diff --git a/src/qgcunittest/UASUnitTest.cc b/src/qgcunittest/UASUnitTest.cc
index b6c11b0f9284e938b2b6e1a673e7822a7a5d6ae4..2fc948c2469a59f471e6e5726b4008507405137f 100644
--- a/src/qgcunittest/UASUnitTest.cc
+++ b/src/qgcunittest/UASUnitTest.cc
@@ -73,15 +73,20 @@ void UASUnitTest::getCommunicationStatus_test()
 void UASUnitTest::filterVoltage_test()
 {
     float verificar=uas->filterVoltage(0.4f);
-    // Verify that upon construction the Comm status is disconnected
-    QCOMPARE(verificar, 8.52f);
+
+    // We allow the voltage returned to be within a small delta
+    const float allowedDelta = 0.05f;
+    const float desiredVoltage = 7.36f;
+    QVERIFY(verificar > (desiredVoltage - allowedDelta) && verificar < (desiredVoltage + allowedDelta));
 }
+
 void UASUnitTest:: getAutopilotType_test()
 {
     int type = uas->getAutopilotType();
     // Verify that upon construction the autopilot is set to -1
     QCOMPARE(type, -1);
 }
+
 void UASUnitTest::setAutopilotType_test()
 {
     uas->setAutopilotType(2);
diff --git a/src/ui/QGCPX4VehicleConfig.cc b/src/ui/QGCPX4VehicleConfig.cc
index 10b1a85960c3aaba778248edfc7abc9a6bcd959d..d56ad39c65526c005d5c5cb16e282b52880d8278 100644
--- a/src/ui/QGCPX4VehicleConfig.cc
+++ b/src/ui/QGCPX4VehicleConfig.cc
@@ -492,8 +492,8 @@ void QGCPX4VehicleConfig::detectChannelInversion(int aert_index)
     instructions << "YAW: Move stick left";
     instructions << "THROTTLE: Move stick down";
     instructions << "MODE SWITCH: Push down / towards you";
-    instructions << "ASSISTED SWITCH: Push down / towards you";
-    instructions << "MISSION SWITCH: Push down / towards you";
+    instructions << "POSITION CONTROL SWITCH: Push down / towards you";
+    instructions << "LOITER SWITCH: Push down / towards you";
     instructions << "RETURN SWITCH: Push down / towards you";
     instructions << "FLAPS: Push down / towards you or turn dial to the leftmost position";
     instructions << "AUX1: Push down / towards you or turn dial to the leftmost position";
@@ -1315,8 +1315,8 @@ void QGCPX4VehicleConfig::writeCalibrationRC()
     paramMgr->setPendingParam(0, "RC_MAP_YAW", (int32_t)(rcMapping[2]+1));
     paramMgr->setPendingParam(0, "RC_MAP_THROTTLE", (int32_t)(rcMapping[3]+1));
     paramMgr->setPendingParam(0, "RC_MAP_MODE_SW", (int32_t)(rcMapping[4]+1));
-    paramMgr->setPendingParam(0, "RC_MAP_ASSIST_SW", (int32_t)(rcMapping[5]+1));
-    paramMgr->setPendingParam(0, "RC_MAP_MISSIO_SW", (int32_t)(rcMapping[6]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_POSCTL_SW", (int32_t)(rcMapping[5]+1));
+    paramMgr->setPendingParam(0, "RC_MAP_LOITER_SW", (int32_t)(rcMapping[6]+1));
     paramMgr->setPendingParam(0, "RC_MAP_RETURN_SW", (int32_t)(rcMapping[7]+1));
     paramMgr->setPendingParam(0, "RC_MAP_FLAPS", (int32_t)(rcMapping[8]+1));
     paramMgr->setPendingParam(0, "RC_MAP_AUX1", (int32_t)(rcMapping[9]+1));
@@ -1690,12 +1690,12 @@ void QGCPX4VehicleConfig::handleRcParameterChange(QString parameterName, QVarian
                 ui->modeSpinBox->setValue(rcMapping[4]+1);
                 ui->modeSpinBox->setEnabled(true);
             }
-            else if (parameterName.startsWith("RC_MAP_ASSIST_SW")) {
+            else if (parameterName.startsWith("RC_MAP_POSCTL_SW")) {
                 setChannelToFunctionMapping(5, intValue);
                 ui->assistSwSpinBox->setValue(rcMapping[5]+1);
                 ui->assistSwSpinBox->setEnabled(true);
             }
-            else if (parameterName.startsWith("RC_MAP_MISSIO_SW")) {
+            else if (parameterName.startsWith("RC_MAP_LOITER_SW")) {
                 setChannelToFunctionMapping(6, intValue);
                 ui->missionSwSpinBox->setValue(rcMapping[6]+1);
                 ui->missionSwSpinBox->setEnabled(true);
diff --git a/src/ui/px4_configuration/QGCPX4AirframeConfig.cc b/src/ui/px4_configuration/QGCPX4AirframeConfig.cc
index f77111754d23e725bd59b0c4e0e31067d53eeb12..949073732864d8399336edcd87d0ca75c891ce60 100644
--- a/src/ui/px4_configuration/QGCPX4AirframeConfig.cc
+++ b/src/ui/px4_configuration/QGCPX4AirframeConfig.cc
@@ -99,6 +99,7 @@ QGCPX4AirframeConfig::QGCPX4AirframeConfig(QWidget *parent) :
 
     ui->hComboBox->addItem(tr("3DR Iris"), 10016);
     ui->hComboBox->addItem(tr("TBS Discovery"), 10015);
+    ui->hComboBox->addItem(tr("SteadiDrone QU4D"), 10017);
 
     connect(ui->hPushButton, SIGNAL(clicked()), this, SLOT(hSelected()));
     connect(ui->hComboBox, SIGNAL(activated(int)), this, SLOT(hSelected(int)));