diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 6475dc52f63d4142283f6909b6e50e37a597ae76..08d39331d641cdc0924281ce0876839f1e6c4be2 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -562,7 +562,8 @@ HEADERS += \
     src/uas/UASManagerInterface.h \
     src/uas/QGCUASParamManagerInterface.h \
     src/uas/QGCUASWorker.h \
-    src/CmdLineOptParser.h
+    src/CmdLineOptParser.h \
+    src/uas/QGXPX4UAS.h
 
 SOURCES += \
     src/main.cc \
@@ -747,4 +748,5 @@ SOURCES += \
     src/ui/designer/QGCXYPlot.cc \
     src/ui/menuactionhelper.cpp \
     src/uas/QGCUASWorker.cc \
-    src/CmdLineOptParser.cc
+    src/CmdLineOptParser.cc \
+    src/uas/QGXPX4UAS.cc
diff --git a/src/comm/QGCXPlaneLink.cc b/src/comm/QGCXPlaneLink.cc
index b30b5216e46ea1c14fa815c2c2caa6b8479a936c..f829b7e128e2cd4961034d995cd1ac41a59e0d08 100644
--- a/src/comm/QGCXPlaneLink.cc
+++ b/src/comm/QGCXPlaneLink.cc
@@ -64,9 +64,12 @@ QGCXPlaneLink::QGCXPlaneLink(UASInterface* mav, QString remoteHost, QHostAddress
     // http://blog.qt.digia.com/blog/2010/06/17/youre-doing-it-wrong/
     moveToThread(this);
 
+    setTerminationEnabled(false);
+
     this->localHost = localHost;
     this->localPort = localPort/*+mav->getUASID()*/;
-    this->connectState = false;
+    connectState = false;
+
     this->name = tr("X-Plane Link (localPort:%1)").arg(localPort);
     setRemoteHost(remoteHost);
     loadSettings();
@@ -151,13 +154,27 @@ void QGCXPlaneLink::setVersion(unsigned int version)
  **/
 void QGCXPlaneLink::run()
 {
-    if (!mav) return;
-    if (connectState) return;
+    if (!mav) {
+        emit statusMessage("No MAV present");
+        return;
+    }
+
+    if (connectState) {
+        emit statusMessage("Already connected");
+        return;
+    }
 
     socket = new QUdpSocket(this);
     socket->moveToThread(this);
     connectState = socket->bind(localHost, localPort);
-    if (!connectState) return;
+    if (!connectState) {
+
+        emit statusMessage("Binding socket failed!");
+
+        delete socket;
+        socket = NULL;
+        return;
+    }
 
     QObject::connect(socket, SIGNAL(readyRead()), this, SLOT(readBytes()));
 
@@ -208,8 +225,6 @@ void QGCXPlaneLink::run()
         }
     }
 
-    //qDebug() << "REQ SEND TO:" << localAddrStr << localPortStr;
-
     ip.index = 0;
     strncpy(ip.str_ipad_them, localAddrStr.toAscii(), qMin((int)sizeof(ip.str_ipad_them), 16));
     strncpy(ip.str_port_them, localPortStr.toAscii(), qMin((int)sizeof(ip.str_port_them), 6));
@@ -217,10 +232,36 @@ void QGCXPlaneLink::run()
 
     writeBytes((const char*)&ip, sizeof(ip));
 
+    _should_exit = false;
+
     while(!_should_exit) {
         QCoreApplication::processEvents();
         QGC::SLEEP::msleep(5);
     }
+
+    if (mav)
+    {
+        disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
+        disconnect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
+
+        disconnect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+        disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
+        disconnect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), mav, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
+        disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
+
+        // Do not toggle HIL state on the UAS - this is not the job of this link, but of the
+        // UAS object
+    }
+
+    connectState = false;
+
+    socket->close();
+    delete socket;
+    socket = NULL;
+
+    emit simulationDisconnected();
+    emit simulationConnected(false);
+    emit finished();
 }
 
 void QGCXPlaneLink::setPort(int localPort)
@@ -839,50 +880,15 @@ qint64 QGCXPlaneLink::bytesAvailable()
  **/
 bool QGCXPlaneLink::disconnectSimulation()
 {
-    if (!connectState) return true;
-
-    connectState = false;
-
-    if (process) disconnect(process, SIGNAL(error(QProcess::ProcessError)),
-               this, SLOT(processError(QProcess::ProcessError)));
-    if (mav)
+    if (connectState)
     {
-        disconnect(mav, SIGNAL(hilControlsChanged(quint64, float, float, float, float, quint8, quint8)), this, SLOT(updateControls(quint64,float,float,float,float,quint8,quint8)));
-        disconnect(mav, SIGNAL(hilActuatorsChanged(quint64, float, float, float, float, float, float, float, float)), this, SLOT(updateActuators(quint64,float,float,float,float,float,float,float,float)));
-
-        disconnect(this, SIGNAL(hilGroundTruthChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilGroundTruth(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-        disconnect(this, SIGNAL(hilStateChanged(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)), mav, SLOT(sendHilState(quint64,float,float,float,float,float,float,double,double,double,float,float,float,float,float,float,float,float)));
-        disconnect(this, SIGNAL(sensorHilGpsChanged(quint64,double,double,double,int,float,float,float,float,float,float,float,int)), mav, SLOT(sendHilGps(quint64,double,double,double,int,float,float,float,float,float,float,float,int)));
-        disconnect(this, SIGNAL(sensorHilRawImuChanged(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)), mav, SLOT(sendHilSensors(quint64,float,float,float,float,float,float,float,float,float,float,float,float,float,quint32)));
-
-        UAS* uas = dynamic_cast<UAS*>(mav);
-        if (uas)
-        {
-            uas->stopHil();
-        }
+        _should_exit = true;
+        wait();
+    } else {
+        emit simulationDisconnected();
+        emit simulationConnected(false);
     }
 
-    if (process)
-    {
-        process->close();
-        delete process;
-        process = NULL;
-    }
-    if (terraSync)
-    {
-        terraSync->close();
-        delete terraSync;
-        terraSync = NULL;
-    }
-    if (socket)
-    {
-        socket->close();
-        delete socket;
-        socket = NULL;
-    }
-
-    emit simulationDisconnected();
-    emit simulationConnected(false);
     return !connectState;
 }
 
@@ -1017,11 +1023,15 @@ void QGCXPlaneLink::setRandomAttitude()
  **/
 bool QGCXPlaneLink::connectSimulation()
 {
-    qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
-    // XXX Hack
-    storeSettings();
-
-    start(HighPriority);
+    if (connectState) {
+        qDebug() << "Simulation already active";
+    } else {
+        qDebug() << "STARTING X-PLANE LINK, CONNECTING TO" << remoteHost << ":" << remotePort;
+        // XXX Hack
+        storeSettings();
+
+        start(HighPriority);
+    }
 
     return true;
 }
diff --git a/src/uas/QGCMAVLinkUASFactory.cc b/src/uas/QGCMAVLinkUASFactory.cc
index 5a607c89076760dbb55dc9cf7454ede2f72b0000..0906e6c4fdaeae63097425145421a596cefc8c28 100644
--- a/src/uas/QGCMAVLinkUASFactory.cc
+++ b/src/uas/QGCMAVLinkUASFactory.cc
@@ -1,6 +1,7 @@
 #include "QGCMAVLinkUASFactory.h"
 #include "UASManager.h"
 #include "QGCUASWorker.h"
+#include "QGXPX4UAS.h"
 
 QGCMAVLinkUASFactory::QGCMAVLinkUASFactory(QObject *parent) :
     QObject(parent)
@@ -57,6 +58,20 @@ UASInterface* QGCMAVLinkUASFactory::createUAS(MAVLinkProtocol* mavlink, LinkInte
         uas = mav;
     }
     break;
+    case MAV_AUTOPILOT_PX4:
+    {
+        QGXPX4UAS* px4 = new QGXPX4UAS(mavlink, worker, sysid);
+        // Set the system type
+        px4->setSystemType((int)heartbeat->type);
+
+        // Connect this robot to the UAS object
+        // it is IMPORTANT here to use the right object type,
+        // else the slot of the parent object is called (and thus the special
+        // packets never reach their goal)
+        connect(mavlink, SIGNAL(messageReceived(LinkInterface*, mavlink_message_t)), px4, SLOT(receiveMessage(LinkInterface*, mavlink_message_t)));
+        uas = px4;
+    }
+    break;
     case MAV_AUTOPILOT_SLUGS:
     {
         SlugsMAV* mav = new SlugsMAV(mavlink, worker, sysid);
diff --git a/src/uas/QGXPX4UAS.cc b/src/uas/QGXPX4UAS.cc
new file mode 100644
index 0000000000000000000000000000000000000000..723c7d48368b48cbe2eb3eb8f550694c4c04ddaa
--- /dev/null
+++ b/src/uas/QGXPX4UAS.cc
@@ -0,0 +1,37 @@
+#include "QGXPX4UAS.h"
+
+QGXPX4UAS::QGXPX4UAS(MAVLinkProtocol* mavlink, QThread* thread, int id) :
+    UAS(mavlink, thread, id)
+{
+}
+
+/**
+ * This function is called by MAVLink once a complete, uncorrupted (CRC check valid)
+ * mavlink packet is received.
+ *
+ * @param link Hardware link the message came from (e.g. /dev/ttyUSB0 or UDP port).
+ *             messages can be sent back to the system via this link
+ * @param message MAVLink message, as received from the MAVLink protocol stack
+ */
+void QGXPX4UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
+{
+    UAS::receiveMessage(link, message);
+}
+
+void QGXPX4UAS::processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue)
+{
+    int compId = msg.compid;
+    if (paramName == "SYS_AUTOSTART") {
+
+        bool ok;
+
+        int val = parameters.value(compId)->value(paramName).toInt(&ok);
+
+        if (ok && val == 0) {
+            emit misconfigurationDetected(this);
+            qDebug() << "HINTING MISCONFIGURATION";
+        }
+
+        qDebug() << "SYS_AUTOSTART FOUND WITH VAL: " << val;
+    }
+}
diff --git a/src/uas/QGXPX4UAS.h b/src/uas/QGXPX4UAS.h
new file mode 100644
index 0000000000000000000000000000000000000000..9876ee49bdfbbaa8ec14945123693ae8635ef45a
--- /dev/null
+++ b/src/uas/QGXPX4UAS.h
@@ -0,0 +1,21 @@
+#ifndef QGXPX4UAS_H
+#define QGXPX4UAS_H
+
+#include "UAS.h"
+
+class QGXPX4UAS : public UAS
+{
+    Q_OBJECT
+    Q_INTERFACES(UASInterface)
+public:
+    QGXPX4UAS(MAVLinkProtocol* mavlink, QThread* thread, int id);
+
+public slots:
+    /** @brief Receive a MAVLink message from this MAV */
+    void receiveMessage(LinkInterface* link, mavlink_message_t message);
+
+    virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
+
+};
+
+#endif // QGXPX4UAS_H
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 8ca1920dfd2e737595afd60ad57c2d16372ca53f..d8db2ea6400a126e429768e02254634c67ccc7cd 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1044,6 +1044,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             paramVal.type = rawValue.param_type;
 
             processParamValueMsg(message, parameterName,rawValue,paramVal);
+            processParamValueMsgHook(message, parameterName,rawValue,paramVal);
 
          }
             break;
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 6b57f9c88105fc99a7c704b05b392be481d228e8..b1a367529eb75ff6684d09d00752aae03ea1f1d8 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -974,6 +974,7 @@ protected:
     quint64 getUnixReferenceTime(quint64 time);
 
     virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
+    virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue) {};
 
     int componentID[256];
     bool componentMulti[256];
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index e918104a5508cd2011dc857b0b4a9542e62655d1..92c5db3e209b3f80aaf71fecf8ac670a5ccbba5d 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -430,6 +430,11 @@ signals:
     void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
     void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);
 
+    /**
+     * @brief A misconfiguration has been detected by the UAS
+     */
+    void misconfigurationDetected(UASInterface* uas);
+
     /** @brief A text message from the system has been received */
     void textMessageReceived(int uasid, int componentid, int severity, QString text);
 
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index da0a84964439e6738ec2f5d6137421abeba92156..9734be07a3cc33cae9bb2d335b6df27fdb10388c 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -1700,6 +1700,7 @@ void MainWindow::UASCreated(UASInterface* uas)
 
     connect(uas, SIGNAL(systemSpecsChanged(int)), this, SLOT(UASSpecsChanged(int)));
     connect(uas, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)), this, SIGNAL(valueChanged(int,QString,QString,QVariant,quint64)));
+    connect(uas, SIGNAL(misconfigurationDetected(UASInterface*)), this, SLOT(handleMisconfiguration(UASInterface*)));
 
     // HIL
     showHILConfigurationWidget(uas);
@@ -1945,6 +1946,26 @@ void MainWindow::setAdvancedMode(bool isAdvancedMode)
     settings.setValue("ADVANCED_MODE",isAdvancedMode);
 }
 
+void MainWindow::handleMisconfiguration(UASInterface* uas) {
+
+    // Ask user if he wants to handle this now
+    QMessageBox msgBox(this);
+    msgBox.setIcon(QMessageBox::Information);
+    msgBox.setText(tr("Missing or Invalid Onboard Configuration"));
+    msgBox.setInformativeText(tr("The onboard system configuration is missing or incomplete. Do you want to resolve this now?"));
+    msgBox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    int val = msgBox.exec();
+
+    if (val == QMessageBox::Ok) {
+        // He wants to handle it, make sure this system is selected
+        UASManager::instance()->setActiveUAS(uas);
+
+        // Flick to config view
+        loadHardwareConfigView();
+    }
+}
+
 void MainWindow::loadEngineerView()
 {
     if (currentView != VIEW_ENGINEER)
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index 8e2ee961b3ab8df7ca88b9285d3db0f0d8de8d8f..55ecf08937d770f601bd3f64d1dd9a9df435c66e 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -222,6 +222,7 @@ public slots:
 
     /** @brief Sets advanced mode, allowing for editing of tool widget locations */
     void setAdvancedMode(bool isAdvancedMode);
+    void handleMisconfiguration(UASInterface* uas);
     /** @brief Load configuration views */
     void loadHardwareConfigView();
     void loadSoftwareConfigView();