diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 3a6bf1c9af8241e611bac3c0b2ffa61fc64e1c8b..5491c61fc0047f9494010a5f7b7f96cb9002548b 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -391,7 +391,8 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Imagery.h \
         src/ui/map3D/HUDScaleGeode.h \
         src/ui/map3D/WaypointGroupNode.h \
-        src/ui/map3D/TerrainParamDialog.h
+        src/ui/map3D/TerrainParamDialog.h \
+        src/ui/map3D/ImageryParamDialog.h
 }
 contains(DEPENDENCIES_PRESENT, protobuf):contains(MAVLINK_CONF, pixhawk) {
     message("Including headers for Protocol Buffers")
@@ -535,7 +536,8 @@ contains(DEPENDENCIES_PRESENT, osg) {
         src/ui/map3D/Imagery.cc \
         src/ui/map3D/HUDScaleGeode.cc \
         src/ui/map3D/WaypointGroupNode.cc \
-        src/ui/map3D/TerrainParamDialog.cc
+        src/ui/map3D/TerrainParamDialog.cc \
+        src/ui/map3D/ImageryParamDialog.cc
 
     contains(DEPENDENCIES_PRESENT, osgearth) { 
         message("Including sources for osgEarth")
@@ -602,4 +604,4 @@ win32-msvc2008|win32-msvc2010|linux {
 # TO DO: build library when it does not exist already
     LIBS += -LthirdParty/libxbee/lib \
         -llibxbee
-}
\ No newline at end of file
+}
diff --git a/src/ui/map3D/GLOverlayGeode.cc b/src/ui/map3D/GLOverlayGeode.cc
index fdf183788007c02e29539944dcd583b9e10eb111..86cb6f8ed137c959a692a3e5ae362174c6792fc8 100644
--- a/src/ui/map3D/GLOverlayGeode.cc
+++ b/src/ui/map3D/GLOverlayGeode.cc
@@ -36,14 +36,16 @@ GLOverlayGeode::messageTimestamp(void) const
 
 GLOverlayGeode::GLOverlayDrawable::GLOverlayDrawable()
 {
-    setUseDisplayList(true);
+    setUseDisplayList(false);
+    setUseVertexBufferObjects(true);
 }
 
 GLOverlayGeode::GLOverlayDrawable::GLOverlayDrawable(const GLOverlayDrawable& drawable,
                                                      const osg::CopyOp& copyop)
  : osg::Drawable(drawable,copyop)
 {
-    setUseDisplayList(true);
+    setUseDisplayList(false);
+    setUseVertexBufferObjects(true);
 }
 
 void
@@ -136,8 +138,6 @@ GLOverlayGeode::GLOverlayDrawable::setOverlay(px::GLOverlay &overlay)
             break;
         }
     }
-
-    dirtyDisplayList();
 }
 
 void
@@ -148,9 +148,11 @@ GLOverlayGeode::GLOverlayDrawable::drawImplementation(osg::RenderInfo&) const
         return;
     }
 
+    glMatrixMode(GL_MODELVIEW);
+    glDisable(GL_LIGHTING);
     glPushMatrix();
 
-    glScalef(-1.0f, 1.0f, 1.0f);
+    glScalef(-1.0f, 1.0f, -1.0f);
     glRotatef(90.0f, 0.0f, 0.0f, 1.0f);
 
     const std::string& data = mOverlay.data();
@@ -401,6 +403,7 @@ GLOverlayGeode::GLOverlayDrawable::drawImplementation(osg::RenderInfo&) const
     }
 
     glPopMatrix();
+    glEnable(GL_LIGHTING);
 }
 
 osg::BoundingBox
diff --git a/src/ui/map3D/GlobalViewParams.cc b/src/ui/map3D/GlobalViewParams.cc
index 853bbfebfc9161f1d1109fd77232eac9bf5e2f3a..12b1ea5130eafe1efc6d9e1307e0657a97c652e3 100644
--- a/src/ui/map3D/GlobalViewParams.cc
+++ b/src/ui/map3D/GlobalViewParams.cc
@@ -36,6 +36,30 @@ GlobalViewParams::displayWorldGrid(void) const
     return mDisplayWorldGrid;
 }
 
+QVector3D&
+GlobalViewParams::imageryOffset(void)
+{
+    return mImageryOffset;
+}
+
+QVector3D
+GlobalViewParams::imageryOffset(void) const
+{
+    return mImageryOffset;
+}
+
+QString&
+GlobalViewParams::imageryPath(void)
+{
+    return mImageryPath;
+}
+
+QString
+GlobalViewParams::imageryPath(void) const
+{
+    return mImageryPath;
+}
+
 Imagery::Type&
 GlobalViewParams::imageryType(void)
 {
@@ -72,16 +96,34 @@ GlobalViewParams::frame(void) const
     return mFrame;
 }
 
-QVector4D&
-GlobalViewParams::terrainOffset(void)
+void
+GlobalViewParams::signalImageryParamsChanged(void)
+{
+    emit imageryParamsChanged();
+}
+
+QVector3D&
+GlobalViewParams::terrainPositionOffset(void)
 {
-    return mTerrainOffset;
+    return mTerrainPositionOffset;
 }
 
-QVector4D
-GlobalViewParams::terrainOffset(void) const
+QVector3D
+GlobalViewParams::terrainPositionOffset(void) const
 {
-    return mTerrainOffset;
+    return mTerrainPositionOffset;
+}
+
+QVector3D&
+GlobalViewParams::terrainAttitudeOffset(void)
+{
+    return mTerrainAttitudeOffset;
+}
+
+QVector3D
+GlobalViewParams::terrainAttitudeOffset(void) const
+{
+    return mTerrainAttitudeOffset;
 }
 
 void
@@ -120,12 +162,6 @@ GlobalViewParams::frameChanged(const QString& text)
     }
 }
 
-void
-GlobalViewParams::imageryTypeChanged(int index)
-{
-    mImageryType = static_cast<Imagery::Type>(index);
-}
-
 void
 GlobalViewParams::toggleWorldGrid(int state)
 {
diff --git a/src/ui/map3D/GlobalViewParams.h b/src/ui/map3D/GlobalViewParams.h
index a6a8728e80999b1fe739e8838593ef83fd7290f3..62b8651cd40062d4ec7d61c9ee12337062602e43 100644
--- a/src/ui/map3D/GlobalViewParams.h
+++ b/src/ui/map3D/GlobalViewParams.h
@@ -3,7 +3,7 @@
 
 #include <QObject>
 #include <QString>
-#include <QVector4D>
+#include <QVector3D>
 
 #include "QGCMAVLink.h"
 #include "Imagery.h"
@@ -21,6 +21,12 @@ public:
     bool& displayWorldGrid(void);
     bool displayWorldGrid(void) const;
 
+    QVector3D& imageryOffset(void);
+    QVector3D imageryOffset(void) const;
+
+    QString& imageryPath(void);
+    QString imageryPath(void) const;
+
     Imagery::Type& imageryType(void);
     Imagery::Type imageryType(void) const;
 
@@ -30,26 +36,34 @@ public:
     MAV_FRAME& frame(void);
     MAV_FRAME frame(void) const;
 
-    QVector4D& terrainOffset(void);
-    QVector4D terrainOffset(void) const;
+    void signalImageryParamsChanged(void);
+
+    QVector3D& terrainPositionOffset(void);
+    QVector3D terrainPositionOffset(void) const;
+
+    QVector3D& terrainAttitudeOffset(void);
+    QVector3D terrainAttitudeOffset(void) const;
 
 public slots:
     void followCameraChanged(const QString& text);
     void frameChanged(const QString &text);
-    void imageryTypeChanged(int index);
     void toggleTerrain(int state);
     void toggleWorldGrid(int state);
 
 signals:
     void followCameraChanged(int systemId);
+    void imageryParamsChanged(void);
 
 private:
     bool mDisplayTerrain;
     bool mDisplayWorldGrid;
+    QVector3D mImageryOffset;
+    QString mImageryPath;
     Imagery::Type mImageryType;
     int mFollowCameraId;
     MAV_FRAME mFrame;
-    QVector4D mTerrainOffset;
+    QVector3D mTerrainPositionOffset;
+    QVector3D mTerrainAttitudeOffset;
 };
 
 typedef QSharedPointer<GlobalViewParams> GlobalViewParamsPtr;
diff --git a/src/ui/map3D/Imagery.cc b/src/ui/map3D/Imagery.cc
index 2d1c50a261bd927573471e42e1efbcf8f7617311..d5c39740dea255305a3204af82c07190ce238548 100644
--- a/src/ui/map3D/Imagery.cc
+++ b/src/ui/map3D/Imagery.cc
@@ -32,6 +32,7 @@ This file is part of the QGROUNDCONTROL project
 #include "Imagery.h"
 
 #include <cmath>
+#include <cstdio>
 #include <iomanip>
 #include <sstream>
 
@@ -41,28 +42,39 @@ const double WGS84_ECCSQ = 0.00669437999013;
 const int MAX_ZOOM_LEVEL = 20;
 
 Imagery::Imagery()
-    : textureCache(new TextureCache(1000))
+ : mTextureCache(new TextureCache(1000))
+ , mImageryType(Imagery::BLANK_MAP)
+ , mXOffset(0.0)
+ , mYOffset(0.0)
+ , mZOffset(0.0)
 {
-
+    setCullingActive(false);
 }
 
 Imagery::Type
 Imagery::getImageryType(void) const
 {
-    return currentImageryType;
+    return mImageryType;
 }
 
 void
 Imagery::setImageryType(Imagery::Type type)
 {
-    currentImageryType = type;
+    mImageryType = type;
+}
+
+void
+Imagery::setOffset(double xOffset, double yOffset, double zOffset)
+{
+    mXOffset = xOffset;
+    mYOffset = yOffset;
+    mZOffset = zOffset;
 }
 
 void
-Imagery::setOffset(double xOffset, double yOffset)
+Imagery::setPath(const QString &path)
 {
-    this->xOffset = xOffset;
-    this->yOffset = yOffset;
+    mImageryPath = path.toStdString();
 }
 
 void
@@ -70,21 +82,27 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
                     double zoom, double xOrigin, double yOrigin,
                     const QString& utmZone)
 {
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
     double tileResolution = 1.0;
-    if (currentImageryType == GOOGLE_SATELLITE ||
-            currentImageryType == GOOGLE_MAP) {
+    if (mImageryType == GOOGLE_SATELLITE ||
+        mImageryType == GOOGLE_MAP)
+    {
         tileResolution = 1.0;
-        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) {
+        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
+        {
             tileResolution *= 2.0;
         }
-        if (tileResolution > 512.0) {
+        if (tileResolution > 512.0)
+        {
             tileResolution = 512.0;
         }
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         tileResolution = 0.25;
     }
 
@@ -98,11 +116,13 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
                yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int c = minTileX; c <= maxTileX; ++c)
+        {
             QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
-            TexturePtr t = textureCache->get(url);
+            TexturePtr t = mTextureCache->get(url);
         }
     }
 }
@@ -110,28 +130,34 @@ Imagery::prefetch2D(double windowWidth, double windowHeight,
 void
 Imagery::draw2D(double windowWidth, double windowHeight,
                 double zoom, double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
                 const QString& utmZone)
 {
-    if (getNumDrawables() > 0) {
+    if (getNumDrawables() > 0)
+    {
         removeDrawables(0, getNumDrawables());
     }
 
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
     double tileResolution = 1.0;
-    if (currentImageryType == GOOGLE_SATELLITE ||
-            currentImageryType == GOOGLE_MAP) {
+    if (mImageryType == GOOGLE_SATELLITE ||
+        mImageryType == GOOGLE_MAP)
+    {
         tileResolution = 1.0;
-        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom) {
+        while (tileResolution * 3.0 / 2.0 < 1.0 / zoom)
+        {
             tileResolution *= 2.0;
         }
-        if (tileResolution > 512.0) {
+        if (tileResolution > 512.0)
+        {
             tileResolution = 512.0;
         }
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         tileResolution = 0.25;
     }
 
@@ -145,20 +171,23 @@ Imagery::draw2D(double windowWidth, double windowHeight,
                yOrigin + windowHeight / 2.0 / zoom * 1.5, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int c = minTileX; c <= maxTileX; ++c)
+        {
             QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution);
 
             double x1, y1, x2, y2, x3, y3, x4, y4;
             imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
 
-            TexturePtr t = textureCache->get(tileURL);
-            if (!t.isNull()) {
-                addDrawable(t->draw(y1 - yOffset, x1 - xOffset,
-                                    y2 - yOffset, x2 - xOffset,
-                                    y3 - yOffset, x3 - xOffset,
-                                    y4 - yOffset, x4 - xOffset,
-                                    zOffset,
+            TexturePtr t = mTextureCache->get(tileURL);
+            if (!t.isNull())
+            {
+                addDrawable(t->draw(y1, x1,
+                                    y2, x2,
+                                    y3, x3,
+                                    y4, x4,
+                                    - mZOffset,
                                     true));
             }
         }
@@ -170,7 +199,8 @@ Imagery::prefetch3D(double radius, double tileResolution,
                     double xOrigin, double yOrigin,
                     const QString& utmZone)
 {
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
@@ -178,15 +208,17 @@ Imagery::prefetch3D(double radius, double tileResolution,
     int zoomLevel;
 
     tileBounds(tileResolution,
-               xOrigin - radius, yOrigin - radius,
-               xOrigin + radius, yOrigin + radius, utmZone,
+               xOrigin + mXOffset - radius, yOrigin + mYOffset - radius,
+               xOrigin + mXOffset + radius, yOrigin + mYOffset + radius, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int c = minTileX; c <= maxTileX; ++c)
+        {
             QString url = getTileLocation(c, r, zoomLevel, tileResolution);
 
-            TexturePtr t = textureCache->get(url);
+            TexturePtr t = mTextureCache->get(url);
         }
     }
 }
@@ -194,14 +226,16 @@ Imagery::prefetch3D(double radius, double tileResolution,
 void
 Imagery::draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
+                double xOffset, double yOffset,
                 const QString& utmZone)
 {
-    if (getNumDrawables() > 0) {
+    if (getNumDrawables() > 0)
+    {
         removeDrawables(0, getNumDrawables());
     }
 
-    if (currentImageryType == BLANK_MAP) {
+    if (mImageryType == BLANK_MAP)
+    {
         return;
     }
 
@@ -209,25 +243,28 @@ Imagery::draw3D(double radius, double tileResolution,
     int zoomLevel;
 
     tileBounds(tileResolution,
-               xOrigin - radius, yOrigin - radius,
-               xOrigin + radius, yOrigin + radius, utmZone,
+               xOrigin + mXOffset - radius, yOrigin + mYOffset - radius,
+               xOrigin + mXOffset + radius, yOrigin + mYOffset + radius, utmZone,
                minTileX, minTileY, maxTileX, maxTileY, zoomLevel);
 
-    for (int r = minTileY; r <= maxTileY; ++r) {
-        for (int c = minTileX; c <= maxTileX; ++c) {
+    for (int r = minTileY; r <= maxTileY; ++r)
+    {
+        for (int c = minTileX; c <= maxTileX; ++c)
+        {
             QString tileURL = getTileLocation(c, r, zoomLevel, tileResolution);
 
             double x1, y1, x2, y2, x3, y3, x4, y4;
             imageBounds(c, r, tileResolution, x1, y1, x2, y2, x3, y3, x4, y4);
 
-            TexturePtr t = textureCache->get(tileURL);
+            TexturePtr t = mTextureCache->get(tileURL);
 
-            if (!t.isNull()) {
-                addDrawable(t->draw(y1 - yOffset, x1 - xOffset,
-                                    y2 - yOffset, x2 - xOffset,
-                                    y3 - yOffset, x3 - xOffset,
-                                    y4 - yOffset, x4 - xOffset,
-                                    zOffset,
+            if (!t.isNull())
+            {
+                addDrawable(t->draw(y1 - mYOffset + yOffset, x1 - mXOffset + xOffset,
+                                    y2 - mYOffset + yOffset, x2 - mXOffset + xOffset,
+                                    y3 - mYOffset + yOffset, x3 - mXOffset + xOffset,
+                                    y4 - mYOffset + yOffset, x4 - mXOffset + xOffset,
+                                    - mZOffset,
                                     true));
             }
         }
@@ -237,7 +274,7 @@ Imagery::draw3D(double radius, double tileResolution,
 bool
 Imagery::update(void)
 {
-    textureCache->sync();
+    mTextureCache->sync();
 
     return true;
 }
@@ -247,8 +284,9 @@ Imagery::imageBounds(int tileX, int tileY, double tileResolution,
                      double& x1, double& y1, double& x2, double& y2,
                      double& x3, double& y3, double& x4, double& y4) const
 {
-    if (currentImageryType == GOOGLE_MAP ||
-            currentImageryType == GOOGLE_SATELLITE) {
+    if (mImageryType == GOOGLE_MAP ||
+        mImageryType == GOOGLE_SATELLITE)
+    {
         int zoomLevel = MAX_ZOOM_LEVEL - static_cast<int>(rint(log2(tileResolution)));
         int numTiles = static_cast<int>(exp2(static_cast<double>(zoomLevel)));
 
@@ -263,7 +301,9 @@ Imagery::imageBounds(int tileX, int tileY, double tileResolution,
         LLtoUTM(lat1, lon2, x2, y2, utmZone);
         LLtoUTM(lat2, lon2, x3, y3, utmZone);
         LLtoUTM(lat2, lon1, x4, y4, utmZone);
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         double utmMultiplier = tileResolution * 200.0;
         double minX = tileX * utmMultiplier;
         double maxX = minX + utmMultiplier;
@@ -293,15 +333,18 @@ Imagery::tileBounds(double tileResolution,
     double centerUtmY = (maxUtmY - minUtmY) / 2.0 + minUtmY;
     int centerTileX, centerTileY;
 
-    if (currentImageryType == GOOGLE_MAP ||
-            currentImageryType == GOOGLE_SATELLITE) {
+    if (mImageryType == GOOGLE_MAP ||
+        mImageryType == GOOGLE_SATELLITE)
+    {
         UTMtoTile(minUtmX, minUtmY, utmZone, tileResolution,
                   minTileX, maxTileY, zoomLevel);
         UTMtoTile(centerUtmX, centerUtmY, utmZone, tileResolution,
                   centerTileX, centerTileY, zoomLevel);
         UTMtoTile(maxUtmX, maxUtmY, utmZone, tileResolution,
                   maxTileX, minTileY, zoomLevel);
-    } else if (currentImageryType == SWISSTOPO_SATELLITE) {
+    }
+    else if (mImageryType == OFFLINE_SATELLITE)
+    {
         double utmMultiplier = tileResolution * 200;
 
         minTileX = static_cast<int>(rint(minUtmX / utmMultiplier));
@@ -312,11 +355,13 @@ Imagery::tileBounds(double tileResolution,
         maxTileY = static_cast<int>(rint(maxUtmY / utmMultiplier));
     }
 
-    if (maxTileX - minTileX + 1 > 14) {
+    if (maxTileX - minTileX + 1 > 14)
+    {
         minTileX = centerTileX - 7;
         maxTileX = centerTileX + 6;
     }
-    if (maxTileY - minTileY + 1 > 14) {
+    if (maxTileY - minTileY + 1 > 14)
+    {
         minTileY = centerTileY - 7;
         maxTileY = centerTileY + 6;
     }
@@ -558,7 +603,8 @@ Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
 {
     std::ostringstream oss;
 
-    switch (currentImageryType) {
+    switch (mImageryType)
+    {
     case GOOGLE_MAP:
         oss << "http://mt0.google.com/vt/lyrs=m@120&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
@@ -567,12 +613,15 @@ Imagery::getTileLocation(int tileX, int tileY, int zoomLevel,
         oss << "http://khm.google.com/vt/lbw/lyrs=y&x=" << tileX
             << "&y=" << tileY << "&z=" << zoomLevel;
         break;
-    case SWISSTOPO_SATELLITE:
-        oss << "../map/eth_zurich_swissimage_025/200/color/" << tileY
+    case OFFLINE_SATELLITE:
+        oss << mImageryPath << "/200/color/" << tileY
             << "/tile-";
-        if (tileResolution < 1.0) {
+        if (tileResolution < 1.0)
+        {
             oss << std::fixed << std::setprecision(2) << tileResolution;
-        } else {
+        }
+        else
+        {
             oss << static_cast<int>(rint(tileResolution));
         }
         oss << "-" << tileY << "-" << tileX << ".jpg";
diff --git a/src/ui/map3D/Imagery.h b/src/ui/map3D/Imagery.h
index 15f1b00a3ad572979a52aa3cb0bae1a245b683d3..ab938356db90825a8156e8cdad83414b0d0314b8 100644
--- a/src/ui/map3D/Imagery.h
+++ b/src/ui/map3D/Imagery.h
@@ -41,25 +41,26 @@ This file is part of the QGROUNDCONTROL project
 class Imagery : public osg::Geode
 {
 public:
-    enum Type {
+    enum Type
+    {
         BLANK_MAP = 0,
         GOOGLE_MAP = 1,
         GOOGLE_SATELLITE = 2,
-        SWISSTOPO_SATELLITE = 3
+        OFFLINE_SATELLITE = 3
     };
 
     Imagery();
 
     Type getImageryType(void) const;
     void setImageryType(Type type);
-    void setOffset(double xOffset, double yOffset);
+    void setOffset(double xOffset, double yOffset, double zOffset = 0.0);
+    void setPath(const QString& path);
 
     void prefetch2D(double windowWidth, double windowHeight,
                     double zoom, double xOrigin, double yOrigin,
                     const QString& utmZone);
     void draw2D(double windowWidth, double windowHeight,
                 double zoom, double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
                 const QString& utmZone);
 
     void prefetch3D(double radius, double tileResolution,
@@ -67,7 +68,7 @@ public:
                     const QString& utmZone);
     void draw3D(double radius, double tileResolution,
                 double xOrigin, double yOrigin,
-                double xOffset, double yOffset, double zOffset,
+                double xOffset, double yOffset,
                 const QString& utmZone);
 
     bool update(void);
@@ -102,12 +103,14 @@ private:
     QString getTileLocation(int tileX, int tileY, int zoomLevel,
                             double tileResolution) const;
 
-    QScopedPointer<TextureCache> textureCache;
+    QScopedPointer<TextureCache> mTextureCache;
 
-    Type currentImageryType;
+    Type mImageryType;
+    std::string mImageryPath;
 
-    double xOffset;
-    double yOffset;
+    double mXOffset;
+    double mYOffset;
+    double mZOffset;
 };
 
 #endif // IMAGERY_H
diff --git a/src/ui/map3D/ImageryParamDialog.cc b/src/ui/map3D/ImageryParamDialog.cc
new file mode 100644
index 0000000000000000000000000000000000000000..6c0a6f4d5e0c3208e28ef9513315d023166207c9
--- /dev/null
+++ b/src/ui/map3D/ImageryParamDialog.cc
@@ -0,0 +1,174 @@
+#include "ImageryParamDialog.h"
+
+#include <QDesktopServices>
+#include <QFileDialog>
+#include <QFormLayout>
+#include <QGroupBox>
+#include <QPushButton>
+
+ImageryParamDialog::ImageryParamDialog(QWidget* parent)
+ : QDialog(parent)
+{
+    QVBoxLayout* layout = new QVBoxLayout;
+    setLayout(layout);
+
+    setWindowTitle(tr("Imagery Parameters"));
+    setModal(true);
+
+    buildLayout(layout);
+}
+
+void
+ImageryParamDialog::getImageryParams(GlobalViewParamsPtr &globalViewParams)
+{
+    ImageryParamDialog dialog;
+
+    switch (globalViewParams->imageryType())
+    {
+    case Imagery::BLANK_MAP:
+        dialog.mImageryTypeComboBox->setCurrentIndex(0);
+        break;
+    case Imagery::GOOGLE_MAP:
+        dialog.mImageryTypeComboBox->setCurrentIndex(1);
+        break;
+    case Imagery::GOOGLE_SATELLITE:
+        dialog.mImageryTypeComboBox->setCurrentIndex(2);
+        break;
+    case Imagery::OFFLINE_SATELLITE:
+        dialog.mImageryTypeComboBox->setCurrentIndex(3);
+        break;
+    }
+
+    dialog.mPathLineEdit->setText(globalViewParams->imageryPath());
+
+    QVector3D& imageryOffset = globalViewParams->imageryOffset();
+
+    dialog.mXOffsetSpinBox->setValue(imageryOffset.x());
+    dialog.mYOffsetSpinBox->setValue(imageryOffset.y());
+    dialog.mZOffsetSpinBox->setValue(imageryOffset.z());
+
+    if (dialog.exec() == QDialog::Accepted)
+    {
+        switch (dialog.mImageryTypeComboBox->currentIndex())
+        {
+        case 0:
+            globalViewParams->imageryType() = Imagery::BLANK_MAP;
+            break;
+        case 1:
+            globalViewParams->imageryType() = Imagery::GOOGLE_MAP;
+            break;
+        case 2:
+            globalViewParams->imageryType() = Imagery::GOOGLE_SATELLITE;
+            break;
+        case 3:
+            globalViewParams->imageryType() = Imagery::OFFLINE_SATELLITE;
+            break;
+        }
+
+        globalViewParams->imageryPath() = dialog.mPathLineEdit->text();
+
+        imageryOffset.setX(dialog.mXOffsetSpinBox->value());
+        imageryOffset.setY(dialog.mYOffsetSpinBox->value());
+        imageryOffset.setZ(dialog.mZOffsetSpinBox->value());
+
+        globalViewParams->signalImageryParamsChanged();
+    }
+}
+
+void
+ImageryParamDialog::selectPath(void)
+{
+    QString filename = QFileDialog::getExistingDirectory(this, "Imagery path",
+                                                         QDesktopServices::storageLocation(QDesktopServices::DesktopLocation));
+    if (filename.isNull())
+    {
+        return;
+    }
+    else
+    {
+        mPathLineEdit->setText(filename);
+    }
+}
+
+void
+ImageryParamDialog::closeWithSaving(void)
+{
+    done(QDialog::Accepted);
+}
+
+void
+ImageryParamDialog::closeWithoutSaving(void)
+{
+    done(QDialog::Rejected);
+}
+
+void
+ImageryParamDialog::buildLayout(QVBoxLayout* layout)
+{
+    QFormLayout* formLayout = new QFormLayout;
+
+    mImageryTypeComboBox = new QComboBox(this);
+    mImageryTypeComboBox->addItem("None");
+    mImageryTypeComboBox->addItem("Map (Google)");
+    mImageryTypeComboBox->addItem("Satellite (Google)");
+    mImageryTypeComboBox->addItem("Satellite (Offline)");
+
+    mPathLineEdit = new QLineEdit(this);
+    mPathLineEdit->setReadOnly(true);
+
+    QPushButton* pathButton = new QPushButton(this);
+    pathButton->setText(tr(".."));
+
+    QHBoxLayout* pathLayout = new QHBoxLayout;
+    pathLayout->addWidget(mPathLineEdit);
+    pathLayout->addWidget(pathButton);
+
+    formLayout->addRow(tr("Imagery Type"), mImageryTypeComboBox);
+    formLayout->addRow(tr("Path"), pathLayout);
+
+    layout->addLayout(formLayout);
+
+    QGroupBox* offsetGroupBox = new QGroupBox(tr("Offset"), this);
+
+    mXOffsetSpinBox = new QDoubleSpinBox(this);
+    mXOffsetSpinBox->setDecimals(1);
+    mXOffsetSpinBox->setRange(-1000.0, 1000.0);
+    mXOffsetSpinBox->setValue(0.0);
+
+    mYOffsetSpinBox = new QDoubleSpinBox(this);
+    mYOffsetSpinBox->setDecimals(1);
+    mYOffsetSpinBox->setRange(-1000.0, 1000.0);
+    mYOffsetSpinBox->setValue(0.0);
+
+    mZOffsetSpinBox = new QDoubleSpinBox(this);
+    mZOffsetSpinBox->setDecimals(1);
+    mZOffsetSpinBox->setRange(-1000.0, 1000.0);
+    mZOffsetSpinBox->setValue(0.0);
+
+    formLayout = new QFormLayout;
+    formLayout->addRow(tr("x (m)"), mXOffsetSpinBox);
+    formLayout->addRow(tr("y (m)"), mYOffsetSpinBox);
+    formLayout->addRow(tr("z (m)"), mZOffsetSpinBox);
+
+    offsetGroupBox->setLayout(formLayout);
+
+    layout->addWidget(offsetGroupBox);
+    layout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
+
+    QPushButton* cancelButton = new QPushButton(this);
+    cancelButton->setText("Cancel");
+
+    QPushButton* saveButton = new QPushButton(this);
+    saveButton->setText("Save");
+
+    QHBoxLayout* buttonLayout = new QHBoxLayout;
+    buttonLayout->addWidget(cancelButton);
+    buttonLayout->addItem(new QSpacerItem(10, 0, QSizePolicy::Expanding, QSizePolicy::Expanding));
+    buttonLayout->addWidget(saveButton);
+
+    layout->addLayout(buttonLayout);
+
+    connect(pathButton, SIGNAL(clicked()), this, SLOT(selectPath()));
+    connect(cancelButton, SIGNAL(clicked()), this, SLOT(closeWithoutSaving()));
+    connect(saveButton, SIGNAL(clicked()), this, SLOT(closeWithSaving()));
+}
diff --git a/src/ui/map3D/ImageryParamDialog.h b/src/ui/map3D/ImageryParamDialog.h
new file mode 100644
index 0000000000000000000000000000000000000000..0dcbfeb8a967c3d554cc259ae2fe8250ff47915d
--- /dev/null
+++ b/src/ui/map3D/ImageryParamDialog.h
@@ -0,0 +1,36 @@
+#ifndef IMAGERYPARAMDIALOG_H
+#define IMAGERYPARAMDIALOG_H
+
+#include <QComboBox>
+#include <QDoubleSpinBox>
+#include <QDialog>
+#include <QLineEdit>
+#include <QVBoxLayout>
+
+#include "GlobalViewParams.h"
+
+class ImageryParamDialog : public QDialog
+{
+    Q_OBJECT
+
+public:
+    ImageryParamDialog(QWidget* parent = 0);
+
+    static void getImageryParams(GlobalViewParamsPtr& globalViewParams);
+
+private slots:
+    void selectPath(void);
+    void closeWithSaving(void);
+    void closeWithoutSaving(void);
+
+private:
+    void buildLayout(QVBoxLayout* layout);
+
+    QComboBox* mImageryTypeComboBox;
+    QLineEdit* mPathLineEdit;
+    QDoubleSpinBox* mXOffsetSpinBox;
+    QDoubleSpinBox* mYOffsetSpinBox;
+    QDoubleSpinBox* mZOffsetSpinBox;
+};
+
+#endif // IMAGERYPARAMDIALOG_H
diff --git a/src/ui/map3D/Pixhawk3DWidget.cc b/src/ui/map3D/Pixhawk3DWidget.cc
index 4bbdf36af3bece6eb2d9863f4a3ec5db71fb8696..da1351cd717b123bc6e19f6240d5f066730679da 100644
--- a/src/ui/map3D/Pixhawk3DWidget.cc
+++ b/src/ui/map3D/Pixhawk3DWidget.cc
@@ -91,6 +91,8 @@ Pixhawk3DWidget::Pixhawk3DWidget(QWidget* parent)
             this, SLOT(systemCreated(UASInterface*)));
     connect(mGlobalViewParams.data(), SIGNAL(followCameraChanged(int)),
             this, SLOT(followCameraChanged(int)));
+    connect(mGlobalViewParams.data(), SIGNAL(imageryParamsChanged(void)),
+            this, SLOT(imageryParamsChanged(void)));
 
     MainWindow* parentWindow = qobject_cast<MainWindow*>(parent);
     parentWindow->addDockWidget(Qt::LeftDockWidgetArea, mViewParamWidget);
@@ -139,11 +141,14 @@ Pixhawk3DWidget::systemCreated(UASInterface *uas)
             this, SLOT(attitudeChanged(UASInterface*,double,double,double,quint64)));
     connect(uas, SIGNAL(userPositionSetPointsChanged(int,float,float,float,float)),
             this, SLOT(setpointChanged(int,float,float,float,float)));
+    connect(uas, SIGNAL(homePositionChanged(int,double,double,double)),
+            this, SLOT(homePositionChanged(int,double,double,double)));
 #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
     connect(uas, SIGNAL(overlayChanged(UASInterface*)),
             this, SLOT(addOverlay(UASInterface*)));
 #endif
 
+//    mSystemContainerMap[systemId].gpsLocalOrigin() = QVector3D(47.419182, 8.566980, 428);
     initializeSystem(systemId, uas->getColor());
 
     emit systemCreatedSignal(uas);
@@ -341,6 +346,20 @@ Pixhawk3DWidget::attitudeChanged(UASInterface* uas,
     m3DWidget->systemGroup(systemId)->attitude()->setAttitude(q);
 }
 
+void
+Pixhawk3DWidget::homePositionChanged(int uasId, double lat, double lon,
+                                     double alt)
+{
+    if (!mSystemContainerMap.contains(uasId))
+    {
+        return;
+    }
+
+    SystemContainer& systemData = mSystemContainerMap[uasId];
+
+    systemData.gpsLocalOrigin() = QVector3D(lat, lon, alt);
+}
+
 void
 Pixhawk3DWidget::setpointChanged(int uasId, float x, float y, float z,
                                  float yaw)
@@ -424,12 +443,13 @@ Pixhawk3DWidget::showTerrainParamWindow(void)
 {
     TerrainParamDialog::getTerrainParams(mGlobalViewParams);
 
-    const QVector4D& terrainOffset = mGlobalViewParams->terrainOffset();
+    const QVector3D& positionOffset = mGlobalViewParams->terrainPositionOffset();
+    const QVector3D& attitudeOffset = mGlobalViewParams->terrainAttitudeOffset();
 
-    mTerrainPAT->setPosition(osg::Vec3d(terrainOffset.y(), terrainOffset.x(), -terrainOffset.z()));
-    mTerrainPAT->setAttitude(osg::Quat(M_PI_2 - terrainOffset.w(), osg::Vec3d(0.0f, 0.0f, 1.0f),
-                                       0.0, osg::Vec3d(1.0f, 0.0f, 0.0f),
-                                       0.0, osg::Vec3d(0.0f, 1.0f, 0.0f)));
+    mTerrainPAT->setPosition(osg::Vec3d(positionOffset.y(), positionOffset.x(), -positionOffset.z()));
+    mTerrainPAT->setAttitude(osg::Quat(M_PI_2 - attitudeOffset.z(), osg::Vec3d(0.0f, 0.0f, 1.0f),
+                                       attitudeOffset.y(), osg::Vec3d(1.0f, 0.0f, 0.0f),
+                                       attitudeOffset.x(), osg::Vec3d(0.0f, 1.0f, 0.0f)));
 }
 
 void
@@ -472,6 +492,16 @@ Pixhawk3DWidget::followCameraChanged(int systemId)
     }
 }
 
+void
+Pixhawk3DWidget::imageryParamsChanged(void)
+{
+    mImageryNode->setImageryType(mGlobalViewParams->imageryType());
+    mImageryNode->setPath(mGlobalViewParams->imageryPath());
+
+    const QVector3D& offset = mGlobalViewParams->imageryOffset();
+    mImageryNode->setOffset(offset.x(), offset.y(), offset.z());
+}
+
 void
 Pixhawk3DWidget::recenterActiveCamera(void)
 {
@@ -542,7 +572,8 @@ Pixhawk3DWidget::loadTerrainModel(void)
         mTerrainNode->setName("terrain");
         mTerrainPAT->addChild(mTerrainNode);
 
-        mGlobalViewParams->terrainOffset() = QVector4D();
+        mGlobalViewParams->terrainPositionOffset() = QVector3D();
+        mGlobalViewParams->terrainAttitudeOffset() = QVector3D();
 
         mTerrainPAT->setPosition(osg::Vec3d(0.0, 0.0, 0.0));
         mTerrainPAT->setAttitude(osg::Quat(M_PI_2, osg::Vec3d(0.0f, 0.0f, 1.0f),
@@ -987,8 +1018,6 @@ Pixhawk3DWidget::update(void)
 #endif
     }
 
-    mImageryNode->setImageryType(mGlobalViewParams->imageryType());
-
     if (mFollowCameraId != -1)
     {
         UASInterface* uas = UASManager::instance()->getUASForId(mFollowCameraId);
@@ -1097,13 +1126,27 @@ Pixhawk3DWidget::update(void)
             updateRGBD(uas, frame, systemData.rgbImageNode(),
                        systemData.depthImageNode());
         }
+
+        if (frame == MAV_FRAME_LOCAL_NED &&
+            mGlobalViewParams->imageryType() != Imagery::BLANK_MAP &&
+            !systemData.gpsLocalOrigin().isNull() &&
+            mActiveUAS->getUASID() == systemId)
+        {
+            const QVector3D& gpsLocalOrigin = systemData.gpsLocalOrigin();
+
+            double utmX, utmY;
+            QString utmZone;
+            Imagery::LLtoUTM(gpsLocalOrigin.x(), gpsLocalOrigin.y(), utmX, utmY, utmZone);
+
+            updateImagery(utmX, utmY, utmZone, frame);
+        }
 #endif
     }
 
     if (frame == MAV_FRAME_GLOBAL &&
         mGlobalViewParams->imageryType() != Imagery::BLANK_MAP)
     {
-//        updateImagery(robotX, robotY, robotZ, utmZone);
+//        updateImagery(x, y, z, utmZone);
     }
 
     if (mActiveUAS)
@@ -2009,8 +2052,8 @@ Pixhawk3DWidget::updateTrails(double robotX, double robotY, double robotZ,
 }
 
 void
-Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
-                               const QString& zone)
+Pixhawk3DWidget::updateImagery(double originX, double originY,
+                               const QString& zone, MAV_FRAME frame)
 {
     if (mImageryNode->getImageryType() == Imagery::BLANK_MAP)
     {
@@ -2018,9 +2061,9 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     }
 
     double viewingRadius = m3DWidget->cameraManipulator()->getDistance() * 10.0;
-    if (viewingRadius < 100.0)
+    if (viewingRadius < 200.0)
     {
-        viewingRadius = 100.0;
+        viewingRadius = 200.0;
     }
 
     double minResolution = 0.25;
@@ -2036,7 +2079,7 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     case Imagery::GOOGLE_SATELLITE:
         minResolution = 0.5;
         break;
-    case Imagery::SWISSTOPO_SATELLITE:
+    case Imagery::OFFLINE_SATELLITE:
         minResolution = 0.25;
         maxResolution = 0.25;
         break;
@@ -2055,13 +2098,24 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
         resolution = maxResolution;
     }
 
+    double x = m3DWidget->cameraManipulator()->getCenter().y();
+    double y = m3DWidget->cameraManipulator()->getCenter().x();
+
+    double xOffset = 0.0;
+    double yOffset = 0.0;
+
+    if (frame == MAV_FRAME_LOCAL_NED)
+    {
+        xOffset = originX;
+        yOffset = originY;
+    }
+
     mImageryNode->draw3D(viewingRadius,
                          resolution,
-                         m3DWidget->cameraManipulator()->getCenter().y(),
-                         m3DWidget->cameraManipulator()->getCenter().x(),
-                         originX,
-                         originY,
-                         originZ,
+                         x + xOffset,
+                         y + yOffset,
+                         -xOffset,
+                         -yOffset,
                          zone);
 
     // prefetch map tiles
@@ -2069,16 +2123,16 @@ Pixhawk3DWidget::updateImagery(double originX, double originY, double originZ,
     {
         mImageryNode->prefetch3D(viewingRadius / 2.0,
                                  resolution / 2.0,
-                                 m3DWidget->cameraManipulator()->getCenter().y(),
-                                 m3DWidget->cameraManipulator()->getCenter().x(),
+                                 x + xOffset,
+                                 y + yOffset,
                                  zone);
     }
     if (resolution * 2.0 <= maxResolution)
     {
         mImageryNode->prefetch3D(viewingRadius * 2.0,
                                  resolution * 2.0,
-                                 m3DWidget->cameraManipulator()->getCenter().y(),
-                                 m3DWidget->cameraManipulator()->getCenter().x(),
+                                 x + xOffset,
+                                 y + yOffset,
                                  zone);
     }
 
diff --git a/src/ui/map3D/Pixhawk3DWidget.h b/src/ui/map3D/Pixhawk3DWidget.h
index 4a521997d8512fab4db1c36c7089fc0bded23072..ce2fc6fe77a085979d88cd0e02d86e94056f4197 100644
--- a/src/ui/map3D/Pixhawk3DWidget.h
+++ b/src/ui/map3D/Pixhawk3DWidget.h
@@ -60,6 +60,7 @@ public slots:
     void localPositionChanged(UASInterface* uas, double x, double y, double z, quint64 time);
     void attitudeChanged(UASInterface* uas, int component, double roll, double pitch, double yaw, quint64 time);
     void attitudeChanged(UASInterface* uas, double roll, double pitch, double yaw, quint64 time);
+    void homePositionChanged(int uasId, double lat, double lon, double alt);
     void setpointChanged(int uasId, float x, float y, float z, float yaw);
 
 signals:
@@ -71,6 +72,7 @@ private slots:
     void showTerrainParamWindow(void);
     void showViewParamWindow(void);
     void followCameraChanged(int systemId);
+    void imageryParamsChanged(void);
     void recenterActiveCamera(void);
     void modelChanged(int systemId, int index);
     void setBirdEyeView(void);
@@ -143,8 +145,8 @@ private:
     void resizeHUD(int width, int height);
 
     void updateHUD(UASInterface* uas, MAV_FRAME frame);
-    void updateImagery(double originX, double originY, double originZ,
-                       const QString& zone);
+    void updateImagery(double originX, double originY,
+                       const QString& zone, MAV_FRAME frame);
     void updateTarget(UASInterface* uas, MAV_FRAME frame,
                       double robotX, double robotY, double robotZ,
                       QVector4D& target,
diff --git a/src/ui/map3D/Q3DWidget.cc b/src/ui/map3D/Q3DWidget.cc
index d05fdcc606e768077b9b3b01afb06338377e94a0..1ec2721d456d6a6fd3d366e5ce6fb5c296937a44 100644
--- a/src/ui/map3D/Q3DWidget.cc
+++ b/src/ui/map3D/Q3DWidget.cc
@@ -61,7 +61,7 @@ Q3DWidget::Q3DWidget(QWidget* parent)
 
     mOsgGW = new osgViewer::GraphicsWindowEmbedded(0, 0, width(), height());
 
-    setThreadingModel(osgViewer::Viewer::SingleThreaded);
+    setThreadingModel(osgViewer::Viewer::CullDrawThreadPerContext);
 
     setMouseTracking(true);
 }
diff --git a/src/ui/map3D/SystemContainer.cc b/src/ui/map3D/SystemContainer.cc
index 72cac8eee21eb6c9496c2b1e8525f04ef5cd454e..f74d81e0759c669069b9680e6c5b32e7418867a4 100644
--- a/src/ui/map3D/SystemContainer.cc
+++ b/src/ui/map3D/SystemContainer.cc
@@ -7,6 +7,12 @@ SystemContainer::SystemContainer()
 
 }
 
+QVector3D&
+SystemContainer::gpsLocalOrigin(void)
+{
+    return mGPSLocalOrigin;
+}
+
 QVector4D&
 SystemContainer::target(void)
 {
diff --git a/src/ui/map3D/SystemContainer.h b/src/ui/map3D/SystemContainer.h
index 92d7ea68bf8a213a46dc450c109748cf4dea5094..dfee5391bbe38e7c236aca67924942c3ed3ed57b 100644
--- a/src/ui/map3D/SystemContainer.h
+++ b/src/ui/map3D/SystemContainer.h
@@ -4,6 +4,7 @@
 #include <osg/Geode>
 #include <QMap>
 #include <QVarLengthArray>
+#include <QVector3D>
 #include <QVector4D>
 
 #include "ImageWindowGeode.h"
@@ -19,6 +20,8 @@ class SystemContainer
 public:
     SystemContainer();
 
+    QVector3D& gpsLocalOrigin(void);
+
     QVector4D& target(void);
 
     QVector< osg::ref_ptr<osg::Node> >& models(void);
@@ -43,6 +46,7 @@ public:
 #endif
 
 private:
+    QVector3D mGPSLocalOrigin;
     QVector4D mTarget;
 
     QVector< osg::ref_ptr<osg::Node> > mModels;
diff --git a/src/ui/map3D/TerrainParamDialog.cc b/src/ui/map3D/TerrainParamDialog.cc
index e2daf5d9f228016b2d840987a2806b1843f8bdde..1fd78267b2cddb286a8a75b1fc4d30e29826d6ee 100644
--- a/src/ui/map3D/TerrainParamDialog.cc
+++ b/src/ui/map3D/TerrainParamDialog.cc
@@ -19,20 +19,25 @@ TerrainParamDialog::TerrainParamDialog(QWidget* parent)
 void
 TerrainParamDialog::getTerrainParams(GlobalViewParamsPtr &globalViewParams)
 {
-    QVector4D& terrainOffset = globalViewParams->terrainOffset();
+    QVector3D& positionOffset = globalViewParams->terrainPositionOffset();
+    QVector3D& attitudeOffset = globalViewParams->terrainAttitudeOffset();
 
     TerrainParamDialog dialog;
-    dialog.mXOffsetSpinBox->setValue(terrainOffset.x());
-    dialog.mYOffsetSpinBox->setValue(terrainOffset.y());
-    dialog.mZOffsetSpinBox->setValue(terrainOffset.z());
-    dialog.mYawOffsetSpinBox->setValue(osg::RadiansToDegrees(terrainOffset.w()));
+    dialog.mXOffsetSpinBox->setValue(positionOffset.x());
+    dialog.mYOffsetSpinBox->setValue(positionOffset.y());
+    dialog.mZOffsetSpinBox->setValue(positionOffset.z());
+    dialog.mRollOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.x()));
+    dialog.mPitchOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.y()));
+    dialog.mYawOffsetSpinBox->setValue(osg::RadiansToDegrees(attitudeOffset.z()));
 
     if (dialog.exec() == QDialog::Accepted)
     {
-        terrainOffset.setX(dialog.mXOffsetSpinBox->value());
-        terrainOffset.setY(dialog.mYOffsetSpinBox->value());
-        terrainOffset.setZ(dialog.mZOffsetSpinBox->value());
-        terrainOffset.setW(osg::DegreesToRadians(dialog.mYawOffsetSpinBox->value()));
+        positionOffset.setX(dialog.mXOffsetSpinBox->value());
+        positionOffset.setY(dialog.mYOffsetSpinBox->value());
+        positionOffset.setZ(dialog.mZOffsetSpinBox->value());
+        attitudeOffset.setX(osg::DegreesToRadians(dialog.mRollOffsetSpinBox->value()));
+        attitudeOffset.setY(osg::DegreesToRadians(dialog.mPitchOffsetSpinBox->value()));
+        attitudeOffset.setZ(osg::DegreesToRadians(dialog.mYawOffsetSpinBox->value()));
     }
 }
 
@@ -68,6 +73,16 @@ TerrainParamDialog::buildLayout(QVBoxLayout* layout)
     mZOffsetSpinBox->setRange(-100.0, 100.0);
     mZOffsetSpinBox->setValue(0.0);
 
+    mRollOffsetSpinBox = new QDoubleSpinBox(this);
+    mRollOffsetSpinBox->setDecimals(0);
+    mRollOffsetSpinBox->setRange(-180.0, 180.0);
+    mRollOffsetSpinBox->setValue(0.0);
+
+    mPitchOffsetSpinBox = new QDoubleSpinBox(this);
+    mPitchOffsetSpinBox->setDecimals(0);
+    mPitchOffsetSpinBox->setRange(-180.0, 180.0);
+    mPitchOffsetSpinBox->setValue(0.0);
+
     mYawOffsetSpinBox = new QDoubleSpinBox(this);
     mYawOffsetSpinBox->setDecimals(0);
     mYawOffsetSpinBox->setRange(-180.0, 180.0);
@@ -77,6 +92,8 @@ TerrainParamDialog::buildLayout(QVBoxLayout* layout)
     formLayout->addRow(tr("x (m)"), mXOffsetSpinBox);
     formLayout->addRow(tr("y (m)"), mYOffsetSpinBox);
     formLayout->addRow(tr("z (m)"), mZOffsetSpinBox);
+    formLayout->addRow(tr("Roll (deg)"), mRollOffsetSpinBox);
+    formLayout->addRow(tr("Pitch (deg)"), mPitchOffsetSpinBox);
     formLayout->addRow(tr("Yaw (deg)"), mYawOffsetSpinBox);
 
     offsetGroupBox->setLayout(formLayout);
diff --git a/src/ui/map3D/TerrainParamDialog.h b/src/ui/map3D/TerrainParamDialog.h
index ffa5a1c4f8740b3e13fe340bd564f4564aa64a5f..2a0f0f20044bf100e988d271bcc45333bbe94c08 100644
--- a/src/ui/map3D/TerrainParamDialog.h
+++ b/src/ui/map3D/TerrainParamDialog.h
@@ -26,6 +26,8 @@ private:
     QDoubleSpinBox* mXOffsetSpinBox;
     QDoubleSpinBox* mYOffsetSpinBox;
     QDoubleSpinBox* mZOffsetSpinBox;
+    QDoubleSpinBox* mRollOffsetSpinBox;
+    QDoubleSpinBox* mPitchOffsetSpinBox;
     QDoubleSpinBox* mYawOffsetSpinBox;
 };
 
diff --git a/src/ui/map3D/Texture.cc b/src/ui/map3D/Texture.cc
index 77691888a1ef7be3cc7006ea4e50edb7df6df87c..e7dc3c741b5ea7fe967a303a63897ac42a803f50 100644
--- a/src/ui/map3D/Texture.cc
+++ b/src/ui/map3D/Texture.cc
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class Texture.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
@@ -33,77 +33,86 @@ This file is part of the QGROUNDCONTROL project
 
 #include "Texture.h"
 
-Texture::Texture(unsigned int _id)
-    : id(_id)
-    , texture2D(new osg::Texture2D)
-    , geometry(new osg::Geometry)
+Texture::Texture(quint64 id)
+ : mId(id)
+ , mTexture2D(new osg::Texture2D)
+ , mGeometry(new osg::Geometry)
 {
-    texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
-    texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
+    mTexture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
+    mTexture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
 
-    texture2D->setDataVariance(osg::Object::DYNAMIC);
-    texture2D->setResizeNonPowerOfTwoHint(false);
+    mTexture2D->setDataVariance(osg::Object::DYNAMIC);
+    mTexture2D->setResizeNonPowerOfTwoHint(false);
 
     osg::ref_ptr<osg::Image> image = new osg::Image;
-    texture2D->setImage(image);
+    mTexture2D->setImage(image);
 
     osg::ref_ptr<osg::Vec3dArray> vertices(new osg::Vec3dArray(4));
-    geometry->setVertexArray(vertices);
+    mGeometry->setVertexArray(vertices);
 
     osg::ref_ptr<osg::Vec2Array> textureCoords = new osg::Vec2Array;
     textureCoords->push_back(osg::Vec2(0.0f, 1.0f));
     textureCoords->push_back(osg::Vec2(1.0f, 1.0f));
     textureCoords->push_back(osg::Vec2(1.0f, 0.0f));
     textureCoords->push_back(osg::Vec2(0.0f, 0.0f));
-    geometry->setTexCoordArray(0, textureCoords);
+    mGeometry->setTexCoordArray(0, textureCoords);
 
-    geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
+    mGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES,
                               0, 4));
 
     osg::ref_ptr<osg::Vec4Array> colors(new osg::Vec4Array);
     colors->push_back(osg::Vec4(0.0f, 0.0f, 1.0f, 1.0f));
-    geometry->setColorArray(colors);
-    geometry->setColorBinding(osg::Geometry::BIND_OVERALL);
+    mGeometry->setColorArray(colors);
+    mGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
 
-    geometry->setUseDisplayList(false);
+    mGeometry->setUseDisplayList(false);
 
     osg::ref_ptr<osg::LineWidth> linewidth(new osg::LineWidth);
     linewidth->setWidth(2.0f);
-    geometry->getOrCreateStateSet()->
+    mGeometry->getOrCreateStateSet()->
     setAttributeAndModes(linewidth, osg::StateAttribute::ON);
-    geometry->getOrCreateStateSet()->
+    mGeometry->getOrCreateStateSet()->
     setMode(GL_LIGHTING, osg::StateAttribute::OFF);
 }
 
 const QString&
 Texture::getSourceURL(void) const
 {
-    return sourceURL;
+    return mSourceURL;
+}
+
+void
+Texture::setId(quint64 id)
+{
+    mId = id;
 }
 
 void
 Texture::sync(const WebImagePtr& image)
 {
-    state = static_cast<State>(image->getState());
+    mState = static_cast<State>(image->getState());
 
     if (image->getState() != WebImage::UNINITIALIZED &&
-            sourceURL != image->getSourceURL()) {
-        sourceURL = image->getSourceURL();
+        mSourceURL != image->getSourceURL())
+    {
+        mSourceURL = image->getSourceURL();
     }
 
-    if (image->getState() == WebImage::READY && image->getSyncFlag()) {
+    if (image->getState() == WebImage::READY && image->getSyncFlag())
+    {
         image->setSyncFlag(false);
 
-        if (texture2D->getImage() != NULL) {
-            texture2D->getImage()->setImage(image->getWidth(),
-                                            image->getHeight(),
-                                            1,
-                                            GL_RGBA,
-                                            GL_RGBA,
-                                            GL_UNSIGNED_BYTE,
-                                            image->getImageData(),
-                                            osg::Image::NO_DELETE);
-            texture2D->getImage()->dirty();
+        if (mTexture2D->getImage() != NULL)
+        {
+            mTexture2D->getImage()->setImage(image->getWidth(),
+                                             image->getHeight(),
+                                             1,
+                                             GL_RGBA,
+                                             GL_RGBA,
+                                             GL_UNSIGNED_BYTE,
+                                             image->getImageData(),
+                                             osg::Image::NO_DELETE);
+            mTexture2D->getImage()->dirty();
         }
     }
 }
@@ -123,40 +132,44 @@ Texture::draw(double x1, double y1, double x2, double y2,
               bool smoothInterpolation) const
 {
     osg::Vec3dArray* vertices =
-        static_cast<osg::Vec3dArray*>(geometry->getVertexArray());
+        static_cast<osg::Vec3dArray*>(mGeometry->getVertexArray());
     (*vertices)[0].set(x1, y1, z);
     (*vertices)[1].set(x2, y2, z);
     (*vertices)[2].set(x3, y3, z);
     (*vertices)[3].set(x4, y4, z);
 
     osg::DrawArrays* drawarrays =
-        static_cast<osg::DrawArrays*>(geometry->getPrimitiveSet(0));
+        static_cast<osg::DrawArrays*>(mGeometry->getPrimitiveSet(0));
     osg::Vec4Array* colors =
-        static_cast<osg::Vec4Array*>(geometry->getColorArray());
+        static_cast<osg::Vec4Array*>(mGeometry->getColorArray());
 
-    if (state == REQUESTED) {
+    if (mState == REQUESTED)
+    {
         drawarrays->set(osg::PrimitiveSet::LINE_LOOP, 0, 4);
         (*colors)[0].set(0.0f, 0.0f, 1.0f, 1.0f);
 
-        geometry->getOrCreateStateSet()->
-        setTextureAttributeAndModes(0, texture2D, osg::StateAttribute::OFF);
+        mGeometry->getOrCreateStateSet()->
+        setTextureAttributeAndModes(0, mTexture2D, osg::StateAttribute::OFF);
 
-        return geometry;
+        return mGeometry;
     }
 
-    if (smoothInterpolation) {
-        texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR);
-        texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
-    } else {
-        texture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
-        texture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
+    if (smoothInterpolation)
+    {
+        mTexture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR);
+        mTexture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
+    }
+    else
+    {
+        mTexture2D->setFilter(osg::Texture::MIN_FILTER, osg::Texture::NEAREST);
+        mTexture2D->setFilter(osg::Texture::MAG_FILTER, osg::Texture::NEAREST);
     }
 
     drawarrays->set(osg::PrimitiveSet::POLYGON, 0, 4);
     (*colors)[0].set(1.0f, 1.0f, 1.0f, 1.0f);
 
-    geometry->getOrCreateStateSet()->
-    setTextureAttributeAndModes(0, texture2D, osg::StateAttribute::ON);
+    mGeometry->getOrCreateStateSet()->
+        setTextureAttributeAndModes(0, mTexture2D, osg::StateAttribute::ON);
 
-    return geometry;
+    return mGeometry;
 }
diff --git a/src/ui/map3D/Texture.h b/src/ui/map3D/Texture.h
index b953849674d39cde17d50d64820915d50186d477..b1250aa5a6267675064739eac235dd4205c29a2b 100644
--- a/src/ui/map3D/Texture.h
+++ b/src/ui/map3D/Texture.h
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class Texture.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
@@ -43,11 +43,11 @@ This file is part of the QGROUNDCONTROL project
 class Texture
 {
 public:
-    explicit Texture(unsigned int _id);
+    explicit Texture(quint64 id);
 
     const QString& getSourceURL(void) const;
 
-    void setId(unsigned int _id);
+    void setId(quint64 id);
 
     void sync(const WebImagePtr& image);
 
@@ -60,17 +60,18 @@ public:
                                      bool smoothInterpolation) const;
 
 private:
-    enum State {
+    enum State
+    {
         UNINITIALIZED = 0,
         REQUESTED = 1,
         READY = 2
     };
 
-    State state;
-    QString sourceURL;
-    unsigned int id;
-    osg::ref_ptr<osg::Texture2D> texture2D;
-    osg::ref_ptr<osg::Geometry> geometry;
+    State mState;
+    QString mSourceURL;
+    quint64 mId;
+    osg::ref_ptr<osg::Texture2D> mTexture2D;
+    osg::ref_ptr<osg::Geometry> mGeometry;
 };
 
 typedef QSharedPointer<Texture> TexturePtr;
diff --git a/src/ui/map3D/TextureCache.cc b/src/ui/map3D/TextureCache.cc
index 8681c6811cb5d7787d429f49598f5b8af871500d..6b9ebc9e9e3a5ccaa6eb7117397b51d106900e89 100644
--- a/src/ui/map3D/TextureCache.cc
+++ b/src/ui/map3D/TextureCache.cc
@@ -25,34 +25,37 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class TextureCache.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
 #include "TextureCache.h"
 
-TextureCache::TextureCache(uint32_t _cacheSize)
-    : cacheSize(_cacheSize)
-    , imageCache(new WebImageCache(0, cacheSize))
+TextureCache::TextureCache(int cacheSize)
+    : mCacheSize(cacheSize)
+    , mImageCache(new WebImageCache(0, cacheSize))
 {
-    for (uint32_t i = 0; i < cacheSize; ++i) {
+    for (int i = 0; i < mCacheSize; ++i)
+    {
         TexturePtr t(new Texture(i));
 
-        textures.push_back(t);
+        mTextures.push_back(t);
     }
 }
 
 TexturePtr
 TextureCache::get(const QString& tileURL)
 {
-    QPair<TexturePtr, int32_t> p1 = lookup(tileURL);
-    if (!p1.first.isNull()) {
+    QPair<TexturePtr, int> p1 = lookup(tileURL);
+    if (!p1.first.isNull())
+    {
         return p1.first;
     }
 
-    QPair<WebImagePtr, int32_t> p2 = imageCache->lookup(tileURL);
-    if (!p2.first.isNull()) {
-        textures[p2.second]->sync(p2.first);
+    QPair<WebImagePtr, int> p2 = mImageCache->lookup(tileURL);
+    if (!p2.first.isNull())
+    {
+        mTextures[p2.second]->sync(p2.first);
         p1 = lookup(tileURL);
 
         return p1.first;
@@ -64,19 +67,23 @@ TextureCache::get(const QString& tileURL)
 void
 TextureCache::sync(void)
 {
-    if (requireSync()) {
-        for (int32_t i = 0; i < textures.size(); ++i) {
-            textures[i]->sync(imageCache->at(i));
+    if (requireSync())
+    {
+        for (int i = 0; i < mTextures.size(); ++i)
+        {
+            mTextures[i]->sync(mImageCache->at(i));
         }
     }
 }
 
-QPair<TexturePtr, int32_t>
+QPair<TexturePtr, int>
 TextureCache::lookup(const QString& tileURL)
 {
-    for (int32_t i = 0; i < textures.size(); ++i) {
-        if (textures[i]->getSourceURL() == tileURL) {
-            return qMakePair(textures[i], i);
+    for (int i = 0; i < mTextures.size(); ++i)
+    {
+        if (mTextures[i]->getSourceURL() == tileURL)
+        {
+            return qMakePair(mTextures[i], i);
         }
     }
 
@@ -86,8 +93,10 @@ TextureCache::lookup(const QString& tileURL)
 bool
 TextureCache::requireSync(void) const
 {
-    for (uint32_t i = 0; i < cacheSize; ++i) {
-        if (imageCache->at(i)->getSyncFlag()) {
+    for (int i = 0; i < mCacheSize; ++i)
+    {
+        if (mImageCache->at(i)->getSyncFlag())
+        {
             return true;
         }
     }
diff --git a/src/ui/map3D/TextureCache.h b/src/ui/map3D/TextureCache.h
index 25be665b90f82560549d35237e17688566432a53..14597b23415085707d5a511788639a12a27473f1 100644
--- a/src/ui/map3D/TextureCache.h
+++ b/src/ui/map3D/TextureCache.h
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class TextureCache.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
@@ -40,7 +40,7 @@ This file is part of the QGROUNDCONTROL project
 class TextureCache
 {
 public:
-    explicit TextureCache(uint32_t cacheSize);
+    explicit TextureCache(int cacheSize);
 
     TexturePtr get(const QString& tileURL);
 
@@ -51,10 +51,10 @@ private:
 
     bool requireSync(void) const;
 
-    uint32_t cacheSize;
-    QVector<TexturePtr> textures;
+    int mCacheSize;
+    QVector<TexturePtr> mTextures;
 
-    QScopedPointer<WebImageCache> imageCache;
+    QScopedPointer<WebImageCache> mImageCache;
 };
 
 #endif // TEXTURECACHE_H
diff --git a/src/ui/map3D/ViewParamWidget.cc b/src/ui/map3D/ViewParamWidget.cc
index 067b3f2a53da8128cb9954c3241d6adec302d9c2..e28ff9ed43073c46e16e942197d88135a1e5f0fb 100644
--- a/src/ui/map3D/ViewParamWidget.cc
+++ b/src/ui/map3D/ViewParamWidget.cc
@@ -6,6 +6,7 @@
 #include <QLabel>
 #include <QPushButton>
 
+#include "ImageryParamDialog.h"
 #include "UASInterface.h"
 
 ViewParamWidget::ViewParamWidget(GlobalViewParamsPtr& globalViewParams,
@@ -97,6 +98,12 @@ ViewParamWidget::setpointsCheckBoxToggled(int state)
     }
 }
 
+void
+ViewParamWidget::showImageryParamDialog(void)
+{
+    ImageryParamDialog::getImageryParams(mGlobalViewParams);
+}
+
 void
 ViewParamWidget::buildLayout(QVBoxLayout* layout)
 {
@@ -106,17 +113,15 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
     frameComboBox->addItem("Local");
     frameComboBox->addItem("Global");
 
-    QComboBox* imageryComboBox = new QComboBox(this);
-    imageryComboBox->addItem("None");
-    imageryComboBox->addItem("Map (Google)");
-    imageryComboBox->addItem("Satellite (Google)");
-
     QCheckBox* terrainModelCheckBox = new QCheckBox(this);
     terrainModelCheckBox->setChecked(mGlobalViewParams->displayTerrain());
 
     QCheckBox* worldGridCheckBox = new QCheckBox(this);
     worldGridCheckBox->setChecked(mGlobalViewParams->displayWorldGrid());
 
+    QPushButton* imageryButton = new QPushButton(this);
+    imageryButton->setText("View");
+
     QMapIterator<int, SystemViewParamsPtr> it(mSystemViewParamMap);
     while (it.hasNext())
     {
@@ -130,9 +135,9 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
     QFormLayout* formLayout = new QFormLayout;
     formLayout->addRow(tr("Follow Camera"), mFollowCameraComboBox);
     formLayout->addRow(tr("Frame"), frameComboBox);
-    formLayout->addRow(tr("Imagery"), imageryComboBox);
     formLayout->addRow(tr("Terrain"), terrainModelCheckBox);
     formLayout->addRow(tr("World Grid"), worldGridCheckBox);
+    formLayout->addRow(tr("Imagery Options"), imageryButton);
 
     layout->addLayout(formLayout);
     layout->addWidget(mTabWidget);
@@ -142,12 +147,14 @@ ViewParamWidget::buildLayout(QVBoxLayout* layout)
             mGlobalViewParams.data(), SLOT(followCameraChanged(const QString&)));
     connect(frameComboBox, SIGNAL(currentIndexChanged(const QString&)),
             mGlobalViewParams.data(), SLOT(frameChanged(const QString&)));
-    connect(imageryComboBox, SIGNAL(currentIndexChanged(int)),
-            mGlobalViewParams.data(), SLOT(imageryTypeChanged(int)));
     connect(terrainModelCheckBox, SIGNAL(stateChanged(int)),
             mGlobalViewParams.data(), SLOT(toggleTerrain(int)));
     connect(worldGridCheckBox, SIGNAL(stateChanged(int)),
             mGlobalViewParams.data(), SLOT(toggleWorldGrid(int)));
+    connect(imageryButton, SIGNAL(clicked()),
+            this, SLOT(showImageryParamDialog()));
+//    connect(imageryComboBox, SIGNAL(currentIndexChanged(int)),
+//            mGlobalViewParams.data(), SLOT(imageryTypeChanged(int)));
 }
 
 void
diff --git a/src/ui/map3D/ViewParamWidget.h b/src/ui/map3D/ViewParamWidget.h
index 69142f090441dedf1594814e2eedc47af3ec6264..d10af19d20c2bd58a750b0785cc0eafae9f4d1a9 100644
--- a/src/ui/map3D/ViewParamWidget.h
+++ b/src/ui/map3D/ViewParamWidget.h
@@ -31,6 +31,7 @@ private slots:
     void overlayCreated(int systemId, const QString& name);
     void systemCreated(UASInterface* uas);
     void setpointsCheckBoxToggled(int state);
+    void showImageryParamDialog(void);
 
 private:
     void buildLayout(QVBoxLayout* layout);
diff --git a/src/ui/map3D/WebImage.cc b/src/ui/map3D/WebImage.cc
index d09f96dd0c335e09255a2441687fba45f2e45a11..c638b811fa9b32f71a7e1b420dd6f53e8b84a911 100644
--- a/src/ui/map3D/WebImage.cc
+++ b/src/ui/map3D/WebImage.cc
@@ -35,11 +35,11 @@ This file is part of the QGROUNDCONTROL project
 #include <QGLWidget>
 
 WebImage::WebImage()
-    : state(WebImage::UNINITIALIZED)
-    , sourceURL("")
-    , image(0)
-    , lastReference(0)
-    , syncFlag(false)
+ : mState(WebImage::UNINITIALIZED)
+ , mSourceURL("")
+ , mImage(0)
+ , mLastReference(0)
+ , mSyncFlag(false)
 {
 
 }
@@ -47,54 +47,58 @@ WebImage::WebImage()
 void
 WebImage::clear(void)
 {
-    image.reset();
-    sourceURL.clear();
-    state = WebImage::UNINITIALIZED;
-    lastReference = 0;
+    mImage.reset();
+    mSourceURL.clear();
+    mState = WebImage::UNINITIALIZED;
+    mLastReference = 0;
 }
 
 WebImage::State
 WebImage::getState(void) const
 {
-    return state;
+    return mState;
 }
 
 void
 WebImage::setState(State state)
 {
-    this->state = state;
+    mState = state;
 }
 
 const QString&
 WebImage::getSourceURL(void) const
 {
-    return sourceURL;
+    return mSourceURL;
 }
 
 void
 WebImage::setSourceURL(const QString& url)
 {
-    sourceURL = url;
+    mSourceURL = url;
 }
 
 uchar*
 WebImage::getImageData(void) const
 {
-    return image->scanLine(0);
+    return mImage->scanLine(0);
 }
 
 bool
 WebImage::setData(const QByteArray& data)
 {
     QImage tempImage;
-    if (tempImage.loadFromData(data)) {
-        if (image.isNull()) {
-            image.reset(new QImage);
+    if (tempImage.loadFromData(data))
+    {
+        if (mImage.isNull())
+        {
+            mImage.reset(new QImage);
         }
-        *image = QGLWidget::convertToGLFormat(tempImage);
+        *mImage = QGLWidget::convertToGLFormat(tempImage);
 
         return true;
-    } else {
+    }
+    else
+    {
         return false;
     }
 }
@@ -103,14 +107,18 @@ bool
 WebImage::setData(const QString& filename)
 {
     QImage tempImage;
-    if (tempImage.load(filename)) {
-        if (image.isNull()) {
-            image.reset(new QImage);
+    if (tempImage.load(filename))
+    {
+        if (mImage.isNull())
+        {
+            mImage.reset(new QImage);
         }
-        *image = QGLWidget::convertToGLFormat(tempImage);
+        *mImage = QGLWidget::convertToGLFormat(tempImage);
 
         return true;
-    } else {
+    }
+    else
+    {
         return false;
     }
 }
@@ -118,41 +126,41 @@ WebImage::setData(const QString& filename)
 int
 WebImage::getWidth(void) const
 {
-    return image->width();
+    return mImage->width();
 }
 
 int
 WebImage::getHeight(void) const
 {
-    return image->height();
+    return mImage->height();
 }
 
 int
 WebImage::getByteCount(void) const
 {
-    return image->byteCount();
+    return mImage->byteCount();
 }
 
-ulong
+quint64
 WebImage::getLastReference(void) const
 {
-    return lastReference;
+    return mLastReference;
 }
 
 void
-WebImage::setLastReference(ulong value)
+WebImage::setLastReference(quint64 value)
 {
-    lastReference = value;
+    mLastReference = value;
 }
 
 bool
 WebImage::getSyncFlag(void) const
 {
-    return syncFlag;
+    return mSyncFlag;
 }
 
 void
 WebImage::setSyncFlag(bool onoff)
 {
-    syncFlag = onoff;
+    mSyncFlag = onoff;
 }
diff --git a/src/ui/map3D/WebImage.h b/src/ui/map3D/WebImage.h
index 15c122b21a0dd7276ebf183660525838c72bc9db..6b317dce1d2cb39fde402c05af3a5f9657386a36 100644
--- a/src/ui/map3D/WebImage.h
+++ b/src/ui/map3D/WebImage.h
@@ -64,18 +64,18 @@ public:
     int getHeight(void) const;
     int getByteCount(void) const;
 
-    ulong getLastReference(void) const;
-    void setLastReference(ulong value);
+    quint64 getLastReference(void) const;
+    void setLastReference(quint64 value);
 
     bool getSyncFlag(void) const;
     void setSyncFlag(bool onoff);
 
 private:
-    State state;
-    QString sourceURL;
-    QScopedPointer<QImage> image;
-    ulong lastReference;
-    bool syncFlag;
+    State mState;
+    QString mSourceURL;
+    QScopedPointer<QImage> mImage;
+    quint64 mLastReference;
+    bool mSyncFlag;
 };
 
 typedef QSharedPointer<WebImage> WebImagePtr;
diff --git a/src/ui/map3D/WebImageCache.cc b/src/ui/map3D/WebImageCache.cc
index 0ad66fe7254cc0e06de787722eda286267d79257..42efc5bc59e375f10e5d8a3cd6f6f44575083779 100644
--- a/src/ui/map3D/WebImageCache.cc
+++ b/src/ui/map3D/WebImageCache.cc
@@ -25,102 +25,129 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class WebImageCache.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
 #include "WebImageCache.h"
 
+#include <cstdio>
 #include <QNetworkReply>
 #include <QPixmap>
 
-WebImageCache::WebImageCache(QObject* parent, uint32_t _cacheSize)
+WebImageCache::WebImageCache(QObject* parent, int cacheSize)
     : QObject(parent)
-    , cacheSize(_cacheSize)
-    , currentReference(0)
-    , networkManager(new QNetworkAccessManager)
+    , mCacheSize(cacheSize)
+    , mCurrentReference(0)
+    , mNetworkManager(new QNetworkAccessManager)
 {
-    for (uint32_t i = 0; i < cacheSize; ++i) {
+    for (int i = 0; i < mCacheSize; ++i)
+    {
         WebImagePtr image(new WebImage);
 
-        webImages.push_back(image);
+        mWebImages.push_back(image);
     }
 
-    connect(networkManager.data(), SIGNAL(finished(QNetworkReply*)),
+    connect(mNetworkManager.data(), SIGNAL(finished(QNetworkReply*)),
             this, SLOT(downloadFinished(QNetworkReply*)));
 }
 
-QPair<WebImagePtr, int32_t>
+QPair<WebImagePtr, int>
 WebImageCache::lookup(const QString& url)
 {
-    QPair<WebImagePtr, int32_t> cacheEntry;
+    QPair<WebImagePtr, int> cacheEntry;
 
-    for (int32_t i = 0; i < webImages.size(); ++i) {
-        if (webImages[i]->getState() != WebImage::UNINITIALIZED &&
-                webImages[i]->getSourceURL() == url) {
-            cacheEntry.first = webImages[i];
+    for (int i = 0; i < mWebImages.size(); ++i)
+    {
+        WebImagePtr& image = mWebImages[i];
+
+        if (image->getState() != WebImage::UNINITIALIZED &&
+            image->getSourceURL() == url)
+        {
+            cacheEntry.first = image;
             cacheEntry.second = i;
             break;
         }
     }
 
-    if (cacheEntry.first.isNull()) {
-        for (int32_t i = 0; i < webImages.size(); ++i) {
+    if (cacheEntry.first.isNull())
+    {
+        for (int i = 0; i < mWebImages.size(); ++i)
+        {
+            WebImagePtr& image = mWebImages[i];
+
             // get uninitialized image
-            if (webImages[i]->getState() == WebImage::UNINITIALIZED) {
-                cacheEntry.first = webImages[i];
+            if (image->getState() == WebImage::UNINITIALIZED)
+            {
+                cacheEntry.first = image;
                 cacheEntry.second = i;
                 break;
             }
             // get oldest image
-            else if (webImages[i]->getState() == WebImage::READY &&
+            else if (image->getState() == WebImage::READY &&
                      (cacheEntry.first.isNull() ||
-                      webImages[i]->getLastReference() <
-                      cacheEntry.first->getLastReference())) {
-                cacheEntry.first = webImages[i];
+                      image->getLastReference() <
+                      cacheEntry.first->getLastReference()))
+            {
+                cacheEntry.first = image;
                 cacheEntry.second = i;
             }
         }
 
-        if (cacheEntry.first.isNull()) {
-            return qMakePair(WebImagePtr(), -1);
-        } else {
-            if (cacheEntry.first->getState() == WebImage::READY) {
+        if (cacheEntry.first.isNull())
+        {
+           return qMakePair(WebImagePtr(), -1);
+        }
+        else
+        {
+            if (cacheEntry.first->getState() == WebImage::READY)
+            {
                 cacheEntry.first->clear();
             }
             cacheEntry.first->setSourceURL(url);
-            cacheEntry.first->setLastReference(currentReference);
-            ++currentReference;
+            cacheEntry.first->setLastReference(mCurrentReference);
+            ++mCurrentReference;
             cacheEntry.first->setState(WebImage::REQUESTED);
 
-            if (url.left(4).compare("http") == 0) {
-                networkManager->get(QNetworkRequest(QUrl(url)));
-            } else {
-                if (cacheEntry.first->setData(url)) {
+            if (url.left(4).compare("http") == 0)
+            {
+                mNetworkManager->get(QNetworkRequest(QUrl(url)));
+            }
+            else
+            {
+                if (cacheEntry.first->setData(url))
+                {
                     cacheEntry.first->setSyncFlag(true);
                     cacheEntry.first->setState(WebImage::READY);
-                } else {
+                }
+                else
+                {
                     cacheEntry.first->setState(WebImage::UNINITIALIZED);
                 }
             }
 
             return cacheEntry;
         }
-    } else {
-        if (cacheEntry.first->getState() == WebImage::READY) {
-            cacheEntry.first->setLastReference(currentReference);
-            ++currentReference;
+    }
+    else
+    {
+        if (cacheEntry.first->getState() == WebImage::READY)
+        {
+            cacheEntry.first->setLastReference(mCurrentReference);
+            ++mCurrentReference;
             return cacheEntry;
-        } else {
+        }
+        else
+        {
             return qMakePair(WebImagePtr(), -1);
         }
     }
 }
 
 WebImagePtr
-WebImageCache::at(int32_t index) const
+WebImageCache::at(int index) const
 {
-    return webImages[index];
+    return mWebImages[index];
 }
 
 void
@@ -128,17 +155,21 @@ WebImageCache::downloadFinished(QNetworkReply* reply)
 {
     reply->deleteLater();
 
-    if (reply->error() != QNetworkReply::NoError) {
+    if (reply->error() != QNetworkReply::NoError)
+    {
         return;
     }
     QVariant attribute = reply->attribute(QNetworkRequest::RedirectionTargetAttribute);
-    if (attribute.isValid()) {
+    if (attribute.isValid())
+    {
         return;
     }
 
     WebImagePtr image;
-    foreach(image, webImages) {
-        if (reply->url().toString() == image->getSourceURL()) {
+    foreach(image, mWebImages)
+    {
+        if (reply->url().toString() == image->getSourceURL())
+        {
             image->setData(reply->readAll());
             image->setSyncFlag(true);
             image->setState(WebImage::READY);
diff --git a/src/ui/map3D/WebImageCache.h b/src/ui/map3D/WebImageCache.h
index d482d717a60b2338e5a2f20e1e8beda680211759..136800a5545dcb653b69beea6f2841e3c0e32aaf 100644
--- a/src/ui/map3D/WebImageCache.h
+++ b/src/ui/map3D/WebImageCache.h
@@ -25,7 +25,7 @@ This file is part of the QGROUNDCONTROL project
  * @file
  *   @brief Definition of the class WebImageCache.
  *
- *   @author Lionel Heng <hengli@student.ethz.ch>
+ *   @author Lionel Heng <hengli@inf.ethz.ch>
  *
  */
 
@@ -43,22 +43,22 @@ class WebImageCache : public QObject
     Q_OBJECT
 
 public:
-    WebImageCache(QObject* parent, uint32_t cacheSize);
+    WebImageCache(QObject* parent, int cacheSize);
 
-    QPair<WebImagePtr, int32_t> lookup(const QString& url);
+    QPair<WebImagePtr, int> lookup(const QString& url);
 
-    WebImagePtr at(int32_t index) const;
+    WebImagePtr at(int index) const;
 
 private Q_SLOTS:
     void downloadFinished(QNetworkReply* reply);
 
 private:
-    uint32_t cacheSize;
+    int mCacheSize;
 
-    QVector<WebImagePtr> webImages;
-    uint64_t currentReference;
+    QVector<WebImagePtr> mWebImages;
+    quint64 mCurrentReference;
 
-    QScopedPointer<QNetworkAccessManager> networkManager;
+    QScopedPointer<QNetworkAccessManager> mNetworkManager;
 };
 
 #endif // WEBIMAGECACHE_H