diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 82bfc7900e5b30e1cc91333d14b027b0b441f1cc..1b1d1afb0151f72620b468cfc5d70344bedf1d93 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -322,7 +322,8 @@ HEADERS += src/MG.h \
     src/libs/qextserialport/qextserialenumerator.h \
     src/QGCGeo.h \
     src/ui/QGCToolBar.h \
-    src/ui/QGCMAVLinkInspector.h
+    src/ui/QGCMAVLinkInspector.h \
+    src/ui/MAVLinkDecoder.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008|win32-msvc2010::HEADERS += src/ui/map3D/QGCGoogleEarthView.h
@@ -447,7 +448,8 @@ SOURCES += src/main.cc \
     src/ui/map/QGCMapTool.cc \
     src/ui/map/QGCMapToolBar.cc \
     src/ui/QGCToolBar.cc \
-    src/ui/QGCMAVLinkInspector.cc
+    src/ui/QGCMAVLinkInspector.cc \
+    src/ui/MAVLinkDecoder.cc
 
 # Enable Google Earth only on Mac OS and Windows with Visual Studio compiler
 macx|win32-msvc2008|win32-msvc2010::SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index 3f716b0d8ffa4a9b86a12bddfa403eca1159c42a..01015fe6107cbd9869009def526434dea28f3717 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -431,6 +431,7 @@ void MAVLinkSimulationLink::mainloop()
         static int rcCounter = 0;
         if (rcCounter == 2) {
             mavlink_rc_channels_raw_t chan;
+            chan.time_boot_ms = 0;
             chan.chan1_raw = 1000 + ((int)(fabs(x) * 1000) % 2000);
             chan.chan2_raw = 1000 + ((int)(fabs(y) * 1000) % 2000);
             chan.chan3_raw = 1000 + ((int)(fabs(z) * 1000) % 2000);
diff --git a/src/comm/MAVLinkSimulationMAV.cc b/src/comm/MAVLinkSimulationMAV.cc
index 185d9ac01c113c294e3d6bb14f02fe5abba138f8..5d3ee1848992b376536a20197771ca4af18cd8d2 100644
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
@@ -73,6 +73,7 @@ void MAVLinkSimulationMAV::mainloop()
         planner.handleMessage(msg);
 
         mavlink_servo_output_raw_t servos;
+        servos.time_usec = 0;
         servos.servo1_raw = 1000;
         servos.servo2_raw = 1250;
         servos.servo3_raw = 1400;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index c42033596ffeeab813a366a3ebd8cf41844f6d0d..269fcd63c38e13c917d8ddee1deb126cc9dea968 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -314,7 +314,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_sys_status_decode(&message, &state);
 
                 emit loadChanged(this,state.load/10.0f);
-                emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime());
+                // FIXME REMOVE LATER emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime());
 
                 currentVoltage = state.voltage_battery/1000.0f;
                 lpVoltage = filterVoltage(currentVoltage);
@@ -349,15 +349,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_raw_imu_decode(&message, &raw);
                 quint64 time = getUnixTime(raw.time_usec);
 
-                emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
-                emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
-                emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
-                emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
-                emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
-                emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
-                emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
-                emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
-                emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
             }
             break;
         case MAVLINK_MSG_ID_SCALED_IMU:
@@ -366,15 +366,15 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_scaled_imu_decode(&message, &scaled);
                 quint64 time = getUnixTime(scaled.time_boot_ms);
 
-                emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
-                emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
-                emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
-                emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
-                emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
-                emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
-                emit valueChanged(uasId, "mag x", "uTesla", scaled.xmag/100.0f, time);
-                emit valueChanged(uasId, "mag y", "uTesla", scaled.ymag/100.0f, time);
-                emit valueChanged(uasId, "mag z", "uTesla", scaled.zmag/100.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "mag x", "uTesla", scaled.xmag/100.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "mag y", "uTesla", scaled.ymag/100.0f, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "mag z", "uTesla", scaled.zmag/100.0f, time);
             }
             break;
         case MAVLINK_MSG_ID_ATTITUDE:
@@ -386,12 +386,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 roll = QGC::limitAngleToPMPIf(attitude.roll);
                 pitch = QGC::limitAngleToPMPIf(attitude.pitch);
                 yaw = QGC::limitAngleToPMPIf(attitude.yaw);
-                emit valueChanged(uasId, "roll", "rad", roll, time);
-                emit valueChanged(uasId, "pitch", "rad", pitch, time);
-                emit valueChanged(uasId, "yaw", "rad", yaw, time);
-                emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
-                emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
-                emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "roll", "rad", roll, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "pitch", "rad", pitch, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "yaw", "rad", yaw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);
 
                 // Emit in angles
 
@@ -404,12 +404,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
                 attitudeKnown = true;
 
-                emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
-                emit valueChanged(uasId, "heading deg", "deg", compass, time);
-                emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
-                emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "heading deg", "deg", compass, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);
 
                 emit attitudeChanged(this, roll, pitch, yaw, time);
                 emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
@@ -428,12 +428,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_vfr_hud_decode(&message, &hud);
                 quint64 time = getUnixTime();
                 // Display updated values
-                emit valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time);
-                emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time);
-                emit valueChanged(uasId, "altitude", "m", hud.alt, time);
-                emit valueChanged(uasId, "heading", "deg", hud.heading, time);
-                emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
-                emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", hud.alt, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "heading", "deg", hud.heading, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
                 emit thrustChanged(this, hud.throttle/100.0);
 
                 if (!attitudeKnown)
@@ -453,14 +453,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_nav_controller_output_decode(&message, &nav);
                 quint64 time = getUnixTime();
                 // Update UI
-                emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time);
-                emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time);
-                emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time);
-                emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time);
-                emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time);
-                emit valueChanged(uasId, "alt err", "m", nav.alt_error, time);
-                emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time);
-                emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "alt err", "m", nav.alt_error, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time);
             }
             break;
         case MAVLINK_MSG_ID_LOCAL_POSITION:
@@ -473,12 +473,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 localX = pos.x;
                 localY = pos.y;
                 localZ = pos.z;
-                emit valueChanged(uasId, "x", "m", pos.x, time);
-                emit valueChanged(uasId, "y", "m", pos.y, time);
-                emit valueChanged(uasId, "z", "m", pos.z, time);
-                emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
-                emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
-                emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "x", "m", pos.x, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "y", "m", pos.y, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "z", "m", pos.z, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
                 emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                 emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
 
@@ -507,11 +507,11 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 speedX = pos.vx/100.0;
                 speedY = pos.vy/100.0;
                 speedZ = pos.vz/100.0;
-                emit valueChanged(uasId, "latitude", "deg", latitude, time);
-                emit valueChanged(uasId, "longitude", "deg", longitude, time);
-                emit valueChanged(uasId, "altitude", "m", altitude, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "latitude", "deg", latitude, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "longitude", "deg", longitude, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", altitude, time);
                 double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
-                emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
                 emit globalPositionChanged(this, latitude, longitude, altitude, time);
                 emit speedChanged(this, speedX, speedY, speedZ, time);
                 // Set internal state
@@ -534,13 +534,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 // quint64 time = getUnixTime(pos.time_usec);
                 quint64 time = getUnixTime(pos.time_usec);
 
-                emit valueChanged(uasId, "gps latitude", "deg", pos.lat/(double)1E7, time);
-                emit valueChanged(uasId, "gps longitude", "deg", pos.lon/(double)1E7, time);
-                emit valueChanged(uasId, "gps speed", "m/s", pos.vel, time);
-                emit valueChanged(uasId, "gps eph", "m", pos.eph/(double)1E2, time);
-                emit valueChanged(uasId, "gps epv", "m", pos.eph/(double)1E2, time);
-                emit valueChanged(uasId, "gps fix", "raw", pos.fix_type, time);
-                emit valueChanged(uasId, "gps course", "raw", pos.cog, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps latitude", "deg", pos.lat/(double)1E7, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps longitude", "deg", pos.lon/(double)1E7, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps speed", "m/s", pos.vel, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps eph", "m", pos.eph/(double)1E2, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps epv", "m", pos.eph/(double)1E2, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps fix", "raw", pos.fix_type, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "gps course", "raw", pos.cog, time);
 
                 if (pos.fix_type > 2) {
                     emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
@@ -555,13 +555,13 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                         alt = 0;
                         emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                     }
-                    emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
+                    // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
                     // Smaller than threshold and not NaN
 
                     float vel = pos.vel/100.0f;
 
                     if (vel < 1000000 && !isnan(vel) && !isinf(vel)) {
-                        emit valueChanged(uasId, "speed", "m/s", vel, time);
+                        // FIXME REMOVE LATER emit valueChanged(uasId, "speed", "m/s", vel, time);
                         //qDebug() << "GOT GPS RAW";
                         // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                     } else {
@@ -592,10 +592,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_raw_pressure_t pressure;
                 mavlink_msg_raw_pressure_decode(&message, &pressure);
                 quint64 time = this->getUnixTime(pressure.time_usec);
-                emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
-                emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
-                emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
-                emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
             }
             break;
 
@@ -604,9 +604,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_scaled_pressure_t pressure;
                 mavlink_msg_scaled_pressure_decode(&message, &pressure);
                 quint64 time = this->getUnixTime(pressure.time_boot_ms);
-                emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
-                emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
-                emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
             }
             break;
 
@@ -624,14 +624,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 emit remoteControlChannelRawChanged(6, channels.chan7_raw);
                 emit remoteControlChannelRawChanged(7, channels.chan8_raw);
                 quint64 time = getUnixTime();
-                emit valueChanged(uasId, "rc in #1", "us", channels.chan1_raw, time);
-                emit valueChanged(uasId, "rc in #2", "us", channels.chan2_raw, time);
-                emit valueChanged(uasId, "rc in #3", "us", channels.chan3_raw, time);
-                emit valueChanged(uasId, "rc in #4", "us", channels.chan4_raw, time);
-                emit valueChanged(uasId, "rc in #5", "us", channels.chan5_raw, time);
-                emit valueChanged(uasId, "rc in #6", "us", channels.chan6_raw, time);
-                emit valueChanged(uasId, "rc in #7", "us", channels.chan7_raw, time);
-                emit valueChanged(uasId, "rc in #8", "us", channels.chan8_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #1", "us", channels.chan1_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #2", "us", channels.chan2_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #3", "us", channels.chan3_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #4", "us", channels.chan4_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #5", "us", channels.chan5_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #6", "us", channels.chan6_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #7", "us", channels.chan7_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "rc in #8", "us", channels.chan8_raw, time);
             }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
@@ -715,7 +715,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             }
             break;
         case MAVLINK_MSG_ID_DEBUG:
-            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
+            // FIXME REMOVE LATER emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
             break;
         case MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT:
             {
@@ -723,10 +723,10 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&message, &out);
                 quint64 time = getUnixTimeFromMs(out.time_boot_ms);
                 emit attitudeThrustSetPointChanged(this, out.roll, out.pitch, out.yaw, out.thrust, time);
-                emit valueChanged(uasId, "att control roll", "rad", out.roll, time);
-                emit valueChanged(uasId, "att control pitch", "rad", out.pitch, time);
-                emit valueChanged(uasId, "att control yaw", "rad", out.yaw, time);
-                emit valueChanged(uasId, "att control thrust", "0-1", out.thrust, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "att control roll", "rad", out.roll, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "att control pitch", "rad", out.pitch, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "att control yaw", "rad", out.yaw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "att control thrust", "0-1", out.thrust, time);
             }
             break;
         case MAVLINK_MSG_ID_WAYPOINT_COUNT:
@@ -817,14 +817,14 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_servo_output_raw_t servos;
                 mavlink_msg_servo_output_raw_decode(&message, &servos);
                 quint64 time = getUnixTime();
-                emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
-                emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
-                emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
-                emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time);
-                emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time);
-                emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time);
-                emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time);
-                emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
             }
             break;
 
@@ -832,12 +832,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             {
                 mavlink_optical_flow_t flow;
                 mavlink_msg_optical_flow_decode(&message, &flow);
-                quint64 time = getUnixTime(flow.time);
+                quint64 time = getUnixTime(flow.time_usec);
 
-                emit valueChanged(uasId, QString("opt_flow_%1.x").arg(flow.sensor_id), "Pixel", flow.flow_x, time);
-                emit valueChanged(uasId, QString("opt_flow_%1.y").arg(flow.sensor_id), "Pixel", flow.flow_y, time);
-                emit valueChanged(uasId, QString("opt_flow_%1.qual").arg(flow.sensor_id), "0-255", flow.quality, time);
-                emit valueChanged(uasId, QString("opt_flow_%1.dist").arg(flow.sensor_id), "m", flow.ground_distance, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.x").arg(flow.sensor_id), "Pixel", flow.flow_x, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.y").arg(flow.sensor_id), "Pixel", flow.flow_y, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.qual").arg(flow.sensor_id), "0-255", flow.quality, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, QString("opt_flow_%1.dist").arg(flow.sensor_id), "m", flow.ground_distance, time);
             }
             break;
         case MAVLINK_MSG_ID_STATUSTEXT:
@@ -910,19 +910,19 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_msg_debug_vect_decode(&message, &vect);
             QString str((const char*)vect.name);
             quint64 time = getUnixTime(vect.time_usec);
-            emit valueChanged(uasId, str+".x", "raw", vect.x, time);
-            emit valueChanged(uasId, str+".y", "raw", vect.y, time);
-            emit valueChanged(uasId, str+".z", "raw", vect.z, time);
-        }
-        break;
-        case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
-        {
-            mavlink_object_detection_event_t event;
-            mavlink_msg_object_detection_event_decode(&message, &event);
-            QString str(event.name);
-            emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
+            // FIXME REMOVE LATER emit valueChanged(uasId, str+".x", "raw", vect.x, time);
+            // FIXME REMOVE LATER emit valueChanged(uasId, str+".y", "raw", vect.y, time);
+            // FIXME REMOVE LATER emit valueChanged(uasId, str+".z", "raw", vect.z, time);
         }
         break;
+//        case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
+//        {
+//            mavlink_object_detection_event_t event;
+//            mavlink_msg_object_detection_event_decode(&message, &event);
+//            QString str(event.name);
+//            emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
+//        }
+//        break;
         // WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
 //        case MAVLINK_MSG_ID_MEMORY_VECT:
 //        {
@@ -942,31 +942,31 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 //                default:
 //                case 0:
 //                    for (int i = 0; i < 16; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
 //                    break;
 //                case 1:
 //                    for (int i = 0; i < 16; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
 //                    break;
 //                case 2:
 //                    for (int i = 0; i < 16; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
 //                    break;
 //                case 3:
 //                    for (int i = 0; i < 16; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
 //                    break;
 //                case 4:
 //                    for (int i = 0; i < 8; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
 //                    break;
 //                case 5:
 //                    for (int i = 0; i < 8; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
 //                    break;
 //                case 6:
 //                    for (int i = 0; i < 8; i++)
-//                        emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
+//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
 //                    break;
 //                }
 //            }
@@ -978,12 +978,12 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
                 mavlink_nav_filter_bias_t bias;
                 mavlink_msg_nav_filter_bias_decode(&message, &bias);
                 quint64 time = getUnixTime();
-                emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
-                emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
-                emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
-                emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
-                emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
-                emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
+                // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time);
             }
             break;
         case MAVLINK_MSG_ID_RADIO_CALIBRATION:
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
new file mode 100644
index 0000000000000000000000000000000000000000..85e582fee0d5a2f679ca4bacd00867cd5f43c14d
--- /dev/null
+++ b/src/ui/MAVLinkDecoder.cc
@@ -0,0 +1,260 @@
+#include "MAVLinkDecoder.h"
+#include "UASManager.h"
+
+MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
+    QObject(parent)
+{
+    mavlink_message_info_t msg[256] = MAVLINK_MESSAGE_INFO;
+    memcpy(messageInfo, msg, sizeof(mavlink_message_info_t)*256);
+    memset(receivedMessages, 0, sizeof(mavlink_message_t)*256);
+
+    connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
+}
+
+void MAVLinkDecoder::receiveMessage(LinkInterface* link,mavlink_message_t message)
+{
+    Q_UNUSED(link);
+    memcpy(receivedMessages+message.msgid, &message, sizeof(mavlink_message_t));
+
+    uint8_t msgid = message.msgid;
+    QString messageName("%1 (#%2)");
+    messageName = messageName.arg(messageInfo[msgid].name).arg(msgid);
+
+    // See if first value is a time value
+    quint64 time = 0;
+    uint8_t fieldid = 0;
+    uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
+    if (messageInfo[msgid].fields[fieldid].name == "time_boot_ms" && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT32_T)
+    {
+        time = *((quint32*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+    }
+    else if (messageInfo[msgid].fields[fieldid].name == "time_usec" && messageInfo[msgid].fields[fieldid].type == MAVLINK_TYPE_UINT64_T)
+    {
+        time = *((quint64*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+    }
+    else
+    {
+        emitFieldValue(&message, fieldid, time);
+    }
+
+    // Send out field values
+    for (unsigned int i = 1; i < messageInfo[msgid].num_fields; ++i)
+    {
+        emitFieldValue(&message, i, time);
+    }
+
+    // Send out combined math expressions
+    // FIXME XXX TODO
+}
+
+void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time)
+{
+    // Add field tree widget item
+    uint8_t msgid = msg->msgid;
+    QString fieldName(messageInfo[msgid].fields[fieldid].name);
+    QString fieldType;
+    uint8_t* m = ((uint8_t*)(receivedMessages+msgid))+8;
+    QString name("%1.%2");
+    QString unit("");
+    name = name.arg(messageInfo[msgid].name, fieldName);
+    switch (messageInfo[msgid].fields[fieldid].type)
+    {
+    case MAVLINK_TYPE_CHAR:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            char* str = (char*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            // Enforce null termination
+            str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
+            QString string(name + ": " + str);
+            emit textMessageReceived(msg->sysid, msg->compid, 0, string);
+        }
+        else
+        {
+            // Single char
+            char b = *((char*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            unit = QString("char[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            emit valueChanged(msg->sysid, name, unit, b, time);
+        }
+        break;
+    case MAVLINK_TYPE_UINT8_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            uint8_t* nums = m+messageInfo[msgid].fields[fieldid].wire_offset;
+            fieldType = QString("uint8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[fieldid].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            uint8_t u = *(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = "uint8_t";
+            emit valueChanged(msg->sysid, name, fieldType, u, time);
+        }
+        break;
+    case MAVLINK_TYPE_INT8_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            int8_t* nums = (int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("int8_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            int8_t n = *((int8_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "int8_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    case MAVLINK_TYPE_UINT16_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            uint16_t* nums = (uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("uint16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            uint16_t n = *((uint16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "uint16_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    case MAVLINK_TYPE_INT16_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            int16_t* nums = (int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("int16_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            int16_t n = *((int16_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "int16_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    case MAVLINK_TYPE_UINT32_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            uint32_t* nums = (uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("uint32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            float n = *((uint32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "uint32_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    case MAVLINK_TYPE_INT32_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            int32_t* nums = (int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("int32_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            int32_t n = *((int32_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "int32_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    case MAVLINK_TYPE_FLOAT:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            float* nums = (float*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("float[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            float f = *((float*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "float";
+            emit valueChanged(msg->sysid, name, fieldType, f, time);
+        }
+        break;
+    case MAVLINK_TYPE_DOUBLE:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            double* nums = (double*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("double[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            double f = *((double*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "double";
+            emit valueChanged(msg->sysid, name, fieldType, f, time);
+        }
+        break;
+    case MAVLINK_TYPE_UINT64_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            uint64_t* nums = (uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("uint64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            uint64_t n = *((uint64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "uint64_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    case MAVLINK_TYPE_INT64_T:
+        if (messageInfo[msgid].fields[fieldid].array_length > 0)
+        {
+            int64_t* nums = (int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset);
+            fieldType = QString("int64_t[%1]").arg(messageInfo[msgid].fields[fieldid].array_length);
+            for (unsigned int j = 0; j < messageInfo[msgid].fields[j].array_length; ++j)
+            {
+                emit valueChanged(msg->sysid, QString("%1.%2").arg(name).arg(j), fieldType, nums[j], time);
+            }
+        }
+        else
+        {
+            // Single value
+            int64_t n = *((int64_t*)(m+messageInfo[msgid].fields[fieldid].wire_offset));
+            fieldType = "int64_t";
+            emit valueChanged(msg->sysid, name, fieldType, n, time);
+        }
+        break;
+    }
+}
diff --git a/src/ui/MAVLinkDecoder.h b/src/ui/MAVLinkDecoder.h
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c271278e291962f0364747718fa1793b721ba
--- /dev/null
+++ b/src/ui/MAVLinkDecoder.h
@@ -0,0 +1,34 @@
+#ifndef MAVLINKDECODER_H
+#define MAVLINKDECODER_H
+
+#include <QObject>
+#include "MAVLinkProtocol.h"
+
+class MAVLinkDecoder : public QObject
+{
+    Q_OBJECT
+public:
+    MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent = 0);
+
+signals:
+    void textMessageReceived(int uasid, int componentid, int severity, const QString& text);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const double value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const int value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const unsigned int value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const quint64 value, const quint64 msec);
+    void valueChanged(const int uasId, const QString& name, const QString& unit, const qint64 value, const quint64 msec);
+
+
+public slots:
+    /** @brief Receive one message from the protocol and decode it */
+    void receiveMessage(LinkInterface* link,mavlink_message_t message);
+protected:
+    /** @brief Emit the value of one message field */
+    void emitFieldValue(mavlink_message_t* msg, int fieldid, quint64 time);
+
+    mavlink_message_t receivedMessages[256]; ///< Available / known messages
+    mavlink_message_info_t messageInfo[256];
+
+};
+
+#endif // MAVLINKDECODER_H
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index b156ab250b91fec4c591f4a0ec19999ff792d40f..1968e898033de9de1f831f48d0825e1dd82e2967 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -153,6 +153,9 @@ MainWindow::MainWindow(QWidget *parent):
 
     connect(LinkManager::instance(), SIGNAL(newLink(LinkInterface*)), this, SLOT(addLink(LinkInterface*)));
 
+    // Add generic MAVLink decoder
+    mavlinkDecoder = new MAVLinkDecoder(mavlink, this);
+
     // Connect user interface devices
     joystickWidget = 0;
     joystick = new JoystickInput();
@@ -439,6 +442,7 @@ void MainWindow::buildPxWidgets()
     if (!linechartWidget) {
         // Center widgets
         linechartWidget   = new Linecharts(this);
+        linechartWidget->addSource(mavlinkDecoder);
         addToCentralWidgetsMenu(linechartWidget, tr("Realtime Plot"), SLOT(showCentralWidget()), CENTRAL_LINECHART);
     }
 
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 1bacebc985a2f5559c3106e6af7a099923985246..fbc262d1942301f11aaa37e65cf788c4e83ca172 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -77,6 +77,8 @@ This file is part of the QGROUNDCONTROL project
 #include "UASControlParameters.h"
 #include "QGCMAVLinkInspector.h"
 
+#include "MAVLinkDecoder.h"
+
 class QGCMapTool;
 
 /**
@@ -426,6 +428,7 @@ protected:
     QPointer<QGCToolBar> toolBar;
 
     QPointer<QDockWidget> mavlinkInspectorWidget;
+    QPointer<MAVLinkDecoder> mavlinkDecoder;
 
 
     // Popup widgets
diff --git a/src/ui/linechart/LinechartPlot.cc b/src/ui/linechart/LinechartPlot.cc
index 74a2b2dc231c3077e2b8e96e8b464adb21ff257e..8c04d930bb8bf1b136c1cea7437aa9597867ea09 100644
--- a/src/ui/linechart/LinechartPlot.cc
+++ b/src/ui/linechart/LinechartPlot.cc
@@ -1,4 +1,4 @@
-/*=====================================================================
+ /*=====================================================================
 ======================================================================*/
 
 /**
diff --git a/src/ui/linechart/LinechartWidget.cc b/src/ui/linechart/LinechartWidget.cc
index ae5981f0b7570ae7ddb553aa9f0e01d3185e4b44..9ea49a887b027cdae144c4db09cef1d149056195 100644
--- a/src/ui/linechart/LinechartWidget.cc
+++ b/src/ui/linechart/LinechartWidget.cc
@@ -71,7 +71,8 @@ LinechartWidget::LinechartWidget(int systemid, QWidget *parent) : QWidget(parent
     logindex(1),
     logging(false),
     logStartTime(0),
-    updateTimer(new QTimer())
+    updateTimer(new QTimer()),
+    selectedMAV(-1)
 {
     // Add elements defined in Qt Designer
     ui.setupUi(this);
@@ -292,20 +293,24 @@ void LinechartWidget::createLayout()
 void LinechartWidget::appendData(int uasId, QString curve, double value, quint64 usec)
 {
     static const QString unit("-");
-    if (isVisible()) {
+    if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible()))
+    {
         // Order matters here, first append to plot, then update curve list
         activePlot->appendData(curve+unit, usec, value);
         // Store data
         QLabel* label = curveLabels->value(curve+unit, NULL);
         // Make sure the curve will be created if it does not yet exist
-        if(!label) {
+        if(!label)
+        {
             addCurve(curve, unit);
         }
     }
 
     // Log data
-    if (logging) {
-        if (activePlot->isVisible(curve+unit)) {
+    if (logging)
+    {
+        if (activePlot->isVisible(curve+unit))
+        {
             if (logStartTime == 0) logStartTime = usec;
             qint64 time = usec - logStartTime;
             if (time < 0) time = 0;
@@ -319,21 +324,25 @@ void LinechartWidget::appendData(int uasId, QString curve, double value, quint64
 
 void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec)
 {
-    if (isVisible()) {
+    if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible()))
+    {
         // Order matters here, first append to plot, then update curve list
         activePlot->appendData(curve+unit, usec, value);
         // Store data
         QLabel* label = curveLabels->value(curve+unit, NULL);
         // Make sure the curve will be created if it does not yet exist
-        if(!label) {
+        if(!label)
+        {
             //qDebug() << "ADDING CURVE IN APPENDDATE DOUBLE";
             addCurve(curve, unit);
         }
     }
 
     // Log data
-    if (logging) {
-        if (activePlot->isVisible(curve+unit)) {
+    if (logging)
+    {
+        if (activePlot->isVisible(curve+unit))
+        {
             if (logStartTime == 0) logStartTime = usec;
             qint64 time = usec - logStartTime;
             if (time < 0) time = 0;
@@ -346,13 +355,25 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
 
 void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec)
 {
-    if (isVisible()) {
+    appendData(uasId, curve, unit, static_cast<qint64>(value), usec);
+}
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, unsigned int value, quint64 usec)
+{
+    appendData(uasId, curve, unit, static_cast<quint64>(value), usec);
+}
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, qint64 value, quint64 usec)
+{
+    if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible()))
+    {
         // Order matters here, first append to plot, then update curve list
         activePlot->appendData(curve+unit, usec, value);
         // Store data
         QLabel* label = curveLabels->value(curve+unit, NULL);
         // Make sure the curve will be created if it does not yet exist
-        if(!label) {
+        if(!label)
+        {
             intData.insert(curve+unit, 0);
             addCurve(curve, unit);
         }
@@ -362,8 +383,44 @@ void LinechartWidget::appendData(int uasId, const QString& curve, const QString&
     }
 
     // Log data
-    if (logging) {
-        if (activePlot->isVisible(curve+unit)) {
+    if (logging)
+    {
+        if (activePlot->isVisible(curve+unit))
+        {
+            if (logStartTime == 0) logStartTime = usec;
+            qint64 time = usec - logStartTime;
+            if (time < 0) time = 0;
+
+            logFile->write(QString(QString::number(time) + "\t" + QString::number(uasId) + "\t" + curve + "\t" + QString::number(value) + "\n").toLatin1());
+            logFile->flush();
+        }
+    }
+}
+
+void LinechartWidget::appendData(int uasId, const QString& curve, const QString& unit, quint64 value, quint64 usec)
+{
+    if ((selectedMAV == -1 && isVisible()) || (selectedMAV == uasId && isVisible()))
+    {
+        // Order matters here, first append to plot, then update curve list
+        activePlot->appendData(curve+unit, usec, value);
+        // Store data
+        QLabel* label = curveLabels->value(curve+unit, NULL);
+        // Make sure the curve will be created if it does not yet exist
+        if(!label)
+        {
+            intData.insert(curve+unit, 0);
+            addCurve(curve, unit);
+        }
+
+        // Add int data
+        intData.insert(curve+unit, value);
+    }
+
+    // Log data
+    if (logging)
+    {
+        if (activePlot->isVisible(curve+unit))
+        {
             if (logStartTime == 0) logStartTime = usec;
             qint64 time = usec - logStartTime;
             if (time < 0) time = 0;
diff --git a/src/ui/linechart/LinechartWidget.h b/src/ui/linechart/LinechartWidget.h
index 1b58f911b2b50af11055e47409ee568410a46995..4e33d52ed3ec9f67d6f12308ea27c8a06bde27d1 100644
--- a/src/ui/linechart/LinechartWidget.h
+++ b/src/ui/linechart/LinechartWidget.h
@@ -79,6 +79,12 @@ public slots:
     void appendData(int uasId, const QString& curve, const QString& unit, double value, quint64 usec);
     /** @brief Append data as int with unit */
     void appendData(int uasId, const QString& curve, const QString& unit, int value, quint64 usec);
+    /** @brief Append data as unsigned int with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, unsigned int value, quint64 usec);
+    /** @brief Append data as int64 with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, qint64 value, quint64 usec);
+    /** @brief Append data as uint64 with unit */
+    void appendData(int uasId, const QString& curve, const QString& unit, quint64 value, quint64 usec);
     void takeButtonClick(bool checked);
     void setPlotWindowPosition(int scrollBarValue);
     void setPlotWindowPosition(quint64 position);
@@ -88,6 +94,11 @@ public slots:
     /** @brief Stop automatic updates once hidden */
     void hideEvent(QHideEvent* event);
     void setActive(bool active);
+    void setActiveSystem(int systemid)
+    {
+        selectedMAV = systemid;
+    }
+
     /** @brief Set the number of values to average over */
     void setAverageWindow(int windowSize);
     /** @brief Start logging to file */
@@ -149,6 +160,7 @@ protected:
     QTimer* updateTimer;
     LogCompressor* compressor;
     QCheckBox* selectAllCheckBox;
+    int selectedMAV; ///< The MAV for which plot items are accepted, -1 for all systems
     static const int updateInterval = 400; ///< Time between number updates, in milliseconds
 
     static const int MAX_CURVE_MENUITEM_NUMBER = 8;
diff --git a/src/ui/linechart/Linecharts.cc b/src/ui/linechart/Linecharts.cc
index af1fded4f8ed916b736cf16e88b4e1906b9fc490..be59afe9910bc347f6f67eef254b1abd1c11438e 100644
--- a/src/ui/linechart/Linecharts.cc
+++ b/src/ui/linechart/Linecharts.cc
@@ -61,25 +61,32 @@ void Linecharts::hideEvent(QHideEvent* event)
 void Linecharts::selectSystem(int systemid)
 {
     QWidget* prevWidget = currentWidget();
-    if (prevWidget) {
+    if (prevWidget)
+    {
         LinechartWidget* chart = dynamic_cast<LinechartWidget*>(prevWidget);
-        if (chart) {
+        if (chart)
+        {
             chart->setActive(false);
+            chart->setActiveSystem(systemid);
         }
     }
     QWidget* widget = plots.value(systemid, NULL);
-    if (widget) {
+    if (widget)
+    {
         setCurrentWidget(widget);
         LinechartWidget* chart = dynamic_cast<LinechartWidget*>(widget);
-        if (chart) {
+        if (chart)
+        {
             chart->setActive(true);
+            chart->setActiveSystem(systemid);
         }
     }
 }
 
 void Linecharts::addSystem(UASInterface* uas)
 {
-    if (!plots.contains(uas->getUASID())) {
+    if (!plots.contains(uas->getUASID()))
+    {
         LinechartWidget* widget = new LinechartWidget(uas->getUASID(), this);
         addWidget(widget);
         plots.insert(uas->getUASID(), widget);
@@ -92,10 +99,38 @@ void Linecharts::addSystem(UASInterface* uas)
 
         connect(widget, SIGNAL(logfileWritten(QString)), this, SIGNAL(logfileWritten(QString)));
         // Set system active if this is the only system
-        if (active) {
-            if (plots.size() == 1) {
+        if (active)
+        {
+            if (plots.size() == 1)
+            {
+                // FIXME XXX HACK
+                // Connect generic sources
+                for (int i = 0; i < genericSources.count(); ++i)
+                {
+                    connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,int,quint64)));
+                    connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,unsigned int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,unsigned int,quint64)));
+                    connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,quint64,quint64)));
+                    connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,qint64,quint64)));
+                    connect(genericSources[i], SIGNAL(valueChanged(int,QString,QString,double,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,double,quint64)));
+                }
+                // Select system
                 selectSystem(uas->getUASID());
             }
         }
     }
 }
+
+void Linecharts::addSource(QObject* obj)
+{
+    genericSources.append(obj);
+    // FIXME XXX HACK
+    if (plots.size() > 0)
+    {
+        // Connect generic source
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,int,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,unsigned int,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,unsigned int,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,quint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,quint64,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,qint64,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,qint64,quint64)));
+        connect(obj, SIGNAL(valueChanged(int,QString,QString,double,quint64)), plots.values().first(), SLOT(appendData(int,QString,QString,double,quint64)));
+    }
+}
diff --git a/src/ui/linechart/Linecharts.h b/src/ui/linechart/Linecharts.h
index 4b6ad5cce08417a5d5d99ccdb16d0b1b439f1489..4d5d26b20b334565620672de2af0597acad2dc40 100644
--- a/src/ui/linechart/Linecharts.h
+++ b/src/ui/linechart/Linecharts.h
@@ -3,6 +3,7 @@
 
 #include <QStackedWidget>
 #include <QMap>
+#include <QVector>
 
 #include "LinechartWidget.h"
 #include "UASInterface.h"
@@ -22,9 +23,12 @@ public slots:
     void selectSystem(int systemid);
     /** @brief Add a new system to the list of plots */
     void addSystem(UASInterface* uas);
+    /** @brief Add a new generic message source (not a system) */
+    void addSource(QObject* obj);
 
 protected:
     QMap<int, LinechartWidget*> plots;
+    QVector<QObject*> genericSources;
     bool active;
     /** @brief Start updating widget */
     void showEvent(QShowEvent* event);