diff --git a/images/earth.html b/images/earth.html
index afdcec85903127711b85d0d757b3a2a6ee2ce15c..8f8aadf59d0d832d707fcf540d82534dd0487800 100644
--- a/images/earth.html
+++ b/images/earth.html
@@ -1,34 +1,101 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"><html>
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN""http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"
+
+<html>
   <meta http-equiv="content-type" content="text/html; charset=utf-8" />
   <head>
-<!--
-Copyright 2008 Google Inc.
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-     http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
+<!-- QGroundControl -->
     <title>QGroundControl Google Earth View</title>
     <!-- *** Replace the key below below with your own API key, available at http://code.google.com/apis/maps/signup.html *** -->
     <script  type="text/javascript" src="http://www.google.com/jsapi?key=ABQIAAAAwbkbZLyhsmTCWXbTcjbgbRSzHs7K5SvaUdm8ua-Xxy_-2dYwMxQMhnagaawTo7L1FE1-amhuQxIlXw"></script>
     <script  type="text/javascript">
-google.load("earth", "1");
+google.load("earth", "1", { 'language': 'en'});
 
 var ge = null;
+var initialized = false;
+var aircraft = new Array();
+var currAircraft = 220;
+var followAircraft = false;
+var currLat = 47.3769;
+var currLon = 8.549444;
+var currAlt = 470;
+
+var homeLat = 0;
+var homeLon = 0;
+var homeAlt = 0;
+var homeViewRange = 500;
+var homeLocation = null;
+var homeGroundLevel = 0;
+
+var currViewRange = 3.0;	///<< The current viewing range from this position (in meters)
+var currTilt = 40.0;		///<< The tilt angle (in degrees)
+var currFollowTilt = 40.0;
+var currView = null;
+
+
+
+var planeOrient;
+var planeLoc;
+
+
+// Aircraft class
+
+
+function isInitialized()
+{
+	return initialized;
+}
+
 
 function init() {
-  google.earth.createInstance("map3d", initCallback, failureCallback);
+	google.earth.createInstance("map3d", initCallback, failureCallback);
+}
+
+
+
+
+
+function setGCSHome(lat, lon, alt)
+{
+	homeLat = lat;
+	homeLon = lon;
+	homeAlt = alt;
+	
+	
+	
+	var placemark = ge.createPlacemark(''); 
+	    var icon = ge.createIcon(''); 
+	    icon.setHref('http://google-maps-icons.googlecode.com/files/blackH.png'); 
+	    var style = ge.createStyle(''); 
+	    style.getIconStyle().setIcon(icon); 
+	    //style.getIconStyle().setScale(0.5); 
+	    placemark.setStyleSelector(style);  
+
+	    // Set the placemark's location.   
+	    homeLocation = ge.createPoint(''); 
+	    homeLocation.setLatitude(lat); 
+	    homeLocation.setLongitude(lon);
+	    homeLocation.setAltitude(alt); 
+	    placemark.setGeometry(homeLocation);  
+
+	    // Add the placemark to Earth. 
+	    ge.getFeatures().appendChild(placemark); 
+
+	    homeGroundLevel = ge.getGlobe().getGroundAltitude(lat,lon);
+	    if (homeGroundLevel == 0)
+	    {
+		    homeGroundLevel = alt;
+	    }
+	
+	
+	
+	
+	
+	
+	goHome();
 }
 
-function initCallback(object) {
+function initCallback(object)
+{
   ge = object;
   ge.getWindow().setVisibility(true);
           ge.getOptions().setStatusBarVisibility(true); 
@@ -40,11 +107,104 @@ function initCallback(object) {
         ge.getLayerRoot().enableLayerById(ge.LAYER_BUILDINGS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_BORDERS, true); 
         ge.getLayerRoot().enableLayerById(ge.LAYER_TREES, true);
+        
+        // Now after the Google Earth initialization, initialize the GCS view
+        setGCSHome(currLat, currLon, currAlt);
+        
+        
+        // Create the first aircraft model
+        	// Load 3D model
+	      var planePlacemark = ge.createPlacemark('');
+          planePlacemark.setName('aircraft');
+          planeModel = ge.createModel('');
+          ge.getFeatures().appendChild(planePlacemark);
+          planeLoc = ge.createLocation('');
+          planeModel.setLocation(planeLoc);
+          planeLink = ge.createLink('');
+          planeOrient = ge.createOrientation(''); 
+          planeModel.setOrientation(planeOrient); 
+
+          planeLink.setHref('http://qgroundcontrol.org/_media/users/models/multiplex-twinstar.dae');
+          planeModel.setLink(planeLink);
+          planeModel.setAltitudeMode (ge.ALTITUDE_ABSOLUTE); 
+
+          planeLoc.setLatitude(currLat);
+          planeLoc.setLongitude(currLon);
+          planeLoc.setAltitude(currAlt);
+
+          planePlacemark.setGeometry(planeModel);
+          
+          setAircraftPositionAttitude(220, 47.3772, currLon, currAlt+50, 20, 15, 50);
+          enableFollowing(true);
+          updateFollowAircraft();
+        initialized = true;
+        
+        
+}
+
+function setAircraftPositionAttitude(id, lat, lon, alt, roll, pitch, yaw)
+{
+	if (id == currAircraft)
+	{
+		currLat = lat;
+		currLon = lon;
+		currAlt = alt;
+	}
+	
+	planeOrient.setRoll(roll); 
+	planeOrient.setTilt(pitch); 
+	        planeOrient.setHeading(yaw);
+        
+        
+                
+        planeLoc.setLatitude(lat);
+        planeLoc.setLongitude(lon);
+        planeLoc.setAltitude(alt);
+	
 }
 
-function failureCallback(object) {
+function goHome()
+{
+	var currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	currView.setLatitude(homeLat);
+	currView.setLongitude(homeLon);
+	currView.setAltitude(homeAlt);
+	currView.setRange(homeViewRange);
+	currView.setTilt(currTilt);
+	ge.getView().setAbstractView(currView);
 }
-    </script>
+
+function setCurrentAircraft(id)
+{
+	currAircraft = id;
+}
+
+function enableFollowing(follow)
+{
+	followEnabled = follow;
+}
+
+
+function updateFollowAircraft()
+{
+	if (followEnabled)
+	{
+	currView = ge.getView().copyAsLookAt(ge.ALTITUDE_ABSOLUTE);
+	currView.setLatitude(currLat);
+	currView.setLongitude(currLon);
+	currView.setAltitude(currAlt);
+	currView.setRange(currViewRange);
+	currView.setTilt(currFollowTilt);
+	ge.getView().setAbstractView(currView);
+	}
+}
+
+function failureCallback(object)
+{
+}
+</script>
+
+
     <style type="text/css">
     html, body {
       margin: 0;
diff --git a/lib/QMapControl/src/mapnetwork.cpp b/lib/QMapControl/src/mapnetwork.cpp
index f1430d05ab8bc143b4d58a4295c7b9eb5debb27f..155d9202f1029ec00851f6d1e8cddbe2e3e41c2c 100644
--- a/lib/QMapControl/src/mapnetwork.cpp
+++ b/lib/QMapControl/src/mapnetwork.cpp
@@ -95,7 +95,9 @@ namespace qmapcontrol
                     }
                     else
                     {
-                        qDebug() << "NETWORK_PIXMAP_ERROR: " << ax;
+                        // QGC FIXME Error is currently undetected
+                        // TODO Error is currently undetected
+                        //qDebug() << "NETWORK_PIXMAP_ERROR: " << ax;
                     }
                 }
 
diff --git a/models/ascent-park-glider.skp b/models/ascent-park-glider.skp
new file mode 100644
index 0000000000000000000000000000000000000000..1a791d7591c89f6c536f49bdfd651a859faf9f0f
Binary files /dev/null and b/models/ascent-park-glider.skp differ
diff --git a/models/multiplex-easyglider.skp b/models/multiplex-easyglider.skp
new file mode 100644
index 0000000000000000000000000000000000000000..aa6d9ed8b76289ef3816931e616366bc4795f2a9
Binary files /dev/null and b/models/multiplex-easyglider.skp differ
diff --git a/models/multiplex-twinstar.skp b/models/multiplex-twinstar.skp
new file mode 100644
index 0000000000000000000000000000000000000000..30fd6f91775931cc2fc867dad1c416765adfdc94
Binary files /dev/null and b/models/multiplex-twinstar.skp differ
diff --git a/models/walkera-4g6.skp b/models/walkera-4g6.skp
new file mode 100644
index 0000000000000000000000000000000000000000..c419e93dd7c9c277d167cae87ac8fec66f32aead
Binary files /dev/null and b/models/walkera-4g6.skp differ
diff --git a/qgroundcontrol.pri b/qgroundcontrol.pri
index 970583dad22ac85902f1c8a78e31df6f2232aa56..48f48d49ddeae9a80e0278d6fc9cbcf37271d98d 100644
--- a/qgroundcontrol.pri
+++ b/qgroundcontrol.pri
@@ -80,6 +80,8 @@ macx {
     QMAKE_PRE_LINK += && cp -rf $$BASEDIR/audio $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
     # Copy google earth starter file
     QMAKE_PRE_LINK += && cp -f $$BASEDIR/images/earth.html $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
+    # Copy model files
+    QMAKE_PRE_LINK += && cp -f $$BASEDIR/models/*.skp $$DESTDIR/qgroundcontrol.app/Contents/MacOs/.
 
     exists(/Library/Frameworks/osg.framework):exists(/Library/Frameworks/OpenThreads.framework) {
     # No check for GLUT.framework since it's a MAC default
@@ -278,6 +280,8 @@ win32-msvc2008 {
 
     message(Building for Windows Visual Studio 2008 (32bit))
 
+    CONFIG += qaxcontainer
+
     # Special settings for debug
     #CONFIG += CONSOLE
 
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index d45f0c99f02d2c7df4f532b9ab3ab1b072971c9a..5c50537a76ea557e857cbcad6adc22a3be642945 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -141,7 +141,8 @@ FORMS += src/ui/MainWindow.ui \
     src/ui/QGCRemoteControlView.ui \
     src/ui/QMap3D.ui \
     src/ui/QGCWebView.ui \
-    src/ui/map3D/QGCGoogleEarthView.ui
+    src/ui/map3D/QGCGoogleEarthView.ui \
+    src/ui/map3D/QGCGoogleEarthViewWin.ui
 
 # src/ui/WaypointGlobalView.ui
 INCLUDEPATH += src \
@@ -234,7 +235,8 @@ HEADERS += src/MG.h \
     src/ui/RadioCalibration/AbstractCalibrator.h \
     src/comm/QGCMAVLink.h \
     src/ui/QGCWebView.h \
-    src/ui/map3D/QGCGoogleEarthView.h
+    src/ui/map3D/QGCGoogleEarthView.h \
+    src/ui/map3D/QGCWebPage.h
 
 
 contains(DEPENDENCIES_PRESENT, osg) { 
@@ -336,7 +338,8 @@ SOURCES += src/main.cc \
     src/ui/RadioCalibration/AbstractCalibrator.cc \
     src/ui/RadioCalibration/RadioCalibrationData.cc \
     src/ui/QGCWebView.cc \
-    src/ui/map3D/QGCGoogleEarthView.cc
+    src/ui/map3D/QGCGoogleEarthView.cc \
+    src/ui/map3D/QGCWebPage.cc
 contains(DEPENDENCIES_PRESENT, osg) { 
     message("Including sources for OpenSceneGraph")
     
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 3ca6c54ac8b2a7afd6e73e2d973519b3f90922f6..7a7616bc0babfd0fcac75f8f592ccca7837ce6ad 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -76,6 +76,9 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
         localX(0),
         localY(0),
         localZ(0),
+        latitude(0),
+        longitude(0),
+        altitude(0),
         roll(0),
         pitch(0),
         yaw(0),
@@ -776,6 +779,7 @@ void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
     uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
     // Write message into buffer, prepending start sign
     int len = mavlink_msg_to_send_buffer(buffer, &message);
+    mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len);
     // If link is connected
     if (link->isConnected())
     {
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index da8c44c0e8a4645a19e1e6f84139f5676a5fa64b..12363b273d96e908934acbfaea6fb5c5e293a206 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -82,6 +82,9 @@ public:
     double getLocalX() const { return localX; };
     double getLocalY() const { return localY; };
     double getLocalZ() const { return localZ; };
+    double getLat() const { return latitude; };
+    double getLon() const { return longitude; };
+    double getAlt() const { return altitude; };
 
     double getRoll() const { return roll; };
     double getPitch() const { return pitch; };
@@ -139,6 +142,9 @@ protected:
     double localX;
     double localY;
     double localZ;
+    double latitude;
+    double longitude;
+    double altitude;
     double roll;
     double pitch;
     double yaw;
diff --git a/src/uas/UASInterface.h b/src/uas/UASInterface.h
index b4b348d9591c9ebb69cea986b8ce3694d4948ec4..51f4f9b54f9f3775b1d5c1a2e3c799a3c77b891f 100644
--- a/src/uas/UASInterface.h
+++ b/src/uas/UASInterface.h
@@ -70,6 +70,10 @@ public:
     virtual double getLocalY() const = 0;
     virtual double getLocalZ() const = 0;
 
+    virtual double getLat() const = 0;
+    virtual double getLon() const = 0;
+    virtual double getAlt() const = 0;
+
     virtual double getRoll() const = 0;
     virtual double getPitch() const = 0;
     virtual double getYaw() const = 0;
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index 9f3beb303e67e6d792b4ef4afa359d57eaaaf368..ab23ecbacbdf30cd9dae99d94ba7b4c26cac803c 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -1,13 +1,47 @@
+#include <QWebFrame>
+#include <QWebPage>
+
+#include <QDebug>
+
 #include "QGCGoogleEarthView.h"
+#include "QGCWebPage.h"
+#include "UASManager.h"
+#if (defined Q_OS_WIN) && !(defined __MINGW32__)
+#else
 #include "ui_QGCGoogleEarthView.h"
+#endif
 
 QGCGoogleEarthView::QGCGoogleEarthView(QWidget *parent) :
-    QWidget(parent),
-    ui(new Ui::QGCGoogleEarthView)
+        QWidget(parent),
+        updateTimer(new QTimer(this)),
+        mav(NULL),
+        followCamera(true),
+#if (defined Q_OS_WIN) && !(defined __MINGW32__)
+        webViewWin(new QGCWebAxWidget(this)),
+#else
+        ui(new Ui::QGCGoogleEarthView)
+#endif
 {
+#if (defined Q_OS_WIN) && !(defined __MINGW32__)
+    // Create layout and attach webViewWin
+#else
     ui->setupUi(this);
+    ui->webView->setPage(new QGCWebPage(ui->webView));
     ui->webView->settings()->setAttribute(QWebSettings::PluginsEnabled, true);
+
     ui->webView->load(QUrl("earth.html"));
+    connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
+    connect(updateTimer, SIGNAL(timeout()), this, SLOT(updateState()));
+    updateTimer->start(200);
+#endif
+
+    // Get list of available 3D models
+
+    // Load HTML file
+
+    // Parse for model links
+
+    // Populate model list
 }
 
 QGCGoogleEarthView::~QGCGoogleEarthView()
@@ -15,6 +49,55 @@ QGCGoogleEarthView::~QGCGoogleEarthView()
     delete ui;
 }
 
+void QGCGoogleEarthView::setActiveUAS(UASInterface* uas)
+{
+    mav = uas;
+}
+
+void QGCGoogleEarthView::updateState()
+{
+    if (ui->webView->page()->currentFrame()->evaluateJavaScript("isInitialized();").toBool())
+    {
+        static bool initialized = false;
+        if (!initialized)
+        {
+            ui->webView->page()->currentFrame()->evaluateJavaScript("setGCSHome(22.679833,8.549444, 470);");
+            initialized = true;
+        }
+        int uasId = 0;
+        double lat = 22.679833;
+        double lon = 8.549444;
+        double alt = 470.0;
+
+        float roll = 0.0f;
+        float pitch = 0.0f;
+        float yaw = 0.0f;
+
+        if (mav)
+        {
+            uasId = mav->getUASID();
+            lat = mav->getLat();
+            lon = mav->getLon();
+            alt = mav->getAlt();
+            roll = mav->getRoll();
+            pitch = mav->getPitch();
+            yaw = mav->getYaw();
+        }
+//        ui->webView->page()->currentFrame()->evaluateJavaScript(QString("setAircraftPosition(%1, %2, %3, %4);")
+//                                                                .arg(uasId)
+//                                                                .arg(lat)
+//                                                                .arg(lon)
+//                                                                .arg(alt));
+//        //ui->webView->page()->currentFrame()->evaluateJavaScript(QString("drawAndCenter(%1, %2, %3, %4, '%5', %6, %7, %8, %9, %10, %11);").arg(lat).arg(lon).arg(alt).arg("true").arg("ff0000ff").arg("1").arg("true").arg("true").arg(yaw).arg(pitch).arg(roll));
+
+        if (followCamera)
+        {
+             ui->webView->page()->currentFrame()->evaluateJavaScript(QString("updateFollowAircraft()"));
+            //ui->webView->page()->currentFrame()->evaluateJavaScript(QString("followAircraft(%1);").arg(mav->getUASID()));
+        }
+    }
+}
+
 void QGCGoogleEarthView::changeEvent(QEvent *e)
 {
     QWidget::changeEvent(e);
diff --git a/src/ui/map3D/QGCGoogleEarthView.h b/src/ui/map3D/QGCGoogleEarthView.h
index 47f17c1fb819b62803c81ae84450a5157b2743b2..f59d9e8f7f6ba22cb2796f6c677aded49507c5a8 100644
--- a/src/ui/map3D/QGCGoogleEarthView.h
+++ b/src/ui/map3D/QGCGoogleEarthView.h
@@ -2,10 +2,37 @@
 #define QGCGOOGLEEARTHVIEW_H
 
 #include <QWidget>
+#include <QTimer>
+#include <UASInterface.h>
 
+#if (defined Q_OS_WIN) && !(defined __MINGW32__)
+    QGCWebAxWidget* webViewWin;
+#include <ActiveQt/QAxWidget>
+#include "windows.h"
+
+class WebAxWidget : public QAxWidget
+{
+public:
+
+    WebAxWidget(QWidget* parent = 0, Qt::WindowFlags f = 0)
+        : QAxWidget(parent, f)
+    {
+    }
+protected:
+    virtual bool translateKeyEvent(int message, int keycode) const
+    {
+        if (message >= WM_KEYFIRST && message <= WM_KEYLAST)
+            return true;
+        else
+            return QAxWidget::translateKeyEvent(message, keycode);
+    }
+
+};
+#else
 namespace Ui {
     class QGCGoogleEarthView;
 }
+#endif
 
 class QGCGoogleEarthView : public QWidget
 {
@@ -15,11 +42,23 @@ public:
     explicit QGCGoogleEarthView(QWidget *parent = 0);
     ~QGCGoogleEarthView();
 
+public slots:
+    /** @brief Update the internal state. Does not trigger a redraw */
+    void updateState();
+    /** @brief Set the currently selected UAS */
+    void setActiveUAS(UASInterface* uas);
+
 protected:
     void changeEvent(QEvent *e);
+    QTimer* updateTimer;
+    UASInterface* mav;
+    bool followCamera;
 
+    #if (defined Q_OS_WIN) && !(defined __MINGW32__)
+#else
 private:
     Ui::QGCGoogleEarthView *ui;
+#endif
 };
 
 #endif // QGCGOOGLEEARTHVIEW_H
diff --git a/src/ui/map3D/QGCGoogleEarthViewWin.ui b/src/ui/map3D/QGCGoogleEarthViewWin.ui
new file mode 100644
index 0000000000000000000000000000000000000000..4b7d6a45fb2f7258aed5a05c7df837f1dc0b7b66
--- /dev/null
+++ b/src/ui/map3D/QGCGoogleEarthViewWin.ui
@@ -0,0 +1,21 @@
+<ui version="4.0" >
+ <author></author>
+ <comment></comment>
+ <exportmacro></exportmacro>
+ <class>Form</class>
+ <widget class="QWidget" name="Form" >
+  <property name="geometry" >
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>400</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="windowTitle" >
+   <string>Form</string>
+  </property>
+ </widget>
+ <pixmapfunction></pixmapfunction>
+ <connections/>
+</ui>
diff --git a/src/ui/map3D/QGCWebPage.cc b/src/ui/map3D/QGCWebPage.cc
new file mode 100644
index 0000000000000000000000000000000000000000..ffdd649701b06481510e68279c643950f1e3ea37
--- /dev/null
+++ b/src/ui/map3D/QGCWebPage.cc
@@ -0,0 +1,12 @@
+#include "QGCWebPage.h"
+#include <QDebug>
+
+QGCWebPage::QGCWebPage(QObject *parent) :
+    QWebPage(parent)
+{
+}
+
+void QGCWebPage::javaScriptConsoleMessage ( const QString & message, int lineNumber, const QString & sourceID )
+{
+    qDebug() << "JAVASCRIPT: " << lineNumber << sourceID << message;
+}
diff --git a/src/ui/map3D/QGCWebPage.h b/src/ui/map3D/QGCWebPage.h
new file mode 100644
index 0000000000000000000000000000000000000000..f7783c9a33c6d84206043188031ca50a54ac0e08
--- /dev/null
+++ b/src/ui/map3D/QGCWebPage.h
@@ -0,0 +1,21 @@
+#ifndef QGCWEBPAGE_H
+#define QGCWEBPAGE_H
+
+#include <QWebPage>
+
+class QGCWebPage : public QWebPage
+{
+    Q_OBJECT
+public:
+    explicit QGCWebPage(QObject *parent = 0);
+
+signals:
+
+public slots:
+
+protected:
+    void javaScriptConsoleMessage ( const QString & message, int lineNumber, const QString & sourceID );
+
+};
+
+#endif // QGCWEBPAGE_H
