diff --git a/src/ui/configuration/FailSafeConfig.cc b/src/ui/configuration/FailSafeConfig.cc
index fe3199ba8bc73104a831c744f1c81da46a0a0f2b..2517a322ca129f2fa9ae10f85842b30c2b1e0635 100644
--- a/src/ui/configuration/FailSafeConfig.cc
+++ b/src/ui/configuration/FailSafeConfig.cc
@@ -73,6 +73,128 @@ FailSafeConfig::FailSafeConfig(QWidget *parent) : AP2ConfigWidget(parent)
     ui.throttleFailSafeComboBox->addItem("Disable");
     ui.throttleFailSafeComboBox->addItem("Enabled - Always TRL");
     ui.throttleFailSafeComboBox->addItem("Enabled - Continue in auto");
+
+    connect(ui.batteryFailCheckBox,SIGNAL(clicked(bool)),this,SLOT(batteryFailChecked(bool)));
+    connect(ui.fsLongCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsLongClicked(bool)));
+    connect(ui.fsShortCheckBox,SIGNAL(clicked(bool)),this,SLOT(fsShortClicked(bool)));
+    connect(ui.gcsCheckBox,SIGNAL(clicked(bool)),this,SLOT(gcsChecked(bool)));
+    connect(ui.throttleActionCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleActionChecked(bool)));
+    connect(ui.throttleCheckBox,SIGNAL(clicked(bool)),this,SLOT(throttleChecked(bool)));
+    connect(ui.throttlePwmSpinBox,SIGNAL(editingFinished()),this,SLOT(throttlePwmChanged()));
+    connect(ui.throttleFailSafeComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(throttleFailSafeChanged(int)));
+}
+void FailSafeConfig::gcsChecked(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->setParameter(1,"FS_GCS_ENABL",1);
+    }
+    else
+    {
+        m_uas->setParameter(1,"FS_GCS_ENABL",0);
+    }
+}
+
+void FailSafeConfig::throttleActionChecked(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->setParameter(1,"THR_FS_ACTION",1);
+    }
+    else
+    {
+        m_uas->setParameter(1,"THR_FS_ACTION",0);
+    }
+}
+
+void FailSafeConfig::throttleChecked(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->setParameter(1,"THR_FAILSAFE",1);
+    }
+    else
+    {
+        m_uas->setParameter(1,"THR_FAILSAFE",0);
+    }
+}
+
+void FailSafeConfig::throttlePwmChanged()
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    m_uas->setParameter(1,"THR_FS_VALUE",ui.throttlePwmSpinBox->value());
+}
+
+void FailSafeConfig::throttleFailSafeChanged(int index)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    m_uas->setParameter(1,"FS_THR_ENABLE",index);
+}
+
+void FailSafeConfig::fsLongClicked(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->setParameter(1,"FS_LONG_ACTN",1);
+    }
+    else
+    {
+        m_uas->setParameter(1,"FS_LONG_ACTN",0);
+    }
+}
+
+void FailSafeConfig::fsShortClicked(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->setParameter(1,"FS_SHORT_ACTN",1);
+    }
+    else
+    {
+        m_uas->setParameter(1,"FS_SHORT_ACTN",0);
+    }
+}
+
+void FailSafeConfig::batteryFailChecked(bool checked)
+{
+    if (!m_uas)
+    {
+        return;
+    }
+    if (checked)
+    {
+        m_uas->setParameter(1,"FS_BATT_ENABLE",1);
+    }
+    else
+    {
+        m_uas->setParameter(1,"FS_BATT_ENABLE",0);
+    }
 }
 
 FailSafeConfig::~FailSafeConfig()
@@ -84,6 +206,50 @@ void FailSafeConfig::activeUASSet(UASInterface *uas)
     connect(uas,SIGNAL(remoteControlChannelRawChanged(int,float)),this,SLOT(remoteControlChannelRawChanges(int,float)));
     connect(uas,SIGNAL(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)),this,SLOT(hilActuatorsChanged(uint64_t,float,float,float,float,float,float,float,float)));
     connect(uas,SIGNAL(armingChanged(bool)),this,SLOT(armingChanged(bool)));
+    if (uas->getSystemType() == MAV_TYPE_FIXED_WING)
+    {
+        ui.batteryFailCheckBox->setVisible(false);
+        ui.throttleFailSafeComboBox->setVisible(false);
+        ui.batteryVoltSpinBox->setVisible(false);
+        ui.label_6->setVisible(false);
+
+        ui.throttlePwmSpinBox->setVisible(true); //Both
+
+        ui.throttleCheckBox->setVisible(true);
+        ui.throttleActionCheckBox->setVisible(true);
+        ui.gcsCheckBox->setVisible(true);
+        ui.fsLongCheckBox->setVisible(true);
+        ui.fsShortCheckBox->setVisible(true);
+    }
+    else if (uas->getSystemType() == MAV_TYPE_QUADROTOR)
+    {
+        ui.batteryFailCheckBox->setVisible(true);
+        ui.throttleFailSafeComboBox->setVisible(true);
+        ui.batteryVoltSpinBox->setVisible(true);
+        ui.label_6->setVisible(true);
+
+        ui.throttlePwmSpinBox->setVisible(true); //Both
+
+        ui.throttleCheckBox->setVisible(false);
+        ui.throttleActionCheckBox->setVisible(false);
+        ui.gcsCheckBox->setVisible(false);
+        ui.fsLongCheckBox->setVisible(false);
+        ui.fsShortCheckBox->setVisible(false);
+    }
+    else
+    {
+        //Show all, just in case
+        ui.batteryFailCheckBox->setVisible(true);
+        ui.throttleFailSafeComboBox->setVisible(true);
+        ui.batteryVoltSpinBox->setVisible(true);
+        ui.throttlePwmSpinBox->setVisible(true); //Both
+        ui.throttleCheckBox->setVisible(true);
+        ui.throttleActionCheckBox->setVisible(true);
+        ui.gcsCheckBox->setVisible(true);
+        ui.fsLongCheckBox->setVisible(true);
+        ui.fsShortCheckBox->setVisible(true);
+    }
+
 }
 void FailSafeConfig::parameterChanged(int uas, int component, QString parameterName, QVariant value)
 {
diff --git a/src/ui/configuration/FailSafeConfig.h b/src/ui/configuration/FailSafeConfig.h
index 83085fb17284bd3baf068e7847e3cae1bf09833a..162246e899861f560891d8336eaddc631039ea79 100644
--- a/src/ui/configuration/FailSafeConfig.h
+++ b/src/ui/configuration/FailSafeConfig.h
@@ -17,6 +17,14 @@ private slots:
     void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
     void armingChanged(bool armed);
     void parameterChanged(int uas, int component, QString parameterName, QVariant value);
+    void batteryFailChecked(bool checked);
+    void fsLongClicked(bool checked);
+    void fsShortClicked(bool checked);
+    void gcsChecked(bool checked);
+    void throttleActionChecked(bool checked);
+    void throttleChecked(bool checked);
+    void throttlePwmChanged();
+    void throttleFailSafeChanged(int index);
 private:
     Ui::FailSafeConfig ui;
 };