diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index be5811b24d977a2c8614b4d443a38d88482f6ed0..47a864da2fb05c8ec4d1056bb3b647e9811abe21 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -260,7 +260,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/configuration/ApmPlaneLevel.ui \
     src/ui/configuration/ParamWidget.ui \
     src/ui/configuration/ArduPlanePidConfig.ui \
-    src/ui/configuration/AdvParameterList.ui
+    src/ui/configuration/AdvParameterList.ui \
+    src/ui/configuration/ArduRoverPidConfig.ui
 INCLUDEPATH += src \
     src/ui \
     src/ui/linechart \
@@ -445,7 +446,8 @@ HEADERS += src/MG.h \
     src/ui/configuration/ApmPlaneLevel.h \
     src/ui/configuration/ParamWidget.h \
     src/ui/configuration/ArduPlanePidConfig.h \
-    src/ui/configuration/AdvParameterList.h
+    src/ui/configuration/AdvParameterList.h \
+    src/ui/configuration/ArduRoverPidConfig.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -648,7 +650,8 @@ SOURCES += src/main.cc \
     src/ui/configuration/ApmPlaneLevel.cc \
     src/ui/configuration/ParamWidget.cc \
     src/ui/configuration/ArduPlanePidConfig.cc \
-    src/ui/configuration/AdvParameterList.cc
+    src/ui/configuration/AdvParameterList.cc \
+    src/ui/configuration/ArduRoverPidConfig.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010|win32-msvc2012::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/ui/configuration/ApmSoftwareConfig.cc b/src/ui/configuration/ApmSoftwareConfig.cc
index c8e1261b69a4af7d1d9c194dd9b6f8b3aef94ca0..fa36a6a1d21593a0e834903d412a94fa2173c6ce 100644
--- a/src/ui/configuration/ApmSoftwareConfig.cc
+++ b/src/ui/configuration/ApmSoftwareConfig.cc
@@ -16,6 +16,8 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     ui.advancedParamButton->setVisible(false);
     ui.advParamListButton->setVisible(false);
     ui.arduCopterPidButton->setVisible(false);
+    ui.arduRoverPidButton->setVisible(false);
+    ui.arduPlanePidButton->setVisible(false);
 
     /*basicPidConfig = new BasicPidConfig(this);
     ui.stackedWidget->addWidget(basicPidConfig);
@@ -57,12 +59,18 @@ ApmSoftwareConfig::ApmSoftwareConfig(QWidget *parent) : QWidget(parent)
     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()));
 
+    arduRoverPidConfig = new ArduRoverPidConfig(this);
+    ui.stackedWidget->addWidget(arduRoverPidConfig);
+    buttonToConfigWidgetMap[ui.arduRoverPidButton] = arduRoverPidConfig;
+    connect(ui.arduRoverPidButton,SIGNAL(clicked()),this,SLOT(activateStackedWidget()));
+
+
+
 
 
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
@@ -101,11 +109,19 @@ void ApmSoftwareConfig::activeUASSet(UASInterface *uas)
     {
         ui.arduPlanePidButton->setVisible(true);
         ui.arduCopterPidButton->setVisible(false);
+        ui.arduRoverPidButton->setVisible(false);
     }
     else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
     {
         ui.arduCopterPidButton->setVisible(true);
         ui.arduPlanePidButton->setVisible(false);
+        ui.arduRoverPidButton->setVisible(false);
+    }
+    else if (uas->getSystemType() == MAV_TYPE_GROUND_ROVER)
+    {
+        ui.arduRoverPidButton->setVisible(true);
+        ui.arduCopterPidButton->setVisible(false);
+        ui.arduPlanePidButton->setVisible(false);
     }
 
 
diff --git a/src/ui/configuration/ApmSoftwareConfig.h b/src/ui/configuration/ApmSoftwareConfig.h
index 700a8206736e6252ae65b614dc7a8e0630b7efb1..7b0b5138e36705c361f3dc81c3098a5b36f3d96f 100644
--- a/src/ui/configuration/ApmSoftwareConfig.h
+++ b/src/ui/configuration/ApmSoftwareConfig.h
@@ -11,6 +11,7 @@
 #include "AdvancedParamConfig.h"
 #include "ArduCopterPidConfig.h"
 #include "ArduPlanePidConfig.h"
+#include "ArduRoverPidConfig.h"
 #include "AdvParameterList.h"
 #include "UASInterface.h"
 #include "UASManager.h"
@@ -35,6 +36,7 @@ private:
     AdvancedParamConfig *advancedParamConfig;
     ArduCopterPidConfig *arduCopterPidConfig;
     ArduPlanePidConfig *arduPlanePidConfig;
+    ArduRoverPidConfig *arduRoverPidConfig;
     AdvParameterList *advParameterList;
     QMap<QObject*,QWidget*> buttonToConfigWidgetMap;
 };
diff --git a/src/ui/configuration/ApmSoftwareConfig.ui b/src/ui/configuration/ApmSoftwareConfig.ui
index b25f61577e07416ce25c05edccb714e3adbd108b..aa039930b26d0d5b75d4f2c19c84752e2e3e8ae8 100644
--- a/src/ui/configuration/ApmSoftwareConfig.ui
+++ b/src/ui/configuration/ApmSoftwareConfig.ui
@@ -200,6 +200,19 @@
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QPushButton" name="arduRoverPidButton">
+           <property name="minimumSize">
+            <size>
+             <width>0</width>
+             <height>35</height>
+            </size>
+           </property>
+           <property name="text">
+            <string>ArduRover Pids</string>
+           </property>
+          </widget>
+         </item>
          <item>
           <spacer name="verticalSpacer">
            <property name="orientation">
diff --git a/src/ui/configuration/ArduRoverPidConfig.cc b/src/ui/configuration/ArduRoverPidConfig.cc
new file mode 100644
index 0000000000000000000000000000000000000000..725cbb956876798a301675a94b4eca5634c3bea5
--- /dev/null
+++ b/src/ui/configuration/ArduRoverPidConfig.cc
@@ -0,0 +1,75 @@
+#include "ArduRoverPidConfig.h"
+
+
+ArduRoverPidConfig::ArduRoverPidConfig(QWidget *parent) : AP2ConfigWidget(parent)
+{
+    ui.setupUi(this);
+    nameToBoxMap["STEER2SRV_P"] = ui.steer2ServoPSpinBox;
+    nameToBoxMap["STEER2SRV_I"] = ui.steer2ServoISpinBox;
+    nameToBoxMap["STEER2SRV_D"] = ui.steer2ServoDSpinBox;
+    nameToBoxMap["STEER2SRV_IMAX"] = ui.steer2ServoIMAXSpinBox;
+
+    nameToBoxMap["XTRK_ANGLE_CD"] = ui.xtrackEntryAngleSpinBox;
+    nameToBoxMap["XTRK_GAIN_SC"] = ui.xtrackGainSpinBox;
+
+    nameToBoxMap["CRUISE_THROTTLE"] = ui.throttleCruiseSpinBox;
+    nameToBoxMap["THR_MIN"] = ui.throttleMinSpinBox;
+    nameToBoxMap["THR_MAX"] = ui.throttleMaxSpinBox;
+    nameToBoxMap["FS_THR_VALUE"] = ui.throttleFSSpinBox;
+
+    nameToBoxMap["HDNG2STEER_P"] = ui.heading2SteerPSpinBox;
+    nameToBoxMap["HDNG2STEER_I"] = ui.heading2SteerISpinBox;
+    nameToBoxMap["HDNG2STEER_D"] = ui.heading2SteerDSpinBox;
+    nameToBoxMap["HDNG2STEER_IMAX"] = ui.heading2SteerIMAXSpinBox;
+
+    nameToBoxMap["SPEED2THR_P"] = ui.speed2ThrottlePSpinBox;
+    nameToBoxMap["SPEED2THR_I"] = ui.speed2ThrottleISpinBox;
+    nameToBoxMap["SPEED2THR_D"] = ui.speed2ThrottleDSpinBox;
+    nameToBoxMap["SPEED2THR_IMAX"] = ui.speed2ThrottleIMAXSpinBox;
+
+    nameToBoxMap["CRUISE_SPEED"] = ui.roverCruiseSpinBox;
+    nameToBoxMap["SPEED_TURN_GAIN"] = ui.roverTurnSpeedSpinBox;
+    nameToBoxMap["SPEED_TURN_DIST"] = ui.roverTurnDistSpinBox;
+    nameToBoxMap["WP_RADIUS"] = ui.roverWPRadiusSpinBox;
+
+    nameToBoxMap["SONAR_TRIGGER_CM"] = ui.sonarTriggerSpinBox;
+    nameToBoxMap["SONAR_TURN_ANGLE"] = ui.sonarTurnAngleSpinBox;
+    nameToBoxMap["SONAR_TURN_TIME"] = ui.sonarTurnTimeSpinBox;
+    nameToBoxMap["SONAR_DEBOUNCE"] = ui.sonaeDebounceSpinBox;
+
+}
+
+ArduRoverPidConfig::~ArduRoverPidConfig()
+{
+}
+void ArduRoverPidConfig::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 ArduRoverPidConfig::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());
+    }
+}
+
+void ArduRoverPidConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
+{
+    if (nameToBoxMap.contains(parameterName))
+    {
+        nameToBoxMap[parameterName]->setValue(value.toFloat());
+    }
+}
diff --git a/src/ui/configuration/ArduRoverPidConfig.h b/src/ui/configuration/ArduRoverPidConfig.h
new file mode 100644
index 0000000000000000000000000000000000000000..214658bdccf2f45dc8e450a2da29e81f60876e49
--- /dev/null
+++ b/src/ui/configuration/ArduRoverPidConfig.h
@@ -0,0 +1,23 @@
+#ifndef ARDUROVERPIDCONFIG_H
+#define ARDUROVERPIDCONFIG_H
+
+#include <QWidget>
+#include "ui_ArduRoverPidConfig.h"
+#include "AP2ConfigWidget.h"
+class ArduRoverPidConfig : public AP2ConfigWidget
+{
+    Q_OBJECT
+    
+public:
+    explicit ArduRoverPidConfig(QWidget *parent = 0);
+    ~ArduRoverPidConfig();
+private slots:
+    void writeButtonClicked();
+    void refreshButtonClicked();
+    void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+private:
+    QMap<QString,QDoubleSpinBox*> nameToBoxMap;
+    Ui::ArduRoverPidConfig ui;
+};
+
+#endif // ARDUROVERPIDCONFIG_H
diff --git a/src/ui/configuration/ArduRoverPidConfig.ui b/src/ui/configuration/ArduRoverPidConfig.ui
new file mode 100644
index 0000000000000000000000000000000000000000..47831616e0adbd2578e60934c450c831c1ea7ce3
--- /dev/null
+++ b/src/ui/configuration/ArduRoverPidConfig.ui
@@ -0,0 +1,732 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ArduRoverPidConfig</class>
+ <widget class="QWidget" name="ArduRoverPidConfig">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>626</width>
+    <height>607</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>10</y>
+     <width>151</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>&lt;h2&gt;ArduRover Pids&lt;/h2&gt;</string>
+   </property>
+  </widget>
+  <widget class="QWidget" name="gridLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>60</x>
+     <y>90</y>
+     <width>504</width>
+     <height>419</height>
+    </rect>
+   </property>
+   <layout class="QGridLayout" name="gridLayout">
+    <item row="0" column="0">
+     <widget class="QGroupBox" name="groupBox_5">
+      <property name="title">
+       <string>Steer 2 Servo</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_18">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_5">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_9">
+           <item>
+            <widget class="QLabel" name="label_18">
+             <property name="text">
+              <string>P</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_19">
+             <property name="text">
+              <string>I</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_20">
+             <property name="text">
+              <string>D</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_21">
+             <property name="text">
+              <string>INT_MAX</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_10">
+           <item>
+            <widget class="QDoubleSpinBox" name="steer2ServoPSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="steer2ServoISpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="steer2ServoDSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="steer2ServoIMAXSpinBox">
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QGroupBox" name="groupBox_7">
+      <property name="title">
+       <string>Speed 2 Throttle</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_20">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_7">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_13">
+           <item>
+            <widget class="QLabel" name="label_26">
+             <property name="text">
+              <string>P</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_27">
+             <property name="text">
+              <string>I</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_28">
+             <property name="text">
+              <string>D</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_29">
+             <property name="text">
+              <string>INT_MAX</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_14">
+           <item>
+            <widget class="QDoubleSpinBox" name="speed2ThrottlePSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="speed2ThrottleISpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="speed2ThrottleDSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="speed2ThrottleIMAXSpinBox">
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QGroupBox" name="groupBox_9">
+      <property name="title">
+       <string>Heading 2 Steer</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_22">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_9">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_17">
+           <item>
+            <widget class="QLabel" name="label_34">
+             <property name="text">
+              <string>P</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_35">
+             <property name="text">
+              <string>I</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_36">
+             <property name="text">
+              <string>D</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_37">
+             <property name="text">
+              <string>INT_MAX</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_23">
+           <item>
+            <widget class="QDoubleSpinBox" name="heading2SteerPSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="heading2SteerISpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="heading2SteerDSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="heading2SteerIMAXSpinBox">
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QGroupBox" name="groupBox_10">
+      <property name="title">
+       <string>Throttle 0-100%</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_24">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_10">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_25">
+           <item>
+            <widget class="QLabel" name="label_38">
+             <property name="text">
+              <string>Cruise</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_39">
+             <property name="text">
+              <string>Min</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_40">
+             <property name="text">
+              <string>Max</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_41">
+             <property name="text">
+              <string>FS Value</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_26">
+           <item>
+            <widget class="QDoubleSpinBox" name="throttleCruiseSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="throttleMinSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="throttleMaxSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="throttleFSSpinBox">
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QGroupBox" name="groupBox_11">
+      <property name="title">
+       <string>Xtrack Pids</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_27">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_11">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_28">
+           <item>
+            <widget class="QLabel" name="label_42">
+             <property name="text">
+              <string>Gain (cm)</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_43">
+             <property name="text">
+              <string>Entry Angle</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_29">
+           <item>
+            <widget class="QDoubleSpinBox" name="xtrackGainSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="xtrackEntryAngleSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="2" column="1">
+     <widget class="QGroupBox" name="groupBox_8">
+      <property name="title">
+       <string>Sonar</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_21">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_8">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_15">
+           <item>
+            <widget class="QLabel" name="label_30">
+             <property name="text">
+              <string>Trigger cm</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_31">
+             <property name="text">
+              <string>Turn Angle</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_32">
+             <property name="text">
+              <string>Turn Time</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_33">
+             <property name="text">
+              <string>Debounce</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_16">
+           <item>
+            <widget class="QDoubleSpinBox" name="sonarTriggerSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="sonarTurnAngleSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="sonarTurnTimeSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="sonaeDebounceSpinBox">
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+    <item row="1" column="2">
+     <widget class="QGroupBox" name="groupBox_6">
+      <property name="title">
+       <string>Rover</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_19">
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_6">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_11">
+           <item>
+            <widget class="QLabel" name="label_22">
+             <property name="text">
+              <string>Cruise Speed</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_23">
+             <property name="text">
+              <string>Turn Speed</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_24">
+             <property name="text">
+              <string>Turn Dist</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_25">
+             <property name="text">
+              <string>WP Radius</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_12">
+           <item>
+            <widget class="QDoubleSpinBox" name="roverCruiseSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="roverTurnSpeedSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="roverTurnDistSpinBox">
+             <property name="decimals">
+              <number>3</number>
+             </property>
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QDoubleSpinBox" name="roverWPRadiusSpinBox">
+             <property name="minimum">
+              <double>-10000.000000000000000</double>
+             </property>
+             <property name="maximum">
+              <double>10000.000000000000000</double>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </widget>
+    </item>
+   </layout>
+  </widget>
+  <widget class="QPushButton" name="refreshPushButton">
+   <property name="geometry">
+    <rect>
+     <x>300</x>
+     <y>540</y>
+     <width>91</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Refresh Params</string>
+   </property>
+  </widget>
+  <widget class="QPushButton" name="writePushButton">
+   <property name="geometry">
+    <rect>
+     <x>200</x>
+     <y>540</y>
+     <width>75</width>
+     <height>23</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Write Params</string>
+   </property>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>