diff --git a/lib/opmapcontrol/src/mapwidget/mapgraphicitem.h b/lib/opmapcontrol/src/mapwidget/mapgraphicitem.h
index cf8ffeb963a1ee5b48c99875bc05107c4e88a149..0d8bdad979f8c543d8a14e6f870978f29286a5f5 100644
--- a/lib/opmapcontrol/src/mapwidget/mapgraphicitem.h
+++ b/lib/opmapcontrol/src/mapwidget/mapgraphicitem.h
@@ -39,9 +39,12 @@
 #include <QFont>
 #include <QObject>
 #include "waypointitem.h"
+#include "configuration.h"
 //#include "uavitem.h"
 namespace mapcontrol
 {
+    using namespace mapcontrol;
+
     class OPMapWidget;
     /**
     * @brief The main graphicsItem used on the widget, contains the map and map logic
diff --git a/lib/opmapcontrol/src/mapwidget/opmapwidget.h b/lib/opmapcontrol/src/mapwidget/opmapwidget.h
index e080bfc30df27e8860b269bcbc33ab592d5f1e55..723fd515e0fa0ab084ee0afa2634e7bf53e5050d 100644
--- a/lib/opmapcontrol/src/mapwidget/opmapwidget.h
+++ b/lib/opmapcontrol/src/mapwidget/opmapwidget.h
@@ -37,6 +37,7 @@
 #include <QtOpenGL/QGLWidget>
 #include "waypointitem.h"
 #include "QtSvg/QGraphicsSvgItem"
+#include "configuration.h"
 #include "uavitem.h"
 #include "gpsitem.h"
 #include "homeitem.h"
@@ -168,7 +169,7 @@ namespace mapcontrol
         * @param config pointer to configuration classed to be used
         * @return
         */
-        OPMapWidget(QWidget *parent=0,Configuration *config=new Configuration);
+        OPMapWidget(QWidget *parent=0, mapcontrol::Configuration *config=new mapcontrol::Configuration());
         ~OPMapWidget();
 
         /**
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index c6b0e7837923984145604168916719b8b72a3e49..b131429b66a2a8c1400f7a90223f195fc9cc193a 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -24,9 +24,9 @@
 # include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
 # Include bundled version if necessary
 
-include(lib/QMapControl/QMapControl.pri)
+#include(lib/QMapControl/QMapControl.pri)
 include(lib/nmea/nmea.pri)
-#include(lib/opmapcontrol/opmapcontrol.pri)
+include(lib/opmapcontrol/opmapcontrol.pri)
 
 # message("Including bundled QMapControl version as FALLBACK. This is fine on Linux and MacOS, but not the best choice in Windows")
 QT += network \
@@ -34,7 +34,8 @@ QT += network \
     svg \
     xml \
     phonon \
-    webkit
+    webkit \
+    sql
 TEMPLATE = app
 TARGET = qgroundcontrol
 BASEDIR = $$IN_PWD
@@ -104,13 +105,13 @@ include(src/lib/qextserialport/qextserialport.pri)
 # Include QWT plotting library
 include(src/lib/qwt/qwt.pri)
 DEPENDPATH += . \
-    lib/QMapControl \
-    lib/QMapControl/src \
+#    lib/QMapControl \
+#    lib/QMapControl/src \
     lib/opmapcontrol \
     lib/opmapcontrol/src \
     plugins
 INCLUDEPATH += . \
-    lib/QMapControl \
+#    lib/QMapControl \
     lib/opmapcontrol \
     $$BASEDIR/../mavlink/include
 
@@ -132,7 +133,7 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/ObjectDetectionView.ui \
     src/ui/JoystickWidget.ui \
     src/ui/DebugConsole.ui \
-    src/ui/MapWidget.ui \
+#    src/ui/MapWidget.ui \
     src/ui/XMLCommProtocolWidget.ui \
     src/ui/HDDisplay.ui \
     src/ui/MAVLinkSettingsWidget.ui \
@@ -182,7 +183,7 @@ INCLUDEPATH += src \
     src/ui/designer
 
 HEADERS += src/MG.h \
-    src/Core.h \
+    src/QGCCore.h \
     src/uas/UASInterface.h \
     src/uas/UAS.h \
     src/uas/UASManager.h \
@@ -218,7 +219,7 @@ HEADERS += src/MG.h \
     src/input/JoystickInput.h \
     src/ui/JoystickWidget.h \
     src/ui/DebugConsole.h \
-    src/ui/MapWidget.h \
+#    src/ui/MapWidget.h \
     src/ui/XMLCommProtocolWidget.h \
     src/ui/mavlink/DomItem.h \
     src/ui/mavlink/DomModel.h \
@@ -245,8 +246,8 @@ HEADERS += src/MG.h \
     src/ui/QGCPxImuFirmwareUpdate.h \
     src/ui/QGCDataPlot2D.h \
     src/ui/linechart/IncrementalPlot.h \
-    src/ui/map/Waypoint2DIcon.h \
-    src/ui/map/MAV2DIcon.h \
+#    src/ui/map/Waypoint2DIcon.h \
+#    src/ui/map/MAV2DIcon.h \
     src/ui/QGCRemoteControlView.h \
     src/ui/RadioCalibration/RadioCalibrationData.h \
     src/ui/RadioCalibration/RadioCalibrationWindow.h \
@@ -278,7 +279,8 @@ HEADERS += src/MG.h \
     src/ui/uas/UASControlParameters.h \
     src/ui/mission/QGCMissionDoWidget.h \
     src/ui/mission/QGCMissionConditionWidget.h \
-    src/uas/QGCUASParamManager.h
+    src/uas/QGCUASParamManager.h \
+    src/ui/QGCMapWidget.h
 
 # Google Earth is only supported on Mac OS and Windows with Visual Studio Compiler
 macx|win32-msvc2008: {
@@ -318,7 +320,7 @@ contains(DEPENDENCIES_PRESENT, libfreenect) {
 }
 
 SOURCES += src/main.cc \
-    src/Core.cc \
+    src/QGCCore.cc \
     src/uas/UASManager.cc \
     src/uas/UAS.cc \
     src/comm/LinkManager.cc \
@@ -349,7 +351,7 @@ SOURCES += src/main.cc \
     src/input/JoystickInput.cc \
     src/ui/JoystickWidget.cc \
     src/ui/DebugConsole.cc \
-    src/ui/MapWidget.cc \
+#    src/ui/MapWidget.cc \
     src/ui/XMLCommProtocolWidget.cc \
     src/ui/mavlink/DomItem.cc \
     src/ui/mavlink/DomModel.cc \
@@ -376,8 +378,8 @@ SOURCES += src/main.cc \
     src/ui/QGCPxImuFirmwareUpdate.cc \
     src/ui/QGCDataPlot2D.cc \
     src/ui/linechart/IncrementalPlot.cc \
-    src/ui/map/Waypoint2DIcon.cc \
-    src/ui/map/MAV2DIcon.cc \
+#    src/ui/map/Waypoint2DIcon.cc \
+#    src/ui/map/MAV2DIcon.cc \
     src/ui/QGCRemoteControlView.cc \
     src/ui/RadioCalibration/RadioCalibrationWindow.cc \
     src/ui/RadioCalibration/AirfoilServoCalibrator.cc \
@@ -408,7 +410,8 @@ SOURCES += src/main.cc \
     src/ui/uas/UASControlParameters.cpp \
     src/ui/mission/QGCMissionDoWidget.cc \
     src/ui/mission/QGCMissionConditionWidget.cc \
-    src/uas/QGCUASParamManager.cc
+    src/uas/QGCUASParamManager.cc \
+    src/ui/QGCMapWidget.cc
 
 macx|win32-msvc2008: {
     SOURCES += src/ui/map3D/QGCGoogleEarthView.cc
diff --git a/src/Core.cc b/src/QGCCore.cc
similarity index 97%
rename from src/Core.cc
rename to src/QGCCore.cc
index 38a37b93bb6ca8d4d9c2c3869b261d9f5aa062d5..09c4ca809632fa5b90ffe548b5616916f7d53d03 100644
--- a/src/Core.cc
+++ b/src/QGCCore.cc
@@ -23,7 +23,7 @@ This file is part of the QGROUNDCONTROL project
 
 /**
  * @file
- *   @brief Implementation of class Core
+ *   @brief Implementation of class QGCCore
  *
  *   @author Lorenz Meier <mavteam@student.ethz.ch>
  *
@@ -43,7 +43,7 @@ This file is part of the QGROUNDCONTROL project
 
 #include "configuration.h"
 #include "QGC.h"
-#include "Core.h"
+#include "QGCCore.h"
 #include "MG.h"
 #include "MainWindow.h"
 #include "GAudioOutput.h"
@@ -66,7 +66,7 @@ This file is part of the QGROUNDCONTROL project
  **/
 
 
-Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
+QGCCore::QGCCore(int &argc, char* argv[]) : QApplication(argc, argv)
 {
 
 
@@ -207,7 +207,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
  * @brief Destructor for the groundstation. It destroys all loaded instances.
  *
  **/
-Core::~Core()
+QGCCore::~QGCCore()
 {
     //mainWindow->storeSettings();
     mainWindow->hide();
@@ -223,7 +223,7 @@ Core::~Core()
  * The link manager keeps track of all communication links and provides the global
  * packet queue. It is the main communication hub
  **/
-void Core::startLinkManager()
+void QGCCore::startLinkManager()
 {
     LinkManager::instance();
 }
@@ -232,7 +232,7 @@ void Core::startLinkManager()
  * @brief Start the Unmanned Air System Manager
  *
  **/
-void Core::startUASManager()
+void QGCCore::startUASManager()
 {
     // Load UAS plugins
     QDir pluginsDir = QDir(qApp->applicationDirPath());
diff --git a/src/Core.h b/src/QGCCore.h
similarity index 92%
rename from src/Core.h
rename to src/QGCCore.h
index 78bb5f63905f9b1657f7bfea1cab01a2441caedb..335ce22a088dafbdf7ceface4cce43db4e615235 100644
--- a/src/Core.h
+++ b/src/QGCCore.h
@@ -30,8 +30,8 @@ This file is part of the PIXHAWK project
  */
 
 
-#ifndef _CORE_H_
-#define _CORE_H_
+#ifndef QGC_CORE_H
+#define QGC_CORE_H
 
 #include <QApplication>
 
@@ -51,13 +51,13 @@ This file is part of the PIXHAWK project
  * the central management unit of the groundstation application.
  *
  **/
-class Core : public QApplication
+class QGCCore : public QApplication
 {
 	Q_OBJECT
 
 public:
-        Core(int &argc, char* argv[]);
-        ~Core();
+        QGCCore(int &argc, char* argv[]);
+        ~QGCCore();
 
 protected:
 	void startLinkManager();
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 5e6b17cbdf5ec52aaaf3d1faff69d6a7dfa0562e..85eac1e17e1b8b2533ea0eb2cafadcd11bacf60b 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -90,29 +90,35 @@ void UDPLink::addHost(const QString& host)
     {
         qDebug() << "HOST: " << host.split(":").first();
         QHostInfo info = QHostInfo::fromName(host.split(":").first());
-        // Add host
-        QList<QHostAddress> hostAddresses = info.addresses();
-        QHostAddress address;
-        for (int i = 0; i < hostAddresses.size(); i++)
+        if (info.error() == QHostInfo::NoError)
         {
-            // Exclude loopback IPv4 and all IPv6 addresses
-            if (!hostAddresses.at(i).toString().contains(":"))
+            // Add host
+            QList<QHostAddress> hostAddresses = info.addresses();
+            QHostAddress address;
+            for (int i = 0; i < hostAddresses.size(); i++)
             {
-                address = hostAddresses.at(i);
+                // Exclude loopback IPv4 and all IPv6 addresses
+                if (!hostAddresses.at(i).toString().contains(":"))
+                {
+                    address = hostAddresses.at(i);
+                }
             }
+            hosts.append(address);
+            qDebug() << "Address:" << address.toString();
+            // Set port according to user input
+            ports.append(host.split(":").last().toInt());
         }
-        hosts.append(address);
-        qDebug() << "Address:" << address.toString();
-        // Set port according to user input
-        ports.append(host.split(":").last().toInt());
     }
     else
     {
         QHostInfo info = QHostInfo::fromName(host);
-        // Add host
-        hosts.append(info.addresses().first());
-        // Set port according to default (this port)
-        ports.append(port);
+        if (info.error() == QHostInfo::NoError)
+        {
+            // Add host
+            hosts.append(info.addresses().first());
+            // Set port according to default (this port)
+            ports.append(port);
+        }
     }
 }
 
diff --git a/src/configuration.h b/src/configuration.h
index 1285ebf954f8cb5bc3ac412ff0f77270eca40b51..ee36327bbcc384074740a555c805f3840365858d 100644
--- a/src/configuration.h
+++ b/src/configuration.h
@@ -1,5 +1,5 @@
-#ifndef CONFIGURATION_H
-#define CONFIGURATION_H
+#ifndef QGC_CONFIGURATION_H
+#define QGC_CONFIGURATION_H
 
 #include "mavlink.h"
 #include <QString>
@@ -27,4 +27,4 @@ namespace QGC
     const int APPLICATIONVERSION = 83; // 0.8.0
 }
 
-#endif // CONFIGURATION_H
+#endif // QGC_CONFIGURATION_H
diff --git a/src/main.cc b/src/main.cc
index ba6d1af2df48400edd6b96cafd3f3ec17626ab62..38c494cfe3d84db1e7231e37540afae507c9501d 100644
--- a/src/main.cc
+++ b/src/main.cc
@@ -29,7 +29,7 @@ This file is part of the QGROUNDCONTROL project
  */
 
 #include <QtGui/QApplication>
-#include "Core.h"
+#include "QGCCore.h"
 #include "MainWindow.h"
 #include "configuration.h"
 
@@ -70,6 +70,6 @@ int main(int argc, char *argv[])
     qInstallMsgHandler( msgHandler );
 #endif
 
-    Core core(argc, argv);
+    QGCCore core(argc, argv);
     return core.exec();
 }
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index 8c058793491e2981f9ef32a88319ca4d6c5a6040..2b0fb42db1103a7dddd1a452cefc18d2179c8470 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -40,8 +40,8 @@ This file is part of the QGROUNDCONTROL project
 #include "QGC.h"
 #include "Waypoint.h"
 #include "UASWaypointManager.h"
-#include "Waypoint2DIcon.h"
-#include "MAV2DIcon.h"
+//#include "Waypoint2DIcon.h"
+//#include "MAV2DIcon.h"
 
 #include <QDebug>
 
@@ -246,7 +246,7 @@ void HSIDisplay::renderOverlay()
         // Translate to center
         painter.translate((xCenterPos)*scalingFactor, (yCenterPos)*scalingFactor);
         QColor uasColor = uas->getColor();
-        MAV2DIcon::drawAirframePolygon(uas->getAirframe(), painter, static_cast<int>((vwidth/4.0f)*scalingFactor*1.1f), uasColor, 0.0f);
+        //MAV2DIcon::drawAirframePolygon(uas->getAirframe(), painter, static_cast<int>((vwidth/4.0f)*scalingFactor*1.1f), uasColor, 0.0f);
         // Translate back
         painter.translate(-(xCenterPos)*scalingFactor, -(yCenterPos)*scalingFactor);
     }
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 3a8b9ed2afa9ebe98c22f3bbd3033fd6a7ee4620..f49d36c4d4aabb09592436e1eccce27909f190bd 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -383,7 +383,7 @@ void MainWindow::buildCommonWidgets()
     // Center widgets
     if (!mapWidget)
     {
-        mapWidget = new MapWidget(this);
+        mapWidget = new mapcontrol::OPMapWidget(this);//new MapWidget(this);
         addToCentralWidgetsMenu (mapWidget, "Maps", SLOT(showCentralWidget()),CENTRAL_MAP);
     }
 
diff --git a/src/ui/MainWindow.h b/src/ui/MainWindow.h
index aaf6091f061e8864d16f06abfdfd6215c43feca9..61c0051580aa7c7896170f2813caa9a1d7174840 100644
--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -55,7 +55,7 @@ This file is part of the QGROUNDCONTROL project
 #include "JoystickWidget.h"
 #include "input/JoystickInput.h"
 #include "DebugConsole.h"
-#include "MapWidget.h"
+//#include "MapWidget.h"
 #include "ParameterInterface.h"
 #include "XMLCommProtocolWidget.h"
 #include "HDDisplay.h"
@@ -63,6 +63,7 @@ This file is part of the QGROUNDCONTROL project
 #include "HSIDisplay.h"
 #include "QGCDataPlot2D.h"
 #include "QGCRemoteControlView.h"
+#include "opmapcontrol.h"
 #if (defined Q_OS_MAC) | (defined _MSC_VER)
 #include "QGCGoogleEarthView.h"
 #endif
@@ -366,7 +367,7 @@ protected:
 
     QPointer<HUD> hudWidget;
 
-    QPointer<MapWidget> mapWidget;
+    QPointer<mapcontrol::OPMapWidget> mapWidget;
     QPointer<XMLCommProtocolWidget> protocolWidget;
     QPointer<QGCDataPlot2D> dataplotWidget;
     #ifdef QGC_OSG_ENABLED
diff --git a/src/ui/QGCMapWidget.cc b/src/ui/QGCMapWidget.cc
new file mode 100644
index 0000000000000000000000000000000000000000..847de71089983e810a00841aaf05f55499ab233d
--- /dev/null
+++ b/src/ui/QGCMapWidget.cc
@@ -0,0 +1,6 @@
+#include "QGCMapWidget.h"
+
+QGCMapWidget::QGCMapWidget(QWidget *parent) :
+    OPMapWidget(parent)
+{
+}
diff --git a/src/ui/QGCMapWidget.h b/src/ui/QGCMapWidget.h
new file mode 100644
index 0000000000000000000000000000000000000000..ee485c29d37d20c23b5ca4ead93eacd17b1a918a
--- /dev/null
+++ b/src/ui/QGCMapWidget.h
@@ -0,0 +1,16 @@
+#ifndef QGCMAPWIDGET_H
+#define QGCMAPWIDGET_H
+
+class QGCMapWidget : public OPMapWidget
+{
+    Q_OBJECT
+public:
+    explicit QGCMapWidget(QWidget *parent = 0);
+
+signals:
+
+public slots:
+
+};
+
+#endif // QGCMAPWIDGET_H
diff --git a/src/ui/map/MAV2DIcon.h b/src/ui/map/MAV2DIcon.h
index 6a447ffe381839276d578885b7cc18c89efcda34..5f37c58e1349215cc55ffd3867915b7e5b514d0b 100644
--- a/src/ui/map/MAV2DIcon.h
+++ b/src/ui/map/MAV2DIcon.h
@@ -2,11 +2,10 @@
 #define MAV2DICON_H
 
 #include <QGraphicsItem>
-#include "qmapcontrol.h"
 
 #include "UASInterface.h"
 
-class MAV2DIcon : public qmapcontrol::Point
+class MAV2DIcon : public QGraphicsItem
 {
 public:
     enum
diff --git a/src/ui/map/Waypoint2DIcon.h b/src/ui/map/Waypoint2DIcon.h
index d3bd5f570ae1b63a65e37692e3e54c92b0505374..521358ddf1a981b96f75ca95b5cf3bed190b397c 100644
--- a/src/ui/map/Waypoint2DIcon.h
+++ b/src/ui/map/Waypoint2DIcon.h
@@ -2,11 +2,10 @@
 #define WAYPOINT2DICON_H
 
 #include <QGraphicsItem>
-#include "qmapcontrol.h"
 
 #include "Waypoint.h"
 
-class Waypoint2DIcon : public qmapcontrol::Point
+class Waypoint2DIcon : public QGraphicsItem
 {
 public:
     /*!