Merge branch 'master' of https://github.com/mavlink/qgroundcontrol

8d0f9620 · Bryant · fd7f93df · afd634b4 · 8d0f9620 · 8d0f9620
Commit 8d0f9620 authored Oct 31, 2012 by Bryant
35 changed files
--- a/files/px4/parameter_tooltips/tooltips.txt
+++ b/files/px4/parameter_tooltips/tooltips.txt
@@ -4,4 +4,8 @@
 | BAT_N_CELLS     | 1      | 100    | 3        | 1           | 1       | Number of SERIAL battery cells. Typically this ranges from 2S to 6S in small-scale UAVs  |
 | BAT_V_SCALING   | 0.001  | 1.0    | 0.00838  | 1           | 1       | Conversion from ADC ticks to battery voltage. Depends on the connected board, calibrate with a multimeter.  |
 | MC_ATTRATE_P    | 0.0    | 20.0   | 0.20     | 1           | 1       | Multirotor attitude rate control P gain. This gain controls how much of the motor thrust should be used to control angular velocity. A larger number will increase the control response, but will make the system also more twitchy. |
-| FW_ROLLRATE_P    | 0.0    | 20.0   | 0.30     | 1           | 1       | Fixed wing roll rate control P gain. This gain controls how strong the ailerons or rudder should be actuated in order to achieve a certain roll rate. A larger number will increase the control response, but will make the system also more twitchy. |
+| MC_ATTRATE_D    | 0.0    | 20.0   | 0.05     | 1           | 1       | Multirotor attitude rate control D gain. A large value will allow to damp oscillations due to a high P gain, but will make the system response suspectible to noise.|
\ No newline at end of file
+| MC_ATT_P    | 0.0    | 20.0   | 0.20     | 1           | 1       | Multirotor attitude control proportional (P) gain. This defines how strong the response of the system will be to an attitude error|
+| MC_ATT_D    | 0.0    | 20.0   | 0.05     | 1           | 1       | Multirotor attitude control D gain. A large value will allow to damp oscillations due to a high P gain, but will make the system response suspectible to noise.|
+| FW_ROLLRATE_P    | 0.0    | 20.0   | 0.30     | 1           | 1       | Fixed wing roll rate control P gain. This gain controls how strong the ailerons or rudder should be actuated in order to achieve a certain roll rate. A larger number will increase the control response, but will make the system also more twitchy. |
+| FW_HEADING_P    | 0.0    | 20.0   | 4.00     | 1           | 1       | Fixed wing heading error to bank angle gain |
\ No newline at end of file
--- a/files/styles/style-indoor.css
+++ b/files/styles/style-indoor.css
@@ -96,46 +96,39 @@ border: 1px solid #777777;
 	margin-top: 1ex; /* leave space at the top for the title */
 }
- QDockWidget {
+QDockWidget::close-button, QDockWidget::float-button {
-     border: 1px solid #32345E;
+    border: 1px solid transparent;
-  /*   titlebar-close-icon: url(close.png);
+    background: none;
-     titlebar-normal-icon: url(undock.png);*/
+    padding: 0px;
- }
+}
- QDockWidget::title {
-     text-align: left; /* align the text to the left */
-     background: lightgray;
-     padding-left: 5px;
- }
- QDockWidget::close-button, QDockWidget::float-button {
-     border: 1px solid transparent;
-     background: darkgray;
-     padding: 0px;
- }
- QDockWidget::close-button:hover, QDockWidget::float-button:hover {
+QDockWidget::close-button:hover, QDockWidget::float-button:hover {
-     background: gray;
+    background: none;
- }
+}
- QDockWidget::close-button:pressed, QDockWidget::float-button:pressed {
+QDockWidget::close-button:pressed, QDockWidget::float-button:pressed {
     padding: 1px -1px -1px 1px;
- }
+     background: none;
+}
-QDockWidget::close-button, QDockWidget::float-button {
+ QDockWidget {
-	background-color: #181820;
+    border: 10px solid #66666B;
-	color: #EEEEEE;
+     padding: 2px;
+     margin: 1px;
+     border-radius: 1px;
+     /*background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #59666f, stop: 1 #414B52);*/
+  /*   titlebar-close-icon: url(close.png);
+     titlebar-normal-icon: url(undock.png);*/
 }
 QDockWidget::title {
    text-align: left;
-    background: #121214;
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #3F556A, stop: 1 #293645);
-    color: #4A4A4F;
+    color: #EDEDED;
-    padding-left: 5px;
+    padding-left: 10px;
-    height: 10px;
+    height: 14px;
-	border-bottom: 1px solid #555555;
+    border-bottom: 1px solid #1B1F22;
+	border-bottom: 2px solid #2C3A4A;
 }
 QSeparator {
@@ -190,31 +183,36 @@ QPushButton {
 	min-height: 18px;
 	max-height: 18px;
    min-width: 60px;*/
-	border: 2px solid #4A4A4F;
+    min-height: 20px;
-	border-radius: 3px;
+    /*min-width: 24px;*/
+    max-height: 20px;
+	border: 0px solid #59666f;
+	border-radius: 2px;
 	padding-left: 8px;
 	padding-right: 8px;
-	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #59666f, stop: 1 #414B52);
 }
 QPushButton:checked {
 	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #404040, stop: 1 #808080);
-    border: 2px solid #379AC3;
+    border: 0px solid #379AC3;
 }
 QPushButton:pressed {
 	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0);
-    border: 2px solid #379AC3;
+    border: 0px solid #379AC3;
 }
 QToolButton {
 	font-weight: bold;
-	min-height: 18px;
+	min-height: 20px;
-	min-width: 24px;
+	/*min-width: 24px;*/
-	max-height: 18px;
+	max-height: 20px;
-	border: 2px solid #4A4A4F;
+	border: 0px solid #4A4A4F;
-	border-radius: 3px;
+	border-radius: 2px;
-	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #232228, stop: 1 #020208);
+        padding-left: 3px;
+    padding-right: 3px;
+	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #59666f, stop: 1 #414B52);
 }
 QToolButton:checked {
@@ -228,8 +226,9 @@ QToolButton:pressed {
 }
 QToolTip {
-    background-color: #090909;
+    background-color: #3D5368;
-    border: 1px solid #379AC3;
+    border: 0px solid #379AC3;
+    margin: 3px;
 	border-radius: 3px;
    color: #DDDDDF;
 }
@@ -400,11 +399,11 @@ QDialog {
 /* Style the tab using the tab sub-control. Note that
     it reads QTabBar _not_ QTabWidget */
 QTabBar::tab {
-     	background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
+    background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #090909, stop: 1 #353535);
    border: 2px solid #62676B;
-     border-radius: 4px;
+    border-radius: 4px;
-     min-width: 8ex;
+    min-width: 8ex;
-     padding: 2px;
+    padding: 2px;
 }
 QTabBar::tab:selected, QTabBar::tab:hover {

--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -224,7 +224,9 @@ FORMS += src/ui/MainWindow.ui \
    src/ui/mission/QGCMissionDoStartSearch.ui \
    src/ui/mission/QGCMissionDoFinishSearch.ui \
    src/ui/QGCVehicleConfig.ui \
-    src/ui/QGCHilConfiguration.ui
+    src/ui/QGCHilConfiguration.ui \
+    src/ui/QGCHilFlightGearConfiguration.ui \
+    src/ui/QGCHilXPlaneConfiguration.ui
 INCLUDEPATH += src \
    src/ui \
    src/ui/linechart \
@@ -362,7 +364,9 @@ HEADERS += src/MG.h \
    src/ui/mission/QGCMissionDoFinishSearch.h \
    src/ui/QGCVehicleConfig.h \
    src/comm/QGCHilLink.h \
-    src/ui/QGCHilConfiguration.h
+    src/ui/QGCHilConfiguration.h \
+    src/ui/QGCHilFlightGearConfiguration.h \
+    src/ui/QGCHilXPlaneConfiguration.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::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -520,7 +524,9 @@ SOURCES += src/main.cc \
    src/ui/mission/QGCMissionDoFinishSearch.cc \
    src/ui/QGCVehicleConfig.cc \
    src/comm/QGCHilLink.cc \
-    src/ui/QGCHilConfiguration.cc
+    src/ui/QGCHilConfiguration.cc \
+    src/ui/QGCHilFlightGearConfiguration.cc \
+    src/ui/QGCHilXPlaneConfiguration.cc
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|macx-g++|macx-g++42|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc

--- a/src/comm/QGCFlightGearLink.cc
+++ b/src/comm/QGCFlightGearLink.cc
@@ -39,9 +39,11 @@ This file is part of the QGROUNDCONTROL project
 #include <QHostInfo>
 #include "MainWindow.h"
-QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString remoteHost, QHostAddress host, quint16 port) :
+QGCFlightGearLink::QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost, QHostAddress host, quint16 port) :
    process(NULL),
    terraSync(NULL),
+    socket(NULL),
+    startupArguments(startupArguments),
    flightGearVersion(0)
 {
    this->host = host;
@@ -349,20 +351,7 @@ bool QGCFlightGearLink::connectSimulation()
    QString fgRoot;
    QString fgScenery;
    QString terraSyncScenery;
-    QString aircraft;
+    QString fgAircraft;
-    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
-    {
-        aircraft = "Rascal110-JSBSim";
-    }
-    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
-    {
-        aircraft = "arducopter";
-    }
-    else
-    {
-        aircraft = "Rascal110-JSBSim";
-    }
 #ifdef Q_OS_MACX
    processFgfs = "/Applications/FlightGear.app/Contents/Resources/fgfs";
@@ -387,6 +376,8 @@ bool QGCFlightGearLink::connectSimulation()
    terraSyncScenery = QDir::homePath() + "/.terrasync/Scenery"; //according to http://wiki.flightgear.org/TerraSync a separate directory is used
 #endif
+    fgAircraft = QApplication::applicationDirPath() + "/files/flightgear/Aircraft";
    // Sanity checks
    bool sane = true;
    QFileInfo executable(processFgfs);
@@ -426,6 +417,7 @@ bool QGCFlightGearLink::connectSimulation()
    /*Prepare FlightGear Arguments */
    flightGearArguments << QString("--fg-root=%1").arg(fgRoot);
    flightGearArguments << QString("--fg-scenery=%1:%2").arg(fgScenery).arg(terraSyncScenery); //according to http://wiki.flightgear.org/TerraSync a separate directory is used
+    flightGearArguments << QString("--fg-aircraft=%1").arg(fgAircraft);
    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
    {
        // FIXME ADD QUAD-Specific protocol here
@@ -438,35 +430,37 @@ bool QGCFlightGearLink::connectSimulation()
        flightGearArguments << QString("--generic=socket,in,50,127.0.0.1,%1,udp,qgroundcontrol").arg(currentPort);
    }
    flightGearArguments << "--atlas=socket,out,1,localhost,5505,udp";
-    flightGearArguments << "--in-air";
+//    flightGearArguments << "--in-air";
-    flightGearArguments << "--roll=0";
+//    flightGearArguments << "--roll=0";
-    flightGearArguments << "--pitch=0";
+//    flightGearArguments << "--pitch=0";
-    flightGearArguments << "--vc=90";
+//    flightGearArguments << "--vc=90";
-    flightGearArguments << "--heading=300";
+//    flightGearArguments << "--heading=300";
-    flightGearArguments << "--timeofday=noon";
+//    flightGearArguments << "--timeofday=noon";
-    flightGearArguments << "--disable-hud-3d";
+//    flightGearArguments << "--disable-hud-3d";
-    flightGearArguments << "--disable-fullscreen";
+//    flightGearArguments << "--disable-fullscreen";
-    flightGearArguments << "--geometry=400x300";
+//    flightGearArguments << "--geometry=400x300";
-    flightGearArguments << "--disable-anti-alias-hud";
+//    flightGearArguments << "--disable-anti-alias-hud";
-    flightGearArguments << "--wind=0@0";
+//    flightGearArguments << "--wind=0@0";
-    flightGearArguments << "--turbulence=0.0";
+//    flightGearArguments << "--turbulence=0.0";
-    flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
+//    flightGearArguments << "--prop:/sim/frame-rate-throttle-hz=30";
-    flightGearArguments << "--control=mouse";
+//    flightGearArguments << "--control=mouse";
-    flightGearArguments << "--disable-intro-music";
+//    flightGearArguments << "--disable-intro-music";
-    flightGearArguments << "--disable-sound";
+//    flightGearArguments << "--disable-sound";
-    flightGearArguments << "--disable-random-objects";
+//    flightGearArguments << "--disable-random-objects";
-    flightGearArguments << "--disable-ai-models";
+//    flightGearArguments << "--disable-ai-models";
-    flightGearArguments << "--shading-flat";
+//    flightGearArguments << "--shading-flat";
-    flightGearArguments << "--fog-disable";
+//    flightGearArguments << "--fog-disable";
-    flightGearArguments << "--disable-specular-highlight";
+//    flightGearArguments << "--disable-specular-highlight";
-    //flightGearArguments << "--disable-skyblend";
+//    //flightGearArguments << "--disable-skyblend";
-    flightGearArguments << "--disable-random-objects";
+//    flightGearArguments << "--disable-random-objects";
-    flightGearArguments << "--disable-panel";
+//    flightGearArguments << "--disable-panel";
-    //flightGearArguments << "--disable-horizon-effect";
+//    //flightGearArguments << "--disable-horizon-effect";
-    flightGearArguments << "--disable-clouds";
+//    flightGearArguments << "--disable-clouds";
-    flightGearArguments << "--fdm=jsb";
+//    flightGearArguments << "--fdm=jsb";
-    flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
+//    flightGearArguments << "--units-meters"; //XXX: check: the protocol xml has already a conversion from feet to m?
-    flightGearArguments << "--notrim";
+//    flightGearArguments << "--notrim";
+    flightGearArguments += startupArguments.split(" ");
    if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
    {
        // Start all engines of the quad
@@ -483,7 +477,7 @@ bool QGCFlightGearLink::connectSimulation()
    flightGearArguments << QString("--lon=%1").arg(UASManager::instance()->getHomeLongitude());
    flightGearArguments << QString("--altitude=%1").arg(UASManager::instance()->getHomeAltitude());
    // Add new argument with this: flightGearArguments << "";
-    flightGearArguments << QString("--aircraft=%2").arg(aircraft);
+    //flightGearArguments << QString("--aircraft=%2").arg(aircraft);
    /*Prepare TerraSync Arguments */
    QStringList terraSyncArguments;
@@ -542,6 +536,15 @@ void QGCFlightGearLink::printTerraSyncError()
   }
 }
+/**
+ * @brief Set the startup arguments used to start flightgear
+ *
+ **/
+void QGCFlightGearLink::setStartupArguments(QString startupArguments)
+{
+    this->startupArguments = startupArguments;
+}
 /**
 * @brief Check if connection is active.
 *

--- a/src/comm/QGCFlightGearLink.h
+++ b/src/comm/QGCFlightGearLink.h
@@ -49,7 +49,7 @@ class QGCFlightGearLink : public QGCHilLink
    //Q_INTERFACES(QGCFlightGearLinkInterface:LinkInterface)
 public:
-    QGCFlightGearLink(UASInterface* mav, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
+    QGCFlightGearLink(UASInterface* mav, QString startupArguments, QString remoteHost=QString("127.0.0.1:49000"), QHostAddress host = QHostAddress::Any, quint16 port = 49005);
    ~QGCFlightGearLink();
    bool isConnected();
@@ -99,6 +99,11 @@ public slots:
        Q_UNUSED(version);
    }
+    void selectAirframe(const QString& airframe)
+    {
+        Q_UNUSED(airframe);
+    }
    void readBytes();
    /**
     * @brief Write a number of bytes to the interface.
@@ -112,6 +117,7 @@ public slots:
    void printTerraSyncOutput();
    void printTerraSyncError();
+    void setStartupArguments(QString startupArguments);
 protected:
    QString name;
@@ -137,6 +143,7 @@ protected:
    QProcess* process;
    QProcess* terraSync;
    unsigned int flightGearVersion;
+    QString startupArguments;
    void setName(QString name);

--- a/src/comm/QGCHilLink.h
+++ b/src/comm/QGCHilLink.h
@@ -48,6 +48,8 @@ public slots:
    /** @brief Set the simulator version as text string */
    virtual void setVersion(const QString& version) = 0;
+    virtual void selectAirframe(const QString& airframe) = 0;
    virtual void readBytes() = 0;
    /**
     * @brief Write a number of bytes to the interface.

--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -75,7 +75,7 @@ void QGCXPlaneLink::loadSettings()
    settings.beginGroup("QGC_XPLANE_LINK");
    setRemoteHost(settings.value("REMOTE_HOST", QString("%1:%2").arg(remoteHost.toString()).arg(remotePort)).toString());
    setVersion(settings.value("XPLANE_VERSION", 10).toInt());
-    selectPlane(settings.value("AIRFRAME", "default").toString());
+    selectAirframe(settings.value("AIRFRAME", "default").toString());
    settings.endGroup();
 }
@@ -182,7 +182,6 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
    if (newHost.contains(":"))
    {
-        //qDebug() << "HOST: " << newHost.split(":").first();
        QHostInfo info = QHostInfo::fromName(newHost.split(":").first());
        if (info.error() == QHostInfo::NoError)
        {
@@ -198,7 +197,6 @@ void QGCXPlaneLink::setRemoteHost(const QString& newHost)
                }
            }
            remoteHost = address;
-            //qDebug() << "Address:" << address.toString();
            // Set localPort according to user input
            remotePort = newHost.split(":").last().toInt();
        }
@@ -586,7 +584,7 @@ bool QGCXPlaneLink::disconnectSimulation()
    return !connectState;
 }
-void QGCXPlaneLink::selectPlane(const QString& plane)
+void QGCXPlaneLink::selectAirframe(const QString& plane)
 {
    airframeName = plane;
@@ -718,6 +716,8 @@ void QGCXPlaneLink::setRandomAttitude()
 bool QGCXPlaneLink::connectSimulation()
 {
    qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
+    // XXX Hack
+    storeSettings();
    start(LowPriority);
@@ -730,9 +730,6 @@ bool QGCXPlaneLink::connectSimulation()
    QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
-    //process = new QProcess(this);
-    //terraSync = new QProcess(this);
    connect(mav, SIGNAL(hilControlsChanged(uint64_t, float, float, float, float, uint8_t, uint8_t)), this, SLOT(updateControls(uint64_t,float,float,float,float,uint8_t,uint8_t)));
    connect(mav, SIGNAL(hilActuatorsChanged(uint64_t, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(uint64_t,float,float,float,float,float,float,float,float)));
    connect(this, SIGNAL(hilStateChanged(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)), mav, SLOT(sendHilState(uint64_t,float,float,float,float,float,float,int32_t,int32_t,int32_t,int16_t,int16_t,int16_t,int16_t,int16_t,int16_t)));

--- a/src/comm/QGCXPlaneLink.h
+++ b/src/comm/QGCXPlaneLink.h
@@ -130,7 +130,7 @@ public slots:
     * @brief Select airplane model
     * @param plane the name of the airplane
     */
-    void selectPlane(const QString& plane);
+    void selectAirframe(const QString& airframe);
    /**
     * @brief Set the airplane position and attitude
     * @param lat

--- a/src/uas/QGCUASParamManager.h
+++ b/src/uas/QGCUASParamManager.h
@@ -42,7 +42,7 @@ public:
    virtual double getParamMin(const QString& param) = 0;
    virtual double getParamMax(const QString& param) = 0;
    virtual double getParamDefault(const QString& param) = 0;
-    virtual const QString& getParamInfo(const QString& param) = 0;
+    virtual QString getParamInfo(const QString& param) = 0;
    /** @brief Request an update for the parameter list */
    void requestParameterListUpdate(int component = 0);

--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -97,7 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
    paramManager(NULL),
    attitudeStamped(false),
    lastAttitude(0),
-    simulation(new QGCXPlaneLink(this)),
+    simulation(0),
    isLocalPositionKnown(false),
    isGlobalPositionKnown(false),
    systemIsArmed(false),
@@ -2263,18 +2263,13 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
        for (unsigned int i = 0; i < sizeof(p.param_id); i++)
        {
            // String characters
-            if ((int)i < id.length() && i < (sizeof(p.param_id) - 1))
+            if ((int)i < id.length())
            {
                p.param_id[i] = id.toAscii()[i];
            }
-            //        // Null termination at end of string or end of buffer
-            //        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
-            //        {
-            //            p.param_id[i] = '\0';
-            //        }
-            // Zero fill
            else
            {
+                // Fill rest with zeros
                p.param_id[i] = 0;
            }
        }
@@ -2588,14 +2583,24 @@ bool UAS::emergencyKILL()
 }
 /**
-* If enabled, connect the fligth gear link. 
+* If enabled, connect the flight gear link.
 */
-void UAS::enableHilFlightGear(bool enable)
+void UAS::enableHilFlightGear(bool enable, QString options)
 {
+    QGCFlightGearLink* link = dynamic_cast<QGCFlightGearLink*>(simulation);
+    if (!link || !simulation) {
+        // Delete wrong sim
+        if (simulation) {
+            stopHil();
+            delete simulation;
+        }
+        simulation = new QGCFlightGearLink(this, options);
+    }
    // Connect Flight Gear Link
+    link = dynamic_cast<QGCFlightGearLink*>(simulation);
+    link->setStartupArguments(options);
    if (enable)
    {
-        simulation = new QGCFlightGearLink(this);
        startHil();
    }
    else
@@ -2605,11 +2610,20 @@ void UAS::enableHilFlightGear(bool enable)
 }
 /**
-* If enabled, connect the fligth gear link.
+* If enabled, connect the X-plane gear link.
 */
 void UAS::enableHilXPlane(bool enable)
 {
-    // Connect Flight Gear Link
+    QGCXPlaneLink* link = dynamic_cast<QGCXPlaneLink*>(simulation);
+    if (!link || !simulation) {
+        if (simulation) {
+            stopHil();
+            delete simulation;
+        }
+        qDebug() << "CREATED NEW XPLANE LINK";
+        simulation = new QGCXPlaneLink(this);
+    }
+    // Connect X-Plane Link
    if (enable)
    {
        startHil();
@@ -2679,7 +2693,7 @@ void UAS::startHil()
 */
 void UAS::stopHil()
 {
-    simulation->disconnectSimulation();
+    if (simulation) simulation->disconnectSimulation();
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & !MAV_MODE_FLAG_HIL_ENABLED, navMode);
    sendMessage(msg);

--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -531,7 +531,7 @@ public slots:
    void go();
    /** @brief Enable / disable HIL */
-    void enableHilFlightGear(bool enable);
+    void enableHilFlightGear(bool enable, QString options);
    void enableHilXPlane(bool enable);

--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -108,8 +108,8 @@ HSIDisplay::HSIDisplay(QWidget *parent) :
    laserFix(0),
    iruFix(0),
    mavInitialized(false),
-    topMargin(12.0f),
+    topMargin(18.0f),
-    bottomMargin(10.0f),
+    bottomMargin(12.0f),
    attControlKnown(false),
    xyControlKnown(false),
    zControlKnown(false),

--- a/src/ui/HUD.cc
+++ b/src/ui/HUD.cc
--- a/src/ui/Linechart.ui
+++ b/src/ui/Linechart.ui
@@ -47,7 +47,7 @@
      <number>10</number>
     </property>
     <widget class="QWidget" name="curveGroupBox" native="true">
-      <layout class="QGridLayout" name="gridLayout" rowstretch="50,1">
+      <layout class="QGridLayout" name="gridLayout" rowstretch="50,0">
       <property name="leftMargin">
        <number>6</number>
       </property>
@@ -103,8 +103,8 @@
           <rect>
            <x>0</x>
            <y>0</y>
-            <width>202</width>
+            <width>884</width>
-            <height>488</height>
+            <height>491</height>
           </rect>
          </property>
         </widget>
@@ -164,6 +164,28 @@
           </item>
           <item>
            <layout class="QVBoxLayout" name="verticalLayout_4">
+             <property name="spacing">
+              <number>0</number>
+             </property>
+             <property name="sizeConstraint">
+              <enum>QLayout::SetMinimumSize</enum>
+             </property>
+             <property name="bottomMargin">
+              <number>0</number>
+             </property>
+             <item>
+              <spacer name="verticalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>0</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
             <item>
              <widget class="QPushButton" name="recolorButton">
               <property name="toolTip">

--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -37,6 +37,7 @@ This file is part of the QGROUNDCONTROL project
 #include <QSplashScreen>
 #include <QGCHilLink.h>
 #include <QGCHilConfiguration.h>
+#include <QGCHilFlightGearConfiguration.h>
 #include "QGC.h"
 #include "MAVLinkSimulationLink.h"
@@ -643,6 +644,26 @@ void MainWindow::showCentralWidget()
    centerStack->setCurrentWidget(widget);
 }
+void MainWindow::showHILConfigurationWidget(UASInterface* uas)
+{
+    // Add simulation configuration widget
+    UAS* mav = dynamic_cast<UAS*>(uas);
+    if (mav)
+    {
+        QGCHilConfiguration* hconf = new QGCHilConfiguration(mav, this);
+        QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
+        QDockWidget* hilDock = new QDockWidget(hilDockName, this);
+        hilDock->setWidget(hconf);
+        hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
+        addTool(hilDock, hilDockName, Qt::RightDockWidgetArea);
+    }
+    // Reload view state in case new widgets were added
+    loadViewState();
+}
 void MainWindow::closeEvent(QCloseEvent *event)
 {
    if (isVisible()) storeViewState();
@@ -1424,19 +1445,6 @@ void MainWindow::UASCreated(UASInterface* uas)
    if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
    if (!ui.menuUnmanned_System->isEnabled()) ui.menuUnmanned_System->setEnabled(true);
-    // Add simulation configuration widget
-    UAS* mav = dynamic_cast<UAS*>(uas);
-    if (mav)
-    {
-        QGCHilConfiguration* hconf = new QGCHilConfiguration(mav->getHILSimulation(), this);
-        QString hilDockName = tr("HIL Config (%1)").arg(uas->getUASName());
-        QDockWidget* hilDock = new QDockWidget(hilDockName, this);
-        hilDock->setWidget(hconf);
-        hilDock->setObjectName(QString("HIL_CONFIG_%1").arg(uas->getUASID()));
-        addTool(hilDock, hilDockName, Qt::RightDockWidgetArea);
-    }
    // Reload view state in case new widgets were added
    loadViewState();
 }

--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -201,6 +201,9 @@ public slots:
    /** @brief Load custom widgets from default file */
    void loadCustomWidgetsFromDefaults(const QString& systemType, const QString& autopilotType);
+    /** @brief Loads and shows the HIL Configuration Widget for the given UAS*/
+    void showHILConfigurationWidget(UASInterface *uas);
    void closeEvent(QCloseEvent* event);
    /** @brief Load data view, allowing to plot flight data */

--- a/src/ui/QGCHilConfiguration.cc
+++ b/src/ui/QGCHilConfiguration.cc
 #include "QGCHilConfiguration.h"
 #include "ui_QGCHilConfiguration.h"
-#include "QGCXPlaneLink.h"
-QGCHilConfiguration::QGCHilConfiguration(QGCHilLink* link, QWidget *parent) :
+#include "QGCHilFlightGearConfiguration.h"
+#include "QGCHilXPlaneConfiguration.h"
+QGCHilConfiguration::QGCHilConfiguration(UAS *mav, QWidget *parent) :
    QWidget(parent),
-    link(link),
+    mav(mav),
    ui(new Ui::QGCHilConfiguration)
 {
    ui->setupUi(this);
-    connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
-    connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
-    connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
-    connect(link, SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
-    connect(link, SIGNAL(versionChanged(QString)), ui->simComboBox, SLOT(setEditText(QString)));
-    connect(ui->simComboBox, SIGNAL(activated(QString)), link, SLOT(setVersion(QString)));
-    ui->simComboBox->setEditText(link->getVersion());
-    ui->startButton->setText(tr("Connect"));
-    QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(link);
-    if (xplane)
-    {
-        connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
-        connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
-        connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(setAirframe(QString)));
-        ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
-    }
-    ui->hostComboBox->clear();
-    ui->hostComboBox->addItem(link->getRemoteHost());
-//    connect(ui->)
 }
 void QGCHilConfiguration::receiveStatusMessage(const QString& message)
@@ -39,23 +17,29 @@ void QGCHilConfiguration::receiveStatusMessage(const QString& message)
    ui->statusLabel->setText(message);
 }
-void QGCHilConfiguration::toggleSimulation(bool connect)
+QGCHilConfiguration::~QGCHilConfiguration()
+{
+    delete ui;
+}
+void QGCHilConfiguration::on_simComboBox_currentIndexChanged(int index)
 {
-    Q_UNUSED(connect);
+    if(1 == index)
-    if (!link->isConnected())
    {
-        link->setRemoteHost(ui->hostComboBox->currentText());
+        // Ensure the sim exists and is disabled
-        link->connectSimulation();
+        mav->enableHilFlightGear(false, "");
-        ui->startButton->setText(tr("Disconnect"));
+        QGCHilFlightGearConfiguration* hfgconf = new QGCHilFlightGearConfiguration(mav, this);
+        hfgconf->show();
+        ui->simulatorConfigurationDockWidget->setWidget(hfgconf);
    }
-    else
+    else if(2 == index || 3 == index)
    {
-        link->disconnectSimulation();
+        // Ensure the sim exists and is disabled
-        ui->startButton->setText(tr("Connect"));
+        mav->enableHilXPlane(false);
-    }
+        QGCHilXPlaneConfiguration* hxpconf = new QGCHilXPlaneConfiguration(mav->getHILSimulation(), this);
-}
+        hxpconf->show();
+        ui->simulatorConfigurationDockWidget->setWidget(hxpconf);
-QGCHilConfiguration::~QGCHilConfiguration()
+    }
-{
-    delete ui;
 }
--- a/src/ui/QGCHilConfiguration.h
+++ b/src/ui/QGCHilConfiguration.h
@@ -4,6 +4,7 @@
 #include <QWidget>
 #include "QGCHilLink.h"
+#include "UAS.h"
 namespace Ui {
 class QGCHilConfiguration;
@@ -14,18 +15,19 @@ class QGCHilConfiguration : public QWidget
    Q_OBJECT
 public:
-    QGCHilConfiguration(QGCHilLink* link, QWidget *parent = 0);
+    QGCHilConfiguration(UAS* mav, QWidget *parent = 0);
    ~QGCHilConfiguration();
 public slots:
-    /** @brief Start / stop simulation */
-    void toggleSimulation(bool connect);
    /** @brief Receive status message */
    void receiveStatusMessage(const QString& message);
 protected:
-    QGCHilLink* link;
+    UAS* mav;
+private slots:
+    void on_simComboBox_currentIndexChanged(int index);
 private:
    Ui::QGCHilConfiguration *ui;
 };

--- a/src/ui/QGCHilConfiguration.ui
+++ b/src/ui/QGCHilConfiguration.ui
@@ -7,70 +7,19 @@
    <x>0</x>
    <y>0</y>
    <width>305</width>
-    <height>261</height>
+    <height>355</height>
   </rect>
  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
  <property name="windowTitle">
   <string>Form</string>
  </property>
-  <layout class="QGridLayout" name="gridLayout" columnstretch="40,60,50,50">
+  <layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0">
-   <item row="1" column="1" colspan="3">
-    <widget class="QComboBox" name="airframeComboBox">
-     <property name="editable">
-      <bool>true</bool>
-     </property>
-     <item>
-      <property name="text">
-       <string>X-Plane default</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>QRO_X/MK</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>QRO_X/Ardrone</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>QRO_X/PWM</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Unlimited</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Twinjet</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Early Bird</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Reno Racer</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Slowstick</string>
-      </property>
-     </item>
-     <item>
-      <property name="text">
-       <string>Tiny</string>
-      </property>
-     </item>
-    </widget>
-   </item>
   <item row="0" column="0">
    <widget class="QLabel" name="simLabel">
     <property name="text">
@@ -78,96 +27,69 @@
     </property>
    </widget>
   </item>
-   <item row="4" column="2" colspan="2">
+   <item row="3" column="0">
-    <widget class="QPushButton" name="setHomeButton">
-     <property name="text">
-      <string>Set HOME</string>
-     </property>
-    </widget>
-   </item>
-   <item row="7" column="0">
    <widget class="QLabel" name="statusLabel">
     <property name="text">
      <string>Status</string>
     </property>
    </widget>
   </item>
-   <item row="1" column="0">
+   <item row="0" column="2">
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>Airframe</string>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="1" colspan="3">
    <widget class="QComboBox" name="simComboBox">
     <property name="editable">
      <bool>true</bool>
     </property>
     <item>
      <property name="text">
-       <string>X-Plane 10</string>
+       <string/>
      </property>
     </item>
     <item>
      <property name="text">
-       <string>X-Plane 9</string>
+       <string>Flightgear</string>
      </property>
     </item>
-    </widget>
-   </item>
-   <item row="2" column="1" colspan="3">
-    <widget class="QComboBox" name="hostComboBox">
-     <property name="editable">
-      <bool>true</bool>
-     </property>
     <item>
      <property name="text">
-       <string>127.0.0.1:49000</string>
+       <string>X-Plane 10</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>X-Plane 9</string>
      </property>
     </item>
    </widget>
   </item>
-   <item row="6" column="2" colspan="2">
+   <item row="2" column="0" colspan="3">
-    <widget class="QPushButton" name="randomPositionButton">
+    <widget class="QDockWidget" name="simulatorConfigurationDockWidget">
-     <property name="text">
+     <property name="sizePolicy">
-      <string>Random POS</string>
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-     </property>
+       <horstretch>0</horstretch>
-    </widget>
+       <verstretch>0</verstretch>
-   </item>
+      </sizepolicy>
-   <item row="6" column="0" colspan="2">
-    <widget class="QPushButton" name="randomAttitudeButton">
-     <property name="text">
-      <string>Random ATT</string>
-     </property>
-    </widget>
-   </item>
-   <item row="2" column="0">
-    <widget class="QLabel" name="hostLabel">
-     <property name="text">
-      <string>Host</string>
-     </property>
-    </widget>
-   </item>
-   <item row="4" column="0" colspan="2">
-    <widget class="QPushButton" name="startButton">
-     <property name="text">
-      <string>Start</string>
-     </property>
-    </widget>
-   </item>
-   <item row="8" column="0">
-    <spacer name="verticalSpacer">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
     </property>
-     <property name="sizeHint" stdset="0">
+     <property name="minimumSize">
      <size>
       <width>20</width>
-       <height>40</height>
+       <height>150</height>
      </size>
     </property>
-    </spacer>
+     <property name="features">
+      <set>QDockWidget::NoDockWidgetFeatures</set>
+     </property>
+     <property name="windowTitle">
+      <string>Simulator Options</string>
+     </property>
+     <widget class="QWidget" name="dockWidgetContents">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+     </widget>
+    </widget>
   </item>
  </layout>
 </widget>

--- a/src/ui/QGCHilFlightGearConfiguration.cc
+++ b/src/ui/QGCHilFlightGearConfiguration.cc
+#include "QGCHilFlightGearConfiguration.h"
+#include "ui_QGCHilFlightGearConfiguration.h"
+#include "MainWindow.h"
+QGCHilFlightGearConfiguration::QGCHilFlightGearConfiguration(UAS* mav,QWidget *parent) :
+    QWidget(parent),
+    mav(mav),
+    ui(new Ui::QGCHilFlightGearConfiguration)
+{
+    ui->setupUi(this);
+    QStringList items = QStringList();
+    if (mav->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        items << "Rascal110-JSBSim";
+        items << "c172p";
+        items << "YardStik";
+        items << "Malolo1";
+    }
+    else if (mav->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        items << "arducopter";
+    }
+    else
+    {
+        items << "<aircraft>";
+    }
+    ui->aircraftComboBox->addItems(items);
+}
+QGCHilFlightGearConfiguration::~QGCHilFlightGearConfiguration()
+{
+    delete ui;
+}
+void QGCHilFlightGearConfiguration::on_startButton_clicked()
+{
+    //XXX check validity of inputs
+    QString options = ui->optionsPlainTextEdit->toPlainText();
+    options.append(" --aircraft=" + ui->aircraftComboBox->currentText());
+    mav->enableHilFlightGear(true,  options);
+}
--- a/src/ui/QGCHilFlightGearConfiguration.h
+++ b/src/ui/QGCHilFlightGearConfiguration.h
+#ifndef QGCHILFLIGHTGEARCONFIGURATION_H
+#define QGCHILFLIGHTGEARCONFIGURATION_H
+#include <QWidget>
+#include "QGCHilLink.h"
+#include "QGCFlightGearLink.h"
+#include "UAS.h"
+namespace Ui {
+class QGCHilFlightGearConfiguration;
+}
+class QGCHilFlightGearConfiguration : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit QGCHilFlightGearConfiguration(UAS* mav, QWidget *parent = 0);
+    ~QGCHilFlightGearConfiguration();
+protected:
+    UAS* mav;
+private slots:
+    void on_startButton_clicked();
+private:
+    Ui::QGCHilFlightGearConfiguration *ui;
+};
+#endif // QGCHILFLIGHTGEARCONFIGURATION_H
--- a/src/ui/QGCHilFlightGearConfiguration.ui
+++ b/src/ui/QGCHilFlightGearConfiguration.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCHilFlightGearConfiguration</class>
+ <widget class="QWidget" name="QGCHilFlightGearConfiguration">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>190</width>
+    <height>246</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" rowminimumheight="0,0,0,0,0,0">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <item row="5" column="0">
+    <widget class="QPushButton" name="startButton">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="text">
+      <string>Start</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="0">
+    <widget class="QLabel" name="aircraftPlaintextInfoLabel">
+     <property name="text">
+      <string>Airframe:</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QComboBox" name="aircraftComboBox">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+    </widget>
+   </item>
+   <item row="2" column="0">
+    <widget class="QLabel" name="optionsLabel">
+     <property name="text">
+      <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Additional Options:&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0">
+    <widget class="QPlainTextEdit" name="optionsPlainTextEdit">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="plainText">
+      <string>--in-air --roll=0 --pitch=0 --vc=90 --heading=300 --timeofday=noon --disable-hud-3d --disable-fullscreen --geometry=400x300 --disable-anti-alias-hud --wind=0@0 --turbulence=0.0 --prop:/sim/frame-rate-throttle-hz=30 --control=mouse --disable-intro-music --disable-sound --disable-random-objects --disable-ai-models --shading-flat --fog-disable --disable-specular-highlight --disable-random-objects --disable-panel --disable-clouds --fdm=jsb --units-meters --notrim --prop:/engines/engine/running=true</string>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
--- a/src/ui/QGCHilXPlaneConfiguration.cc
+++ b/src/ui/QGCHilXPlaneConfiguration.cc
+#include "QGCHilXPlaneConfiguration.h"
+#include "ui_QGCHilXPlaneConfiguration.h"
+#include "QGCXPlaneLink.h"
+QGCHilXPlaneConfiguration::QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCHilXPlaneConfiguration)
+{
+    ui->setupUi(this);
+    this->link = link;
+    connect(ui->startButton, SIGNAL(clicked(bool)), this, SLOT(toggleSimulation(bool)));
+    connect(ui->hostComboBox, SIGNAL(activated(QString)), link, SLOT(setRemoteHost(QString)));
+    connect(link, SIGNAL(remoteChanged(QString)), ui->hostComboBox, SLOT(setEditText(QString)));
+    connect(link, SIGNAL(statusMessage(QString)), parent, SLOT(receiveStatusMessage(QString)));
+//    connect(mav->getHILSimulation(), SIGNAL(statusMessage(QString)), this, SLOT(receiveStatusMessage(QString)));
+//    connect(ui->simComboBox, SIGNAL(activated(QString)), mav->getHILSimulation(), SLOT(setVersion(QString)));
+    ui->startButton->setText(tr("Connect"));
+    QGCXPlaneLink* xplane = dynamic_cast<QGCXPlaneLink*>(link);
+    if (xplane)
+    {
+        connect(ui->randomAttitudeButton, SIGNAL(clicked()), link, SLOT(setRandomAttitude()));
+        connect(ui->randomPositionButton, SIGNAL(clicked()), link, SLOT(setRandomPosition()));
+        connect(ui->airframeComboBox, SIGNAL(activated(QString)), link, SLOT(selectAirframe(QString)));
+        ui->airframeComboBox->setCurrentIndex(link->getAirFrameIndex());
+    }
+    ui->hostComboBox->clear();
+    ui->hostComboBox->addItem(link->getRemoteHost());
+}
+void QGCHilXPlaneConfiguration::toggleSimulation(bool connect)
+{
+    Q_UNUSED(connect);
+    if (!link->isConnected())
+    {
+        link->setRemoteHost(ui->hostComboBox->currentText());
+        link->connectSimulation();
+        ui->startButton->setText(tr("Disconnect"));
+    }
+    else
+    {
+        link->disconnectSimulation();
+        ui->startButton->setText(tr("Connect"));
+    }
+}
+QGCHilXPlaneConfiguration::~QGCHilXPlaneConfiguration()
+{
+    delete ui;
+}
--- a/src/ui/QGCHilXPlaneConfiguration.h
+++ b/src/ui/QGCHilXPlaneConfiguration.h
+#ifndef QGCHILXPLANECONFIGURATION_H
+#define QGCHILXPLANECONFIGURATION_H
+#include <QWidget>
+#include "QGCHilLink.h"
+namespace Ui {
+class QGCHilXPlaneConfiguration;
+}
+class QGCHilXPlaneConfiguration : public QWidget
+{
+    Q_OBJECT
+public:
+    explicit QGCHilXPlaneConfiguration(QGCHilLink* link, QWidget *parent = 0);
+    ~QGCHilXPlaneConfiguration();
+public slots:
+    /** @brief Start / stop simulation */
+    void toggleSimulation(bool connect);
+protected:
+    QGCHilLink* link;
+private:
+    Ui::QGCHilXPlaneConfiguration *ui;
+};
+#endif // QGCHILXPLANECONFIGURATION_H
--- a/src/ui/QGCHilXPlaneConfiguration.ui
+++ b/src/ui/QGCHilXPlaneConfiguration.ui
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCHilXPlaneConfiguration</class>
+ <widget class="QWidget" name="QGCHilXPlaneConfiguration">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>243</width>
+    <height>261</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout" columnstretch="40,0,0,0">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item row="0" column="0">
+    <widget class="QLabel" name="label">
+     <property name="text">
+      <string>Airframe</string>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="1" colspan="3">
+    <widget class="QComboBox" name="airframeComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+     <item>
+      <property name="text">
+       <string>X-Plane default</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>QRO_X/MK</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>QRO_X/Ardrone</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>QRO_X/PWM</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Unlimited</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Twinjet</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Early Bird</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Reno Racer</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Slowstick</string>
+      </property>
+     </item>
+     <item>
+      <property name="text">
+       <string>Tiny</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="3" column="2" colspan="2">
+    <widget class="QPushButton" name="setHomeButton">
+     <property name="text">
+      <string>Set HOME</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="1" colspan="3">
+    <widget class="QComboBox" name="hostComboBox">
+     <property name="editable">
+      <bool>true</bool>
+     </property>
+     <item>
+      <property name="text">
+       <string>127.0.0.1:49000</string>
+      </property>
+     </item>
+    </widget>
+   </item>
+   <item row="5" column="2" colspan="2">
+    <widget class="QPushButton" name="randomPositionButton">
+     <property name="text">
+      <string>Random POS</string>
+     </property>
+    </widget>
+   </item>
+   <item row="5" column="0" colspan="2">
+    <widget class="QPushButton" name="randomAttitudeButton">
+     <property name="text">
+      <string>Random ATT</string>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QLabel" name="hostLabel">
+     <property name="text">
+      <string>Host</string>
+     </property>
+    </widget>
+   </item>
+   <item row="3" column="0" colspan="2">
+    <widget class="QPushButton" name="startButton">
+     <property name="text">
+      <string>Start</string>
+     </property>
+    </widget>
+   </item>
+   <item row="6" column="0">
+    <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>
+ <resources/>
+ <connections/>
+</ui>
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -57,7 +57,7 @@ public:
    double getParamMin(const QString& param) { return paramMin.value(param, 0.0f); }
    double getParamMax(const QString& param) { return paramMax.value(param, 0.0f); }
    double getParamDefault(const QString& param) { return paramDefault.value(param, 0.0f); }
-    const QString& getParamInfo(const QString& param) { return paramToolTips.value(param, ""); }
+    QString getParamInfo(const QString& param) { return paramToolTips.value(param, ""); }
 signals:
    /** @brief A parameter was changed in the widget, NOT onboard */

--- a/src/ui/QGCToolBar.cc
+++ b/src/ui/QGCToolBar.cc
@@ -54,7 +54,7 @@ QGCToolBar::QGCToolBar(QWidget *parent) :
    // Add internal actions
    // Add MAV widget
    symbolButton = new QToolButton(this);
-    symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 0px 0px 20px; background-color: none; }");
+    symbolButton->setStyleSheet("QWidget { background-color: #050508; color: #DDDDDF; background-clip: border; }");
 	addWidget(symbolButton);
    toolBarNameLabel = new QLabel("------", this);
@@ -226,39 +226,6 @@ void QGCToolBar::logging(bool checked)
 void QGCToolBar::addPerspectiveChangeAction(QAction* action)
 {
    insertAction(toggleLoggingAction, action);
-    // Set tab style
-    QWidget* widget = widgetForAction(action);
-    widget->setStyleSheet("\
-                          * { font-weight: bold; min-height: 16px; min-width: 24px; \
-                          border-top: 1px solid #BBBBBB; \
-                          border-bottom: 0px; \
-                          border-left: 1px solid #BBBBBB; \
-                          border-right: 1px solid #BBBBBB; \
-                          border-top-left-radius: 5px; \
-                          border-top-right-radius: 5px; \
-                          border-bottom-left-radius: 0px; \
-                          border-bottom-right-radius: 0px; \
-                          max-height: 22px; \
-                          margin-top: 4px; \
-                          margin-left: 2px; \
-                          margin-bottom: 0px; \
-                          margin-right: 2px; \
-                          background-color: #222222; \
-                  } \
-                  *:checked { \
-                          background-color: #000000; \
-                          border-top: 2px solid #379AC3; \
-                          border-bottom: 0px; \
-                          border-left: 2px solid #379AC3; \
-                          border-right: 2px solid #379AC3; \
-                  } \
-                  *:pressed { \
-                          background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 #bbbbbb, stop: 1 #b0b0b0); \
-                          border-top: 2px solid #379AC3; \
-                          border-bottom: 0px; \
-                          border-left: 2px solid #379AC3; \
-                          border-right: 2px solid #379AC3; }");
 }
 void QGCToolBar::setActiveUAS(UASInterface* active)
@@ -322,6 +289,8 @@ void QGCToolBar::updateArmingState(bool armed)
 {
    systemArmed = armed;
    changed = true;
+    /* important, immediately update */
+    updateView();
 }
 void QGCToolBar::updateView()
@@ -377,6 +346,8 @@ void QGCToolBar::updateState(UASInterface* system, QString name, QString descrip
    Q_UNUSED(description);
    if (state != name) changed = true;
    state = name;
+    /* important, immediately update */
+    updateView();
 }
 void QGCToolBar::updateMode(int system, QString name, QString description)
@@ -385,11 +356,16 @@ void QGCToolBar::updateMode(int system, QString name, QString description)
    Q_UNUSED(description);
    if (mode != name) changed = true;
    mode = name;
+    /* important, immediately update */
+    updateView();
 }
 void QGCToolBar::updateName(const QString& name)
 {
-    if (systemName != name) changed = true;
+    if (systemName != name)
+    {
+        changed = true;
+    }
    systemName = name;
 }

--- a/src/ui/QGCVehicleConfig.cc
+++ b/src/ui/QGCVehicleConfig.cc
@@ -191,10 +191,10 @@ void QGCVehicleConfig::writeCalibrationRC()
    for (unsigned int i = 0; i < chanMax; ++i)
    {
-        mav->setParameter(0, minTpl.arg(i), rcMin[i]);
+        mav->setParameter(0, minTpl.arg(i+1), rcMin[i]);
-        mav->setParameter(0, trimTpl.arg(i), rcTrim[i]);
+        mav->setParameter(0, trimTpl.arg(i+1), rcTrim[i]);
-        mav->setParameter(0, maxTpl.arg(i), rcMax[i]);
+        mav->setParameter(0, maxTpl.arg(i+1), rcMax[i]);
-        mav->setParameter(0, revTpl.arg(i), (rcRev[i]) ? -1 : 1);
+        mav->setParameter(0, revTpl.arg(i+1), (rcRev[i]) ? -1 : 1);
    }
    // Write mappings
@@ -222,13 +222,13 @@ void QGCVehicleConfig::requestCalibrationRC()
    for (unsigned int i = 0; i < chanMax; ++i)
    {
-        mav->requestParameter(0, minTpl.arg(i));
+        mav->requestParameter(0, minTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, trimTpl.arg(i));
+        mav->requestParameter(0, trimTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, maxTpl.arg(i));
+        mav->requestParameter(0, maxTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
-        mav->requestParameter(0, revTpl.arg(i));
+        mav->requestParameter(0, revTpl.arg(i+1));
        QGC::SLEEP::usleep(5000);
    }
 }
@@ -379,7 +379,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
    if (minTpl.exactMatch(parameterName)) {
        bool ok;
-        unsigned int index = parameterName.mid(2, 1).toInt(&ok);
+        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && (index > 0) && (index < chanMax))
        {
            rcMin[index] = value.toInt();
@@ -388,7 +388,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
    if (maxTpl.exactMatch(parameterName)) {
        bool ok;
-        unsigned int index = parameterName.mid(2, 1).toInt(&ok);
+        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && (index > 0) && (index < chanMax))
        {
            rcMax[index] = value.toInt();
@@ -397,7 +397,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
    if (trimTpl.exactMatch(parameterName)) {
        bool ok;
-        unsigned int index = parameterName.mid(2, 1).toInt(&ok);
+        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && (index > 0) && (index < chanMax))
        {
            rcTrim[index] = value.toInt();
@@ -406,7 +406,7 @@ void QGCVehicleConfig::parameterChanged(int uas, int component, QString paramete
    if (revTpl.exactMatch(parameterName)) {
        bool ok;
-        unsigned int index = parameterName.mid(2, 1).toInt(&ok);
+        unsigned int index = parameterName.mid(2, 1).toInt(&ok) - 1;
        if (ok && (index > 0) && (index < chanMax))
        {
            rcRev[index] = (value.toInt() == -1) ? true : false;

--- a/src/ui/QGCVehicleConfig.ui
+++ b/src/ui/QGCVehicleConfig.ui
--- a/src/ui/RadioCalibration/RadioCalibrationWindow.h
+++ b/src/ui/RadioCalibration/RadioCalibrationWindow.h
@@ -50,8 +50,6 @@ This file is part of the QGROUNDCONTROL project
 #include "SwitchCalibrator.h"
 #include "CurveCalibrator.h"
-#include "../../../mavlink/include/mavlink/v1.0/common/mavlink.h"
-#include "../../../mavlink/include/mavlink/v1.0/mavlink_types.h"
 #include "UAS.h"
 #include "UASManager.h"
 #include "RadioCalibrationData.h"

--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -2,6 +2,7 @@
 #include <QContextMenuEvent>
 #include <QSettings>
 #include <QTimer>
+#include <QToolTip>
 #include "QGCParamSlider.h"
 #include "ui_QGCParamSlider.h"
@@ -53,7 +54,8 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
    connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter()));
    connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParamList()));
    connect(ui->editInfoCheckBox, SIGNAL(clicked(bool)), this, SLOT(showInfo(bool)));
+    // connect to self
+    connect(ui->infoLabel, SIGNAL(released()), this, SLOT(showTooltip()));
    // Set the current UAS if present
    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
 }
@@ -63,6 +65,17 @@ QGCParamSlider::~QGCParamSlider()
    delete ui;
 }
+void QGCParamSlider::showTooltip()
+{
+    QWidget* sender = dynamic_cast<QWidget*>(QObject::sender());
+    if (sender)
+    {
+        QPoint point = mapToGlobal(pos());
+        QToolTip::showText(point, sender->toolTip());
+    }
+}
 void QGCParamSlider::refreshParamList()
 {
    ui->editSelectParamComboBox->setEnabled(true);
@@ -70,6 +83,7 @@ void QGCParamSlider::refreshParamList()
    if (uas)
    {
        uas->getParamManager()->requestParameterList();
+        ui->editStatusLabel->setText(tr("Parameter list updating.."));
    }
 }
@@ -89,7 +103,7 @@ void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
        requestParameter();
        // Set param info
        QString text = uas->getParamManager()->getParamInfo(parameterName);
-        ui->infoLabel->setText(text);
+        ui->infoLabel->setToolTip(text);
        // Force-uncheck and hide label if no description is available
        if (ui->editInfoCheckBox->isChecked())
        {
@@ -345,6 +359,11 @@ void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, i
        }
        ui->valueSlider->setValue(floatToScaledInt(value.toDouble()));
    }
+    if (paramIndex == paramCount - 1)
+    {
+        ui->editStatusLabel->setText(tr("Complete parameter list received."));
+    }
 }
 void QGCParamSlider::changeEvent(QEvent *e)

--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -41,6 +41,8 @@ public slots:
    void setParamValue(int value);
    /** @brief Show descriptive text next to slider */
    void showInfo(bool enable);
+    /** @brief Show tool tip of calling element */
+    void showTooltip();
 protected slots:
    /** @brief Request the parameter of this widget from the MAV */

--- a/src/ui/designer/QGCParamSlider.ui
+++ b/src/ui/designer/QGCParamSlider.ui
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -40,6 +40,7 @@ This file is part of the PIXHAWK project
 #include "UASWaypointManager.h"
 #include "MainWindow.h"
 #include "ui_UASView.h"
+#include <QGCHilFlightGearConfiguration.h>
 UASView::UASView(UASInterface* uas, QWidget *parent) :
        QWidget(parent),
@@ -68,8 +69,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
        removeAction(new QAction("Delete this system", this)),
        renameAction(new QAction("Rename..", this)),
        selectAction(new QAction("Control this system", this )),
-        hilAction(new QAction("Enable Flightgear Hardware-in-the-Loop Simulation", this )),
+        hilAction(new QAction("HIL - Hardware in the Loop", this )),
-        hilXAction(new QAction("Enable X-Plane Hardware-in-the-Loop Simulation", this )),
        selectAirframeAction(new QAction("Choose Airframe", this)),
        setBatterySpecsAction(new QAction("Set Battery Options", this)),
        lowPowerModeEnabled(true),
@@ -81,9 +81,6 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
    lowPowerModeEnabled = MainWindow::instance()->lowPowerModeEnabled();
    hilAction->setCheckable(true);
-    // Flightgear is not ready for prime time
-    //hilAction->setEnabled(false);
-    hilXAction->setCheckable(true);
    m_ui->setupUi(this);
@@ -122,8 +119,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
    connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
    connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
    connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
-    connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilFlightGear(bool)));
+    connect(hilAction, SIGNAL(triggered(bool)), this, SLOT(showHILUi()));
-    connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilXPlane(bool)));
    connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
    connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
    connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
@@ -504,8 +500,6 @@ void UASView::contextMenuEvent (QContextMenuEvent* event)
        menu.addAction(removeAction);
    }
    menu.addAction(hilAction);
-    menu.addAction(hilXAction);
-    // XXX Re-enable later menu.addAction(hilXAction);
    menu.addAction(selectAirframeAction);
    menu.addAction(setBatterySpecsAction);
    menu.exec(event->globalPos());
@@ -566,6 +560,11 @@ void UASView::selectAirframe()
    }
 }
+void UASView::showHILUi()
+{
+     MainWindow::instance()->showHILConfigurationWidget(uas);
+}
 void UASView::refresh()
 {
    //setUpdatesEnabled(false);

--- a/src/ui/uas/UASView.h
+++ b/src/ui/uas/UASView.h
@@ -64,6 +64,7 @@ public slots:
    void updateMode(int sysId, QString status, QString description);
    void updateLoad(UASInterface* uas, double load);
    //void receiveValue(int uasid, QString id, double value, quint64 time);
+    void showHILUi();
    void refresh();
    /** @brief Receive new waypoint information */
    void setWaypoint(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool current);