfig *geoFenceConfig;
     FailSafeConfig *failSafeConfig;
     AdvancedParamConfig *advancedParamConfig;
-    ArduCopterPidConfig *arduCoperPidConfig;
+    ArduCopterPidConfig *arduCopterPidConfig;
+    ArduPlanePidConfig *arduPlanePidConfig;
     QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
 };
 
diff --git a/src/ui/configuration/ApmSoftwareConfig.ui b/src/ui/configuration/ApmSoftwareConfig.ui
index e6fc845632bd40d7d62e3bfaaefb6cd8f0b9f691..b25f61577e07416ce25c05edccb714e3adbd108b 100644
--- a/src/ui/configuration/ApmSoftwareConfig.ui
+++ b/src/ui/configuration/ApmSoftwareConfig.ui
@@ -172,7 +172,7 @@
           </widget>
          </item>
          <item>
-          <widget class="QPushButton" name="arduCoperPidButton">
+          <widget class="QPushButton" name="arduCopterPidButton">
            <property name="minimumSize">
             <size>
              <width>0</width>
@@ -180,13 +180,26 @@
             </size>
            </property>
            <property name="text">
-            <string>ArduCoper Pids</string>
+            <string>ArduCopter Pids</string>
            </property>
            <property name="checkable">
             <bool>false</bool>
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QPushButton" name="arduPlanePidButton">
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>35</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>ArduPlane Pids</string>
+           </property>
+          </widget>
+         </item>
          <item>
           <spacer name="verticalSpacer">
            <property name="orientation">
diff --git a/src/ui/configuration/ArduPlanePidConfig.cc b/src/ui/configuration/ArduPlanePidConfig.cc
index 276a689b49612bef400200c7d561ff1d214463b5..ac6d4da28d8a8da7160376eb0c326993a72d6044 100644
--- a/src/ui/configuration/ArduPlanePidConfig.cc
+++ b/src/ui/configuration/ArduPlanePidConfig.cc
@@ -4,15 +4,91 @@
 ArduPlanePidConfig::ArduPlanePidConfig(QWidget *parent) : AP2ConfigWidget(parent)
 {
     ui.setupUi(this);
+
+    nameToBoxMap["RLL2SRV_P"] = ui.servoRollPSpinBox;
+    nameToBoxMap["RLL2SRV_I"] = ui.servoRollISpinBox;
+    nameToBoxMap["RLL2SRV_D"] = ui.servoRollDSpinBox;
+    nameToBoxMap["RLL2SRV_IMAX"] = ui.servoRollIMAXSpinBox;
+
+    nameToBoxMap["PTCH2SRV_P"] = ui.servoPitchPSpinBox;
+    nameToBoxMap["PTCH2SRV_I"] = ui.servoPitchISpinBox;
+    nameToBoxMap["PTCH2SRV_D"] = ui.servoPitchDSpinBox;
+    nameToBoxMap["PTCH2SRV_IMAX"] = ui.servoPitchIMAXSpinBox;
+
+    nameToBoxMap["YW2SRV_P"] = ui.servoYawPSpinBox;
+    nameToBoxMap["YW2SRV_I"] = ui.servoYawISpinBox;
+    nameToBoxMap["YW2SRV_D"] = ui.servoYawDSpinBox;
+    nameToBoxMap["YW2SRV_IMAX"] = ui.servoYawIMAXSpinBox;
+
+    nameToBoxMap["ALT2PTCH_P"] = ui.navAltPSpinBox;
+    nameToBoxMap["ALT2PTCH_I"] = ui.navAltISpinBox;
+    nameToBoxMap["ALT2PTCH_D"] = ui.navAltDSpinBox;
+    nameToBoxMap["ALT2PTCH_IMAX"] = ui.navAltIMAXSpinBox;
+
+    nameToBoxMap["ARSP2PTCH_P"] = ui.navASPSpinBox;
+    nameToBoxMap["ARSP2PTCH_I"] = ui.navASISpinBox;
+    nameToBoxMap["ARSP2PTCH_D"] = ui.navASDSpinBox;
+    nameToBoxMap["ARSP2PTCH_IMAX"] = ui.navASIMAXSpinBox;
+
+    nameToBoxMap["ENRGY2THR_P"] = ui.energyPSpinBox;
+    nameToBoxMap["ENRGY2THR_I"] = ui.energyISpinBox;
+    nameToBoxMap["ENRGY2THR_D"] = ui.energyDSpinBox;
+    nameToBoxMap["ENRGY2THR_IMAX"] = ui.energyIMAXSpinBox;
+
+    nameToBoxMap["KFF_PTCH2THR"] = ui.otherPitchCompSpinBox;
+    nameToBoxMap["KFF_PTCHCOMP"] = ui.otherPtTSpinBox;
+    nameToBoxMap["KFF_RDDRMIX"] = ui.otherRudderMixSpinBox;
+
+    nameToBoxMap["TRIM_THROTTLE"] = ui.throttleCruiseSpinBox;
+    nameToBoxMap["THR_FS_VALUE"] = ui.throttleFSSpinBox;
+    nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
+    nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
+
+    nameToBoxMap["TRIM_ARSPD_CM"] = ui.airspeedCruiseSpinBox;
+    nameToBoxMap["ARSPD_FBW_MAX"] = ui.airspeedFBWMaxSpinBox;
+    nameToBoxMap["ARSPD_FBW_MIN"] = ui.airspeedFBWMinSpinBox;
+    nameToBoxMap["ARSPD_RATIO"] = ui.airspeedRatioSpinBox;
+
+    nameToBoxMap["NAVL1_DAMPING"] = ui.l1DampingSpinBox;
+    nameToBoxMap["NAVL1_PERIOD"] = ui.l1PeriodSpinBox;
+
+    nameToBoxMap["LIM_ROLL_CD"] = ui.navBankMaxSpinBox;
+    nameToBoxMap["LIM_PITCH_MAX"] = ui.navPitchMaxSpinBox;
+    nameToBoxMap["LIM_PITCH_MIN"] = ui.navPitchMinSpinBox;
+
 }
 
 ArduPlanePidConfig::~ArduPlanePidConfig()
 {
 }
-void ArduPlanePidconfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+void ArduPlanePidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
-    if (parameterName == "")
+    if (nameToBoxMap.contains(parameterName))
     {
+        nameToBoxMap[parameterName]->setValue(value.toDouble());
+    }
+}
+void ArduPlanePidConfig::writeButtonClicked()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    {
+        m_uas->getParamManager()->setParameter(1,i.key(),i.value()->value());
+    }
+}
 
+void ArduPlanePidConfig::refreshButtonClicked()
+{
+    if (!m_uas)
+    {
+        return;
     }
+    for (QMap<QString,QDoubleSpinBox*>::const_iterator i=nameToBoxMap.constBegin();i!=nameToBoxMap.constEnd();i++)
+    {
+        m_uas->getParamManager()->requestParameterUpdate(1,i.key());
+    }
+
 }
diff --git a/src/ui/configuration/ArduPlanePidConfig.h b/src/ui/configuration/ArduPlanePidConfig.h
index dcb75eef000855ed765d273767cbb72a22034e23..b0f12c4b8d1623eebcfaba037663622a7e27302c 100644
--- a/src/ui/configuration/ArduPlanePidConfig.h
+++ b/src/ui/configuration/ArduPlanePidConfig.h
@@ -14,7 +14,10 @@ public:
     ~ArduPlanePidConfig();
 private slots:
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void writeButtonClicked();
+    void refreshButtonClicked();
 private:
+    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
     Ui::ArduPlanePidConfig ui;
 };
 
diff --git a/src/ui/configuration/ArduPlanePidConfig.ui b/src/ui/configuration/ArduPlanePidConfig.ui
index b1cb38fd2f6a7d36ba376f9c457f6d20fe4b79ab..4ee4c406b15f97f025969bdefc401c22fe9a3fd6 100644
--- a/src/ui/configuration/ArduPlanePidConfig.ui
+++ b/src/ui/configuration/ArduPlanePidConfig.ui
@@ -164,9 +164,9 @@
             </widget>
            </item>
            <item>
-            <widget class="QDoubleSpinBox" name="servoIMAXSpinBox">
+            <widget class="QDoubleSpinBox" name="servoRollIMAXSpinBox">
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -252,7 +252,7 @@
            <item>
             <widget class="QDoubleSpinBox" name="navAltIMAXSpinBox">
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -338,7 +338,7 @@
            <item>
             <widget class="QDoubleSpinBox" name="navASIMAXSpinBox">
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -424,7 +424,7 @@
            <item>
             <widget class="QDoubleSpinBox" name="servoYawIMAXSpinBox">
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -510,7 +510,7 @@
            <item>
             <widget class="QDoubleSpinBox" name="throttleFSSpinBox">
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -596,7 +596,7 @@
            <item>
             <widget class="QDoubleSpinBox" name="servoPitchIMAXSpinBox">
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -815,8 +815,11 @@
              <property name="decimals">
               <number>3</number>
              </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
              </property>
             </widget>
            </item>
@@ -826,7 +829,10 @@
               <number>3</number>
              </property>
              <property name="maximum">
-              <double>100.000000000000000</double>
+              <double>10000.000000000000000</double>
+             </property>
+             <property name="value">
+              <double>0.000000000000000</double>
              </property>
             </widget>
            </item>