diff --git a/qgroundcontrol.qrc b/qgroundcontrol.qrc
index 6b317dc3b9ec2923dc8796babc486d2fe0149cfc..f96b3370fb87393301ae44ce5f98460f9789093f 100644
--- a/qgroundcontrol.qrc
+++ b/qgroundcontrol.qrc
@@ -244,12 +244,14 @@
         <file alias="QGroundControl/FactControls/SetupButton.qml">qml/QGroundControl/FactControls/SetupButton.qml</file>
         <file alias="QGroundControl/FactControls/FactLabel.qml">qml/QGroundControl/FactControls/FactLabel.qml</file>
         <file alias="QGroundControl/FactControls/FactTextField.qml">qml/QGroundControl/FactControls/FactTextField.qml</file>
+        <file alias="QGroundControl/FactControls/FactCheckBox.qml">qml/QGroundControl/FactControls/FactCheckBox.qml</file>
 
         <file alias="octo_x.png">files/images/px4/airframes/octo_x.png</file>
         <file alias="px4fmu_2.x.png">files/images/px4/boards/px4fmu_2.x.png</file>
 
         <file alias="SetupViewConnected.qml">src/VehicleSetup/SetupViewConnected.qml</file>
         <file alias="SetupViewDisconnected.qml">src/VehicleSetup/SetupViewDisconnected.qml</file>
+        <file alias="SetupPane.qml">src/VehicleSetup/SetupPane.qml</file>
 
         <file alias="SafetyComponent.qml">src/AutoPilotPlugins/PX4/SafetyComponent.qml</file>
     </qresource>
diff --git a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml
index 9e7b01f67c9bad9bf35b34ea110c625217b59ba0..bde8da849f57ed7ade9be84fc6dd7d161e76737b 100644
--- a/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml
+++ b/src/AutoPilotPlugins/PX4/ParameterFactMetaData.xml
@@ -159,6 +159,7 @@
             <default>2</default>
             <min>0</min>
             <max>1000</max>
+            <unit>timeouts</unit>
         </parameter>
         <parameter name="NAV_DLL_CHSK" type="INT32">
             <short_desc>Skip comms hold wp</short_desc>
@@ -2041,7 +2042,7 @@
             <default>0.5</default>
             <min>0</min>
             <max>35</max>
-            <unit>second</unit>
+            <unit>seconds</unit>
         </parameter>
     </group>
     <group name="mTECS">
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
index 78588646d49e46367071514d4206883d04af2707..3ddaf3dc6f197718ed545a84bd7e16e4ab9143f8 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -102,55 +102,35 @@ QWidget* SafetyComponent::setupWidget(void) const
 
 const QVariantList& SafetyComponent::summaryItems(void)
 {
-    // FIXME: No summary items yet
-#if 0
     if (!_summaryItems.count()) {
         QString name;
         QString state;
         
-        // FIXME: Need to pull receiver type from RSSI value
-        name = "Receiver type:";
-        state = "n/a";
+        name = "RTL min alt:";
 
         VehicleComponentSummaryItem* item = new VehicleComponentSummaryItem(name, state, this);
         _summaryItems.append(QVariant::fromValue(item));
         
-        static const char* stickParams[] = { "RC_MAP_ROLL", "RC_MAP_PITCH", "RC_MAP_YAW", "RC_MAP_THROTTLE" };
+        name = "RTL home alt:";
         
-        QString summary("Chan ");
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+
+        name = "RTL home loiter:";
+        
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
         
-        bool allSticksMapped = true;
-        for (size_t i=0; i<sizeof(stickParams)/sizeof(stickParams[0]); i++) {
-            QVariant value;
-            
-            if (_paramMgr->getParameterValue(_paramMgr->getDefaultComponentId(), stickParams[i], value)) {
-                if (value.toInt() == 0) {
-                    allSticksMapped = false;
-                    break;
-                } else {
-                    if (i != 0) {
-                        summary += ",";
-                    }
-                    summary += value.toString();
-                }
-            } else {
-                // Why is the parameter missing?
-                Q_ASSERT(false);
-                summary += "?";
-            }
-        }
+        name = "Telemetry loss RTL:";
         
-        if (!allSticksMapped) {
-            summary = "Not mapped";
-        }
-
-        name = "Ail, Ele, Rud, Throt:";
-        state = summary;
+        item = new VehicleComponentSummaryItem(name, state, this);
+        _summaryItems.append(QVariant::fromValue(item));
+        
+        name = "RC loss RTL:";
         
         item = new VehicleComponentSummaryItem(name, state, this);
         _summaryItems.append(QVariant::fromValue(item));
     }
-#endif
     
     return _summaryItems;
 }
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index 9e958ebdc90cd4f4378e7d0704eab6ef5ff51094..d0d14a77e7edd9537920676c900474eff4754598 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -7,14 +7,92 @@ import QGroundControl.FactControls 1.0
 Rectangle {
     QGCPalette { id: palette; colorGroup: QGCPalette.Active }
 
-    width: 400
+    width: 600
     height: 400
     color: palette.window
 
     Column {
-        Label { text: "Work in Progress"; color: palette.windowText }
-        Label { text: "Return to Land Altitude"; color: palette.windowText }
-        FactLabel { fact: autopilot.parameters["RTL_RETURN_ALT"] }
-        FactTextField { fact: autopilot.parameters["RTL_RETURN_ALT"] }
+        anchors.fill: parent
+        spacing: 20
+
+        Column {
+            spacing: 10
+
+            Label { text: "Return to Land setup"; color: palette.windowText; font.pointSize: 20 }
+            Row {
+                Label { text: "Climb to minimum altitude of "; color: palette.windowText; anchors.baseline: climbField.baseline }
+                FactTextField { id: climbField; fact: autopilot.parameters["RTL_RETURN_ALT"]; showUnits: true }
+            }
+            Row {
+                Label { text: "When Home is reached, descend to altitude of "; color: palette.windowText; anchors.baseline: descendField.baseline }
+                FactTextField { id: descendField; fact: autopilot.parameters["RTL_DESCEND_ALT"]; showUnits: true }
+            }
+            Row {
+                CheckBox {
+                    id: homeLoiterCheckbox
+                    property Fact fact: autopilot.parameters["RTL_LAND_DELAY"]
+
+                    checked: fact.value < 0
+                    text: "Loiter at Home altitude for "
+
+                    onClicked: {
+                        fact.value = checked ? 60 : -1
+                    }
+
+                    style: CheckBoxStyle {
+                        label: Text {
+                            color: palette.windowText
+                            text: control.text
+                        }
+                    }
+                }
+                FactTextField {
+                    fact: autopilot.parameters["RTL_LAND_DELAY"];
+                    showUnits: true
+                    anchors.baseline: homeLoiterCheckbox.baseline
+                }
+            }
+        }
+
+        Column {
+            spacing: 10
+
+            Label { text: "Return to Land Triggers"; color: palette.windowText; font.pointSize: 20 }
+            Row {
+                FactCheckBox {
+                    id: telemetryLossCheckbox
+                    fact: autopilot.parameters["COM_DL_LOSS_EN"]
+                    checkedValue: 1
+                    uncheckedValue: 0
+                    text: "Telemetry signal timeout - Return to Land"
+                    anchors.baseline: telemetryLossField.baseline
+                }
+                Label { text: " after "; color: palette.windowText; anchors.baseline: telemetryLossField.baseline }
+                FactTextField {
+                    id: telemetryLossField
+                    fact: autopilot.parameters["NAV_DLL_N"];
+                    showUnits: true
+                }
+            }
+            Row {
+                Label { text: "RC Transmitter signal loss - Return to Land after "; color: palette.windowText; anchors.baseline: rcLossField.baseline }
+                FactTextField { id: rcLossField; fact: autopilot.parameters["COM_RC_LOSS_T"]; showUnits: true }
+            }
+        }
+
+        Text {
+            width: parent.width
+            text: "Warning: You have an advanced safety configuration set using the NAV_RCL_OBC parameter. The above settings may not apply.";
+            visible: autopilot.parameters["NAV_RCL_OBC"].value == 1
+            color: palette.windowText
+            wrapMode: Text.Wrap
+        }
+        Text {
+            width: parent.width
+            text: "Warning: You have an advanced safety configuration set using the NAV_DLL_OBC parameter. The above settings may not apply.";
+            visible: autopilot.parameters["NAV_DLL_OBC"].value == 1
+            color: palette.windowText
+            wrapMode: Text.Wrap
+        }
     }
 }