diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index c3d37796635821e43115dbf827180d67bd0acdd8..4916d75e45c8978b0ef0be33d69745abe86467f2 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -240,7 +240,7 @@ SOURCES += src/main.cc \
 RESOURCES = mavground.qrc
 
 # Include RT-LAB Library
-win32:exists(src/lib/opalrt/OpalApi.h) { 
+win32:exists(src/lib/opalrt/OpalApi.h):exists(C:\OPAL-RT\RT-LAB7.2.4\Common\bin) { 
     message("Building support for Opal-RT")
     LIBS += -LC:\OPAL-RT\RT-LAB7.2.4\Common\bin \
         -lOpalApi
diff --git a/src/ui/ParameterInterface.ui b/src/ui/ParameterInterface.ui
index df9a778ba64e44edd42f69ddbc81910b4ed1823a..daaa2e6bc84ce879756c1fe64b89ca2e1d1ca818 100644
--- a/src/ui/ParameterInterface.ui
+++ b/src/ui/ParameterInterface.ui
@@ -13,7 +13,16 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout">
+  <layout class="QGridLayout" name="gridLayout" rowstretch="2,10,5">
+   <property name="horizontalSpacing">
+    <number>5</number>
+   </property>
+   <property name="verticalSpacing">
+    <number>2</number>
+   </property>
+   <property name="margin">
+    <number>6</number>
+   </property>
    <item row="0" column="0">
     <widget class="QLabel" name="label">
      <property name="text">
@@ -30,6 +39,9 @@
       <string>Onboard Parameters</string>
      </property>
      <layout class="QHBoxLayout" name="horizontalLayout">
+      <property name="margin">
+       <number>3</number>
+      </property>
       <item>
        <widget class="QStackedWidget" name="stackedWidget">
         <property name="currentIndex">
diff --git a/src/ui/QGCSensorSettingsWidget.ui b/src/ui/QGCSensorSettingsWidget.ui
index ab8c2583f67048dac3c0d22ca98c3e716d493104..40be710d9afa9c9472a8f347ce6507a3e4c87f8f 100644
--- a/src/ui/QGCSensorSettingsWidget.ui
+++ b/src/ui/QGCSensorSettingsWidget.ui
@@ -6,135 +6,152 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>350</width>
-    <height>545</height>
+    <width>319</width>
+    <height>221</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QGridLayout" name="gridLayout_4">
+  <layout class="QGridLayout" name="gridLayout_4" rowstretch="10,0">
    <property name="margin">
     <number>0</number>
    </property>
-   <item row="0" column="0">
-    <widget class="QGroupBox" name="groupBox">
+   <item row="1" column="0">
+    <widget class="QGroupBox" name="groupBox_3">
      <property name="title">
-      <string>Activate Extended Output</string>
+      <string>Calibration Wizards</string>
      </property>
-     <layout class="QGridLayout" name="gridLayout_2">
-      <property name="margin">
+     <layout class="QGridLayout" name="gridLayout" columnstretch="5,5">
+      <property name="leftMargin">
+       <number>6</number>
+      </property>
+      <property name="topMargin">
+       <number>2</number>
+      </property>
+      <property name="rightMargin">
+       <number>6</number>
+      </property>
+      <property name="bottomMargin">
+       <number>2</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>12</number>
+      </property>
+      <property name="verticalSpacing">
        <number>6</number>
       </property>
       <item row="0" column="0">
-       <widget class="QCheckBox" name="sendRawCheckBox">
+       <widget class="QPushButton" name="rcCalButton">
         <property name="text">
-         <string>Send RAW Sensor data</string>
+         <string>RC Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="1" column="0">
-       <widget class="QCheckBox" name="sendExtendedCheckBox">
+      <item row="0" column="1">
+       <widget class="QPushButton" name="magCalButton">
         <property name="text">
-         <string>Send extended status</string>
+         <string>Mag. Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QCheckBox" name="sendRCCheckBox">
+      <item row="1" column="1">
+       <widget class="QPushButton" name="gyroCalButton">
         <property name="text">
-         <string>Send RC-values</string>
+         <string>Gyro Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="3" column="0">
-       <widget class="QCheckBox" name="sendControllerCheckBox">
+      <item row="1" column="0">
+       <widget class="QPushButton" name="pressureCalButton">
         <property name="text">
-         <string>Send raw controller outputs</string>
+         <string>Pressure Calibration</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QCheckBox" name="sendPositionCheckBox">
+     </layout>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QGroupBox" name="groupBox">
+     <property name="title">
+      <string>Activate Extended Output</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>6</number>
+      </property>
+      <property name="topMargin">
+       <number>2</number>
+      </property>
+      <property name="rightMargin">
+       <number>6</number>
+      </property>
+      <property name="bottomMargin">
+       <number>2</number>
+      </property>
+      <property name="horizontalSpacing">
+       <number>5</number>
+      </property>
+      <property name="verticalSpacing">
+       <number>2</number>
+      </property>
+      <item row="0" column="0">
+       <widget class="QCheckBox" name="sendRawCheckBox">
         <property name="text">
-         <string>Send position setpoint and estimate</string>
+         <string>RAW Sensor Data</string>
         </property>
        </widget>
       </item>
-      <item row="5" column="0">
-       <widget class="QCheckBox" name="sendExtra1CheckBox">
+      <item row="0" column="1">
+       <widget class="QCheckBox" name="sendRCCheckBox">
         <property name="text">
-         <string>Send Extra1</string>
+         <string>RC Values</string>
         </property>
        </widget>
       </item>
-      <item row="6" column="0">
-       <widget class="QCheckBox" name="sendExtra2CheckBox">
+      <item row="4" column="0">
+       <widget class="QCheckBox" name="sendPositionCheckBox">
         <property name="text">
-         <string>Send Extra2</string>
+         <string>Position setpoint</string>
         </property>
        </widget>
       </item>
-      <item row="7" column="0">
-       <widget class="QCheckBox" name="sendExtra3CheckBox">
+      <item row="5" column="0">
+       <widget class="QCheckBox" name="sendControllerCheckBox">
         <property name="text">
-         <string>Send Extra3</string>
+         <string>Raw Controller</string>
         </property>
        </widget>
       </item>
-     </layout>
-    </widget>
-   </item>
-   <item row="1" column="0">
-    <widget class="QGroupBox" name="groupBox_3">
-     <property name="title">
-      <string>Calibration Wizards</string>
-     </property>
-     <layout class="QGridLayout" name="gridLayout" columnstretch="0,50">
-      <property name="margin">
-       <number>6</number>
-      </property>
-      <item row="1" column="0">
-       <widget class="QPushButton" name="magCalButton">
+      <item row="1" column="1">
+       <widget class="QCheckBox" name="sendExtra1CheckBox">
         <property name="text">
-         <string>Start Mag. Calibration</string>
+         <string>Send Extra1</string>
         </property>
        </widget>
       </item>
-      <item row="4" column="0">
-       <widget class="QPushButton" name="gyroCalButton">
+      <item row="1" column="0">
+       <widget class="QCheckBox" name="sendExtendedCheckBox">
         <property name="text">
-         <string>Start Gyro Calibration</string>
+         <string>Attitude</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="0">
-       <widget class="QPushButton" name="rcCalButton">
+      <item row="4" column="1">
+       <widget class="QCheckBox" name="sendExtra2CheckBox">
         <property name="text">
-         <string>Start RC Calibration</string>
+         <string>Send Extra2</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QPushButton" name="pressureCalButton">
+      <item row="5" column="1">
+       <widget class="QCheckBox" name="sendExtra3CheckBox">
         <property name="text">
-         <string>Start Pressure Calibration</string>
+         <string>Send Extra3</string>
         </property>
        </widget>
       </item>
-      <item row="0" column="1">
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
      </layout>
     </widget>
    </item>
diff --git a/src/ui/WaypointGlobalView.ui b/src/ui/WaypointGlobalView.ui
index 7ad20e38549153917c15e4201ab4feb2cb6faf6d..8a04282396e0e1cfe4f8d7d6ec7d0d8bbfc8819f 100644
--- a/src/ui/WaypointGlobalView.ui
+++ b/src/ui/WaypointGlobalView.ui
@@ -6,12 +6,12 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>869</width>
-    <height>60</height>
+    <width>774</width>
+    <height>184</height>
    </rect>
   </property>
   <property name="sizePolicy">
-   <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+   <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
     <horstretch>0</horstretch>
     <verstretch>0</verstretch>
    </sizepolicy>
@@ -144,6 +144,15 @@ QProgressBar::chunk#thrustBar {
 }</string>
   </property>
   <layout class="QGridLayout" name="gridLayout">
+   <property name="sizeConstraint">
+    <enum>QLayout::SetDefaultConstraint</enum>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>0</number>
+   </property>
    <item row="0" column="0">
     <widget class="QGroupBox" name="groupBox_2">
      <property name="sizePolicy">
@@ -155,7 +164,13 @@ QProgressBar::chunk#thrustBar {
      <property name="title">
       <string/>
      </property>
-     <layout class="QHBoxLayout" name="horizontalLayout">
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="20,0,0,50,0,0,50,10,0,20,20,20">
+      <property name="spacing">
+       <number>2</number>
+      </property>
+      <property name="margin">
+       <number>2</number>
+      </property>
       <item>
        <widget class="QLabel" name="idWP_label">
         <property name="text">
@@ -168,10 +183,13 @@ QProgressBar::chunk#thrustBar {
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::MinimumExpanding</enum>
+        </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>135</width>
-          <height>13</height>
+          <width>2</width>
+          <height>0</height>
          </size>
         </property>
        </spacer>
@@ -184,26 +202,7 @@ QProgressBar::chunk#thrustBar {
        </widget>
       </item>
       <item>
-       <widget class="QTextEdit" name="m_latitudtextEdit">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>0</height>
-         </size>
-        </property>
-        <property name="maximumSize">
-         <size>
-          <width>120</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
+       <widget class="QLineEdit" name="m_latitudtextEdit"/>
       </item>
       <item>
        <spacer name="horizontalSpacer_2">
@@ -212,8 +211,8 @@ QProgressBar::chunk#thrustBar {
         </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>50</width>
-          <height>30</height>
+          <width>2</width>
+          <height>0</height>
          </size>
         </property>
        </spacer>
@@ -226,30 +225,20 @@ QProgressBar::chunk#thrustBar {
        </widget>
       </item>
       <item>
-       <widget class="QTextEdit" name="m_longitudtextEdit">
-        <property name="maximumSize">
-         <size>
-          <width>120</width>
-          <height>25</height>
-         </size>
-        </property>
-        <property name="verticalScrollBarPolicy">
-         <enum>Qt::ScrollBarAlwaysOff</enum>
-        </property>
-        <property name="readOnly">
-         <bool>true</bool>
-        </property>
-       </widget>
+       <widget class="QLineEdit" name="m_longitudtextEdit"/>
       </item>
       <item>
        <spacer name="horizontalSpacer_3">
         <property name="orientation">
          <enum>Qt::Horizontal</enum>
         </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::MinimumExpanding</enum>
+        </property>
         <property name="sizeHint" stdset="0">
          <size>
-          <width>50</width>
-          <height>30</height>
+          <width>2</width>
+          <height>0</height>
          </size>
         </property>
        </spacer>
diff --git a/src/ui/WaypointView.ui b/src/ui/WaypointView.ui
index 5c8f32af7721b6f5ed1093a812acf4c8f48ec843..2e71ed016e11e3b98f8f237427e400cacbeae851 100644
--- a/src/ui/WaypointView.ui
+++ b/src/ui/WaypointView.ui
@@ -160,7 +160,7 @@ QProgressBar::chunk#thrustBar {
        <number>2</number>
       </property>
       <property name="margin">
-       <number>5</number>
+       <number>2</number>
       </property>
       <item>
        <widget class="QCheckBox" name="selectedBox">
@@ -205,7 +205,7 @@ QProgressBar::chunk#thrustBar {
         <property name="sizeHint" stdset="0">
          <size>
           <width>25</width>
-          <height>12</height>
+          <height>0</height>
          </size>
         </property>
        </spacer>
@@ -355,7 +355,7 @@ QProgressBar::chunk#thrustBar {
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../../mavground.qrc">
           <normaloff>:/images/actions/go-up.svg</normaloff>:/images/actions/go-up.svg</iconset>
         </property>
        </widget>
@@ -375,7 +375,7 @@ QProgressBar::chunk#thrustBar {
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../../mavground.qrc">
           <normaloff>:/images/actions/go-down.svg</normaloff>:/images/actions/go-down.svg</iconset>
         </property>
        </widget>
@@ -395,7 +395,7 @@ QProgressBar::chunk#thrustBar {
          <string/>
         </property>
         <property name="icon">
-         <iconset>
+         <iconset resource="../../mavground.qrc">
           <normaloff>:/images/actions/list-remove.svg</normaloff>:/images/actions/list-remove.svg</iconset>
         </property>
        </widget>
@@ -405,6 +405,8 @@ QProgressBar::chunk#thrustBar {
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="../../mavground.qrc"/>
+ </resources>
  <connections/>
 </ui>