diff --git a/qgroundcontrol-plugins.pro b/qgroundcontrol-plugins.pro
new file mode 100644
index 0000000000000000000000000000000000000000..5f00ac29488907920180b16eff1210166faa360b
--- /dev/null
+++ b/qgroundcontrol-plugins.pro
@@ -0,0 +1,45 @@
+# -------------------------------------------------
+# QGroundControl - Micro Air Vehicle Groundstation
+# Please see our website at <http://qgroundcontrol.org>
+# Author:
+# Lorenz Meier <mavteam@student.ethz.ch>
+# (c) 2009-2010 PIXHAWK Team
+# This file is part of the mav groundstation project
+# QGroundControl is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+# QGroundControl is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with QGroundControl. If not, see <http://www.gnu.org/licenses/>.
+# -------------------------------------------------
+# Include QMapControl map library
+# prefer version from external directory /
+# from http://github.com/pixhawk/qmapcontrol/
+# over bundled version in lib directory
+# Version from GIT repository is preferred
+# include ( "../qmapcontrol/QMapControl/QMapControl.pri" ) #{
+# Include bundled version if necessary
+
+ CONFIG      += designer plugin
+ TARGET      = $$qtLibraryTarget($$TARGET)
+ TEMPLATE    = lib
+ QTDIR_build:DESTDIR     = $$QT_BUILD_TREE/plugins/designer
+
+ FORMS       = src/ui/designer/QGCParamSlider.ui
+
+ HEADERS     = src/ui/designer/QGCParamSlider.h \
+               src/ui/designer/QGCParamSliderPlugin.h
+ SOURCES     = src/ui/designer/QGCParamSlider.cc \
+               src/ui/designer/QGCParamSliderPlugin.cc
+
+ # install
+ target.path = $$[QT_INSTALL_PLUGINS]/designer
+ sources.files = $$SOURCES $$HEADERS *.pro
+ sources.path = $$[QT_INSTALL_EXAMPLES]/designer/worldtimeclockplugin
+ INSTALLS += target
+
+ symbian: include($$QT_SOURCE_TREE/examples/symbianpkgrules.pri)
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index ed67251bfed6263c07566ba55c8a4511ad77bac7..50bf6c1fc90613155df8e8d8cf3b10ff86c1c545 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -375,9 +375,9 @@ void MAVLinkSimulationLink::mainloop()
 
 
         // Move X Position
-        x = 8.0*sin((double)circleCounter/50.0);
-        y = 3.0*cos((double)circleCounter/40.0);
-        z = 1.8 + 1.2*sin((double)circleCounter/60.0);
+        x = 12.0*sin(((double)circleCounter)/100.0);
+        y = 5.0*cos(((double)circleCounter)/100.0);
+        z = 1.8 + 1.2*sin(((double)circleCounter)/60.0);
 
         circleCounter++;
 
@@ -413,7 +413,7 @@ void MAVLinkSimulationLink::mainloop()
 //        streampointer += bufferlength;
 
         // GLOBAL POSITION
-        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.001), 8.54899892510421+(y*0.001), z+25.0, 0, 0, 0);
+        mavlink_msg_global_position_pack(systemId, componentId, &ret, 0, 47.378028137103+(x*0.002), 8.54899892510421+(y*0.002), z+35.0, 0, 0, 0);
         bufferlength = mavlink_msg_to_send_buffer(buffer, &ret);
         //add data into datastream
         memcpy(stream+streampointer,buffer, bufferlength);
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
new file mode 100644
index 0000000000000000000000000000000000000000..bfaf3e3258757d933c0af29b5760727285802af4
--- /dev/null
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -0,0 +1,26 @@
+#include "QGCParamSlider.h"
+#include "ui_QGCParamSlider.h"
+
+QGCParamSlider::QGCParamSlider(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::QGCParamSlider)
+{
+    ui->setupUi(this);
+}
+
+QGCParamSlider::~QGCParamSlider()
+{
+    delete ui;
+}
+
+void QGCParamSlider::changeEvent(QEvent *e)
+{
+    QWidget::changeEvent(e);
+    switch (e->type()) {
+    case QEvent::LanguageChange:
+        ui->retranslateUi(this);
+        break;
+    default:
+        break;
+    }
+}
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
new file mode 100644
index 0000000000000000000000000000000000000000..56f063b96c4fefa4246bce115e8fcbe5060431b6
--- /dev/null
+++ b/src/ui/designer/QGCParamSlider.h
@@ -0,0 +1,26 @@
+#ifndef QGCPARAMSLIDER_H
+#define QGCPARAMSLIDER_H
+
+#include <QWidget>
+#include <QtDesigner/QDesignerExportWidget>
+
+namespace Ui {
+    class QGCParamSlider;
+}
+
+class QDESIGNER_WIDGET_EXPORT QGCParamSlider : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit QGCParamSlider(QWidget *parent = 0);
+    ~QGCParamSlider();
+
+protected:
+    void changeEvent(QEvent *e);
+
+private:
+    Ui::QGCParamSlider *ui;
+};
+
+#endif // QGCPARAMSLIDER_H
diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui
new file mode 100644
index 0000000000000000000000000000000000000000..9534679e76f860edb7b862631eee2d9121af53dd
--- /dev/null
+++ b/src/ui/designer/QGCParamSlider.ui
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>QGCParamSlider</class>
+ <widget class="QWidget" name="QGCParamSlider">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>22</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QHBoxLayout" name="horizontalLayout">
+   <property name="spacing">
+    <number>8</number>
+   </property>
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QLabel" name="nameLabel">
+     <property name="text">
+      <string>Name</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QLabel" name="valueLabel">
+     <property name="text">
+      <string>0.00</string>
+     </property>
+    </widget>
+   </item>
+   <item>
+    <widget class="QSlider" name="valueSlider">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/src/ui/designer/QGCParamSliderPlugin.cc b/src/ui/designer/QGCParamSliderPlugin.cc
new file mode 100644
index 0000000000000000000000000000000000000000..daa7646883da1df1b9d5636a17450ab9b451f05d
--- /dev/null
+++ b/src/ui/designer/QGCParamSliderPlugin.cc
@@ -0,0 +1,81 @@
+#include "QGCParamSliderPlugin.h"
+#include "QGCParamSlider.h"
+
+#include <QtPlugin>
+
+QGCParamSliderPlugin::QGCParamSliderPlugin(QObject *parent) :
+        QObject(parent)
+{
+    initialized = false;
+}
+
+void QGCParamSliderPlugin::initialize(QDesignerFormEditorInterface * /* core */)
+{
+    if (initialized)
+        return;
+
+    initialized = true;
+}
+
+bool QGCParamSliderPlugin::isInitialized() const
+{
+    return initialized;
+}
+
+QWidget *QGCParamSliderPlugin::createWidget(QWidget *parent)
+{
+    return new QGCParamSlider(parent);
+}
+
+QString QGCParamSliderPlugin::name() const
+{
+    return "QGCParamSlider";
+}
+
+QString QGCParamSliderPlugin::group() const
+{
+    return "QGroundControl";
+}
+
+QIcon QGCParamSliderPlugin::icon() const
+{
+    return QIcon();
+}
+
+QString QGCParamSliderPlugin::toolTip() const
+{
+    return "";
+}
+
+QString QGCParamSliderPlugin::whatsThis() const
+{
+    return "";
+}
+
+bool QGCParamSliderPlugin::isContainer() const
+{
+    return false;
+}
+
+QString QGCParamSliderPlugin::domXml() const
+{
+    return "<ui language=\"c++\">\n"
+            " <widget class=\"QGCParamSlider\" name=\"paramSlider\">\n"
+            "  <property name=\"geometry\">\n"
+            "   <rect>\n"
+            "    <x>0</x>\n"
+            "    <y>0</y>\n"
+            "    <width>150</width>\n"
+            "    <height>16</height>\n"
+            "   </rect>\n"
+            "  </property>\n"
+            " </widget>\n"
+            "</ui>";
+}
+
+QString QGCParamSliderPlugin::includeFile() const
+{
+    return "QGCParamSlider.h";
+}
+
+Q_EXPORT_PLUGIN2(qgcparamsliderplugin, QGCParamSliderPlugin)
diff --git a/src/ui/designer/QGCParamSliderPlugin.h b/src/ui/designer/QGCParamSliderPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..3b0a316f9e9029db39a18a51bb91e937f026151a
--- /dev/null
+++ b/src/ui/designer/QGCParamSliderPlugin.h
@@ -0,0 +1,31 @@
+#ifndef QGCPARAMSLIDERPLUGIN_H
+#define QGCPARAMSLIDERPLUGIN_H
+
+#include <QtDesigner/QDesignerCustomWidgetInterface>
+
+class QGCParamSliderPlugin : public QObject,
+                             public QDesignerCustomWidgetInterface
+{
+    Q_OBJECT
+    Q_INTERFACES(QDesignerCustomWidgetInterface)
+
+public:
+    explicit QGCParamSliderPlugin(QObject *parent = 0);
+
+    bool isContainer() const;
+    bool isInitialized() const;
+    QIcon icon() const;
+    QString domXml() const;
+    QString group() const;
+    QString includeFile() const;
+    QString name() const;
+    QString toolTip() const;
+    QString whatsThis() const;
+    QWidget *createWidget(QWidget *parent);
+    void initialize(QDesignerFormEditorInterface *core);
+
+private:
+    bool initialized;
+};
+
+#endif // QGCPARAMSLIDERPLUGIN_H
diff --git a/src/ui/map/MAV2DIcon.cc b/src/ui/map/MAV2DIcon.cc
index a87962c052174e0c91b751a8b5f48ddd53a37b43..e8d52e7758c222049e4a5beb18241e323ffe00b3 100644
--- a/src/ui/map/MAV2DIcon.cc
+++ b/src/ui/map/MAV2DIcon.cc
@@ -47,7 +47,7 @@ void MAV2DIcon::drawIcon(QPen* pen)
     if (pen)
     {
         mypixmap = new QPixmap(radius+1, radius+1);
-        mypixmap->fill(Qt::transparent);
+        //mypixmap->fill(Qt::transparent);
         QPainter painter(mypixmap);
 
         // DRAW MICRO AIR VEHICLE