diff --git a/src/ui/configuration/CompassConfig.cc b/src/ui/configuration/CompassConfig.cc
index 5c37b0cbf6a0ca5ad7900d35aace8e5f219f8d73..43da906fd809e3115c260055a9d088c776b9da9c 100644
--- a/src/ui/configuration/CompassConfig.cc
+++ b/src/ui/configuration/CompassConfig.cc
@@ -16,6 +16,33 @@ CompassConfig::CompassConfig(QWidget *parent) : QWidget(parent)
     connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
     activeUASSet(UASManager::instance()->getActiveUAS());
 
+    ui.orientationComboBox->addItem("ROTATION_NONE");
+    ui.orientationComboBox->addItem("ROTATION_YAW_45");
+    ui.orientationComboBox->addItem("ROTATION_YAW_90");
+    ui.orientationComboBox->addItem("ROTATION_YAW_135");
+    ui.orientationComboBox->addItem("ROTATION_YAW_180");
+    ui.orientationComboBox->addItem("ROTATION_YAW_225");
+    ui.orientationComboBox->addItem("ROTATION_YAW_270");
+    ui.orientationComboBox->addItem("ROTATION_YAW_315");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_45");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_90");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_135");
+    ui.orientationComboBox->addItem("ROTATION_PITCH_180");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_225");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_270");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_180_YAW_315");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_90");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_90_YAW_45");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_90_YAW_90");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_90_YAW_135");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_270");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_270_YAW_45");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_270_YAW_90");
+    ui.orientationComboBox->addItem("ROTATION_ROLL_270_YAW_135");
+    ui.orientationComboBox->addItem("ROTATION_PITCH_90");
+    ui.orientationComboBox->addItem("ROTATION_PITCH_270");
+    ui.orientationComboBox->addItem("ROTATION_MAX");
 }
 CompassConfig::~CompassConfig()
 {
@@ -39,12 +66,14 @@ void CompassConfig::parameterChanged(int uas, int component, QString parameterNa
             ui.enableCheckBox->setChecked(false);
             ui.autoDecCheckBox->setEnabled(false);
             ui.declinationLineEdit->setEnabled(false);
+            ui.orientationComboBox->setEnabled(false);
         }
         else
         {
             ui.enableCheckBox->setChecked(true);
             ui.autoDecCheckBox->setEnabled(true);
             ui.declinationLineEdit->setEnabled(true);
+            ui.orientationComboBox->setEnabled(true);
         }
         ui.enableCheckBox->setEnabled(true);
     }
@@ -63,6 +92,12 @@ void CompassConfig::parameterChanged(int uas, int component, QString parameterNa
     {
         ui.declinationLineEdit->setText(QString::number(value.toDouble()));
     }
+    else if (parameterName == "COMPASS_ORIENT")
+    {
+        disconnect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int)));
+        ui.orientationComboBox->setCurrentIndex(value.toInt());
+        connect(ui.orientationComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(orientationComboChanged(int)));
+    }
 }
 
 void CompassConfig::enableClicked(bool enabled)
@@ -104,5 +139,11 @@ void CompassConfig::autoDecClicked(bool enabled)
 
 void CompassConfig::orientationComboChanged(int index)
 {
+    //COMPASS_ORIENT
+    if (!m_uas)
+    {
+        return;
+    }
+    m_uas->getParamManager()->setParameter(1,"COMPASS_ORIENT",index);
 
 }
diff --git a/src/ui/configuration/CompassConfig.ui b/src/ui/configuration/CompassConfig.ui
index 7ac1ede4fa0c325327b60794af9f79e8e3b4b875..95b9362b441dc7279f45a2c26adf80606b89d7ea 100644
--- a/src/ui/configuration/CompassConfig.ui
+++ b/src/ui/configuration/CompassConfig.ui
@@ -55,9 +55,9 @@
   <widget class="QPushButton" name="pushButton">
    <property name="geometry">
     <rect>
-     <x>300</x>
+     <x>290</x>
      <y>180</y>
-     <width>91</width>
+     <width>101</width>
      <height>23</height>
     </rect>
    </property>
@@ -70,7 +70,7 @@
     <rect>
      <x>390</x>
      <y>180</y>
-     <width>91</width>
+     <width>101</width>
      <height>23</height>
     </rect>
    </property>
@@ -118,7 +118,7 @@
     <rect>
      <x>10</x>
      <y>70</y>
-     <width>201</width>
+     <width>211</width>
      <height>111</height>
     </rect>
    </property>
diff --git a/src/ui/configuration/SonarConfig.ui b/src/ui/configuration/SonarConfig.ui
index 6bce3475ae776af46200c947cb29004b44b9e676..7c40d028ce6c772db234b8972473c3ed906b7019 100644
--- a/src/ui/configuration/SonarConfig.ui
+++ b/src/ui/configuration/SonarConfig.ui
@@ -58,7 +58,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>CheckBox</string>
+    <string>Enable</string>
    </property>
   </widget>
   <widget class="QComboBox" name="sonarTypeComboBox">