Merge branch 'pull_upstream' into feature/offlineElevationData

Conflicts: src/Terrain.cc src/Terrain.h

Merge branch 'pull_upstream' into feature/offlineElevationData
Conflicts: src/Terrain.cc src/Terrain.h
abfc1233 · Andreas Bircher · 0f7c1a13 · e7914214 · abfc1233 · abfc1233
Commit abfc1233 authored Mar 14, 2018 by Andreas Bircher
337 changed files
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -15,7 +15,7 @@ environment:
 install:
  - git submodule update --init --recursive
  - call "%ProgramFiles(x86)%\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86
-  - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.9.1\msvc2015\bin;%PATH%
+  - set PATH=C:\Qt\Tools\QtCreator\bin;C:\Qt\5.9.4\msvc2015\bin;%PATH%
  - mkdir %LOCALAPPDATA%\QtProject && copy test\qtlogging.ini %LOCALAPPDATA%\QtProject\
  - ps: |
      Write-Host "Installing GStreamer..." -ForegroundColor Cyan
@@ -35,7 +35,7 @@ install:
      Write-Host "Installed" -ForegroundColor Green

 build_script:
-  - mkdir %SHADOW_BUILD_DIR% && cd %SHADOW_BUILD_DIR% && C:\Qt\5.9.1\msvc2015\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn %APPVEYOR_BUILD_FOLDER%\qgroundcontrol.pro
+  - mkdir %SHADOW_BUILD_DIR% && cd %SHADOW_BUILD_DIR% && C:\Qt\5.9.4\msvc2015\bin\qmake -r CONFIG-=debug_and_release CONFIG+=%CONFIG% CONFIG+=WarningsAsErrorsOn %APPVEYOR_BUILD_FOLDER%\qgroundcontrol.pro
  - cd %SHADOW_BUILD_DIR% && jom
  - if "%CONFIG%" EQU "installer" ( copy %SHADOW_BUILD_DIR%\release\QGroundControl-installer.exe %APPVEYOR_BUILD_FOLDER%\QGroundControl-installer.exe )
 # Generate the source server information to embed in the PDB

--- a/.travis.yml
+++ b/.travis.yml
@@ -4,8 +4,6 @@ language: cpp

 env:
  global:
-    - CCACHE_CPP2=1
-    - CCACHE_DISABLE=1
    - JOBS=4
    - QT_FATAL_WARNINGS=1
    - SHADOW_BUILD_DIR=/tmp/shadow_build_dir
@@ -28,18 +26,18 @@ matrix:
          env: SPEC=android-g++ CONFIG=installer
          sudo: false
        - os: osx
-          osx_image: xcode8.3
+          osx_image: xcode9.2
          env: SPEC=macx-clang CONFIG=installer
          sudo: required
+        - os: osx
+          osx_image: xcode9.2
+          env: SPEC=macx-ios-clang CONFIG=release
+          sudo: false
 # OSX builds pared back to installer only since travis sucks so bad we can't afford more than one'
 #        - os: osx
 #          osx_image: xcode8
 #          env: SPEC=macx-clang CONFIG=debug
 #          sudo: required
-#        - os: osx
-#          osx_image: xcode8
-#          env: SPEC=macx-ios-clang CONFIG=release
-#          sudo: false

 android:
  components:
@@ -50,7 +48,6 @@ android:
 addons:
  apt:
    packages:
-    - ccache
    - espeak
    - libespeak-dev
    - libgstreamer-plugins-base1.0-dev
@@ -60,25 +57,12 @@ addons:
    - libudev-dev
    - wget

-cache:
-  directories:
-    - $HOME/.ccache
-
 before_install:
  # fetch entire git repo to properly determine the version
  - if [ "${CONFIG}" = "installer" ]; then
        cd ${TRAVIS_BUILD_DIR} && git fetch --unshallow && git fetch --all --tags;
    fi

-  # install ccache for osx/ios
-  - if [ "${TRAVIS_OS_NAME}" = "osx" ]; then
-        wget --quiet https://s3.amazonaws.com/px4-travis/toolchain/macos/ccache &&
-        chmod +x ccache && sudo mv ccache /usr/local/bin;
-    fi
-
-  # setup ccache
-  #- ccache -M 500MB && ccache -z
-
  # compile threads
  - if [ "${TRAVIS_OS_NAME}" = "linux" ]; then
        export JOBS=$((`cat /proc/cpuinfo | grep -c ^processor`+1));
@@ -89,9 +73,9 @@ before_install:
 install:
  # linux dependencies: qt
  - if [ "${SPEC}" = "linux-g++-64" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.1-linux-min.tar.bz2 &&
-        tar jxf Qt5.9.1-linux-min.tar.bz2 -C /tmp &&
-        export PATH=/tmp/Qt5.9-linux/5.9.1/gcc_64/bin:$PATH &&
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-gcc_64-min.tar.bz2 &&
+        tar jxf Qt5.9.3-gcc_64-min.tar.bz2 -C /tmp &&
+        export PATH=/tmp/Qt5.9-gcc_64/5.9.3/gcc_64/bin:$PATH &&
        export DISPLAY=:99.0 &&
        sh -e /etc/init.d/xvfb start
        ;
@@ -99,8 +83,8 @@ install:

  # android dependencies: qt, gstreamer, android-ndk
  - if [ "${SPEC}" = "android-g++" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.1-android-min.tar.bz2 &&
-        tar jxf Qt5.9.1-android-min.tar.bz2 -C /tmp &&
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-android_armv7-min.tar.bz2 &&
+        tar jxf Qt5.9.3-android_armv7-min.tar.bz2 -C /tmp &&
        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-android-armv7-1.5.2.tar.bz2 &&
        mkdir -p ${TRAVIS_BUILD_DIR}/gstreamer-1.0-android-armv7-1.5.2 &&
        tar jxf gstreamer-1.0-android-armv7-1.5.2.tar.bz2 -C ${TRAVIS_BUILD_DIR}/gstreamer-1.0-android-armv7-1.5.2 &&
@@ -109,35 +93,53 @@ install:
        ./android-ndk-r10e-linux-x86_64.bin > /dev/null &&
        export ANDROID_NDK_ROOT=`pwd`/android-ndk-r10e &&
        export ANDROID_SDK_ROOT=/usr/local/android-sdk &&
-        export PATH=/tmp/Qt5.9-android/5.9.1/android_armv7/bin:`pwd`/android-ndk-r10e:$PATH && echo $PATH
+        export PATH=/tmp/Qt5.9-android_armv7/5.9.3/android_armv7/bin:`pwd`/android-ndk-r10e:$PATH && echo $PATH
        ;
    fi

-  # osx dependencies: qt, gstreamer, gstreamer-devel
+  # osx dependencies: qt (master builds only: gstreamer, gstreamer-devel)
  - if [ "${SPEC}" = "macx-clang" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.1-mac-clang-min.tar.bz2 &&
-        tar jxf Qt5.9.1-mac-clang-min.tar.bz2 -C /tmp &&
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-clang_64-min.tar.bz2 &&
+        tar jxf Qt5.9.3-clang_64-min.tar.bz2 -C /tmp
+        ;
+    fi
+
+  - if [[ "${SPEC}" = "macx-clang" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-1.5.2-x86_64.pkg &&
-        sudo installer -verboseR -pkg gstreamer-1.0-1.5.2-x86_64.pkg -target / &&
+        sudo installer -verboseR -pkg gstreamer-1.0-1.5.2-x86_64.pkg -target /
+        ;
+    fi
+
+  - if [[ "${SPEC}" = "macx-clang" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/gstreamer-1.0-devel-1.5.2-x86_64.pkg &&
-        sudo installer -verboseR -pkg gstreamer-1.0-devel-1.5.2-x86_64.pkg -target / &&
+        sudo installer -verboseR -pkg gstreamer-1.0-devel-1.5.2-x86_64.pkg -target /
+        ;
+    fi
+
+  - if [[ "${SPEC}" = "macx-clang" && "${TRAVIS_PULL_REQUEST}" = "false" ]]; then
        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/osx-gstreamer.tar.bz2 &&
-        sudo tar jxf osx-gstreamer.tar.bz2 -C /Library/Frameworks &&
-        export QT_DIR=Qt5.9-mac-clang/5.9.1/clang_64 &&
+        sudo tar jxf osx-gstreamer.tar.bz2 -C /Library/Frameworks
+        ;
+    fi
+
+  - if [ "${SPEC}" = "macx-clang" ]; then
+        export QT_DIR=Qt5.9-clang_64/5.9.3/clang_64 &&
        export QT_QPA_PLATFORM_PLUGIN_PATH=/tmp/$QT_DIR/plugins &&
        export QML2_IMPORT_PATH=/tmp/$QT_DIR/qml &&
        export PATH=/tmp/$QT_DIR/bin:$PATH
        ;
    fi

-  # ios dependencies: qt, TODO: add gstreamer
+  # ios dependencies: qt
+  - if [ "${SPEC}" = "macx-ios-clang" ]; then
+        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.9.3-ios-min.tar.bz2
+        ;
+    fi
  - if [ "${SPEC}" = "macx-ios-clang" ]; then
-        wget --quiet https://s3-us-west-2.amazonaws.com/qgroundcontrol/dependencies/Qt5.8.0-ios-min.tar.bz2 &&
-        tar jxf Qt5.8.0-ios-min.tar.bz2 -C /tmp &&
+        tar jxf Qt5.9.3-ios-min.tar.bz2 -C /tmp &&
        export IOS_CCACHE_CC=`/usr/bin/xcrun -sdk iphoneos -find clang` &&
        export IOS_CCACHE_CXX=`/usr/bin/xcrun -sdk iphoneos -find clang++` &&
-        export PATH=/tmp/Qt5.8-ios/5.8/ios/bin:$PATH &&
-        tools/patch_qt_for_xcode8.sh
+        export PATH=/tmp/Qt5.9-ios/5.9.3/ios/bin:$PATH
        ;
    fi


--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -2,9 +2,103 @@ pipeline {
  agent any
  stages {
    stage('build') {
-      steps {
-        sh 'git status'
+      parallel {
+        stage('Linux Debug') {
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+            QGC_CONFIG = 'debug'
+            QMAKE_VER = "5.9.2/gcc_64/bin/qmake"
+          }
+          agent {
+            docker {
+              image 'mavlink/qgc-build-linux'
+              args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'ccache -z'
+            sh 'git submodule deinit -f .'
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule update --init --recursive --force'
+            sh 'mkdir build; cd build; ${QT_PATH}/${QMAKE_VER} -r ${WORKSPACE}/qgroundcontrol.pro CONFIG+=${QGC_CONFIG} CONFIG+=WarningsAsErrorsOn'
+            sh 'cd build; make -j`nproc --all`'
+            sh 'ccache -s'
+          }
+        }
+        stage('Linux Release') {
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+            QGC_CONFIG = 'release'
+            QMAKE_VER = "5.9.2/gcc_64/bin/qmake"
+          }
+          agent {
+            docker {
+              image 'mavlink/qgc-build-linux'
+              args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'ccache -z'
+            sh 'git submodule deinit -f .'
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule update --init --recursive --force'
+            sh 'mkdir build; cd build; ${QT_PATH}/${QMAKE_VER} -r ${WORKSPACE}/qgroundcontrol.pro CONFIG+=${QGC_CONFIG} CONFIG+=WarningsAsErrorsOn'
+            sh 'cd build; make -j`nproc --all`'
+            sh 'ccache -s'
+          }
+        }
+        stage('OSX Debug') {
+          agent {
+            node {
+              label 'mac'
+            }
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+            QGC_CONFIG = 'debug'
+            QMAKE_VER = "5.9.3/clang_64/bin/qmake"
+          }
+          steps {
+            sh 'export'
+            sh 'ccache -z'
+            sh 'git submodule deinit -f .'
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule update --init --recursive --force'
+            sh 'mkdir build; cd build; ${QT_PATH}/${QMAKE_VER} -r ${WORKSPACE}/qgroundcontrol.pro CONFIG+=${QGC_CONFIG} CONFIG+=WarningsAsErrorsOn'
+            sh 'cd build; make -j`sysctl -n hw.ncpu`'
+            sh 'ccache -s'
+          }
+        }
+        stage('OSX Release') {
+          agent {
+            node {
+              label 'mac'
+            }
+          }
+          environment {
+            CCACHE_BASEDIR = "${env.WORKSPACE}"
+            QGC_CONFIG = 'release'
+            QMAKE_VER = "5.9.3/clang_64/bin/qmake"
+          }
+          steps {
+            sh 'export'
+            sh 'ccache -z'
+            sh 'git submodule deinit -f .'
+            sh 'git clean -ff -x -d .'
+            sh 'git submodule update --init --recursive --force'
+            sh 'mkdir build; cd build; ${QT_PATH}/${QMAKE_VER} -r ${WORKSPACE}/qgroundcontrol.pro CONFIG+=${QGC_CONFIG} CONFIG+=WarningsAsErrorsOn'
+            sh 'cd build; make -j`sysctl -n hw.ncpu`'
+            sh 'ccache -s'
+          }
+        }
      }
    }
  }
-}
\ No newline at end of file
+  environment {
+    CCACHE_CPP2 = '1'
+    CCACHE_DIR = '/tmp/ccache'
+    QT_FATAL_WARNINGS = '1'
+  }
+}
--- a/QGCCommon.pri
+++ b/QGCCommon.pri
@@ -83,7 +83,7 @@ linux {
    DEFINES += NO_SERIAL_LINK
    DEFINES += QGC_DISABLE_UVC
    QMAKE_IOS_DEPLOYMENT_TARGET = 8.0
-    QMAKE_IOS_TARGETED_DEVICE_FAMILY = 1,2 # Universal
+    QMAKE_APPLE_TARGETED_DEVICE_FAMILY = 1,2 # Universal
    QMAKE_LFLAGS += -Wl,-no_pie
 } else {
    error("Unsupported build platform, only Linux, Windows, Android and Mac (Mac OS and iOS) are supported")
@@ -235,7 +235,9 @@ ReleaseBuild {
    DEFINES += QT_NO_DEBUG QT_MESSAGELOGCONTEXT
    CONFIG += force_debug_info  # Enable debugging symbols on release builds
    !iOSBuild {
-        CONFIG += ltcg              # Turn on link time code generation
+        !AndroidBuild {
+            CONFIG += ltcg              # Turn on link time code generation
+        }
    }

    WindowsBuild {

--- a/QGCExternalLibs.pri
+++ b/QGCExternalLibs.pri
@@ -7,20 +7,53 @@ WindowsBuild {

 #
 # [REQUIRED] Add support for the MAVLink communications protocol.
-# Mavlink dialect is hardwired to arudpilotmega for now. The reason being
+#
+# By default MAVLink dialect is hardwired to arudpilotmega. The reason being
 # the current codebase supports both PX4 and APM flight stack. PX4 flight stack
-# only usese common mavlink specifications, whereas APM flight stack uses custom
-# mavlink specifications which add to common. So by using the adupilotmega dialect
+# only uses common MAVLink specifications, whereas APM flight stack uses custom
+# MAVLink specifications which adds to common. So by using the adupilotmega dialect
 # QGC can support both in the same codebase.
-#
+
 # Once the mavlink helper routines include support for multiple dialects within
 # a single compiled codebase this hardwiring of dialect can go away. But until then
 # this "workaround" is needed.

-MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
-MAVLINKPATH = $$BASEDIR/$$MAVLINKPATH_REL
-MAVLINK_CONF = ardupilotmega
-DEFINES += MAVLINK_NO_DATA
+# In the mean time, it’s possible to define a completely different dialect by defining the
+# location and name below.
+
+# check for user defined settings in user_config.pri if not already set as qmake argument
+isEmpty(MAVLINKPATH_REL) {
+    exists(user_config.pri):infile(user_config.pri, MAVLINKPATH_REL) {
+        MAVLINKPATH_REL = $$fromfile(user_config.pri, MAVLINKPATH_REL)
+        message($$sprintf("Using user-supplied relativ mavlink path '%1' specified in user_config.pri", $$MAVLINKPATH_REL))
+    } else {
+        MAVLINKPATH_REL = libs/mavlink/include/mavlink/v2.0
+    }
+}
+
+isEmpty(MAVLINKPATH) {
+    exists(user_config.pri):infile(user_config.pri, MAVLINKPATH) {
+        MAVLINKPATH     = $$fromfile(user_config.pri, MAVLINKPATH)
+        message($$sprintf("Using user-supplied mavlink path '%1' specified in user_config.pri", $$MAVLINKPATH))
+    } else {
+        MAVLINKPATH     = $$BASEDIR/$$MAVLINKPATH_REL
+    }
+}
+
+isEmpty(MAVLINK_CONF) {
+    exists(user_config.pri):infile(user_config.pri, MAVLINK_CONF) {
+        MAVLINK_CONF = $$fromfile(user_config.pri, MAVLINK_CONF)
+        message($$sprintf("Using user-supplied mavlink dialect '%1' specified in user_config.pri", $$MAVLINK_CONF))
+    } else {
+        MAVLINK_CONF = ardupilotmega
+    }
+}
+
+# If defined, all APM specific MAVLink messages are disabled
+contains (CONFIG, QGC_DISABLE_APM_MAVLINK) {
+    message("Disable APM MAVLink support")
+    DEFINES += NO_ARDUPILOT_DIALECT
+}

 # First we select the dialect, checking for valid user selection
 # Users can override all other settings by specifying MAVLINK_CONF as an argument to qmake

--- a/QGCInstaller.pri
+++ b/QGCInstaller.pri
@@ -26,13 +26,14 @@ installer {
        # We cd to release directory so we can run macdeployqt without a path to the
        # qgroundcontrol.app file. If you specify a path to the .app file the symbolic
        # links to plugins will not be created correctly.
-        QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
        QMAKE_POST_LINK += && cd $${DESTDIR} && $$dirname(QMAKE_QMAKE)/macdeployqt $${TARGET}.app -appstore-compliant -verbose=2 -qmldir=$${BASEDIR}/src
        # macdeploy is missing some relocations once in a while. "Fix" it:
        QMAKE_POST_LINK += && python $$BASEDIR/tools/osxrelocator.py $${TARGET}.app/Contents @rpath @executable_path/../Frameworks -r > /dev/null 2>&1
        # Create package
-        QMAKE_POST_LINK += && cd $${OUT_PWD}
-        QMAKE_POST_LINK += && hdiutil create -verbose -stretch 4g -layout SPUD -srcfolder $${DESTDIR}/$${TARGET}.app -volname $${TARGET} $${DESTDIR}/package/$${TARGET}.dmg
+        QMAKE_POST_LINK += && hdiutil create /tmp/tmp.dmg -ov -volname "$${TARGET}-$${MAC_VERSION}" -fs HFS+ -srcfolder "$${DESTDIR}/"
+        QMAKE_POST_LINK += && mkdir -p $${DESTDIR}/package
+        QMAKE_POST_LINK += && hdiutil convert /tmp/tmp.dmg -format UDBZ -o $${DESTDIR}/package/$${TARGET}.dmg
+        QMAKE_POST_LINK += && rm /tmp/tmp.dmg
    }
    WindowsBuild {
        QMAKE_POST_LINK += $$escape_expand(\\n) cd $$BASEDIR_WIN && $$quote("\"C:\\Program Files \(x86\)\\NSIS\\makensis.exe\"" /DINSTALLER_ICON="\"$${QGC_INSTALLER_ICON}\"" /DHEADER_BITMAP="\"$${QGC_INSTALLER_HEADER_BITMAP}\"" /DAPPNAME="\"$${QGC_APP_NAME}\"" /DEXENAME="\"$${TARGET}\"" /DORGNAME="\"$${QGC_ORG_NAME}\"" /DDESTDIR=$${DESTDIR} /NOCD "\"/XOutFile $${DESTDIR_WIN}\\$${TARGET}-installer.exe\"" "$$BASEDIR_WIN\\deploy\\qgroundcontrol_installer.nsi")

--- a/QGCSetup.pri
+++ b/QGCSetup.pri
@@ -40,7 +40,7 @@ WindowsBuild {
 # Perform platform specific setup
 #

-iOSBuild | MacBuild {
+MacBuild {
    # Update version info in bundle
    QMAKE_POST_LINK += && /usr/libexec/PlistBuddy -c \"Set :CFBundleShortVersionString $${MAC_VERSION}\" $$DESTDIR/$${TARGET}.app/Contents/Info.plist
    QMAKE_POST_LINK += && /usr/libexec/PlistBuddy -c \"Set :CFBundleVersion $${MAC_BUILD}\" $$DESTDIR/$${TARGET}.app/Contents/Info.plist
@@ -146,7 +146,8 @@ LinuxBuild {
        platforminputcontexts \
        platforms \
        position \
-        sqldrivers
+        sqldrivers \
+        texttospeech

    !contains(DEFINES, __rasp_pi2__) {
        QT_PLUGIN_LIST += xcbglintegrations

--- a/README.md
+++ b/README.md
 # QGroundControl Ground Control Station

-## Open Source Micro Air Vehicle Ground Control Station
-
 [![Releases](https://img.shields.io/github/release/mavlink/QGroundControl.svg)](https://github.com/mavlink/QGroundControl/releases)
 [![Travis Build Status](https://travis-ci.org/mavlink/qgroundcontrol.svg?branch=master)](https://travis-ci.org/mavlink/qgroundcontrol)
 [![Appveyor Build Status](https://ci.appveyor.com/api/projects/status/crxcm4qayejuvh6c/branch/master?svg=true)](https://ci.appveyor.com/project/mavlink/qgroundcontrol)

 [![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/mavlink/qgroundcontrol?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

-The license terms are set in the COPYING.md file.
-
-* Project:
-<http://qgroundcontrol.com>
-
-* Files:
-<http://github.com/mavlink/qgroundcontrol>
-
-* Credits:
-<http://qgroundcontrol.org/credits>
-
+Website: <http://qgroundcontrol.com>

 ## Obtaining source code
+
 Source code for QGroundControl is kept on GitHub: https://github.com/mavlink/qgroundcontrol.
 ```
 git clone --recursive https://github.com/mavlink/qgroundcontrol.git
@@ -36,24 +25,25 @@ https://docs.qgroundcontrol.com/en/

 #### Native Builds
 QGroundControl builds are supported for OSX, Linux, Windows, iOS and Android. QGroundControl uses [Qt](http://www.qt.io) as its cross-platform support library and uses [QtCreator](http://doc.qt.io/qtcreator/index.html) as its default build environment.
+
 * OSX: OSX 10.7 or higher, 64 bit, clang compiler (IMPORTANT: XCode 8 requires a workaround described below)
 * Ubuntu: 64 bit, gcc compiler
 * Windows: Vista or higher, 32 bit, [Visual Studio 2015 compiler](http://www.visualstudio.com/downloads/download-visual-studio-vs#d-express-windows-desktop)
 * iOS: 8.0 and higher
 * Android: Jelly Bean (4.1) and higher. Standard QGC is built against ndk version 19.
-* Qt version: 5.9.1 ONLY
+* Qt version: **5.9.3 only**

 ###### Install QT
-You need to install Qt as described below instead of using pre-built packages from say, a Linux distribution, because QGroundControl needs access to private Qt headers.
+You **need to install Qt as described below** instead of using pre-built packages from say, a Linux distribution, because QGroundControl needs access to private Qt headers.
 * Download the [Qt installer](http://www.qt.io/download-open-source)
-    * Make sure to install Qt version **5.9.1**. You will also need to install the Qt Speech package.
+    * Make sure to install Qt version **5.9.3**. You will also need to install the Qt Speech package.
    * Ubuntu: Set the downloaded file to executable using:`chmod +x`. Install to default location for use with ./qgroundcontrol-start.sh. If you install Qt to a non-default location you will need to modify qgroundcontrol-start.sh in order to run downloaded builds.
    * Windows: Make sure to install VS 2015 32 bit package.

 ###### Install additional packages:
-* Ubuntu: sudo apt-get install espeak libespeak-dev libudev-dev libsdl2-dev
-* Fedora: sudo dnf install espeak espeak-devel SDL2-devel SDL2 systemd-devel
-* Arch Linux: pacman -Sy espeak
+* Ubuntu: sudo apt-get install speech-dispatcher libudev-dev libsdl2-dev libgstreamer1.0-0 gstreamer1.0-plugins-base libgstreamer-plugins-base1.0-dev gstreamer1.0*
+* Fedora: sudo dnf install speech-dispatcher SDL2-devel SDL2 systemd-devel
+* Arch Linux: pacman -Sy speech-dispatcher
 * Windows: [USB Driver](http://www.pixhawk.org/firmware/downloads) to connect to Pixhawk/PX4Flow/3DR Radio
 * Android: [Qt Android Setup](http://doc.qt.io/qt-5/androidgs.html)

@@ -61,10 +51,10 @@ You need to install Qt as described below instead of using pre-built packages fr

 * Launch Qt Creator and open the `qgroundcontrol.pro` project.
 * Select the appropriate kit for your needs:
-    * OSX: Desktop Qt 5.9.1 clang 64 bit
-    * Ubuntu: Desktop Qt 5.9.1 GCC bit
-    * Windows: Desktop Qt 5.9.1 MSVC2015 32bit
-    * Android: Android for armeabi-v7a (GCC 4.9, Qt 5.9.1)
+    * OSX: Desktop Qt 5.9.3 clang 64 bit
+    * Ubuntu: Desktop Qt 5.9.3 GCC bit
+    * Windows: Desktop Qt 5.9.3 MSVC2015 32bit
+    * Android: Android for armeabi-v7a (GCC 4.9, Qt 5.9.3)
 * Note: iOS builds must be built using xCode: http://doc.qt.io/qt-5/ios-support.html. Use Qt Creator to generate the XCode project (*Run Qmake* from the context menu).

 #### Vagrant

--- a/UnitTest.qrc
+++ b/UnitTest.qrc
@@ -9,9 +9,10 @@
        <file alias="MavCmdInfoVTOL.json">src/MissionManager/UnitTest/MavCmdInfoVTOL.json</file>
        <file alias="MissionPlanner.waypoints">src/MissionManager/UnitTest/MissionPlanner.waypoints</file>
        <file alias="OldFileFormat.mission">src/MissionManager/UnitTest/OldFileFormat.mission</file>
-		<file alias="GoodPolygon.kml">src/MissionManager/UnitTest/GoodPolygon.kml</file>
-		<file alias="MissingPolygonNode.kml">src/MissionManager/UnitTest/MissingPolygonNode.kml</file>
-		<file alias="BadXml.kml">src/MissionManager/UnitTest/BadXml.kml</file>
-		<file alias="BadCoordinatesNode.kml">src/MissionManager/UnitTest/BadCoordinatesNode.kml</file>
+		<file alias="PolygonAreaTest.kml">src/MissionManager/UnitTest/PolygonAreaTest.kml</file>
+		<file alias="PolygonGood.kml">src/MissionManager/UnitTest/PolygonGood.kml</file>
+		<file alias="PolygonMissingNode.kml">src/MissionManager/UnitTest/PolygonMissingNode.kml</file>
+		<file alias="PolygonBadXml.kml">src/MissionManager/UnitTest/PolygonBadXml.kml</file>
+		<file alias="PolygonBadCoordinatesNode.kml">src/MissionManager/UnitTest/PolygonBadCoordinatesNode.kml</file>
    </qresource>
 </RCC>
--- a/Vagrantfile
+++ b/Vagrantfile
@@ -15,7 +15,7 @@ Vagrant.configure(2) do |config|
  config.vm.provider "virtualbox"
  config.vm.provider "vmware_fusion"

-  config.vm.box = "boxcutter/ubuntu1604"
+  config.vm.box = "ubuntu/xenial64"
  config.vm.provider :docker do |docker, override|
    override.vm.box = "tknerr/baseimage-ubuntu-16.04"
  end

--- a/android/AndroidManifest.xml
+++ b/android/AndroidManifest.xml
 <?xml version="1.0"?>
 <manifest package="org.mavlink.qgroundcontrol" xmlns:android="http://schemas.android.com/apk/res/android" android:versionName="3.0.0-243-gd759437" android:versionCode="300243" android:installLocation="auto">
-    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="-- %%INSERT_APP_NAME%% --" android:icon="@drawable/icon" android:debuggable="true">
+    <application android:hardwareAccelerated="true" android:name="org.qtproject.qt5.android.bindings.QtApplication" android:label="-- %%INSERT_APP_NAME%% --" android:icon="@drawable/icon">
        <activity android:configChanges="orientation|uiMode|screenLayout|screenSize|smallestScreenSize|locale|fontScale|keyboard|keyboardHidden|navigation" android:name="org.mavlink.qgroundcontrol.QGCActivity" android:label="-- %%INSERT_APP_NAME%% --" android:screenOrientation="sensorLandscape" android:launchMode="singleTask" android:keepScreenOn="true">
            <intent-filter>
                <action android:name="android.intent.action.MAIN"/>
@@ -59,6 +59,7 @@

    <!-- Support devices without USB host mode since there are other connection types -->
    <uses-feature android:name="android.hardware.usb.host" android:required="false"/>
+    <uses-feature android:name="android.hardware.location.GPS" android:required="false" />
    <!-- The following comment will be replaced upon deployment with default features based on the dependencies of the application.
         Remove the comment if you do not require these default features. -->
    <!-- %%INSERT_FEATURES -->

--- a/deploy/MakeQtTravisTarball.sh
+++ b/deploy/MakeQtTravisTarball.sh
+#!/bin/bash -x
+
+if [[ $# -eq 0 ]]; then
+        echo 'MakeQtTravisTarball.sh QtDirectory QtFullVersion QtBaseVersion BuildType'
+        exit 1
+fi
+
+QT_DIRECTORY=$1
+if [ ! -d ${QT_DIRECTORY} ]; then
+        echo 'Specify directory for Qt Directory.'
+        exit 1
+fi
+
+QT_FULL_VERSION=$2
+if [ ! -d ${QT_DIRECTORY}/${QT_FULL_VERSION} ]; then
+        echo 'Qt version directory not found'
+        exit 1
+fi
+
+QT_BASE_VERSION=$3
+
+QT_BUILD_TYPE=$4
+if [ ! -d ${QT_DIRECTORY}/${QT_FULL_VERSION}/${QT_BUILD_TYPE} ]; then
+        echo 'Qt build type directory not found'
+        exit 1
+fi
+
+mkdir -p Qt${QT_BASE_VERSION}-${QT_BUILD_TYPE}/${QT_FULL_VERSION}/${QT_BUILD_TYPE}
+cp -r ${QT_DIRECTORY}/${QT_FULL_VERSION}/${QT_BUILD_TYPE} Qt${QT_BASE_VERSION}-${QT_BUILD_TYPE}/${QT_FULL_VERSION}
+rm -rf Qt${QT_BASE_VERSION}-${QT_BUILD_TYPE}/${QT_FULL_VERSION}/${QT_BUILD_TYPE}/doc
+tar -jcvf Qt${QT_FULL_VERSION}-${QT_BUILD_TYPE}-min.tar.bz2 Qt${QT_BASE_VERSION}-${QT_BUILD_TYPE}/
--- a/deploy/create_linux_appimage.sh
+++ b/deploy/create_linux_appimage.sh
@@ -34,10 +34,9 @@ mkdir -p ${APPDIR}

 cd ${TMPDIR}
 wget -c --quiet http://ftp.us.debian.org/debian/pool/main/u/udev/udev_175-7.2_amd64.deb
-wget -c --quiet http://ftp.us.debian.org/debian/pool/main/e/espeak/espeak_1.46.02-2_amd64.deb
+wget -c --quiet http://ftp.us.debian.org/debian/pool/main/s/speech-dispatcher/speech-dispatcher_0.8.8-1_amd64.deb
 wget -c --quiet http://ftp.us.debian.org/debian/pool/main/libs/libsdl2/libsdl2-2.0-0_2.0.2%2bdfsg1-6_amd64.deb

-
 cd ${APPDIR}
 find ../ -name *.deb -exec dpkg -x {} . \;


--- a/v2.0 @ 3ddcbdfc
+++ b/v2.0 @ 3ddcbdfc
-Subproject commit 5be9f5bf6002d58199cafafb5d416929fb8d8bcd
+Subproject commit 3ddcbdfcd360c846246d8905d877add3488c8363
--- a/localization/gen_translation_source.sh
+++ b/localization/gen_translation_source.sh
 #!/bin/bash
 # This is set to find lupdate in my particular installation. You will need to set the path
 # where you have Qt installed.
-QT_PATH=~/Applications/Qt/5.7/clang_64/bin
+QT_PATH=~/Applications/Qt/5.9.1/clang_64/bin
 $QT_PATH/lupdate ../src -ts qgc.ts
--- a/localization/qgc.ts
+++ b/localization/qgc.ts
--- a/qgcresources.qrc
+++ b/qgcresources.qrc
@@ -109,6 +109,7 @@
        <file alias="compassInstrumentDial.svg">src/FlightMap/Images/compassInstrumentDial.svg</file>
        <file alias="crossHair.svg">src/FlightMap/Images/crossHair.svg</file>
        <file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
+        <file alias="pipHide.svg">src/FlightMap/Images/pipHide.svg</file>
        <file alias="pipResize.svg">src/FlightMap/Images/pipResize.svg</file>
        <file alias="rollDialWhite.svg">src/FlightMap/Images/rollDialWhite.svg</file>
        <file alias="rollPointerWhite.svg">src/FlightMap/Images/rollPointerWhite.svg</file>

--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -7,14 +7,16 @@
 # License terms set in COPYING.md
 # -------------------------------------------------

+QMAKE_PROJECT_DEPTH = 0 # undocumented qmake flag to force absolute paths in make files
+
 exists($${OUT_PWD}/qgroundcontrol.pro) {
    error("You must use shadow build (e.g. mkdir build; cd build; qmake ../qgroundcontrol.pro).")
 }

 message(Qt version $$[QT_VERSION])

-!equals(QT_MAJOR_VERSION, 5) | !greaterThan(QT_MINOR_VERSION, 6) {
-    error("Unsupported Qt version, 5.7+ is required")
+!equals(QT_MAJOR_VERSION, 5) | !greaterThan(QT_MINOR_VERSION, 8) {
+    error("Unsupported Qt version, 5.9+ is required")
 }

 include(QGCCommon.pri)
@@ -43,8 +45,6 @@ MacBuild {
 }

 iOSBuild {
-    BUNDLE.files        = $$files($$PWD/ios/AppIcon*.png) $$PWD/ios/QGCLaunchScreen.xib
-    QMAKE_BUNDLE_DATA  += BUNDLE
    LIBS               += -framework AVFoundation
    #-- Info.plist (need an "official" one for the App Store)
    ForAppStore {
@@ -63,6 +63,8 @@ iOSBuild {
        QMAKE_INFO_PLIST  = $${BASEDIR}/ios/iOS-Info.plist
        OTHER_FILES      += $${BASEDIR}/ios/iOS-Info.plist
    }
+    BUNDLE.files        = $$files($$PWD/ios/AppIcon*.png) $$PWD/ios/QGCLaunchScreen.xib $$QMAKE_INFO_PLIST
+    QMAKE_BUNDLE_DATA  += BUNDLE
    #-- TODO: Add iTunesArtwork
 }

@@ -207,8 +209,7 @@ contains(DEFINES, ENABLE_VERBOSE_OUTPUT) {
 } else:exists(user_config.pri):infile(user_config.pri, DEFINES, ENABLE_VERBOSE_OUTPUT) {
    message("Enable verbose compiler output (manual override from user_config.pri)")
 } else {
-CONFIG += \
-    silent
+    CONFIG += silent
 }

 QT += \
@@ -233,10 +234,12 @@ QT += \
        multimedia
 }

-!MobileBuild {
-QT += \
-    printsupport \
-    serialport \
+AndroidBuild || iOSBuild {
+    # Android and iOS don't unclude these
+} else {
+    QT += \
+        printsupport \
+        serialport \
 }

 contains(DEFINES, QGC_ENABLE_BLUETOOTH) {
@@ -412,7 +415,9 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
        src/FactSystem/FactSystemTestGeneric.h \
        src/FactSystem/FactSystemTestPX4.h \
        src/FactSystem/ParameterManagerTest.h \
+        src/MissionManager/CameraCalcTest.h \
        src/MissionManager/CameraSectionTest.h \
+        src/MissionManager/CorridorScanComplexItemTest.h \
        src/MissionManager/MissionCommandTreeTest.h \
        src/MissionManager/MissionControllerManagerTest.h \
        src/MissionManager/MissionControllerTest.h \
@@ -421,10 +426,13 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
        src/MissionManager/MissionSettingsTest.h \
        src/MissionManager/PlanMasterControllerTest.h \
        src/MissionManager/QGCMapPolygonTest.h \
+        src/MissionManager/QGCMapPolylineTest.h \
        src/MissionManager/SectionTest.h \
        src/MissionManager/SimpleMissionItemTest.h \
        src/MissionManager/SpeedSectionTest.h \
+        src/MissionManager/StructureScanComplexItemTest.h \
        src/MissionManager/SurveyMissionItemTest.h \
+        src/MissionManager/TransectStyleComplexItemTest.h \
        src/MissionManager/VisualMissionItemTest.h \
        src/qgcunittest/FileDialogTest.h \
        src/qgcunittest/FileManagerTest.h \
@@ -448,7 +456,9 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
        src/FactSystem/FactSystemTestGeneric.cc \
        src/FactSystem/FactSystemTestPX4.cc \
        src/FactSystem/ParameterManagerTest.cc \
+        src/MissionManager/CameraCalcTest.cc \
        src/MissionManager/CameraSectionTest.cc \
+        src/MissionManager/CorridorScanComplexItemTest.cc \
        src/MissionManager/MissionCommandTreeTest.cc \
        src/MissionManager/MissionControllerManagerTest.cc \
        src/MissionManager/MissionControllerTest.cc \
@@ -457,10 +467,13 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {
        src/MissionManager/MissionSettingsTest.cc \
        src/MissionManager/PlanMasterControllerTest.cc \
        src/MissionManager/QGCMapPolygonTest.cc \
+        src/MissionManager/QGCMapPolylineTest.cc \
        src/MissionManager/SectionTest.cc \
        src/MissionManager/SimpleMissionItemTest.cc \
        src/MissionManager/SpeedSectionTest.cc \
+        src/MissionManager/StructureScanComplexItemTest.cc \
        src/MissionManager/SurveyMissionItemTest.cc \
+        src/MissionManager/TransectStyleComplexItemTest.cc \
        src/MissionManager/VisualMissionItemTest.cc \
        src/qgcunittest/FileDialogTest.cc \
        src/qgcunittest/FileManagerTest.cc \
@@ -483,8 +496,9 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory  { APMFirmwarePlugin {

 HEADERS += \
    src/AnalyzeView/ExifParser.h \
-    src/AnalyzeView/ULogParser.h \
+    src/AnalyzeView/LogDownloadController.h \
    src/AnalyzeView/PX4LogParser.h \
+    src/AnalyzeView/ULogParser.h \
    src/Audio/AudioOutput.h \
    src/Camera/QGCCameraControl.h \
    src/Camera/QGCCameraIO.h \
@@ -503,6 +517,7 @@ HEADERS += \
    src/MissionManager/CameraSection.h \
    src/MissionManager/CameraSpec.h \
    src/MissionManager/ComplexMissionItem.h \
+    src/MissionManager/CorridorScanComplexItem.h \
    src/MissionManager/FixedWingLandingComplexItem.h \
    src/MissionManager/GeoFenceController.h \
    src/MissionManager/GeoFenceManager.h \
@@ -521,6 +536,7 @@ HEADERS += \
    src/MissionManager/QGCFencePolygon.h \
    src/MissionManager/QGCMapCircle.h \
    src/MissionManager/QGCMapPolygon.h \
+    src/MissionManager/QGCMapPolyline.h \
    src/MissionManager/RallyPoint.h \
    src/MissionManager/RallyPointController.h \
    src/MissionManager/RallyPointManager.h \
@@ -529,6 +545,7 @@ HEADERS += \
    src/MissionManager/SpeedSection.h \
    src/MissionManager/StructureScanComplexItem.h \
    src/MissionManager/SurveyMissionItem.h \
+    src/MissionManager/TransectStyleComplexItem.h \
    src/MissionManager/VisualMissionItem.h \
    src/PositionManager/PositionManager.h \
    src/PositionManager/SimulatedPosition.h \
@@ -549,6 +566,7 @@ HEADERS += \
    src/QGCToolbox.h \
    src/QmlControls/AppMessages.h \
    src/QmlControls/CoordinateVector.h \
+    src/QmlControls/EditPositionDialogController.h \
    src/QmlControls/MavlinkQmlSingleton.h \
    src/QmlControls/ParameterEditorController.h \
    src/QmlControls/QGCFileDialogController.h \
@@ -583,7 +601,7 @@ HEADERS += \
    src/uas/UAS.h \
    src/uas/UASInterface.h \
    src/uas/UASMessageHandler.h \
-    src/AnalyzeView/LogDownloadController.h \
+    src/UTM.h \

 AndroidBuild {
 HEADERS += \
@@ -676,8 +694,9 @@ AndroidBuild {

 SOURCES += \
    src/AnalyzeView/ExifParser.cc \
-    src/AnalyzeView/ULogParser.cc \
+    src/AnalyzeView/LogDownloadController.cc \
    src/AnalyzeView/PX4LogParser.cc \
+    src/AnalyzeView/ULogParser.cc \
    src/Audio/AudioOutput.cc \
    src/Camera/QGCCameraControl.cc \
    src/Camera/QGCCameraIO.cc \
@@ -694,6 +713,7 @@ SOURCES += \
    src/MissionManager/CameraSection.cc \
    src/MissionManager/CameraSpec.cc \
    src/MissionManager/ComplexMissionItem.cc \
+    src/MissionManager/CorridorScanComplexItem.cc \
    src/MissionManager/FixedWingLandingComplexItem.cc \
    src/MissionManager/GeoFenceController.cc \
    src/MissionManager/GeoFenceManager.cc \
@@ -712,6 +732,7 @@ SOURCES += \
    src/MissionManager/QGCFencePolygon.cc \
    src/MissionManager/QGCMapCircle.cc \
    src/MissionManager/QGCMapPolygon.cc \
+    src/MissionManager/QGCMapPolyline.cc \
    src/MissionManager/RallyPoint.cc \
    src/MissionManager/RallyPointController.cc \
    src/MissionManager/RallyPointManager.cc \
@@ -719,6 +740,7 @@ SOURCES += \
    src/MissionManager/SpeedSection.cc \
    src/MissionManager/StructureScanComplexItem.cc \
    src/MissionManager/SurveyMissionItem.cc \
+    src/MissionManager/TransectStyleComplexItem.cc \
    src/MissionManager/VisualMissionItem.cc \
    src/PositionManager/PositionManager.cpp \
    src/PositionManager/SimulatedPosition.cc \
@@ -738,6 +760,7 @@ SOURCES += \
    src/QGCToolbox.cc \
    src/QmlControls/AppMessages.cc \
    src/QmlControls/CoordinateVector.cc \
+    src/QmlControls/EditPositionDialogController.cc \
    src/QmlControls/ParameterEditorController.cc \
    src/QmlControls/QGCFileDialogController.cc \
    src/QmlControls/QGCImageProvider.cc \
@@ -770,7 +793,7 @@ SOURCES += \
    src/main.cc \
    src/uas/UAS.cc \
    src/uas/UASMessageHandler.cc \
-    src/AnalyzeView/LogDownloadController.cc \
+    src/UTM.cpp \

 DebugBuild {
 SOURCES += \

--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
--- a/src/AnalyzeView/GeoTagPage.qml
+++ b/src/AnalyzeView/GeoTagPage.qml
@@ -110,7 +110,7 @@ AnalyzePage {
                }

                QGCLabel {
-                    text: geoController.saveDirectory != "" ? geoController.saveDirectory : "/TAGGED folder in your image folder"
+                    text: geoController.saveDirectory !== "" ? geoController.saveDirectory : "/TAGGED folder in your image folder"
                    anchors.verticalCenter:   parent.verticalCenter
                }
            }

--- a/src/AnalyzeView/LogDownloadController.cc
+++ b/src/AnalyzeView/LogDownloadController.cc
@@ -21,6 +21,7 @@
 #include "QGCMapEngine.h"
 #include "ParameterManager.h"
 #include "Vehicle.h"
+#include "SettingsManager.h"

 #include <QDebug>
 #include <QSettings>
@@ -511,7 +512,7 @@ LogDownloadController::download(QString path)
    QString dir = path;
 #if defined(__mobile__)
    if(dir.isEmpty()) {
-        dir = QDir::homePath();
+        dir = qgcApp()->toolbox()->settingsManager()->appSettings()->logSavePath();
    }
 #else
    if(dir.isEmpty()) {

--- a/src/AnalyzeView/LogDownloadTest.cc
+++ b/src/AnalyzeView/LogDownloadTest.cc
@@ -57,7 +57,7 @@ void LogDownloadTest::downloadTest(void)
    }
    _multiSpyLogDownloadController->clearAllSignals();

-    QString downloadFile = QDir(downloadTo).filePath("log_0_UnknownDate.px4log");
+    QString downloadFile = QDir(downloadTo).filePath("log_0_UnknownDate.ulg");
    QVERIFY(UnitTest::fileCompare(downloadFile, _mockLink->logDownloadFile()));

    QFile::remove(downloadFile);

--- a/src/AutoPilotPlugins/APM/APMLightsComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMLightsComponent.qml
@@ -11,6 +11,7 @@
 import QtQuick              2.3
 import QtQuick.Controls     1.2

+import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
@@ -32,6 +33,8 @@ SetupPage {

            QGCPalette { id: palette; colorGroupEnabled: true }

+            property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
+            property bool _oldFW:               !(_activeVehicle.firmwareMajorVersion > 3 || _activeVehicle.firmwareMinorVersion > 5 || _activeVehicle.firmwarePatchVersion >= 2)
            property Fact _rc5Function:         controller.getParameterFact(-1, "r.SERVO5_FUNCTION")
            property Fact _rc6Function:         controller.getParameterFact(-1, "r.SERVO6_FUNCTION")
            property Fact _rc7Function:         controller.getParameterFact(-1, "r.SERVO7_FUNCTION")
@@ -42,7 +45,8 @@ SetupPage {
            property Fact _rc12Function:        controller.getParameterFact(-1, "r.SERVO12_FUNCTION")
            property Fact _rc13Function:        controller.getParameterFact(-1, "r.SERVO13_FUNCTION")
            property Fact _rc14Function:        controller.getParameterFact(-1, "r.SERVO14_FUNCTION")
-            property Fact _stepSize:            controller.getParameterFact(-1, "JS_LIGHTS_STEP")
+            property Fact _stepSize:            _oldFW ? controller.getParameterFact(-1, "JS_LIGHTS_STEP") : null // v3.5.1 and prior
+            property Fact _numSteps:            _oldFW ? null : controller.getParameterFact(-1, "JS_LIGHTS_STEPS") // v3.5.2 and up

            readonly property real  _margins:                       ScreenTools.defaultFontPixelHeight
            readonly property int   _rcFunctionDisabled:            0
@@ -88,22 +92,30 @@ SetupPage {
            }

            function calcCurrentStep() {
-                var i = 1
-                for(i; i <= 10; i++) {
-                    var stepSize = (1900-1100)/i
-                    if(_stepSize.value >= stepSize) {
-                        _stepSize.value = stepSize;
-                        break;
+                if (_oldFW) {
+                    var i = 1
+                    for(i; i <= 10; i++) {
+                        var stepSize = (1900-1100)/i
+                        if(_stepSize.value >= stepSize) {
+                            _stepSize.value = stepSize;
+                            break;
+                        }
                    }
+                    if (_stepSize.value < 80) {
+                        _stepSize.value = 80;
+                    }
+                    lightsLoader.lightsSteps = i
+                } else {
+                    lightsLoader.lightsSteps = _numSteps.value
                }
-                if (_stepSize.value < 80) {
-                    _stepSize.value = 80;
-                }
-                lightsLoader.lightsSteps = i
            }

            function calcStepSize(steps) {
-                _stepSize.value = (1900-1100)/steps
+                if (_oldFW) {
+                    _stepSize.value = (1900-1100)/steps
+                } else {
+                    _numSteps.value = steps
+                }
            }

            // Whenever any SERVO#_FUNCTION parameters chagnes we need to go looking for light output channels again

--- a/src/AutoPilotPlugins/APM/APMPowerComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMPowerComponent.qml
@@ -29,6 +29,7 @@ SetupPage {
        Column {
            spacing: _margins

+            property Fact armVoltMin:       controller.getParameterFact(-1, "r.ARMING_VOLT_MIN")
            property Fact battAmpPerVolt:   controller.getParameterFact(-1, "BATT_AMP_PERVOLT")
            property Fact battCapacity:     controller.getParameterFact(-1, "BATT_CAPACITY")
            property Fact battCurrPin:      controller.getParameterFact(-1, "BATT_CURR_PIN")
@@ -239,6 +240,18 @@ SetupPage {
                QGCLabel {
                    Layout.row:     2
                    Layout.column:  0
+                    text:           qsTr("Minimum arming voltage:")
+                }
+
+                FactTextField {
+                    id:     armVoltField
+                    width:  _fieldWidth
+                    fact:   armVoltMin
+                }
+
+                QGCLabel {
+                    Layout.row:     3
+                    Layout.column:  0
                    text:           qsTr("Power sensor:")
                }

@@ -260,7 +273,7 @@ SetupPage {
                }

                QGCLabel {
-                    Layout.row:     3
+                    Layout.row:     4
                    Layout.column:  0
                    text:           qsTr("Current pin:")
                    visible:        _showAdvanced
@@ -274,7 +287,7 @@ SetupPage {
                }

                QGCLabel {
-                    Layout.row:     4
+                    Layout.row:     5
                    Layout.column:  0
                    text:           qsTr("Voltage pin:")
                    visible:        _showAdvanced
@@ -288,7 +301,7 @@ SetupPage {
                }

                QGCLabel {
-                    Layout.row:     5
+                    Layout.row:     6
                    Layout.column:  0
                    text:           qsTr("Voltage multiplier:")
                    visible:        _showAdvanced

--- a/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
+++ b/src/AutoPilotPlugins/APM/APMSafetyComponentSub.qml
@@ -22,7 +22,6 @@ import QGroundControl.ScreenTools   1.0
 SetupPage {
    id:                 safetyPage
    pageComponent:      safetyPageComponent
-    visibleWhileArmed:   true

    Component {
        id: safetyPageComponent

--- a/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml
+++ b/src/AutoPilotPlugins/APM/APMSubFrameComponent.qml
@@ -12,6 +12,7 @@ import QtQuick              2.3
 import QtQuick.Controls     1.2
 import QtQuick.Dialogs      1.2

+import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
@@ -22,12 +23,9 @@ import QGroundControl.Controllers   1.0
 SetupPage {
    id:                 subFramePage
    pageComponent:      subFramePageComponent
-    property var  _flatParamList:       ListModel {
-        ListElement {
-            name: "Blue Robotics BlueROV2"
-            file: "Sub/bluerov2-3_5.params"
-        }
-    }
+
+    property var  _activeVehicle:       QGroundControl.multiVehicleManager.activeVehicle
+    property bool _oldFW:   !(_activeVehicle.firmwareMajorVersion > 3 || _activeVehicle.firmwareMinorVersion > 5 || _activeVehicle.firmwarePatchVersion >= 2)

    APMAirframeComponentController { id: controller; factPanel: subFramePage.viewPanel }

@@ -194,18 +192,16 @@ SetupPage {
                spacing :           _margins
                layoutDirection:    Qt.Vertical;

-                Repeater {
-                    id:     airframePicker
-                    model:  _flatParamList
-
-                    delegate: QGCButton {
-                        width:  parent.width
-                        text:   name
-
-                        onClicked : {
-                            controller.loadParameters(file)
-                            hideDialog()
-                        }
+                QGCButton {
+                    width:  parent.width
+                    text:   "Blue Robotics BlueROV2"
+                    property var file:   _oldFW ? "Sub/bluerov2-3_5.params" : "Sub/bluerov2-3_5_2.params"
+
+                    onClicked : {
+                        console.log(_oldFW)
+                        console.log(_activeVehicle.firmwarePatchVersion)
+                        controller.loadParameters(file)
+                        hideDialog()
                    }
                }
            }

--- a/src/AutoPilotPlugins/AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/AutoPilotPlugin.cc
@@ -61,6 +61,17 @@ bool AutoPilotPlugin::setupComplete(void)
 void AutoPilotPlugin::parametersReadyPreChecks(void)
 {
    _recalcSetupComplete();
+
+    // Connect signals in order to keep setupComplete up to date
+    foreach(const QVariant componentVariant, vehicleComponents()) {
+        VehicleComponent* component = qobject_cast<VehicleComponent*>(qvariant_cast<QObject *>(componentVariant));
+        if (component) {
+            connect(component, &VehicleComponent::setupCompleteChanged, this, &AutoPilotPlugin::_recalcSetupComplete);
+        } else {
+            qWarning() << "AutoPilotPlugin::_recalcSetupComplete Incorrectly typed VehicleComponent";
+        }
+    }
+
    if (!_setupComplete) {
        qgcApp()->showMessage(tr("One or more vehicle components require setup prior to flight."));


--- a/src/AutoPilotPlugins/AutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/AutoPilotPlugin.h
@@ -66,7 +66,7 @@ protected:
    FirmwarePlugin* _firmwarePlugin;
    bool            _setupComplete;

-private:
+private slots:
    void _recalcSetupComplete(void);
 };


--- a/src/AutoPilotPlugins/Common/MotorComponent.qml
+++ b/src/AutoPilotPlugins/Common/MotorComponent.qml
@@ -55,7 +55,7 @@ SetupPage {
                            property real _lastValue: 0

                            onTriggered: {
-                                if (_lastValue != slider.value) {
+                                if (_lastValue !== slider.value) {
                                    controller.vehicle.motorTest(index + 1, slider.value, 1)
                                }
                            }

--- a/src/AutoPilotPlugins/Common/RadioComponent.qml
+++ b/src/AutoPilotPlugins/Common/RadioComponent.qml
@@ -379,7 +379,7 @@ SetupPage {
                        text:       qsTr("Calibrate")

                        onClicked: {
-                            if (text == qsTr("Calibrate")) {
+                            if (text === qsTr("Calibrate")) {
                                showDialog(zeroTrimsDialogComponent, dialogTitle, radioPage.showDialogDefaultWidth, StandardButton.Ok | StandardButton.Cancel)
                            } else {
                                controller.nextButtonClicked()

--- a/src/AutoPilotPlugins/Common/RadioComponentController.cc
+++ b/src/AutoPilotPlugins/Common/RadioComponentController.cc
@@ -123,23 +123,23 @@ RadioComponentController::~RadioComponentController()
 /// @brief Returns the state machine entry for the specified state.
 const RadioComponentController::stateMachineEntry* RadioComponentController::_getStateMachineEntry(int step) const
 {
-    static const char* msgBeginPX4 =        "Lower the Throttle stick all the way down as shown in diagram.\n\n"
+    static const char* msgBeginPX4 =        QT_TR_NOOP("Lower the Throttle stick all the way down as shown in diagram.\n\n"
                                            "It is recommended to disconnect all motors for additional safety, however, the system is designed to not arm during the calibration.\n\n"
-                                            "Click Next to continue";
-    static const char* msgBeginAPM =        "Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
+                                            "Click Next to continue");
+    static const char* msgBeginAPM =        QT_TR_NOOP("Lower the Throttle stick all the way down as shown in diagram.\nReset all transmitter trims to center.\n\n"
                                            "Please ensure all motor power is disconnected AND all props are removed from the vehicle.\n\n"
-                                            "Click Next to continue";
-    static const char* msgThrottleUp =      "Move the Throttle stick all the way up and hold it there...";
-    static const char* msgThrottleDown =    "Move the Throttle stick all the way down and leave it there...";
-    static const char* msgYawLeft =         "Move the Yaw stick all the way to the left and hold it there...";
-    static const char* msgYawRight =        "Move the Yaw stick all the way to the right and hold it there...";
-    static const char* msgRollLeft =        "Move the Roll stick all the way to the left and hold it there...";
-    static const char* msgRollRight =       "Move the Roll stick all the way to the right and hold it there...";
-    static const char* msgPitchDown =       "Move the Pitch stick all the way down and hold it there...";
-    static const char* msgPitchUp =         "Move the Pitch stick all the way up and hold it there...";
-    static const char* msgPitchCenter =     "Allow the Pitch stick to move back to center...";
-    static const char* msgSwitchMinMax =    "Move all the transmitter switches and/or dials back and forth to their extreme positions.";
-    static const char* msgComplete =        "All settings have been captured. Click Next to write the new parameters to your board.";
+                                            "Click Next to continue");
+    static const char* msgThrottleUp =      QT_TR_NOOP("Move the Throttle stick all the way up and hold it there...");
+    static const char* msgThrottleDown =    QT_TR_NOOP("Move the Throttle stick all the way down and leave it there...");
+    static const char* msgYawLeft =         QT_TR_NOOP("Move the Yaw stick all the way to the left and hold it there...");
+    static const char* msgYawRight =        QT_TR_NOOP("Move the Yaw stick all the way to the right and hold it there...");
+    static const char* msgRollLeft =        QT_TR_NOOP("Move the Roll stick all the way to the left and hold it there...");
+    static const char* msgRollRight =       QT_TR_NOOP("Move the Roll stick all the way to the right and hold it there...");
+    static const char* msgPitchDown =       QT_TR_NOOP("Move the Pitch stick all the way down and hold it there...");
+    static const char* msgPitchUp =         QT_TR_NOOP("Move the Pitch stick all the way up and hold it there...");
+    static const char* msgPitchCenter =     QT_TR_NOOP("Allow the Pitch stick to move back to center...");
+    static const char* msgSwitchMinMax =    QT_TR_NOOP("Move all the transmitter switches and/or dials back and forth to their extreme positions.");
+    static const char* msgComplete =        QT_TR_NOOP("All settings have been captured. Click Next to write the new parameters to your board.");
    
    static const stateMachineEntry rgStateMachinePX4[] = {
        //Function
@@ -206,9 +206,9 @@ void RadioComponentController::_advanceState(void)
 /// @brief Sets up the state machine according to the current step from _currentStep.
 void RadioComponentController::_setupCurrentState(void)
 {
-    static const char* msgBeginAPMRover = "Center the Throttle stick as shown in diagram.\nReset all transmitter trims to center.\n\n"
+    static const char* msgBeginAPMRover = QT_TR_NOOP("Center the Throttle stick as shown in diagram.\nReset all transmitter trims to center.\n\n"
                                          "Please ensure all motor power is disconnected from the vehicle.\n\n"
-                                          "Click Next to continue";
+                                          "Click Next to continue");
    const stateMachineEntry* state = _getStateMachineEntry(_currentStep);

    const char* instructions = state->instructions;

--- a/src/AutoPilotPlugins/Common/SetupPage.qml
+++ b/src/AutoPilotPlugins/Common/SetupPage.qml
@@ -21,8 +21,9 @@ import QGroundControl.Controllers   1.0

 /// Base view control for all Setup pages
 QGCView {
-    id:         setupView
-    viewPanel:  setupPanel
+    id:             setupView
+    viewPanel:      setupPanel
+    enabled:        !_shouldDisableWhenArmed

    property alias  pageComponent:      pageLoader.sourceComponent
    property string pageName:           vehicleComponent ? vehicleComponent.name : ""
@@ -30,53 +31,15 @@ QGCView {
    property real   availableWidth:     width - pageLoader.x
    property real   availableHeight:    height - pageLoader.y

-    property real _margins: ScreenTools.defaultFontPixelHeight / 2
+    property bool _vehicleArmed:         QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.armed : false
+    property bool _shouldDisableWhenArmed: _vehicleArmed ? (vehicleComponent ? !vehicleComponent.allowSetupWhileArmed : false) : false

-    property bool visibleWhileArmed: false
+    property real _margins:             ScreenTools.defaultFontPixelHeight * 0.5
+    property string _pageTitle:         qsTr("%1 Setup").arg(pageName)

-    property bool vehicleArmed: QGroundControl.multiVehicleManager.activeVehicle ? QGroundControl.multiVehicleManager.activeVehicle.armed : false
-
-    onVehicleArmedChanged: {
-        if (visibleWhileArmed) {
-            return
-        }
-
-        if (vehicleArmed) {
-            disabledWhileArmed.visible = true
-            setupView.viewPanel.enabled = false
-        } else {
-            disabledWhileArmed.visible = false
-            setupView.viewPanel.enabled = true
-        }
-    }

    QGCPalette { id: qgcPal; colorGroupEnabled: setupPanel.enabled }

-    // Overlay to display when vehicle is armed and the setup page needs
-    // to be disabled
-    Item {
-        id: disabledWhileArmed
-        visible: false
-        z: 9999
-        anchors.fill: parent
-        Rectangle {
-            anchors.fill: parent
-            color: "black"
-            opacity: 0.5
-        }
-
-        QGCLabel {
-            anchors.margins:        defaultTextWidth * 2
-            anchors.fill:           parent
-            verticalAlignment:      Text.AlignVCenter
-            horizontalAlignment:    Text.AlignHCenter
-            wrapMode:               Text.WordWrap
-            font.pointSize:         ScreenTools.largeFontPointSize
-            color:                  "red"
-            text:                   "Setup disabled while the vehicle is armed"
-        }
-    }
-
    QGCViewPanel {
        id:             setupPanel
        anchors.fill:   parent
@@ -88,13 +51,13 @@ QGCView {
            clip:           true

            Column {
-                id:             headingColumn
-                width:          setupPanel.width
-                spacing:        _margins
+                id:                 headingColumn
+                width:              setupPanel.width
+                spacing:            _margins

                QGCLabel {
                    font.pointSize: ScreenTools.largeFontPointSize
-                    text:           pageName + " " + qsTr("Setup")
+                    text:           _shouldDisableWhenArmed ? _pageTitle + "<font color=\"red\">" + qsTr(" (Disabled while the vehicle is armed)") + "</font>" : _pageTitle
                    visible:        !ScreenTools.isShortScreen
                }

@@ -112,6 +75,14 @@ QGCView {
                anchors.topMargin:  _margins
                anchors.top:        headingColumn.bottom
            }
+            // Overlay to display when vehicle is armed and this setup page needs
+            // to be disabled
+            Rectangle {
+                visible:            _shouldDisableWhenArmed
+                anchors.fill:       pageLoader
+                color:              "black"
+                opacity:            0.5
+            }
        }
    }
 }
--- a/src/AutoPilotPlugins/PX4/AirframeComponent.qml
+++ b/src/AutoPilotPlugins/PX4/AirframeComponent.qml
@@ -202,12 +202,12 @@ Your vehicle will also be restarted in order to complete the process.")
                            QGCCheckBox {
                                // Although this item is invisible we still use it to manage state
                                id:             airframeCheckBox
-                                checked:        modelData.name == controller.currentAirframeType
+                                checked:        modelData.name === controller.currentAirframeType
                                exclusiveGroup: airframeTypeExclusive
                                visible:        false

                                onCheckedChanged: {
-                                    if (checked && combo.currentIndex != -1) {
+                                    if (checked && combo.currentIndex !== -1) {
                                        console.log("check box change", combo.currentIndex)
                                        controller.autostartId = modelData.airframes[combo.currentIndex].autostartId
                                    }

--- a/src/AutoPilotPlugins/PX4/AirframeComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/AirframeComponentController.cc
@@ -125,8 +125,8 @@ void AirframeComponentController::_rebootAfterStackUnwind(void)
        QGC::SLEEP::usleep(500);
        qgcApp()->processEvents(QEventLoop::ExcludeUserInputEvents);
    }
-    qgcApp()->toolbox()->linkManager()->disconnectAll();
    qgcApp()->restoreOverrideCursor();
+    qgcApp()->toolbox()->linkManager()->disconnectAll();
 }

 AirframeType::AirframeType(const QString& name, const QString& imageResource, QObject* parent) :

--- a/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/AirframeComponentSummary.qml
@@ -37,7 +37,7 @@ FactPanel {

        VehicleSummaryRow {
            labelText: qsTr("Firmware Version:")
-            valueText: activeVehicle.firmwareMajorVersion == -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + activeVehicle.firmwareVersionTypeString
+            valueText: activeVehicle.firmwareMajorVersion === -1 ? qsTr("Unknown") : activeVehicle.firmwareMajorVersion + "." + activeVehicle.firmwareMinorVersion + "." + activeVehicle.firmwarePatchVersion + activeVehicle.firmwareVersionTypeString
        }
    }
 }
--- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml
@@ -354,9 +354,9 @@
      <maintainer>James Goppert &lt;james.goppert@gmail.com&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
-    <airframe id="4070" maintainer="Lucas de Marchi" name="Intel Aero Ready to Fly Drone">
+    <airframe id="4070" maintainer="Beat Kueng &lt;beat@px4.io&gt;" name="Intel Aero Ready to Fly Drone">
      <class>Copter</class>
-      <maintainer>Lucas de Marchi</maintainer>
+      <maintainer>Beat Kueng &lt;beat@px4.io&gt;</maintainer>
      <type>Quadrotor x</type>
    </airframe>
    <airframe id="4080" maintainer="Anton Matosov &lt;anton.matosov@gmail.com&gt;" name="ZMR250 Racer">
@@ -589,15 +589,6 @@
      <output name="MAIN4">throttle</output>
    </airframe>
  </airframe_group>
-  <airframe_group image="AirframeUnknown" name="custom">
-    <airframe id="20000" maintainer="Julian Oes &lt;julian@oes.ch&gt;&#10;This startup can be used on Pixhawk/Pixfalcon/Pixracer for the&#10;passthrough of RC input and PWM output." name="Passthrough mode for Snapdragon">
-      <class>Tool</class>
-      <maintainer>Julian Oes &lt;julian@oes.ch&gt;
-This startup can be used on Pixhawk/Pixfalcon/Pixracer for the
-passthrough of RC input and PWM output.</maintainer>
-      <type>custom</type>
-    </airframe>
-  </airframe_group>
  <airframe_group image="VTOLPlane" name="Standard VTOL">
    <airframe id="13000" maintainer="" name="Generic Quadplane VTOL">
      <class>VTOL</class>

--- a/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponentSummary.qml
@@ -18,7 +18,7 @@ FactPanel {
    property Fact _nullFact
    property Fact _rcMapFltmode:    controller.parameterExists(-1, "RC_MAP_FLTMODE") ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
    property Fact _rcMapModeSw:     controller.getParameterFact(-1, "RC_MAP_MODE_SW")
-    property bool _simpleMode:      _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0
+    property bool _simpleMode:      _rcMapFltmode.value > 0 || _rcMapModeSw.value === 0

    Loader {
        anchors.fill:       parent

--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.cc
@@ -66,16 +66,16 @@ const QVariantList& PX4AutoPilotPlugin::vehicleComponents(void)
                _airframeComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_airframeComponent));

-                _radioComponent = new PX4RadioComponent(_vehicle, this);
-                _radioComponent->setupTriggerSignals();
-                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
-
                if (!_vehicle->hilMode()) {
                    _sensorsComponent = new SensorsComponent(_vehicle, this);
                    _sensorsComponent->setupTriggerSignals();
                    _components.append(QVariant::fromValue((VehicleComponent*)_sensorsComponent));
                }

+                _radioComponent = new PX4RadioComponent(_vehicle, this);
+                _radioComponent->setupTriggerSignals();
+                _components.append(QVariant::fromValue((VehicleComponent*)_radioComponent));
+
                _flightModesComponent = new FlightModesComponent(_vehicle, this);
                _flightModesComponent->setupTriggerSignals();
                _components.append(QVariant::fromValue((VehicleComponent*)_flightModesComponent));

--- a/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
+++ b/src/AutoPilotPlugins/PX4/PX4AutoPilotPlugin.h
@@ -44,6 +44,7 @@ public:
    const QVariantList& vehicleComponents(void) override;
    void parametersReadyPreChecks(void) override;
    QString prerequisiteSetup(VehicleComponent* component) const override;
+
 protected:
    bool                    _incorrectParameterVersion; ///< true: parameter version incorrect, setup not allowed
    PX4AirframeLoader*      _airframeFacts;
@@ -58,6 +59,7 @@ protected:
    MotorComponent*         _motorComponent;
    PX4TuningComponent*     _tuningComponent;
    SyslinkComponent*       _syslinkComponent;
+
 private:
    QVariantList            _components;
 };

--- a/src/AutoPilotPlugins/PX4/PX4FlightModes.qml
+++ b/src/AutoPilotPlugins/PX4/PX4FlightModes.qml
@@ -39,7 +39,7 @@ SetupPage {
            property bool _rcMapFltmodeExists:  controller.parameterExists(-1, "RC_MAP_FLTMODE")
            property Fact _rcMapFltmode:        _rcMapFltmodeExists ? controller.getParameterFact(-1, "RC_MAP_FLTMODE") : _nullFact
            property Fact _rcMapModeSw:         controller.getParameterFact(-1, "RC_MAP_MODE_SW")
-            property bool _simpleMode:          _rcMapFltmodeExists ? _rcMapFltmode.value > 0 || _rcMapModeSw.value == 0 : false
+            property bool _simpleMode:          _rcMapFltmodeExists ? _rcMapFltmode.value > 0 || _rcMapModeSw.value === 0 : false

            FactPanelController {
                id:         controller

--- a/src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml
+++ b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModes.qml
@@ -145,7 +145,7 @@ Item {
                                QGCLabel {
                                    anchors.baseline:   returnCombo.baseline
                                    text:               qsTr("Return switch:")
-                                    color:              parent.fact.value == 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
+                                    color:              parent.fact.value === 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
                                }

                                FactComboBox {
@@ -164,7 +164,7 @@ Item {
                                QGCLabel {
                                    anchors.baseline:   killCombo.baseline
                                    text:               qsTr("Kill switch:")
-                                    color:              parent.fact.value == 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
+                                    color:              parent.fact.value === 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
                                }

                                FactComboBox {
@@ -183,7 +183,7 @@ Item {
                                QGCLabel {
                                    anchors.baseline:   offboardCombo.baseline
                                    text:               qsTr("Offboard switch:")
-                                    color:              parent.fact.value == 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
+                                    color:              parent.fact.value === 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
                                }

                                FactComboBox {
@@ -203,7 +203,7 @@ Item {
                                QGCLabel {
                                    anchors.baseline:   vtolCombo.baseline
                                    text:               qsTr("VTOL mode switch:")
-                                    color:              parent.fact.value == 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
+                                    color:              parent.fact.value === 0 ? qgcPal.text : (controller.rcChannelValues[parent.fact.value - 1] >= 1500 ? "yellow" : qgcPal.text)
                                }

                                FactComboBox {

--- a/src/AutoPilotPlugins/PX4/PowerComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml
@@ -43,24 +43,24 @@ SetupPage {
            readonly property string highlightPrefix:   "<font color=\"" + qgcPal.warningText + "\">"
            readonly property string highlightSuffix:   "</font>"

+            function getBatteryImage()
+            {
+                switch(battNumCells.value) {
+                case 1:  return "/qmlimages/PowerComponentBattery_01cell.svg";
+                case 2:  return "/qmlimages/PowerComponentBattery_02cell.svg"
+                case 3:  return "/qmlimages/PowerComponentBattery_03cell.svg"
+                case 4:  return "/qmlimages/PowerComponentBattery_04cell.svg"
+                case 5:  return "/qmlimages/PowerComponentBattery_05cell.svg"
+                case 6:  return "/qmlimages/PowerComponentBattery_06cell.svg"
+                default: return "/qmlimages/PowerComponentBattery_01cell.svg";
+                }
+            }
+
            ColumnLayout {
                id:                         innerColumn
                anchors.horizontalCenter:   parent.horizontalCenter
                spacing:                    ScreenTools.defaultFontPixelHeight

-                function getBatteryImage()
-                {
-                    switch(battNumCells.value) {
-                    case 1:  return "/qmlimages/PowerComponentBattery_01cell.svg";
-                    case 2:  return "/qmlimages/PowerComponentBattery_02cell.svg"
-                    case 3:  return "/qmlimages/PowerComponentBattery_03cell.svg"
-                    case 4:  return "/qmlimages/PowerComponentBattery_04cell.svg"
-                    case 5:  return "/qmlimages/PowerComponentBattery_05cell.svg"
-                    case 6:  return "/qmlimages/PowerComponentBattery_06cell.svg"
-                    default: return "/qmlimages/PowerComponentBattery_01cell.svg";
-                    }
-                }
-
                function drawArrowhead(ctx, x, y, radians)
                {
                    ctx.save();
@@ -143,7 +143,7 @@ SetupPage {

                                    onClicked:  {
                                        var measuredVoltageValue = parseFloat(measuredVoltage.text)
-                                        if (measuredVoltageValue == 0 || isNaN(measuredVoltageValue)) {
+                                        if (measuredVoltageValue === 0 || isNaN(measuredVoltageValue)) {
                                            return
                                        }
                                        var newVoltageDivider = (measuredVoltageValue * battVoltageDivider.value) / controller.vehicle.battery.voltage.value
@@ -201,7 +201,7 @@ SetupPage {

                                    onClicked:  {
                                        var measuredCurrentValue = parseFloat(measuredCurrent.text)
-                                        if (measuredCurrentValue == 0) {
+                                        if (measuredCurrentValue === 0) {
                                            return
                                        }
                                        var newAmpsPerVolt = (measuredCurrentValue * battAmpsPerVolt.value) / controller.vehicle.battery.current.value
@@ -379,7 +379,7 @@ SetupPage {
                QGCCheckBox {
                    id:         showUAVCAN
                    text:       qsTr("Show UAVCAN Settings")
-                    checked:    uavcanEnable.rawValue != 0
+                    checked:    uavcanEnable ? uavcanEnable.rawValue !== 0 : false
                }

                QGCGroupBox {

--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -167,10 +167,10 @@ SetupPage {
                    columns:    3

                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
-                        Layout.rowSpan:     3
+                        mipmap:                 true
+                        fillMode:               Image.PreserveAspectFit
+                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
+                        Layout.rowSpan:         4
                        Layout.maximumWidth:    _imageWidth
                        Layout.maximumHeight:   _imageHeight
                        width:                  _imageWidth
@@ -204,6 +204,15 @@ SetupPage {
                        fact:                   controller.getParameterFact(-1, "BAT_CRIT_THR")
                        Layout.minimumWidth:    _editFieldWidth
                    }
+
+                    QGCLabel {
+                        text:               qsTr("Battery Emergency Level:")
+                        Layout.fillWidth:   true
+                    }
+                    FactTextField {
+                        fact:                   controller.getParameterFact(-1, "BAT_EMERGEN_THR")
+                        Layout.minimumWidth:    _editFieldWidth
+                    }
                }

                Item { width: 1; height: _margins; Layout.columnSpan: 3 }

--- a/src/AutoPilotPlugins/PX4/SensorsComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.cc
@@ -16,8 +16,9 @@
 #include "QGCQmlWidgetHolder.h"
 #include "SensorsComponentController.h"

-const char* SensorsComponent::_airspeedBreaker =    "CBRK_AIRSPD_CHK";
-const char* SensorsComponent::_airspeedCal =        "SENS_DPRES_OFF";
+const char* SensorsComponent::_airspeedBreakerParam =   "CBRK_AIRSPD_CHK";
+const char* SensorsComponent::_airspeedDisabledParam =  "FW_ARSP_MODE";
+const char* SensorsComponent::_airspeedCalParam =       "SENS_DPRES_OFF";

 SensorsComponent::SensorsComponent(Vehicle* vehicle, AutoPilotPlugin* autopilot, QObject* parent) :
    VehicleComponent(vehicle, autopilot, parent),
@@ -55,10 +56,10 @@ bool SensorsComponent::setupComplete(void) const
    }

    if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreaker)->rawValue().toInt() != 162128) {
-            if (_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCal)->rawValue().toFloat() == 0.0f) {
-                return false;
-            }
+        if (!_vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedDisabledParam)->rawValue().toBool() &&
+                _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedBreakerParam)->rawValue().toInt() != 162128 &&
+                _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, _airspeedCalParam)->rawValue().toFloat() == 0.0f) {
+            return false;
        }
    }

@@ -71,7 +72,7 @@ QStringList SensorsComponent::setupCompleteChangedTriggerList(void) const
    
    triggers << _deviceIds;
    if (_vehicle->fixedWing() || _vehicle->vtol()) {
-        triggers << _airspeedCal << _airspeedBreaker;
+        triggers << _airspeedCalParam << _airspeedBreakerParam;
    }
    
    return triggers;

--- a/src/AutoPilotPlugins/PX4/SensorsComponent.h
+++ b/src/AutoPilotPlugins/PX4/SensorsComponent.h
@@ -41,8 +41,9 @@ private:
    QVariantList    _summaryItems;
    QStringList     _deviceIds;

-    static const char* _airspeedBreaker;
-    static const char* _airspeedCal;
+    static const char* _airspeedDisabledParam;
+    static const char* _airspeedBreakerParam;
+    static const char* _airspeedCalParam;
 };

 #endif
--- a/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsComponentSummaryFixedWing.qml
@@ -18,10 +18,15 @@ FactPanel {
    QGCPalette { id: qgcPal; colorGroupEnabled: enabled }
    FactPanelController { id: controller; factPanel: panel }

-    property Fact mag0IdFact:       controller.getParameterFact(-1, "CAL_MAG0_ID")
-    property Fact gyro0IdFact:      controller.getParameterFact(-1, "CAL_GYRO0_ID")
-    property Fact accel0IdFact:     controller.getParameterFact(-1, "CAL_ACC0_ID")
-    property Fact dpressOffFact:    controller.getParameterFact(-1, "SENS_DPRES_OFF")
+    property Fact mag0IdFact:           controller.getParameterFact(-1, "CAL_MAG0_ID")
+    property Fact gyro0IdFact:          controller.getParameterFact(-1, "CAL_GYRO0_ID")
+    property Fact accel0IdFact:         controller.getParameterFact(-1, "CAL_ACC0_ID")
+    property Fact dpressOffFact:        controller.getParameterFact(-1, "SENS_DPRES_OFF")
+    property Fact airspeedDisabledFact: controller.getParameterFact(-1, "FW_ARSP_MODE")
+    property Fact airspeedBreakerFact:  controller.getParameterFact(-1, "CBRK_AIRSPD_CHK")
+
+    property bool _airspeedVisible:     airspeedDisabledFact.value === false && airspeedBreakerFact.value !== 162128
+    property bool _airspeedCalRequired: _airspeedVisible && dpressOffFact.value === 0

    Column {
        anchors.fill:       parent
@@ -42,8 +47,9 @@ FactPanel {
        }

        VehicleSummaryRow {
-            labelText: qsTr("Airspeed:")
-            valueText: dpressOffFact ? (dpressOffFact.value === 0 ? qsTr("Setup required") : qsTr("Ready")) : ""
+            labelText:  qsTr("Airspeed:")
+            visible:    _airspeedVisible
+            valueText: _airspeedCalRequired ? qsTr("Setup required") : qsTr("Ready")
        }
    }
 }
--- a/src/AutoPilotPlugins/PX4/SensorsSetup.qml
+++ b/src/AutoPilotPlugins/PX4/SensorsSetup.qml
@@ -42,9 +42,9 @@ Item {
    readonly property string boardRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")
    readonly property string compassRotationText: qsTr("If the orientation is in the direction of flight, select ROTATION_NONE.")

-    readonly property string compassHelp:   qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions. Click Ok to start calibration.")
-    readonly property string gyroHelp:      qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still. Click Ok to start calibration.")
-    readonly property string accelHelp:     qsTr("For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds. Click Ok to start calibration.")
+    readonly property string compassHelp:   qsTr("For Compass calibration you will need to rotate your vehicle through a number of positions.\n\nClick Ok to start calibration.")
+    readonly property string gyroHelp:      qsTr("For Gyroscope calibration you will need to place your vehicle on a surface and leave it still.\n\nClick Ok to start calibration.")
+    readonly property string accelHelp:     qsTr("For Accelerometer calibration you will need to place your vehicle on all six sides on a perfectly level surface and hold it still in each orientation for a few seconds.\n\nClick Ok to start calibration.")
    readonly property string levelHelp:     qsTr("To level the horizon you need to place the vehicle in its level flight position and press OK.")
    readonly property string airspeedHelp:  qsTr("For Airspeed calibration you will need to keep your airspeed sensor out of any wind and then blow across the sensor. Do not touch the sensor or obstruct any holes during the calibration.")

@@ -177,15 +177,10 @@ Item {

            Column {
                anchors.fill:   parent
-                spacing:        ScreenTools.defaultFontPixelWidth / 2
-
-                QGCLabel {
-                    width:      parent.width
-                    wrapMode:   Text.WordWrap
-                    text:       preCalibrationDialogHelp
-                }
+                spacing:        ScreenTools.defaultFontPixelHeight

                Column {
+                    width:          parent.width
                    spacing:        5
                    visible:        !_sensorsHaveFixedOrientation

@@ -194,14 +189,13 @@ Item {
                        width:      parent.width
                        wrapMode:   Text.WordWrap
                        visible:    (preCalibrationDialogType != "airspeed") && (preCalibrationDialogType != "gyro")
-                        text:       boardRotationText
+                        text:       qsTr("Set autopilot orientation before calibrating.")
                    }

                    Column {
                        visible:    boardRotationHelp.visible
-                        QGCLabel {
-                            text: qsTr("Autopilot Orientation:")
-                        }
+
+                        QGCLabel { text: qsTr("Autopilot Orientation:") }

                        FactComboBox {
                            id:     boardRotationCombo
@@ -211,6 +205,12 @@ Item {
                        }
                    }
                }
+
+                QGCLabel {
+                    width:      parent.width
+                    wrapMode:   Text.WordWrap
+                    text:       preCalibrationDialogHelp
+                }
            }
        }
    }
@@ -352,7 +352,7 @@ Item {
                id:             compassButton
                width:          _buttonWidth
                text:           qsTr("Compass")
-                indicatorGreen: cal_mag0_id.value != 0
+                indicatorGreen: cal_mag0_id.value !== 0
                visible:        QGroundControl.corePlugin.options.showSensorCalibrationCompass && showSensorCalibrationCompass

                onClicked: {
@@ -366,7 +366,7 @@ Item {
                id:             gyroButton
                width:          _buttonWidth
                text:           qsTr("Gyroscope")
-                indicatorGreen: cal_gyro0_id.value != 0
+                indicatorGreen: cal_gyro0_id.value !== 0
                visible:        QGroundControl.corePlugin.options.showSensorCalibrationGyro && showSensorCalibrationGyro

                onClicked: {
@@ -380,7 +380,7 @@ Item {
                id:             accelButton
                width:          _buttonWidth
                text:           qsTr("Accelerometer")
-                indicatorGreen: cal_acc0_id.value != 0
+                indicatorGreen: cal_acc0_id.value !== 0
                visible:        QGroundControl.corePlugin.options.showSensorCalibrationAccel && showSensorCalibrationAccel

                onClicked: {
@@ -394,8 +394,8 @@ Item {
                id:             levelButton
                width:          _buttonWidth
                text:           qsTr("Level Horizon")
-                indicatorGreen: sens_board_x_off.value != 0 || sens_board_y_off != 0 | sens_board_z_off != 0
-                enabled:        cal_acc0_id.value != 0 && cal_gyro0_id.value != 0
+                indicatorGreen: sens_board_x_off.value !== 0 || sens_board_y_off.value !== 0 | sens_board_z_off.value !== 0
+                enabled:        cal_acc0_id.value !== 0 && cal_gyro0_id.value !== 0
                visible:        QGroundControl.corePlugin.options.showSensorCalibrationLevel && showSensorCalibrationLevel

                onClicked: {
@@ -410,10 +410,11 @@ Item {
                width:          _buttonWidth
                text:           qsTr("Airspeed")
                visible:        (controller.vehicle.fixedWing || controller.vehicle.vtol) &&
-                                controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value != 162128 &&
+                                controller.getParameterFact(-1, "FW_ARSP_MODE").value === false &&
+                                controller.getParameterFact(-1, "CBRK_AIRSPD_CHK").value !== 162128 &&
                                QGroundControl.corePlugin.options.showSensorCalibrationAirspeed &&
                                showSensorCalibrationAirspeed
-                indicatorGreen: sens_dpres_off.value != 0
+                indicatorGreen: sens_dpres_off.value !== 0

                onClicked: {
                    preCalibrationDialogType = "airspeed"

--- a/src/Camera/QGCCameraControl.cc
+++ b/src/Camera/QGCCameraControl.cc
@@ -40,6 +40,7 @@ static const char* kParameterrange  = "parameterrange";
 static const char* kParameterranges = "parameterranges";
 static const char* kParameters      = "parameters";
 static const char* kReadOnly        = "readonly";
+static const char* kWriteOnly       = "writeonly";
 static const char* kRoption         = "roption";
 static const char* kStep            = "step";
 static const char* kStrings         = "strings";
@@ -659,6 +660,13 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
        //-- Is it read only?
        bool readOnly = false;
        read_attribute(parameterNode, kReadOnly, readOnly);
+        //-- Is it write only?
+        bool writeOnly = false;
+        read_attribute(parameterNode, kWriteOnly, writeOnly);
+        //-- It can't be both
+        if(readOnly && writeOnly) {
+            qCritical() << QString("Parameter %1 cannot be both read only and write only").arg(factName);
+        }
        //-- Param type
        bool unknownType;
        FactMetaData::ValueType_t factType = FactMetaData::stringToType(type, unknownType);
@@ -689,6 +697,7 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
        metaData->setLongDescription(description);
        metaData->setHasControl(control);
        metaData->setReadOnly(readOnly);
+        metaData->setWriteOnly(writeOnly);
        //-- Options (enums)
        QDomElement optionElem = parameterNode.toElement();
        QDomNodeList optionsRoot = optionElem.elementsByTagName(kOptions);
@@ -797,7 +806,7 @@ QGCCameraControl::_loadSettings(const QDomNodeList nodeList)
                    metaData->setRawUnits(attr);
                }
            }
-            qCDebug(CameraControlLog) << "New parameter:" << factName;
+            qCDebug(CameraControlLog) << "New parameter:" << factName << (readOnly ? "ReadOnly" : "Writable") << (writeOnly ? "WriteOnly" : "Readable");
            _nameToFactMetaDataMap[factName] = metaData;
            Fact* pFact = new Fact(_compID, factName, factType, this);
            QQmlEngine::setObjectOwnership(pFact, QQmlEngine::CppOwnership);

--- a/src/Camera/QGCCameraControl.h
+++ b/src/Camera/QGCCameraControl.h
@@ -202,16 +202,16 @@ protected:
    virtual void    _setCameraMode          (CameraMode mode);

 protected slots:
-    void    _initWhenReady                  ();
-    void    _requestCameraSettings          ();
-    void    _requestAllParameters           ();
-    void    _requestParamUpdates            ();
-    void    _requestCaptureStatus           ();
-    void    _requestStorageInfo             ();
-    void    _downloadFinished               ();
-    void    _mavCommandResult               (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
-    void    _dataReady                      (QByteArray data);
-    void    _paramDone                      ();
+    virtual void    _initWhenReady          ();
+    virtual void    _requestCameraSettings  ();
+    virtual void    _requestAllParameters   ();
+    virtual void    _requestParamUpdates    ();
+    virtual void    _requestCaptureStatus   ();
+    virtual void    _requestStorageInfo     ();
+    virtual void    _downloadFinished       ();
+    virtual void    _mavCommandResult       (int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
+    virtual void    _dataReady              (QByteArray data);
+    virtual void    _paramDone              ();

 private:
    bool    _handleLocalization             (QByteArray& bytes);

--- a/src/Camera/QGCCameraIO.cc
+++ b/src/Camera/QGCCameraIO.cc
@@ -28,8 +28,13 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
    _paramWriteTimer.setInterval(3000);
    _paramRequestTimer.setSingleShot(true);
    _paramRequestTimer.setInterval(3500);
+    if(_fact->writeOnly()) {
+        //-- Write mode is always "done" as it won't ever read
+        _done = true;
+    } else {
+        connect(&_paramRequestTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramRequestTimeout);
+    }
    connect(&_paramWriteTimer,   &QTimer::timeout, this, &QGCCameraParamIO::_paramWriteTimeout);
-    connect(&_paramRequestTimer, &QTimer::timeout, this, &QGCCameraParamIO::_paramRequestTimeout);
    connect(_fact, &Fact::rawValueChanged, this, &QGCCameraParamIO::_factChanged);
    connect(_fact, &Fact::_containerRawValueChanged, this, &QGCCameraParamIO::_containerRawValueChanged);
    _pMavlink = qgcApp()->toolbox()->mavlinkProtocol();
@@ -38,31 +43,42 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
    switch (_fact->type()) {
        case FactMetaData::valueTypeUint8:
        case FactMetaData::valueTypeBool:
-            _mavParamType = MAV_PARAM_TYPE_UINT8;
+            _mavParamType = MAV_PARAM_EXT_TYPE_UINT8;
            break;
        case FactMetaData::valueTypeInt8:
-            _mavParamType = MAV_PARAM_TYPE_INT8;
+            _mavParamType = MAV_PARAM_EXT_TYPE_INT8;
            break;
        case FactMetaData::valueTypeUint16:
-            _mavParamType = MAV_PARAM_TYPE_UINT16;
+            _mavParamType = MAV_PARAM_EXT_TYPE_UINT16;
            break;
        case FactMetaData::valueTypeInt16:
-            _mavParamType = MAV_PARAM_TYPE_INT16;
+            _mavParamType = MAV_PARAM_EXT_TYPE_INT16;
            break;
        case FactMetaData::valueTypeUint32:
-            _mavParamType = MAV_PARAM_TYPE_UINT32;
+            _mavParamType = MAV_PARAM_EXT_TYPE_UINT32;
+            break;
+        case FactMetaData::valueTypeUint64:
+            _mavParamType = MAV_PARAM_EXT_TYPE_UINT64;
+            break;
+        case FactMetaData::valueTypeInt64:
+            _mavParamType = MAV_PARAM_EXT_TYPE_INT64;
            break;
        case FactMetaData::valueTypeFloat:
-            _mavParamType = MAV_PARAM_TYPE_REAL32;
+            _mavParamType = MAV_PARAM_EXT_TYPE_REAL32;
            break;
+        case FactMetaData::valueTypeDouble:
+            _mavParamType = MAV_PARAM_EXT_TYPE_REAL64;
+            break;
+            //-- String and custom are the same for now
+        case FactMetaData::valueTypeString:
        case FactMetaData::valueTypeCustom:
-            _mavParamType = (MAV_PARAM_TYPE)11; // MAV_PARAM_TYPE_CUSTOM;
+            _mavParamType = MAV_PARAM_EXT_TYPE_CUSTOM;
            break;
        default:
            qWarning() << "Unsupported fact type" << _fact->type() << "for" << _fact->name();
            // Fall through
        case FactMetaData::valueTypeInt32:
-            _mavParamType = MAV_PARAM_TYPE_INT32;
+            _mavParamType = MAV_PARAM_EXT_TYPE_INT32;
            break;
    }
 }
@@ -71,9 +87,11 @@ QGCCameraParamIO::QGCCameraParamIO(QGCCameraControl *control, Fact* fact, Vehicl
 void
 QGCCameraParamIO::setParamRequest()
 {
-    _paramRequestReceived = false;
-    _requestRetries = 0;
-    _paramRequestTimer.start();
+    if(!_fact->writeOnly()) {
+        _paramRequestReceived = false;
+        _requestRetries = 0;
+        _paramRequestTimer.start();
+    }
 }

 //-----------------------------------------------------------------------------
@@ -136,9 +154,20 @@ QGCCameraParamIO::_sendParameter()
        case FactMetaData::valueTypeUint32:
            union_value.param_uint32 = (uint32_t)_fact->rawValue().toUInt();
            break;
+        case FactMetaData::valueTypeInt64:
+            union_value.param_int64 = (int64_t)_fact->rawValue().toLongLong();
+            break;
+        case FactMetaData::valueTypeUint64:
+            union_value.param_uint64 = (uint64_t)_fact->rawValue().toULongLong();
+            break;
        case FactMetaData::valueTypeFloat:
            union_value.param_float = _fact->rawValue().toFloat();
            break;
+        case FactMetaData::valueTypeDouble:
+            union_value.param_double = _fact->rawValue().toDouble();
+            break;
+            //-- String and custom are the same for now
+        case FactMetaData::valueTypeString:
        case FactMetaData::valueTypeCustom:
            {
                QByteArray custom = _fact->rawValue().toByteArray();
@@ -250,28 +279,34 @@ QGCCameraParamIO::_valueFromMessage(const char* value, uint8_t param_type)
    param_ext_union_t u;
    memcpy(u.bytes, value, MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN);
    switch (param_type) {
-        case MAV_PARAM_TYPE_REAL32:
+        case MAV_PARAM_EXT_TYPE_REAL32:
            var = QVariant(u.param_float);
            break;
-        case MAV_PARAM_TYPE_UINT8:
+        case MAV_PARAM_EXT_TYPE_UINT8:
            var = QVariant(u.param_uint8);
            break;
-        case MAV_PARAM_TYPE_INT8:
+        case MAV_PARAM_EXT_TYPE_INT8:
            var = QVariant(u.param_int8);
            break;
-        case MAV_PARAM_TYPE_UINT16:
+        case MAV_PARAM_EXT_TYPE_UINT16:
            var = QVariant(u.param_uint16);
            break;
-        case MAV_PARAM_TYPE_INT16:
+        case MAV_PARAM_EXT_TYPE_INT16:
            var = QVariant(u.param_int16);
            break;
-        case MAV_PARAM_TYPE_UINT32:
+        case MAV_PARAM_EXT_TYPE_UINT32:
            var = QVariant(u.param_uint32);
            break;
-        case MAV_PARAM_TYPE_INT32:
+        case MAV_PARAM_EXT_TYPE_INT32:
            var = QVariant(u.param_int32);
            break;
-        case 11: //MAV_PARAM_TYPE_CUSTOM:
+        case MAV_PARAM_EXT_TYPE_UINT64:
+            var = QVariant((qulonglong)u.param_uint64);
+            break;
+        case MAV_PARAM_EXT_TYPE_INT64:
+            var = QVariant((qlonglong)u.param_int64);
+            break;
+        case MAV_PARAM_EXT_TYPE_CUSTOM:
            var = QVariant(QByteArray(value, MAVLINK_MSG_PARAM_EXT_SET_FIELD_PARAM_VALUE_LEN));
            break;
        default:
@@ -303,6 +338,14 @@ QGCCameraParamIO::_paramRequestTimeout()
 void
 QGCCameraParamIO::paramRequest(bool reset)
 {
+    //-- If it's write only, we don't request it.
+    if(_fact->writeOnly()) {
+        if(!_done) {
+            _done = true;
+            _control->_paramDone();
+        }
+        return;
+    }
    if(reset) {
        _requestRetries = 0;
        _forceUIUpdate  = true;

--- a/src/Camera/QGCCameraIO.h
+++ b/src/Camera/QGCCameraIO.h
@@ -19,6 +19,9 @@ MAVPACKED(
 typedef struct {
    union {
        float       param_float;
+        double      param_double;
+        int64_t     param_int64;
+        uint64_t    param_uint64;
        int32_t     param_int32;
        uint32_t    param_uint32;
        int16_t     param_int16;
@@ -67,7 +70,7 @@ private:
    QTimer              _paramRequestTimer;
    bool                _done;
    bool                _updateOnSet;
-    MAV_PARAM_TYPE      _mavParamType;
+    MAV_PARAM_EXT_TYPE  _mavParamType;
    MAVLinkProtocol*    _pMavlink;
    bool                _forceUIUpdate;
 };

--- a/src/Camera/QGCCameraManager.h
+++ b/src/Camera/QGCCameraManager.h
@@ -25,28 +25,28 @@ public:
    QGCCameraManager(Vehicle* vehicle);
    virtual ~QGCCameraManager();

-    Q_PROPERTY(QmlObjectListModel*  cameras             READ cameras            NOTIFY camerasChanged)
+    Q_PROPERTY(QmlObjectListModel*  cameras     READ cameras    NOTIFY camerasChanged)

    //-- Return a list of cameras provided by this vehicle
-    virtual QmlObjectListModel* cameras             () { return &_cameras; }
+    virtual QmlObjectListModel* cameras     () { return &_cameras; }

 signals:
-    void    camerasChanged          ();
+    void    camerasChanged                  ();

 protected slots:
-    void    _vehicleReady           (bool ready);
-    void    _mavlinkMessageReceived (const mavlink_message_t& message);
+    virtual void    _vehicleReady           (bool ready);
+    virtual void    _mavlinkMessageReceived (const mavlink_message_t& message);

 protected:
-    QGCCameraControl* _findCamera   (int id);
-    void    _requestCameraInfo      (int compID);
-    void    _handleHeartbeat        (const mavlink_message_t& message);
-    void    _handleCameraInfo       (const mavlink_message_t& message);
-    void    _handleStorageInfo      (const mavlink_message_t& message);
-    void    _handleCameraSettings   (const mavlink_message_t& message);
-    void    _handleParamAck         (const mavlink_message_t& message);
-    void    _handleParamValue       (const mavlink_message_t& message);
-    void    _handleCaptureStatus    (const mavlink_message_t& message);
+    virtual QGCCameraControl* _findCamera   (int id);
+    virtual void    _requestCameraInfo      (int compID);
+    virtual void    _handleHeartbeat        (const mavlink_message_t& message);
+    virtual void    _handleCameraInfo       (const mavlink_message_t& message);
+    virtual void    _handleStorageInfo      (const mavlink_message_t& message);
+    virtual void    _handleCameraSettings   (const mavlink_message_t& message);
+    virtual void    _handleParamAck         (const mavlink_message_t& message);
+    virtual void    _handleParamValue       (const mavlink_message_t& message);
+    virtual void    _handleCaptureStatus    (const mavlink_message_t& message);

 protected:
    Vehicle*            _vehicle;

--- a/src/FactSystem/Fact.cc
+++ b/src/FactSystem/Fact.cc
@@ -7,12 +7,10 @@
 *
 ****************************************************************************/

-
-/// @file
-///     @author Don Gagne <don@thegagnes.com>
-
 #include "Fact.h"
 #include "QGCMAVLink.h"
+#include "QGCApplication.h"
+#include "QGCCorePlugin.h"

 #include <QtQml>
 #include <QQmlEngine>
@@ -50,6 +48,21 @@ Fact::Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObjec
    QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
 }

+Fact::Fact(FactMetaData* metaData, QObject* parent)
+    : QObject(parent)
+    , _name                     (metaData->name())
+    , _componentId              (0)
+    , _rawValue                 (0)
+    , _type                     (metaData->type())
+    , _metaData                 (NULL)
+    , _sendValueChangedSignals  (true)
+    , _deferredValueChangeSignal(false)
+{
+    // Allow core plugin a chance to override the default value
+    qgcApp()->toolbox()->corePlugin()->adjustSettingMetaData(*metaData);
+    setMetaData(metaData, true /* setDefaultFromMetaData */);
+}
+
 Fact::Fact(const Fact& other, QObject* parent)
    : QObject(parent)
 {
@@ -148,9 +161,11 @@ void Fact::_containerSetRawValue(const QVariant& value)
    if(_rawValue != value) {
        _rawValue = value;
        _sendValueChangedSignal(cookedValue());
-        emit vehicleUpdated(_rawValue);
        emit rawValueChanged(_rawValue);
    }
+
+    // This always need to be signalled in order to support forceSetRawValue usage and waiting for vehicleUpdated signal
+    emit vehicleUpdated(_rawValue);
 }

 QString Fact::name(void) const
@@ -484,6 +499,16 @@ int Fact::decimalPlaces(void) const
    }
 }

+QString Fact::category(void) const
+{
+    if (_metaData) {
+        return _metaData->category();
+    } else {
+        qWarning() << kMissingMetadata << name();
+        return QString();
+    }
+}
+
 QString Fact::group(void) const
 {
    if (_metaData) {
@@ -637,3 +662,23 @@ bool Fact::readOnly(void) const
        return false;
    }
 }
+
+bool Fact::writeOnly(void) const
+{
+    if (_metaData) {
+        return _metaData->writeOnly();
+    } else {
+        qWarning() << kMissingMetadata << name();
+        return false;
+    }
+}
+
+bool Fact::volatileValue(void) const
+{
+    if (_metaData) {
+        return _metaData->volatileValue();
+    } else {
+        qWarning() << kMissingMetadata << name();
+        return false;
+    }
+}
--- a/src/FactSystem/Fact.h
+++ b/src/FactSystem/Fact.h
@@ -31,6 +31,10 @@ public:
    Fact(int componentId, QString name, FactMetaData::ValueType_t type, QObject* parent = NULL);
    Fact(const Fact& other, QObject* parent = NULL);

+    /// Creates a Fact using the name and type from metaData. Also calls QGCCorePlugin::adjustSettingsMetaData allowing
+    /// custom builds to override the metadata.
+    Fact(FactMetaData* metaData, QObject* parent = NULL);
+
    const Fact& operator=(const Fact& other);

    Q_PROPERTY(int          componentId             READ componentId                                        CONSTANT)
@@ -44,6 +48,7 @@ public:
    Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        NOTIFY enumsChanged)
    Q_PROPERTY(QString      enumStringValue         READ enumStringValue        WRITE setEnumStringValue    NOTIFY valueChanged)
    Q_PROPERTY(QVariantList enumValues              READ enumValues                                         NOTIFY enumsChanged)
+    Q_PROPERTY(QString      category                READ category                                              CONSTANT)
    Q_PROPERTY(QString      group                   READ group                                              CONSTANT)
    Q_PROPERTY(QString      longDescription         READ longDescription                                    CONSTANT)
    Q_PROPERTY(QVariant     max                     READ cookedMax                                          CONSTANT)
@@ -66,6 +71,8 @@ public:
    Q_PROPERTY(bool         typeIsBool              READ typeIsBool                                         CONSTANT)
    Q_PROPERTY(bool         hasControl              READ hasControl                                         CONSTANT)
    Q_PROPERTY(bool         readOnly                READ readOnly                                           CONSTANT)
+    Q_PROPERTY(bool         writeOnly               READ writeOnly                                          CONSTANT)
+    Q_PROPERTY(bool         volatileValue           READ volatileValue                                      CONSTANT)

    /// Convert and validate value
    ///     @param convertOnly true: validate type conversion only, false: validate against meta data as well
@@ -87,6 +94,7 @@ public:
    QStringList     enumStrings             (void) const;
    QString         enumStringValue         (void);         // This is not const, since an unknown value can modify the enum lists
    QVariantList    enumValues              (void) const;
+    QString         category                (void) const;
    QString         group                   (void) const;
    QString         longDescription         (void) const;
    QVariant        rawMax                  (void) const;
@@ -112,6 +120,8 @@ public:
    bool            typeIsBool              (void) const { return type() == FactMetaData::valueTypeBool; }
    bool            hasControl              (void) const;
    bool            readOnly                (void) const;
+    bool            writeOnly               (void) const;
+    bool            volatileValue           (void) const;

    /// Returns the values as a string with full 18 digit precision if float/double.
    QString rawValueStringFullPrecision(void) const;

--- a/src/FactSystem/FactControls/FactBitmask.qml
+++ b/src/FactSystem/FactControls/FactBitmask.qml
@@ -33,10 +33,12 @@ Flow {
            checked:    fact.value & fact.bitmaskValues[index]

            onClicked: {
+                var i;
+                var otherCheckbox;
                if (checked) {
                    if (firstEntryIsAll && index == 0) {
-                        for (var i=1; i<repeater.count; i++) {
-                            var otherCheckbox = repeater.itemAt(i)
+                        for (i = 1; i < repeater.count; i++) {
+                            otherCheckbox = repeater.itemAt(i)
                            fact.value &= ~fact.bitmaskValues[i]
                            otherCheckbox.checked = false
                            otherCheckbox.enabled = false
@@ -45,8 +47,8 @@ Flow {
                    fact.value |= fact.bitmaskValues[index]
                } else {
                    if (firstEntryIsAll && index == 0) {
-                        for (var i=1; i<repeater.count; i++) {
-                            var otherCheckbox = repeater.itemAt(i)
+                        for (i = 1; i < repeater.count; i++) {
+                            otherCheckbox = repeater.itemAt(i)
                            otherCheckbox.enabled = true
                        }
                    }

--- a/src/FactSystem/FactControls/FactCheckBox.qml
+++ b/src/FactSystem/FactControls/FactCheckBox.qml
@@ -8,16 +8,14 @@ import QGroundControl.Controls 1.0

 QGCCheckBox {
    property Fact fact: Fact { }
-    property variant checkedValue: 1
-    property variant uncheckedValue: 0

    checkedState: fact ?
                      (fact.typeIsBool ?
-                           (fact.value === true ? Qt.Checked : Qt.Unchecked) :
-                           (fact.value === checkedValue ? Qt.Checked : Qt.Unchecked)) :
+                           (fact.value === false ? Qt.Unchecked : Qt.Checked) :
+                           (fact.value === 0 ? Qt.Unchecked : Qt.Checked)) :
                      Qt.Unchecked

    text: qsTr("Label")

-    onClicked: fact.value = checked ? checkedValue : uncheckedValue
+    onClicked: fact.value = checked ? 1 : 0
 }
--- a/src/FactSystem/FactControls/FactComboBox.qml
+++ b/src/FactSystem/FactControls/FactComboBox.qml
@@ -12,7 +12,7 @@ QGCComboBox {

    model: fact ? fact.enumStrings : null

-    currentIndex: indexModel ? fact.value : fact.enumIndex
+    currentIndex: fact ? (indexModel ? fact.value : fact.enumIndex) : 0

    onActivated: {
        if (indexModel) {

--- a/src/FactSystem/FactControls/FactTextField.qml
+++ b/src/FactSystem/FactControls/FactTextField.qml
@@ -32,7 +32,7 @@ QGCTextField {
        }
        if (typeof qgcView !== 'undefined' && qgcView) {
            var errorString = fact.validate(text, false /* convertOnly */)
-            if (errorString == "") {
+            if (errorString === "") {
                fact.value = text
            } else {
                _validateString = text

--- a/src/FactSystem/FactGroup.h
+++ b/src/FactSystem/FactGroup.h
@@ -48,8 +48,8 @@ protected:

    int _updateRateMSecs;   ///< Update rate for Fact::valueChanged signals, 0: immediate update

-private slots:
-    void _updateAllValues(void);
+protected slots:
+    virtual void _updateAllValues(void);

 private:
    void _setupTimer();

--- a/src/FactSystem/FactMetaData.cc
+++ b/src/FactSystem/FactMetaData.cc
--- a/src/FactSystem/FactMetaData.h
+++ b/src/FactSystem/FactMetaData.h
@@ -27,7 +27,7 @@
 class FactMetaData : public QObject
 {
    Q_OBJECT
-    
+
 public:
    typedef enum {
        valueTypeUint8,
@@ -36,6 +36,8 @@ public:
        valueTypeInt16,
        valueTypeUint32,
        valueTypeInt32,
+        valueTypeUint64,
+        valueTypeInt64,
        valueTypeFloat,
        valueTypeDouble,
        valueTypeString,
@@ -45,7 +47,7 @@ public:
    } ValueType_t;

    typedef QVariant (*Translator)(const QVariant& from);
-    
+
    FactMetaData(QObject* parent = NULL);
    FactMetaData(ValueType_t type, QObject* parent = NULL);
    FactMetaData(ValueType_t type, const QString name, QObject* parent = NULL);
@@ -76,6 +78,9 @@ public:
    /// Returns the string for distance units which has configued by user
    static QString appSettingsAreaUnitsString(void);

+    static const QString defaultCategory    ();
+    static const QString defaultGroup       ();
+
    int             decimalPlaces           (void) const;
    QVariant        rawDefaultValue         (void) const;
    QVariant        cookedDefaultValue      (void) const { return _rawTranslator(rawDefaultValue()); }
@@ -84,6 +89,7 @@ public:
    QVariantList    bitmaskValues           (void) const { return _bitmaskValues; }
    QStringList     enumStrings             (void) const { return _enumStrings; }
    QVariantList    enumValues              (void) const { return _enumValues; }
+    QString         category                (void) const { return _category; }
    QString         group                   (void) const { return _group; }
    QString         longDescription         (void) const { return _longDescription;}
    QVariant        rawMax                  (void) const { return _rawMax; }
@@ -100,6 +106,8 @@ public:
    bool            rebootRequired          (void) const { return _rebootRequired; }
    bool            hasControl              (void) const { return _hasControl; }
    bool            readOnly                (void) const { return _readOnly; }
+    bool            writeOnly               (void) const { return _writeOnly; }
+    bool            volatileValue           (void) const { return _volatile; }

    /// Amount to increment value when used in controls such as spin button or slider with detents.
    /// NaN for no increment available.
@@ -118,6 +126,7 @@ public:
    void setRawDefaultValue (const QVariant& rawDefaultValue);
    void setBitmaskInfo     (const QStringList& strings, const QVariantList& values);
    void setEnumInfo        (const QStringList& strings, const QVariantList& values);
+    void setCategory        (const QString& category)           { _category = category; }
    void setGroup           (const QString& group)              { _group = group; }
    void setLongDescription (const QString& longDescription)    { _longDescription = longDescription;}
    void setRawMax          (const QVariant& rawMax);
@@ -129,6 +138,8 @@ public:
    void setIncrement       (double increment)                  { _increment = increment; }
    void setHasControl      (bool bValue)                       { _hasControl = bValue; }
    void setReadOnly        (bool bValue)                       { _readOnly = bValue; }
+    void setWriteOnly       (bool bValue)                       { _writeOnly = bValue; }
+    void setVolatileValue   (bool bValue);

    void setTranslators(Translator rawTranslator, Translator cookedTranslator);

@@ -193,15 +204,23 @@ private:
    static QVariant _normToPercent(const QVariant& normalized);
    static QVariant _centimetersToInches(const QVariant& centimeters);
    static QVariant _inchesToCentimeters(const QVariant& inches);
+    static QVariant _celsiusToFarenheit(const QVariant& celsius);
+    static QVariant _farenheitToCelsius(const QVariant& farenheit);
+
+    enum UnitTypes {
+        UnitDistance = 0,
+        UnitArea,
+        UnitSpeed,
+        UnitTemperature
+    };

    struct AppSettingsTranslation_s {
-        const char* rawUnits;
-        const char* cookedUnits;
-        bool        speed;
-        uint32_t    speedOrDistanceUnits;
-        Translator  rawTranslator;
-        Translator  cookedTranslator;
-
+        const char*     rawUnits;
+        const char*     cookedUnits;
+        UnitTypes       unitType;
+        uint32_t        unitOption;
+        Translator      rawTranslator;
+        Translator      cookedTranslator;
    };

    static const AppSettingsTranslation_s* _findAppSettingsDistanceUnitsTranslation(const QString& rawUnits);
@@ -215,6 +234,7 @@ private:
    QVariantList    _bitmaskValues;
    QStringList     _enumStrings;
    QVariantList    _enumValues;
+    QString         _category;
    QString         _group;
    QString         _longDescription;
    QVariant        _rawMax;
@@ -231,6 +251,8 @@ private:
    double          _increment;
    bool            _hasControl;
    bool            _readOnly;
+    bool            _writeOnly;
+    bool            _volatile;

    // Exact conversion constants
    static const struct UnitConsts_s {

--- a/src/FactSystem/ParameterManager.cc
+++ b/src/FactSystem/ParameterManager.cc
--- a/src/FactSystem/ParameterManager.h
+++ b/src/FactSystem/ParameterManager.h
@@ -30,6 +30,7 @@

 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose1Log)
 Q_DECLARE_LOGGING_CATEGORY(ParameterManagerVerbose2Log)
+Q_DECLARE_LOGGING_CATEGORY(ParameterManagerDebugCacheFailureLog)

 /// Connects to Parameter Manager to load/update Facts
 class ParameterManager : public QObject
@@ -84,7 +85,7 @@ public:
    ///     @param name Parameter name
    Fact* getParameter(int componentId, const QString& name);
    
-    const QMap<int, QMap<QString, QStringList> >& getGroupMap(void);
+    const QMap<QString, QMap<QString, QStringList> >& getCategoryMap(void);
    
    /// Returns error messages from loading
    QString readParametersFromStream(QTextStream& stream);
@@ -137,11 +138,13 @@ protected:
 private:
    static QVariant _stringToTypedVariant(const QString& string, FactMetaData::ValueType_t type, bool failOk = false);
    int _actualComponentId(int componentId);
-    void _setupGroupMap(void);
+    void _setupCategoryMap(void);
    void _readParameterRaw(int componentId, const QString& paramName, int paramIndex);
    void _writeParameterRaw(int componentId, const QString& paramName, const QVariant& value);
    void _writeLocalParamCache(int vehicleId, int componentId);
    void _tryCacheHashLoad(int vehicleId, int componentId, QVariant hash_value);
+    void _loadMetaData(void);
+    void _clearMetaData(void);
    void _addMetaDataToDefaultComponent(void);
    QString _remapParamNameToVersion(const QString& paramName);
    void _loadOfflineEditingParams(void);
@@ -151,18 +154,14 @@ private:

    MAV_PARAM_TYPE _factTypeToMavType(FactMetaData::ValueType_t factType);
    FactMetaData::ValueType_t _mavTypeToFactType(MAV_PARAM_TYPE mavType);
-    void _saveToEEPROM(void);
    void _checkInitialLoadComplete(void);

    /// First mapping is by component id
    /// Second mapping is parameter name, to Fact* in QVariant
    QMap<int, QVariantMap>            _mapParameterName2Variant;

-    QMap<int, QMap<int, QString> >    _mapParameterId2Name;
-    
-    /// First mapping is by component id
-    /// Second mapping is group name, to Fact
-    QMap<int, QMap<QString, QStringList> > _mapGroup2ParameterName;
+    // Category map of default component parameters
+    QMap<QString /* category */, QMap<QString /* group */, QStringList /* parameter names */> > _categoryMap;
    
    double      _loadProgress;                  ///< Parameter load progess, [0.0,1.0]
    bool        _parametersReady;               ///< true: parameter load complete
@@ -170,11 +169,19 @@ private:
    bool        _initialLoadComplete;           ///< true: Initial load of all parameters complete, whether successful or not
    bool        _waitingForDefaultComponent;    ///< true: last chance wait for default component params
    bool        _saveRequired;                  ///< true: _saveToEEPROM should be called
+    bool        _metaDataAddedToFacts;          ///< true: FactMetaData has been adde to the default component facts
    bool        _logReplay;                     ///< true: running with log replay link
    QString     _versionParam;                  ///< Parameter which contains parameter set version
    int         _parameterSetMajorVersion;      ///< Version for parameter set, -1 if not known
    QObject*    _parameterMetaData;             ///< Opaque data from FirmwarePlugin::loadParameterMetaDataCall

+    typedef QPair<int /* FactMetaData::ValueType_t */, QVariant /* Fact::rawValue */> ParamTypeVal;
+    typedef QMap<QString /* parameter name */, ParamTypeVal> CacheMapName2ParamTypeVal;
+
+    QMap<int /* component id */, bool>                                              _debugCacheCRC; ///< true: debug cache crc failure
+    QMap<int /* component id */, CacheMapName2ParamTypeVal>                         _debugCacheMap;
+    QMap<int /* component id */, QMap<QString /* param name */, bool /* seen */>>   _debugCacheParamSeen;
+
    // Wait counts from previous parameter update cycle
    int         _prevWaitingReadParamIndexCount;
    int         _prevWaitingReadParamNameCount;

--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
@@ -911,6 +911,23 @@ void APMFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
    _guidedModeTakeoff(vehicle, altitudeRel);
 }

+double APMFirmwarePlugin::minimumTakeoffAltitude(Vehicle* vehicle)
+{
+    double minTakeoffAlt = 0;
+    QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT"));
+    float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters
+
+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
+        minTakeoffAlt = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble() / paramDivisor;
+    }
+
+    if (minTakeoffAlt == 0) {
+        minTakeoffAlt = FirmwarePlugin::minimumTakeoffAltitude(vehicle);
+    }
+
+    return minTakeoffAlt;
+}
+
 bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
 {
    if (!vehicle->multiRotor() && !vehicle->vtol()) {
@@ -924,20 +941,7 @@ bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle* vehicle, double altitudeRel)
        return false;
    }

-    QString takeoffAltParam(vehicle->vtol() ? QStringLiteral("Q_RTL_ALT") : QStringLiteral("PILOT_TKOFF_ALT"));
-    float paramDivisor = vehicle->vtol() ? 1.0 : 100.0; // PILOT_TAKEOFF_ALT is in centimeters
-
-    float takeoffAltRel = 0;
-    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
-        Fact* takeoffAltFact = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam);
-        takeoffAltRel = takeoffAltFact->rawValue().toDouble();
-    }
-    if (takeoffAltRel <= 0) {
-        takeoffAltRel = 2.5;
-    } else {
-        takeoffAltRel /= paramDivisor;   // centimeters -> meters
-    }
-
+    double takeoffAltRel = minimumTakeoffAltitude(vehicle);
    if (!qIsNaN(altitudeRel) && altitudeRel > takeoffAltRel) {
        takeoffAltRel = altitudeRel;
    }

--- a/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/APMFirmwarePlugin.h
@@ -78,6 +78,7 @@ public:
    void                setGuidedMode                   (Vehicle* vehicle, bool guidedMode) override;
    void                guidedModeTakeoff               (Vehicle* vehicle, double altitudeRel) override;
    void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
+    double              minimumTakeoffAltitude          (Vehicle* vehicle) override;
    void                startMission                    (Vehicle* vehicle) override;
    QStringList         flightModes                     (Vehicle* vehicle) override;
    QString             flightMode                      (uint8_t base_mode, uint32_t custom_mode) const override;

--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Copter.3.5.xml
@@ -1336,7 +1336,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
@@ -1359,7 +1359,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
@@ -1382,7 +1382,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
@@ -1405,7 +1405,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
@@ -1428,7 +1428,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
@@ -1451,7 +1451,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">

--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.7.xml
@@ -1094,7 +1094,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
@@ -1117,7 +1117,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
@@ -1140,7 +1140,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
@@ -1163,7 +1163,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
@@ -1186,7 +1186,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
@@ -1209,7 +1209,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">

--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Plane.3.8.xml
@@ -1013,7 +1013,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
@@ -1036,7 +1036,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
@@ -1059,7 +1059,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
@@ -1082,7 +1082,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
@@ -1105,7 +1105,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
@@ -1128,7 +1128,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">

--- a/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml
+++ b/src/FirmwarePlugin/APM/APMParameterFactMetaData.Rover.3.2.xml
@@ -1013,7 +1013,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 2" name="ArduCopter:FLTMODE2" documentation="Flight mode when Channel 5 pwm is &gt;1230, &lt;= 1360" user="Standard">
@@ -1036,7 +1036,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 3" name="ArduCopter:FLTMODE3" documentation="Flight mode when Channel 5 pwm is &gt;1360, &lt;= 1490" user="Standard">
@@ -1059,7 +1059,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 4" name="ArduCopter:FLTMODE4" documentation="Flight mode when Channel 5 pwm is &gt;1490, &lt;= 1620" user="Standard">
@@ -1082,7 +1082,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 5" name="ArduCopter:FLTMODE5" documentation="Flight mode when Channel 5 pwm is &gt;1620, &lt;= 1749" user="Standard">
@@ -1105,7 +1105,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Flight Mode 6" name="ArduCopter:FLTMODE6" documentation="Flight mode when Channel 5 pwm is &gt;=1750" user="Standard">
@@ -1128,7 +1128,7 @@
 <value code="18">Throw</value>
 <value code="19">Avoid_ADSB</value>
 <value code="20">Guided_NoGPS</value>
-<value code="21">SafeRTL</value>
+<value code="21">SmartRTL</value>
 </values>
 </param>
 <param humanName="Simple mode bitmask" name="ArduCopter:SIMPLE" documentation="Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)" user="Advanced">

--- a/src/FirmwarePlugin/APM/APMParameterMetaData.cc
+++ b/src/FirmwarePlugin/APM/APMParameterMetaData.cc
@@ -44,11 +44,13 @@ QVariant APMParameterMetaData::_stringToTypedVariant(const QString& string,
    case FactMetaData::valueTypeUint8:
    case FactMetaData::valueTypeUint16:
    case FactMetaData::valueTypeUint32:
+    case FactMetaData::valueTypeUint64:
        convertTo = QVariant::UInt;
        break;
    case FactMetaData::valueTypeInt8:
    case FactMetaData::valueTypeInt16:
    case FactMetaData::valueTypeInt32:
+    case FactMetaData::valueTypeInt64:
        convertTo = QVariant::Int;
        break;
    case FactMetaData::valueTypeFloat:
@@ -233,14 +235,18 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                QString group = name.split('_').first();
                group = group.remove(QRegExp("[0-9]*$")); // remove any numbers from the end

+                QString category = xml.attributes().value("user").toString();
+                if (category.isEmpty()) {
+                    category = QStringLiteral("Advanced");
+                }
+
                QString shortDescription = xml.attributes().value("humanName").toString();
                QString longDescription = xml.attributes().value("documentation").toString();
-                QString userLevel = xml.attributes().value("user").toString();

                qCDebug(APMParameterMetaDataVerboseLog) << "Found parameter name:" << name
                          << "short Desc:" << shortDescription
                          << "longDescription:" << longDescription
-                          << "user level: " << userLevel
+                          << "category: " << category
                          << "group: " << group;

                Q_ASSERT(!rawMetaData);
@@ -254,6 +260,7 @@ void APMParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                }
                qCDebug(APMParameterMetaDataVerboseLog) << "inserting metadata for field" << name;
                rawMetaData->name = name;
+                rawMetaData->category = category;
                rawMetaData->group = group;
                rawMetaData->shortDescription = shortDescription;
                rawMetaData->longDescription = longDescription;
@@ -301,7 +308,7 @@ void APMParameterMetaData::correctGroupMemberships(ParameterNametoFactMetaDataMa
    foreach(const QString& groupName, groupMembers.keys()) {
            if (groupMembers[groupName].count() == 1) {
                foreach(const QString& parameter, groupMembers.value(groupName)) {
-                    parameterToFactMetaDataMap[parameter]->group = "others";
+                    parameterToFactMetaDataMap[parameter]->group = FactMetaData::defaultGroup();
                }
            }
        }
@@ -434,6 +441,7 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
    }

    metaData->setName(rawMetaData->name);
+    metaData->setCategory(rawMetaData->category);
    metaData->setGroup(rawMetaData->group);
    metaData->setRebootRequired(rawMetaData->rebootRequired);

@@ -525,12 +533,14 @@ void APMParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
                break;

            case FactMetaData::valueTypeInt32:
+            case FactMetaData::valueTypeInt64:
                typedBitSet = QVariant((int)bitSet);
                break;

            case FactMetaData::valueTypeUint8:
            case FactMetaData::valueTypeUint16:
            case FactMetaData::valueTypeUint32:
+            case FactMetaData::valueTypeUint64:
                typedBitSet = QVariant(bitSet);
                break;


--- a/src/FirmwarePlugin/APM/APMParameterMetaData.h
+++ b/src/FirmwarePlugin/APM/APMParameterMetaData.h
@@ -32,6 +32,7 @@ public:
    { }

    QString name;
+    QString category;
    QString group;
    QString shortDescription;
    QString longDescription;

--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -41,7 +41,7 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
    enumToString.insert(THROW,     "Throw");
    enumToString.insert(AVOID_ADSB,"Avoid ADSB");
    enumToString.insert(GUIDED_NOGPS,"Guided No GPS");
-    enumToString.insert(SAFE_RTL,"Safe RTL");
+    enumToString.insert(SAFE_RTL,"Smart RTL");


    setEnumToStringMapping(enumToString);
@@ -145,6 +145,9 @@ ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
        remapV3_5["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
        remapV3_5["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");

+        remapV3_5["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
+        remapV3_5["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
+
        _remapParamNameIntialized = true;
    }
 }

--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.cc
@@ -110,6 +110,9 @@ ArduPlaneFirmwarePlugin::ArduPlaneFirmwarePlugin(void)
        remapV3_8["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
        remapV3_8["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");

+        remapV3_8["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
+        remapV3_8["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
+
        _remapParamNameIntialized = true;
    }
 }

--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -59,7 +59,8 @@ public:
    QString pauseFlightMode                         (void) const override { return QString("Loiter"); }
    QString offlineEditingParamFile                 (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/APM/Plane.OfflineEditing.params"); }
    QString autoDisarmParameter                     (Vehicle* vehicle) final { Q_UNUSED(vehicle); return QStringLiteral("LAND_DISARMDELAY"); }
-    int     remapParamNameHigestMinorVersionNumber  (int majorVersionNumber) const final;
+    int     remapParamNameHigestMinorVersionNumber  (int majorVersionNumber) const final;    
+    const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }

 private:
    static bool _remapParamNameIntialized;

--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.cc
@@ -89,6 +89,9 @@ ArduRoverFirmwarePlugin::ArduRoverFirmwarePlugin(void)
        remapV3_2["SERVO13_REVERSED"] = QStringLiteral("RC13_REVERSED");
        remapV3_2["SERVO14_REVERSED"] = QStringLiteral("RC14_REVERSED");

+        remapV3_2["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
+        remapV3_2["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
+
        _remapParamNameIntialized = true;
    }
 }

--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.cc
@@ -110,16 +110,53 @@ ArduSubFirmwarePlugin::ArduSubFirmwarePlugin(void):

        remapV3_5["FENCE_ALT_MIN"] = QStringLiteral("FENCE_DEPTH_MAX");

+        FirmwarePlugin::remapParamNameMap_t& remapV3_6 = _remapParamName[3][6];
+
+        remapV3_6["ARMING_VOLT_MIN"] = QStringLiteral("ARMING_MIN_VOLT");
+        remapV3_6["ARMING_VOLT2_MIN"] = QStringLiteral("ARMING_MIN_VOLT2");
+
        _remapParamNameIntialized = true;
    }

    _nameToFactGroupMap.insert("APMSubInfo", &_infoFactGroup);
 }

+QList<MAV_CMD> ArduSubFirmwarePlugin::supportedMissionCommands(void)
+{
+    QList<MAV_CMD> list;
+
+    list << MAV_CMD_NAV_WAYPOINT
+         << MAV_CMD_NAV_RETURN_TO_LAUNCH
+         << MAV_CMD_NAV_LAND
+         << MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT
+         << MAV_CMD_NAV_SPLINE_WAYPOINT
+         << MAV_CMD_NAV_GUIDED_ENABLE
+         << MAV_CMD_NAV_DELAY
+         << MAV_CMD_CONDITION_DELAY << MAV_CMD_CONDITION_DISTANCE << MAV_CMD_CONDITION_YAW
+         << MAV_CMD_DO_SET_MODE
+         << MAV_CMD_DO_JUMP
+         << MAV_CMD_DO_CHANGE_SPEED
+         << MAV_CMD_DO_SET_HOME
+         << MAV_CMD_DO_SET_RELAY << MAV_CMD_DO_REPEAT_RELAY
+         << MAV_CMD_DO_SET_SERVO << MAV_CMD_DO_REPEAT_SERVO
+         << MAV_CMD_DO_LAND_START
+         << MAV_CMD_DO_SET_ROI
+         << MAV_CMD_DO_DIGICAM_CONFIGURE << MAV_CMD_DO_DIGICAM_CONTROL
+         << MAV_CMD_DO_MOUNT_CONTROL
+         << MAV_CMD_DO_SET_CAM_TRIGG_DIST
+         << MAV_CMD_DO_FENCE_ENABLE
+         << MAV_CMD_DO_INVERTED_FLIGHT
+         << MAV_CMD_DO_GRIPPER
+         << MAV_CMD_DO_GUIDED_LIMITS
+         << MAV_CMD_DO_AUTOTUNE_ENABLE;
+
+    return list;
+}
+
 int ArduSubFirmwarePlugin::remapParamNameHigestMinorVersionNumber(int majorVersionNumber) const
 {
-    // Remapping supports up to 3.5
-    return majorVersionNumber == 3 ? 5 : Vehicle::versionNotSetValue;
+    // Remapping supports up to 3.6
+    return majorVersionNumber == 3 ? 6 : Vehicle::versionNotSetValue;
 }

 int ArduSubFirmwarePlugin::manualControlReservedButtonCount(void)
@@ -178,6 +215,8 @@ void ArduSubFirmwarePlugin::_handleNamedValueFloat(mavlink_message_t* message)
        _infoFactGroup.getFact("lights 2")->setRawValue(value.value * 100);
    } else if (name == "PilotGain") {
        _infoFactGroup.getFact("pilot gain")->setRawValue(value.value * 100);
+    } else if (name == "InputHold") {
+        _infoFactGroup.getFact("input hold")->setRawValue(value.value);
    }
 }

@@ -186,6 +225,14 @@ void ArduSubFirmwarePlugin::_handleMavlinkMessage(mavlink_message_t* message)
    switch (message->msgid) {
    case (MAVLINK_MSG_ID_NAMED_VALUE_FLOAT):
        _handleNamedValueFloat(message);
+        break;
+    case (MAVLINK_MSG_ID_RANGEFINDER):
+    {
+        mavlink_rangefinder_t msg;
+        mavlink_msg_rangefinder_decode(message, &msg);
+        _infoFactGroup.getFact("rangefinder distance")->setRawValue(msg.distance);
+        break;
+    }
    }
 }

@@ -199,32 +246,41 @@ QMap<QString, FactGroup*>* ArduSubFirmwarePlugin::factGroups(void) {
    return &_nameToFactGroupMap;
 }

-const char* APMSubmarineFactGroup::_camTiltFactName = "camera tilt";
-const char* APMSubmarineFactGroup::_tetherTurnsFactName = "tether turns";
-const char* APMSubmarineFactGroup::_lightsLevel1FactName = "lights 1";
-const char* APMSubmarineFactGroup::_lightsLevel2FactName = "lights 2";
-const char* APMSubmarineFactGroup::_pilotGainFactName = "pilot gain";
+const char* APMSubmarineFactGroup::_camTiltFactName             = "camera tilt";
+const char* APMSubmarineFactGroup::_tetherTurnsFactName         = "tether turns";
+const char* APMSubmarineFactGroup::_lightsLevel1FactName        = "lights 1";
+const char* APMSubmarineFactGroup::_lightsLevel2FactName        = "lights 2";
+const char* APMSubmarineFactGroup::_pilotGainFactName           = "pilot gain";
+const char* APMSubmarineFactGroup::_inputHoldFactName           = "input hold";
+const char* APMSubmarineFactGroup::_rangefinderDistanceFactName = "rangefinder distance";

 APMSubmarineFactGroup::APMSubmarineFactGroup(QObject* parent)
    : FactGroup(300, ":/json/Vehicle/SubmarineFact.json", parent)
-    , _camTiltFact       (0, _camTiltFactName,       FactMetaData::valueTypeDouble)
-    , _tetherTurnsFact   (0, _tetherTurnsFactName,   FactMetaData::valueTypeDouble)
-    , _lightsLevel1Fact  (0, _lightsLevel1FactName,  FactMetaData::valueTypeDouble)
-    , _lightsLevel2Fact  (0, _lightsLevel2FactName,  FactMetaData::valueTypeDouble)
-    , _pilotGainFact     (0, _pilotGainFactName,     FactMetaData::valueTypeDouble)
-{
-    _addFact(&_camTiltFact,       _camTiltFactName);
-    _addFact(&_tetherTurnsFact,   _tetherTurnsFactName);
-    _addFact(&_lightsLevel1Fact,  _lightsLevel1FactName);
-    _addFact(&_lightsLevel2Fact,  _lightsLevel2FactName);
-    _addFact(&_pilotGainFact,     _pilotGainFactName);
+    , _camTiltFact             (0, _camTiltFactName,             FactMetaData::valueTypeDouble)
+    , _tetherTurnsFact         (0, _tetherTurnsFactName,         FactMetaData::valueTypeDouble)
+    , _lightsLevel1Fact        (0, _lightsLevel1FactName,        FactMetaData::valueTypeDouble)
+    , _lightsLevel2Fact        (0, _lightsLevel2FactName,        FactMetaData::valueTypeDouble)
+    , _pilotGainFact           (0, _pilotGainFactName,           FactMetaData::valueTypeDouble)
+    , _inputHoldFact           (0, _inputHoldFactName,           FactMetaData::valueTypeDouble)
+    , _rangefinderDistanceFact (0, _rangefinderDistanceFactName, FactMetaData::valueTypeDouble)
+{
+    _addFact(&_camTiltFact,             _camTiltFactName);
+    _addFact(&_tetherTurnsFact,         _tetherTurnsFactName);
+    _addFact(&_lightsLevel1Fact,        _lightsLevel1FactName);
+    _addFact(&_lightsLevel2Fact,        _lightsLevel2FactName);
+    _addFact(&_pilotGainFact,           _pilotGainFactName);
+    _addFact(&_inputHoldFact,           _inputHoldFactName);
+    _addFact(&_rangefinderDistanceFact, _rangefinderDistanceFactName);

    // Start out as not available "--.--"
-    _camTiltFact.setRawValue       (std::numeric_limits<float>::quiet_NaN());
-    _tetherTurnsFact.setRawValue   (std::numeric_limits<float>::quiet_NaN());
-    _lightsLevel1Fact.setRawValue  (std::numeric_limits<float>::quiet_NaN());
-    _lightsLevel2Fact.setRawValue  (std::numeric_limits<float>::quiet_NaN());
-    _pilotGainFact.setRawValue     (std::numeric_limits<float>::quiet_NaN());
+    _camTiltFact.setRawValue             (std::numeric_limits<float>::quiet_NaN());
+    _tetherTurnsFact.setRawValue         (std::numeric_limits<float>::quiet_NaN());
+    _lightsLevel1Fact.setRawValue        (std::numeric_limits<float>::quiet_NaN());
+    _lightsLevel2Fact.setRawValue        (std::numeric_limits<float>::quiet_NaN());
+    _pilotGainFact.setRawValue           (std::numeric_limits<float>::quiet_NaN());
+    _inputHoldFact.setRawValue           (std::numeric_limits<float>::quiet_NaN());
+    _rangefinderDistanceFact.setRawValue (std::numeric_limits<float>::quiet_NaN());
+
 }

 QString ArduSubFirmwarePlugin::vehicleImageOpaque(const Vehicle* vehicle) const

--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -35,23 +35,29 @@ class APMSubmarineFactGroup : public FactGroup
 public:
    APMSubmarineFactGroup(QObject* parent = NULL);

-    Q_PROPERTY(Fact* camTilt       READ camTilt       CONSTANT)
-    Q_PROPERTY(Fact* tetherTurns   READ tetherTurns   CONSTANT)
-    Q_PROPERTY(Fact* lightsLevel1  READ lightsLevel1  CONSTANT)
-    Q_PROPERTY(Fact* lightsLevel2  READ lightsLevel2  CONSTANT)
-    Q_PROPERTY(Fact* pilotGain     READ pilotGain     CONSTANT)
-
-    Fact* camTilt       (void) { return &_camTiltFact; }
-    Fact* tetherTurns   (void) { return &_tetherTurnsFact; }
-    Fact* lightsLevel1  (void) { return &_lightsLevel1Fact; }
-    Fact* lightsLevel2  (void) { return &_lightsLevel2Fact; }
-    Fact* pilotGain     (void) { return &_pilotGainFact; }
+    Q_PROPERTY(Fact* camTilt             READ camTilt             CONSTANT)
+    Q_PROPERTY(Fact* tetherTurns         READ tetherTurns         CONSTANT)
+    Q_PROPERTY(Fact* lightsLevel1        READ lightsLevel1        CONSTANT)
+    Q_PROPERTY(Fact* lightsLevel2        READ lightsLevel2        CONSTANT)
+    Q_PROPERTY(Fact* pilotGain           READ pilotGain           CONSTANT)
+    Q_PROPERTY(Fact* inputHold           READ inputHold     CONSTANT)
+    Q_PROPERTY(Fact* rangefinderDistance READ rangefinderDistance CONSTANT)
+
+    Fact* camTilt             (void) { return &_camTiltFact; }
+    Fact* tetherTurns         (void) { return &_tetherTurnsFact; }
+    Fact* lightsLevel1        (void) { return &_lightsLevel1Fact; }
+    Fact* lightsLevel2        (void) { return &_lightsLevel2Fact; }
+    Fact* pilotGain           (void) { return &_pilotGainFact; }
+    Fact* inputHold           (void) { return &_inputHoldFact; }
+    Fact* rangefinderDistance (void) { return &_rangefinderDistanceFact; }

    static const char* _camTiltFactName;
    static const char* _tetherTurnsFactName;
    static const char* _lightsLevel1FactName;
    static const char* _lightsLevel2FactName;
    static const char* _pilotGainFactName;
+    static const char* _inputHoldFactName;
+    static const char* _rangefinderDistanceFactName;

    static const char* _settingsGroup;

@@ -61,6 +67,8 @@ private:
    Fact            _lightsLevel1Fact;
    Fact            _lightsLevel2Fact;
    Fact            _pilotGainFact;
+    Fact            _inputHoldFact;
+    Fact            _rangefinderDistanceFact;
 };

 class APMSubMode : public APMCustomMode
@@ -100,6 +108,8 @@ class ArduSubFirmwarePlugin : public APMFirmwarePlugin
 public:
    ArduSubFirmwarePlugin(void);

+    QList<MAV_CMD> supportedMissionCommands(void);
+
    // Overrides from FirmwarePlugin
    int manualControlReservedButtonCount(void) final;


--- a/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/APM/MavCmdInfoCommon.json
@@ -51,9 +51,9 @@
            }
        },
        {
-            "id":                   201,
-            "comment":              "MAV_CMD_DO_SET_ROI",
-            "paramRemove":          "2,3"
+            "id":           201,
+            "comment":      "MAV_CMD_DO_SET_ROI",
+            "paramRemove":  "1,2,3"
        },
        {
            "id":           205,

--- a/src/FirmwarePlugin/FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/FirmwarePlugin.cc
@@ -335,6 +335,7 @@ const QVariantList &FirmwarePlugin::toolBarIndicators(const Vehicle* vehicle)
        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/RCRSSIIndicator.qml")));
        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/BatteryIndicator.qml")));
        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ModeIndicator.qml")));
+        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/VTOLModeIndicator.qml")));
        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/ArmedIndicator.qml")));
        _toolBarIndicatorList.append(QVariant::fromValue(QUrl::fromUserInput("qrc:/toolbar/GPSRTKIndicator.qml")));
    }
@@ -348,6 +349,18 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
    if (_cameraList.size() == 0) {
        CameraMetaData* metaData;

+        metaData = new CameraMetaData(tr("Sony NEX-5R 20mm"),  //http://www.sony.co.uk/electronics/interchangeable-lens-cameras/ilce-qx1-body-kit/specifications
+                                      23.2,                 //http://www.sony.com/electronics/camera-lenses/sel16f28/specifications
+                                      15.4,
+                                      4912,
+                                      3264,
+                                      20,
+                                      true,
+                                      false,
+                                      1,
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
+
        metaData = new CameraMetaData(tr("Sony ILCE-QX1"),  //http://www.sony.co.uk/electronics/interchangeable-lens-cameras/ilce-qx1-body-kit/specifications
                                      23.2,                 //http://www.sony.com/electronics/camera-lenses/sel16f28/specifications
                                      15.4,
@@ -455,6 +468,42 @@ const QVariantList& FirmwarePlugin::cameraList(const Vehicle* vehicle)
                                      0,        // minTriggerInterval
                                      this);
        _cameraList.append(QVariant::fromValue(metaData));
+
+        metaData = new CameraMetaData(tr("Parrot Sequioa RGB"),
+                                      6.17,     // sensorWidth
+                                      4.63,     // sendsorHeight
+                                      4608,     // imageWidth
+                                      3456,     // imageHeight
+                                      4.9,      // focalLength
+                                      true,     // landscape
+                                      false,    // fixedOrientation
+                                      1,        // minTriggerInterval
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
+
+        metaData = new CameraMetaData(tr("Parrot Sequioa Monochrome"),
+                                      4.8,      // sensorWidth
+                                      3.6,      // sendsorHeight
+                                      1280,     // imageWidth
+                                      960,      // imageHeight
+                                      4.0,      // focalLength
+                                      true,     // landscape
+                                      false,    // fixedOrientation
+                                      0.8,      // minTriggerInterval
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
+
+        metaData = new CameraMetaData(tr("GoPro Hero 4"),
+                                      6.17,     // sensorWidth
+                                      4.55,     // sendsorHeight
+                                      4000,     // imageWidth
+                                      3000,     // imageHeight
+                                      2.98,     // focalLength
+                                      true,     // landscape
+                                      false,    // fixedOrientation
+                                      0,        // minTriggerInterval
+                                      this);
+        _cameraList.append(QVariant::fromValue(metaData));
    }

    return _cameraList;
@@ -583,4 +632,9 @@ QGCCameraControl* FirmwarePlugin::createCameraControl(const mavlink_camera_infor
    return NULL;
 }

+uint32_t FirmwarePlugin::highLatencyCustomModeTo32Bits(uint16_t hlCustomMode)
+{
+    // Standard implementation assumes no special handling. Upper part of 32 bit value is not used.
+    return hlCustomMode;
+}

--- a/src/FirmwarePlugin/FirmwarePlugin.h
+++ b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -43,11 +43,10 @@ public:
    /// Set of optional capabilites which firmware may support
    typedef enum {
        SetFlightModeCapability =           1 << 0, ///< FirmwarePlugin::setFlightMode method is supported
-        MavCmdPreflightStorageCapability =  1 << 1, ///< MAV_CMD_PREFLIGHT_STORAGE is supported
-        PauseVehicleCapability =            1 << 2, ///< Vehicle supports pausing at current location
-        GuidedModeCapability =              1 << 3, ///< Vehicle supports guided mode commands
-        OrbitModeCapability =               1 << 4, ///< Vehicle supports orbit mode
-        TakeoffVehicleCapability =          1 << 5, ///< Vehicle supports guided takeoff
+        PauseVehicleCapability =            1 << 1, ///< Vehicle supports pausing at current location
+        GuidedModeCapability =              1 << 2, ///< Vehicle supports guided mode commands
+        OrbitModeCapability =               1 << 3, ///< Vehicle supports orbit mode
+        TakeoffVehicleCapability =          1 << 4, ///< Vehicle supports guided takeoff
    } FirmwareCapabilities;

    /// Maps from on parameter name to another
@@ -130,6 +129,9 @@ public:
    /// Command vehicle to takeoff from current location to a firmware specific height.
    virtual void guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel);

+    /// @return The minimum takeoff altitude (relative) for guided takeoff.
+    virtual double minimumTakeoffAltitude(Vehicle* vehicle) { Q_UNUSED(vehicle); return 10; }
+
    /// Command the vehicle to start the mission
    virtual void startMission(Vehicle* vehicle);

@@ -215,6 +217,11 @@ public:
    ///         call deleteParameterMetaData when no longer needed.
    virtual QObject* loadParameterMetaData(const QString& metaDataFile) { Q_UNUSED(metaDataFile); return NULL; }

+    /// Returns the FactMetaData associated with the parameter name
+    ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
+    ///     @param name Parameter name
+    virtual FactMetaData* getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(name); Q_UNUSED(vehicleType); return NULL; }
+
    /// Adds the parameter meta data to the Fact
    ///     @param opaqueParameterMetaData Opaque pointer returned from loadParameterMetaData
    virtual void addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) { Q_UNUSED(parameterMetaData); Q_UNUSED(fact); Q_UNUSED(vehicleType); return; }
@@ -257,6 +264,7 @@ public:
    virtual QString vehicleImageCompass(const Vehicle* vehicle) const;

    /// Allows the core plugin to override the toolbar indicators
+    ///     signals toolbarIndicatorsChanged
    /// @return A list of QUrl with the indicators (see MainToolBarIndicators.qml)
    virtual const QVariantList& toolBarIndicators(const Vehicle* vehicle);

@@ -295,9 +303,15 @@ public:
    /// Returns true if the vehicle is a VTOL
    virtual bool isVtol(const Vehicle* vehicle) const;

+    /// Convert from HIGH_LATENCY2.custom_mode value to correct 32 bit value.
+    virtual uint32_t highLatencyCustomModeTo32Bits(uint16_t hlCustomMode);
+
    // FIXME: Hack workaround for non pluginize FollowMe support
    static const QString px4FollowMeFlightMode;

+signals:
+    void toolbarIndicatorsChanged(void);
+
 protected:
    // Arms the vehicle with validation and retries
    // @return: true - vehicle armed, false - vehicle failed to arm

--- a/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
+++ b/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json
@@ -13,6 +13,11 @@
            "id":           21,
            "comment":      "MAV_CMD_NAV_LAND",
            "paramRemove":  "1"
+        },
+        {
+            "id":           201,
+            "comment":      "MAV_CMD_DO_SET_ROI",
+            "paramRemove":  "1,2,3"
        }
    ]
 }
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -227,7 +227,7 @@ int PX4FirmwarePlugin::manualControlReservedButtonCount(void)

 bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities capabilities)
 {
-    int available = MavCmdPreflightStorageCapability | SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
+    int available = SetFlightModeCapability | PauseVehicleCapability | GuidedModeCapability;
    if (vehicle->multiRotor() || vehicle->vtol()) {
        available |= TakeoffVehicleCapability;
    }
@@ -247,6 +247,19 @@ bool PX4FirmwarePlugin::sendHomePositionToVehicle(void)
    return false;
 }

+FactMetaData* PX4FirmwarePlugin::getMetaDataForFact(QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType)
+{
+    PX4ParameterMetaData* px4MetaData = qobject_cast<PX4ParameterMetaData*>(parameterMetaData);
+
+    if (px4MetaData) {
+        return px4MetaData->getMetaDataForFact(name, vehicleType);
+    } else {
+        qWarning() << "Internal error: pointer passed to PX4FirmwarePlugin::getMetaDataForFact not PX4ParameterMetaData";
+    }
+
+    return NULL;
+}
+
 void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType)
 {
    PX4ParameterMetaData* px4MetaData = qobject_cast<PX4ParameterMetaData*>(parameterMetaData);
@@ -258,6 +271,11 @@ void PX4FirmwarePlugin::addMetaDataToFact(QObject* parameterMetaData, Fact* fact
    }
 }

+void PX4FirmwarePlugin::getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion)
+{
+    return PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion);
+}
+
 QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
 {
    QList<MAV_CMD> list;
@@ -272,7 +290,7 @@ QList<MAV_CMD> PX4FirmwarePlugin::supportedMissionCommands(void)
         << MAV_CMD_DO_SET_SERVO
         << MAV_CMD_DO_CHANGE_SPEED
         << MAV_CMD_DO_LAND_START
-         << MAV_CMD_DO_SET_ROI
+         << MAV_CMD_DO_SET_ROI_LOCATION << MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET << MAV_CMD_DO_SET_ROI_NONE
         << MAV_CMD_DO_MOUNT_CONFIGURE
         << MAV_CMD_DO_MOUNT_CONTROL
         << MAV_CMD_SET_CAMERA_MODE
@@ -384,24 +402,30 @@ void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int comm
    }
 }

-void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel)
+double PX4FirmwarePlugin::minimumTakeoffAltitude(Vehicle* vehicle)
 {
    QString takeoffAltParam("MIS_TAKEOFF_ALT");

+    if (vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
+        return vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble();
+    } else {
+        return FirmwarePlugin::minimumTakeoffAltitude(vehicle);
+    }
+}
+
+void PX4FirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle, double takeoffAltRel)
+{
    double vehicleAltitudeAMSL = vehicle->altitudeAMSL()->rawValue().toDouble();
    if (qIsNaN(vehicleAltitudeAMSL)) {
        qgcApp()->showMessage(tr("Unable to takeoff, vehicle position not known."));
        return;
    }

-    if (!vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, takeoffAltParam)) {
-        qgcApp()->showMessage(tr("Unable to takeoff, MIS_TAKEOFF_ALT parameter missing."));
-        return;
-    }
-
-    double takeoffAltRelFromVehicle = vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, takeoffAltParam)->rawValue().toDouble();
+    double takeoffAltRelFromVehicle = minimumTakeoffAltitude(vehicle);
    double takeoffAltAMSL = qMax(takeoffAltRel, takeoffAltRelFromVehicle) + vehicleAltitudeAMSL;

+    qDebug() << takeoffAltRel << takeoffAltRelFromVehicle << takeoffAltAMSL << vehicleAltitudeAMSL;
+
    connect(vehicle, &Vehicle::mavCommandResult, this, &PX4FirmwarePlugin::_mavCommandResult);
    vehicle->sendMavCommand(vehicle->defaultComponentId(),
                            MAV_CMD_NAV_TAKEOFF,
@@ -566,4 +590,11 @@ QGCCameraControl* PX4FirmwarePlugin::createCameraControl(const mavlink_camera_in
    return new QGCCameraControl(info, vehicle, compID, parent);
 }

+uint32_t PX4FirmwarePlugin::highLatencyCustomModeTo32Bits(uint16_t hlCustomMode)
+{
+    union px4_custom_mode px4_cm;
+    px4_cm.data = 0;
+    px4_cm.custom_mode_hl = hlCustomMode;

+    return px4_cm.data;
+}
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.h
@@ -49,16 +49,18 @@ public:
    void                guidedModeOrbit                 (Vehicle* vehicle, const QGeoCoordinate& centerCoord = QGeoCoordinate(), double radius = NAN, double velocity = NAN, double altitude = NAN) override;
    void                guidedModeGotoLocation          (Vehicle* vehicle, const QGeoCoordinate& gotoCoord) override;
    void                guidedModeChangeAltitude        (Vehicle* vehicle, double altitudeRel) override;
+    double              minimumTakeoffAltitude          (Vehicle* vehicle) override;
    void                startMission                    (Vehicle* vehicle) override;
    bool                isGuidedMode                    (const Vehicle* vehicle) const override;
    int                 manualControlReservedButtonCount(void) override;
    void                initializeVehicle               (Vehicle* vehicle) override;
    bool                sendHomePositionToVehicle       (void) override;
    void                addMetaDataToFact               (QObject* parameterMetaData, Fact* fact, MAV_TYPE vehicleType) override;
+    FactMetaData*       getMetaDataForFact              (QObject* parameterMetaData, const QString& name, MAV_TYPE vehicleType) override;
    QString             missionCommandOverrides         (MAV_TYPE vehicleType) const override;
    QString             getVersionParam                 (void) override { return QString("SYS_PARAM_VER"); }
    QString             internalParameterMetaDataFile   (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QString(":/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml"); }
-    void                getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) override { PX4ParameterMetaData::getParameterMetaDataVersionInfo(metaDataFile, majorVersion, minorVersion); }
+    void                getParameterMetaDataVersionInfo (const QString& metaDataFile, int& majorVersion, int& minorVersion) override;
    QObject*            loadParameterMetaData           (const QString& metaDataFile) final;
    bool                adjustIncomingMavlinkMessage    (Vehicle* vehicle, mavlink_message_t* message) override;
    QString             offlineEditingParamFile(Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral(":/FirmwarePlugin/PX4/PX4.OfflineEditing.params"); }
@@ -68,6 +70,7 @@ public:
    QString             autoDisarmParameter             (Vehicle* vehicle) override { Q_UNUSED(vehicle); return QStringLiteral("COM_DISARM_LAND"); }
    QGCCameraManager*   createCameraManager             (Vehicle* vehicle) override;
    QGCCameraControl*   createCameraControl             (const mavlink_camera_information_t* info, Vehicle* vehicle, int compID, QObject* parent = NULL) override;
+    uint32_t            highLatencyCustomModeTo32Bits   (uint16_t hlCustomMode) override;

 protected:
    typedef struct {

--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
--- a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc
+++ b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.cc
@@ -44,11 +44,13 @@ QVariant PX4ParameterMetaData::_stringToTypedVariant(const QString& string, Fact
    case FactMetaData::valueTypeUint8:
    case FactMetaData::valueTypeUint16:
    case FactMetaData::valueTypeUint32:
+    case FactMetaData::valueTypeUint64:
        convertTo = QVariant::UInt;
        break;
    case FactMetaData::valueTypeInt8:
    case FactMetaData::valueTypeInt16:
    case FactMetaData::valueTypeInt32:
+    case FactMetaData::valueTypeInt64:
        convertTo = QVariant::Int;
        break;
    case FactMetaData::valueTypeFloat:
@@ -181,6 +183,25 @@ void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                QString type = xml.attributes().value("type").toString();
                QString strDefault =    xml.attributes().value("default").toString();
                
+                QString category = xml.attributes().value("category").toString();
+                if (category.isEmpty()) {
+                    category = QStringLiteral("Standard");
+                }
+
+                bool volatileValue = false;
+                bool readOnly = false;
+                QString volatileStr = xml.attributes().value("volatile").toString();
+                if (volatileStr.compare(QStringLiteral("true")) == 0) {
+                    volatileValue = true;
+                    readOnly = true;
+                }
+                if (!volatileValue) {
+                    QString readOnlyStr = xml.attributes().value("readonly").toString();
+                    if (readOnlyStr.compare(QStringLiteral("true")) == 0) {
+                        readOnly = true;
+                    }
+                }
+
                qCDebug(PX4ParameterMetaDataLog) << "Found parameter name:" << name << " type:" << type << " default:" << strDefault;

                // Convert type from string to FactMetaData::ValueType_t
@@ -196,7 +217,7 @@ void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                metaData = new FactMetaData(foundType);
                Q_CHECK_PTR(metaData);
                if (_mapParameterName2FactMetaData.contains(name)) {
-                    // We can't trust the meta dafa since we have dups
+                    // We can't trust the meta data since we have dups
                    qCWarning(PX4ParameterMetaDataLog) << "Duplicate parameter found:" << name;
                    badMetaData = true;
                    // Reset to default meta data
@@ -204,7 +225,10 @@ void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                } else {
                    _mapParameterName2FactMetaData[name] = metaData;
                    metaData->setName(name);
+                    metaData->setCategory(category);
                    metaData->setGroup(factGroup);
+                    metaData->setReadOnly(readOnly);
+                    metaData->setVolatileValue(volatileValue);
                    
                    if (xml.attributes().hasAttribute("default") && !strDefault.isEmpty()) {
                        QVariant varDefault;
@@ -243,7 +267,7 @@ void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                            qCDebug(PX4ParameterMetaDataLog) << "Min:" << text;

                            QVariant varMin;
-                            if (metaData->convertAndValidateRaw(text, true /* convertOnly */, varMin, errorString)) {
+                            if (metaData->convertAndValidateRaw(text, false /* convertOnly */, varMin, errorString)) {
                                metaData->setRawMin(varMin);
                            } else {
                                qCWarning(PX4ParameterMetaDataLog) << "Invalid min value, name:" << metaData->name() << " type:" << metaData->type() << " min:" << text << " error:" << errorString;
@@ -254,7 +278,7 @@ void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
                            qCDebug(PX4ParameterMetaDataLog) << "Max:" << text;

                            QVariant varMax;
-                            if (metaData->convertAndValidateRaw(text, true /* convertOnly */, varMax, errorString)) {
+                            if (metaData->convertAndValidateRaw(text, false /* convertOnly */, varMax, errorString)) {
                                metaData->setRawMax(varMax);
                            } else {
                                qCWarning(PX4ParameterMetaDataLog) << "Invalid max value, name:" << metaData->name() << " type:" << metaData->type() << " max:" << text << " error:" << errorString;
@@ -381,6 +405,17 @@ void PX4ParameterMetaData::loadParameterFactMetaDataFile(const QString& metaData
    }
 }

+FactMetaData* PX4ParameterMetaData::getMetaDataForFact(const QString& name, MAV_TYPE vehicleType)
+{
+    Q_UNUSED(vehicleType)
+
+    if (_mapParameterName2FactMetaData.contains(name)) {
+        return _mapParameterName2FactMetaData[name];
+    } else {
+        return NULL;
+    }
+}
+
 void PX4ParameterMetaData::addMetaDataToFact(Fact* fact, MAV_TYPE vehicleType)
 {
    Q_UNUSED(vehicleType)

--- a/src/FirmwarePlugin/PX4/PX4ParameterMetaData.h
+++ b/src/FirmwarePlugin/PX4/PX4ParameterMetaData.h
@@ -33,8 +33,9 @@ class PX4ParameterMetaData : public QObject
 public:
    PX4ParameterMetaData(void);

-    void loadParameterFactMetaDataFile  (const QString& metaDataFile);
-    void addMetaDataToFact              (Fact* fact, MAV_TYPE vehicleType);
+    void            loadParameterFactMetaDataFile   (const QString& metaDataFile);
+    FactMetaData*   getMetaDataForFact              (const QString& name, MAV_TYPE vehicleType);
+    void            addMetaDataToFact               (Fact* fact, MAV_TYPE vehicleType);

    static void getParameterMetaDataVersionInfo(const QString& metaDataFile, int& majorVersion, int& minorVersion);


--- a/src/FirmwarePlugin/PX4/px4_custom_mode.h
+++ b/src/FirmwarePlugin/PX4/px4_custom_mode.h
@@ -71,7 +71,11 @@ union px4_custom_mode {
 		uint8_t main_mode;
 		uint8_t sub_mode;
 	};
-	uint32_t data;
+    struct {
+        uint16_t reserved_hl;
+        uint16_t custom_mode_hl;
+    };
+    uint32_t data;
 	float data_float;
 };


--- a/src/FlightDisplay/FlightDisplayView.qml
+++ b/src/FlightDisplay/FlightDisplayView.qml
@@ -16,6 +16,7 @@ import QtLocation               5.3
 import QtPositioning            5.3
 import QtMultimedia             5.5
 import QtQuick.Layouts          1.2
+import QtQuick.Window           2.2

 import QGroundControl               1.0
 import QGroundControl.FlightDisplay 1.0
@@ -43,8 +44,6 @@ QGCView {
    property var    _geoFenceController:    _planMasterController.geoFenceController
    property var    _rallyPointController:  _planMasterController.rallyPointController
    property var    _activeVehicle:         QGroundControl.multiVehicleManager.activeVehicle
-    property var    _videoReceiver:         QGroundControl.videoManager.videoReceiver
-    property bool   _recordingVideo:        _videoReceiver && _videoReceiver.recording
    property bool   _mainIsMap:             QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_mainIsMapKey,  true) : true
    property bool   _isPipVisible:          QGroundControl.videoManager.hasVideo ? QGroundControl.loadBoolGlobalSetting(_PIPVisibleKey, true) : false
    property real   _savedZoomLevel:        0
@@ -94,6 +93,20 @@ QGCView {
        QGroundControl.saveBoolGlobalSetting(_PIPVisibleKey, state)
    }

+    function isInstrumentRight() {
+        if(QGroundControl.corePlugin.options.instrumentWidget) {
+            if(QGroundControl.corePlugin.options.instrumentWidget.source.toString().length) {
+                switch(QGroundControl.corePlugin.options.instrumentWidget.widgetPosition) {
+                case CustomInstrumentWidget.POS_TOP_LEFT:
+                case CustomInstrumentWidget.POS_BOTTOM_LEFT:
+                case CustomInstrumentWidget.POS_CENTER_LEFT:
+                    return false;
+                }
+            }
+        }
+        return true;
+    }
+
    PlanMasterController {
        id:                     masterController
        Component.onCompleted:  start(false /* editMode */)
@@ -184,6 +197,24 @@ QGCView {
        }
    }

+    Window {
+        id:             videoWindow
+        width:          !_mainIsMap ? _panel.width  : _pipSize
+        height:         !_mainIsMap ? _panel.height : _pipSize * (9/16)
+        visible:        false
+
+        Item {
+            id:             videoItem
+            anchors.fill:   parent
+        }
+
+        onClosing: {
+            _flightVideo.state = "unpopup"
+            videoWindow.visible = false
+        }
+
+    }
+
    QGCMapPalette { id: mapPal; lightColors: _mainIsMap ? _flightMap.isSatelliteMap : true }

    QGCViewPanel {
@@ -244,7 +275,11 @@ QGCView {
                    name:   "pipMode"
                    PropertyChanges {
                        target: _flightVideo
-                        anchors.margins:    ScreenTools.defaultFontPixelHeight
+                        anchors.margins: ScreenTools.defaultFontPixelHeight
+                    }
+                    PropertyChanges {
+                        target: _flightVideoPipControl
+                        inPopup: false
                    }
                },
                State {
@@ -253,10 +288,53 @@ QGCView {
                        target: _flightVideo
                        anchors.margins:    0
                    }
+                    PropertyChanges {
+                        target: _flightVideoPipControl
+                        inPopup: false
+                    }
+                },
+                State {
+                    name: "popup"
+                    StateChangeScript {
+                        script: QGroundControl.videoManager.stopVideo()
+                    }
+                    ParentChange {
+                        target: _flightVideo
+                        parent: videoItem
+                        x: 0
+                        y: 0
+                        width: videoWindow.width
+                        height: videoWindow.height
+                    }
+                    PropertyChanges {
+                        target: _flightVideoPipControl
+                        inPopup: true
+                    }
+                },
+                State {
+                    name: "unpopup"
+                    StateChangeScript {
+                        script: QGroundControl.videoManager.stopVideo()
+                    }
+                    ParentChange {
+                        target: _flightVideo
+                        parent: _panel
+                    }
+                    PropertyChanges {
+                        target: _flightVideo
+                        anchors.left:       _panel.left
+                        anchors.bottom:     _panel.bottom
+                        anchors.margins:    ScreenTools.defaultFontPixelHeight
+                    }
+                    PropertyChanges {
+                        target: _flightVideoPipControl
+                        inPopup: false
+                    }
                }
            ]
            //-- Video Streaming
            FlightDisplayViewVideo {
+                id:             videoStreaming
                anchors.fill:   parent
                visible:        QGroundControl.videoManager.isGStreamer
            }
@@ -277,9 +355,10 @@ QGCView {
            anchors.left:       _panel.left
            anchors.bottom:     _panel.bottom
            anchors.margins:    ScreenTools.defaultFontPixelHeight
-            visible:            QGroundControl.videoManager.hasVideo && !QGroundControl.videoManager.fullScreen
+            visible:            QGroundControl.videoManager.hasVideo && !QGroundControl.videoManager.fullScreen && _flightVideo.state != "popup"
            isHidden:           !_isPipVisible
            isDark:             isBackgroundDark
+            enablePopup:        _mainIsMap
            onActivated: {
                _mainIsMap = !_mainIsMap
                setStates()
@@ -287,6 +366,10 @@ QGCView {
            onHideIt: {
                setPipVisibility(!state)
            }
+            onPopup: {
+                videoWindow.visible = true
+                _flightVideo.state = "popup"
+            }
            onNewWidth: {
                _pipSize = newWidth
            }
@@ -346,63 +429,6 @@ QGCView {
            property var qgcView: root
        }

-        // Button to start/stop video recording
-        Item {
-            z:                  _flightVideoPipControl.z + 1
-            anchors.margins:    ScreenTools.defaultFontPixelHeight / 2
-            anchors.bottom:     _flightVideo.bottom
-            anchors.right:      _flightVideo.right
-            height:             ScreenTools.defaultFontPixelHeight * 2
-            width:              height
-            visible:            _videoReceiver && _videoReceiver.videoRunning && QGroundControl.settingsManager.videoSettings.showRecControl.rawValue && _flightVideo.visible && !_isCamera && !QGroundControl.videoManager.fullScreen
-            opacity:            0.75
-
-            readonly property string recordBtnBackground: "BackgroundName"
-
-            Rectangle {
-                id:                 recordBtnBackground
-                anchors.top:        parent.top
-                anchors.bottom:     parent.bottom
-                width:              height