diff --git a/src/ui/configuration/AccelCalibrationConfig.cc b/src/ui/configuration/AccelCalibrationConfig.cc
index b861e6e78cf5e5612ed9f4eb293ae2e2c103db18..eedd35e963b0bd9cb266551c15b9038107667b07 100644
--- a/src/ui/configuration/AccelCalibrationConfig.cc
+++ b/src/ui/configuration/AccelCalibrationConfig.cc
@@ -3,9 +3,91 @@
 
 AccelCalibrationConfig::AccelCalibrationConfig(QWidget *parent) : QWidget(parent)
 {
+    m_uas=0;
     ui.setupUi(this);
+    connect(ui.calibrateAccelButton,SIGNAL(clicked()),this,SLOT(calibrateButtonClicked()));
+
+    connect(UASManager::instance(),SIGNAL(activeUASSet(UASInterface*)),this,SLOT(activeUASSet(UASInterface*)));
+    activeUASSet(UASManager::instance()->getActiveUAS());
+    accelAckCount=0;
 }
 
 AccelCalibrationConfig::~AccelCalibrationConfig()
 {
 }
+void AccelCalibrationConfig::activeUASSet(UASInterface *uas)
+{
+    if (!uas)
+    {
+        return;
+    }
+    if (m_uas)
+    {
+    }
+    m_uas = uas;
+    connect(m_uas,SIGNAL(textMessageReceived(int,int,int,QString)),this,SLOT(uasTextMessageReceived(int,int,int,QString)));
+}
+
+void AccelCalibrationConfig::calibrateButtonClicked()
+{
+    if (accelAckCount == 0)
+    {
+        MAV_CMD command = MAV_CMD_PREFLIGHT_CALIBRATION;
+        int confirm = 0;
+        float param1 = 0;
+        float param2 = 0;
+        float param3 = 0;
+        float param4 = 0;
+        float param5 = 1;
+        float param6 = 0;
+        float param7 = 0;
+        int component = 1;
+        m_uas->executeCommand(command, confirm, param1, param2, param3, param4, param5, param6, param7, component);
+    }
+    else if (accelAckCount <= 5)
+    {
+        m_uas->executeCommandAck(accelAckCount++,true);
+    }
+    else
+    {
+        m_uas->executeCommandAck(accelAckCount++,true);
+        ui.calibrateAccelButton->setText("Calibrate\nAccelerometer");
+        //accelAckCount = 0;
+    }
+
+}
+void AccelCalibrationConfig::uasTextMessageReceived(int uasid, int componentid, int severity, QString text)
+{
+    //command received: " Severity 1
+    //Place APM Level and press any key" severity 5
+    if (severity == 5)
+    {
+        //This is a calibration instruction
+        if (accelAckCount == 0)
+        {
+            //Calibration Sucessful\r"
+            ui.calibrateAccelButton->setText("Any\nKey");
+            accelAckCount++;
+        }
+        if (accelAckCount == 7)
+        {
+            //All finished
+            //ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
+            ui.outputLabel->setText(text);
+            accelAckCount++;
+        }
+        if (accelAckCount == 8)
+        {
+            if (text.contains("Calibration") && text.contains("successful"))
+            {
+                accelAckCount = 0;
+            }
+            ui.outputLabel->setText(ui.outputLabel->text() + "\n" + text);
+        }
+        else
+        {
+            ui.outputLabel->setText(text);
+        }
+    }
+
+}
diff --git a/src/ui/configuration/AccelCalibrationConfig.h b/src/ui/configuration/AccelCalibrationConfig.h
index 51ae8d76f6fff26d717aab0cd2ce642b975d5b8a..a9e5f20534d4ab66ebc87a58c95dd8640b1cc4af 100644
--- a/src/ui/configuration/AccelCalibrationConfig.h
+++ b/src/ui/configuration/AccelCalibrationConfig.h
@@ -3,7 +3,8 @@
 
 #include <QWidget>
 #include "ui_AccelCalibrationConfig.h"
-
+#include "UASManager.h"
+#include "UASInterface.h"
 class AccelCalibrationConfig : public QWidget
 {
     Q_OBJECT
@@ -11,9 +12,14 @@ class AccelCalibrationConfig : public QWidget
 public:
     explicit AccelCalibrationConfig(QWidget *parent = 0);
     ~AccelCalibrationConfig();
-    
+private slots:
+    void activeUASSet(UASInterface *uas);
+    void calibrateButtonClicked();
+    void uasTextMessageReceived(int uasid, int componentid, int severity, QString text);
 private:
+    int accelAckCount;
     Ui::AccelCalibrationConfig ui;
+    UASInterface *m_uas;
 };
 
 #endif // ACCELCALIBRATIONCONFIG_H
diff --git a/src/ui/configuration/AccelCalibrationConfig.ui b/src/ui/configuration/AccelCalibrationConfig.ui
index 43ca6a1536ad76dfecd97ddcd0ea7f1a60547c9b..a1b99045e6bb722490a4ceefb2eebec1e7b946f4 100644
--- a/src/ui/configuration/AccelCalibrationConfig.ui
+++ b/src/ui/configuration/AccelCalibrationConfig.ui
@@ -32,8 +32,8 @@
   <widget class="QPushButton" name="calibrateAccelButton">
    <property name="geometry">
     <rect>
-     <x>60</x>
-     <y>60</y>
+     <x>70</x>
+     <y>160</y>
      <width>81</width>
      <height>31</height>
     </rect>
@@ -43,13 +43,13 @@
 Accelerometer</string>
    </property>
   </widget>
-  <widget class="QLabel" name="label_2">
+  <widget class="QLabel" name="outputLabel">
    <property name="geometry">
     <rect>
-     <x>40</x>
-     <y>120</y>
-     <width>161</width>
-     <height>51</height>
+     <x>20</x>
+     <y>50</y>
+     <width>211</width>
+     <height>91</height>
     </rect>
    </property>
    <property name="text">