diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21974be991e4eed51a0b10e6ea46b4397e430897..e4038003b4e79968665b7719f2cde7c5f4289a7d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,10 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang" OR "${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
+	add_compile_options(-Wall -Wextra -Wno-address-of-packed-member)
+endif()
+
 # CMake build type
 # Debug Release RelWithDebInfo MinSizeRel Coverage
 if (NOT CMAKE_BUILD_TYPE)
@@ -142,7 +146,6 @@ set(QGC_RESOURCES
 	qgcresources.qrc
 	qgroundcontrol.qrc
 	qgcimages.qrc
-
 	src/FirmwarePlugin/APM/APMResources.qrc
 	src/FirmwarePlugin/PX4/PX4Resources.qrc
 	src/Airmap/airmap.qrc
diff --git a/ChangeLog.md b/ChangeLog.md
index 3fa9ce4d842a394885838686a3f2706951274818..d67c4b62f92894a359c57ec44aad6d5403a4df73 100644
--- a/ChangeLog.md
+++ b/ChangeLog.md
@@ -6,6 +6,8 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* Log Replay: Support changing speed of playback
+* Basic object avoidance added to vehicles.
 * Added ability to set a joystick button to be single action or repeated action while the button is held down.
 * Rework joysticks. Fixed several issues and updated setup UI.
 * Adding support for UDP RTP h.265 video streams
diff --git a/custom-example/res/CustomFlyView.qml b/custom-example/res/CustomFlyView.qml
index c7e8f010a0568fab5d882fa6ca12f0dcfe29a32d..90760fa58bf758fe7d0b9bf9e1ed0eb08afec139 100644
--- a/custom-example/res/CustomFlyView.qml
+++ b/custom-example/res/CustomFlyView.qml
@@ -604,6 +604,26 @@ Item {
         }
     }
     //-------------------------------------------------------------------------
+    //-- Object Avoidance
+    Item {
+        visible:                activeVehicle && activeVehicle.objectAvoidance.available && activeVehicle.objectAvoidance.enabled
+        anchors.centerIn:       parent
+        width:                  parent.width  * 0.5
+        height:                 parent.height * 0.5
+        Repeater {
+            model:              activeVehicle && activeVehicle.objectAvoidance.gridSize > 0 ? activeVehicle.objectAvoidance.gridSize : []
+            Rectangle {
+                width:          ScreenTools.defaultFontPixelWidth
+                height:         width
+                radius:         width * 0.5
+                color:          distance < 0.25 ? "red" : "orange"
+                x:              (parent.width  * activeVehicle.objectAvoidance.grid(modelData).x) + (parent.width  * 0.5)
+                y:              (parent.height * activeVehicle.objectAvoidance.grid(modelData).y) + (parent.height * 0.5)
+                property real distance: activeVehicle.objectAvoidance.distance(modelData)
+            }
+        }
+    }
+    //-------------------------------------------------------------------------
     //-- Connection Lost While Armed
     Popup {
         id:                     connectionLostArmed
diff --git a/custom-example/src/CustomPlugin.cc b/custom-example/src/CustomPlugin.cc
index f715a4e681c9e38a02af37d5b4ab5b3368a37094..a0ba656d97a2196a69b524a3a751b1cfc2ab4b54 100644
--- a/custom-example/src/CustomPlugin.cc
+++ b/custom-example/src/CustomPlugin.cc
@@ -47,7 +47,7 @@ customQuickInterfaceSingletonFactory(QQmlEngine*, QJSEngine*)
 {
     qCDebug(CustomLog) << "Creating CustomQuickInterface instance";
     CustomQuickInterface* pIFace = new CustomQuickInterface();
-    CustomPlugin* pPlug = dynamic_cast<CustomPlugin*>(qgcApp()->toolbox()->corePlugin());
+    auto* pPlug = qobject_cast<CustomPlugin*>(qgcApp()->toolbox()->corePlugin());
     if(pPlug) {
         pIFace->init();
     } else {
diff --git a/custom-example/src/CustomVideoManager.cc b/custom-example/src/CustomVideoManager.cc
index 7e72973da3ef2bc323109ee7d2554fb2fcb8bb39..047c66ebab2d785d97f17208bb9bbb2b7a86b6d8 100644
--- a/custom-example/src/CustomVideoManager.cc
+++ b/custom-example/src/CustomVideoManager.cc
@@ -26,7 +26,7 @@ CustomVideoManager::_updateSettings()
         return;
     //-- Check encoding
     if(_activeVehicle && _activeVehicle->dynamicCameras()) {
-        CustomCameraControl* pCamera = dynamic_cast<CustomCameraControl*>(_activeVehicle->dynamicCameras()->currentCameraInstance());
+        auto* pCamera = qobject_cast<CustomCameraControl*>(_activeVehicle->dynamicCameras()->currentCameraInstance());
         if(pCamera) {
             Fact *fact = pCamera->videoEncoding();
             if (fact) {
diff --git a/qgcimages.qrc b/qgcimages.qrc
index 446cea18c16d5dbcd93ede94a573713954ec79bd..2da131ce591fcbc22cfce1fd8aefe8fc4a5e1d7e 100644
--- a/qgcimages.qrc
+++ b/qgcimages.qrc
@@ -1,6 +1,5 @@
 <RCC>
     <qresource prefix="/qmlimages">
-        <file alias="camera.svg">resources/camera.svg</file>
         <file alias="adsbVehicle.svg">src/FlightMap/Images/adsbVehicle.svg</file>
         <file alias="Airframe/AirframeSimulation">src/AutoPilotPlugins/Common/Images/AirframeSimulation.svg</file>
         <file alias="Airframe/AirframeUnknown">src/AutoPilotPlugins/Common/Images/AirframeUnknown.svg</file>
@@ -59,6 +58,7 @@
         <file alias="attitudePointer.svg">src/FlightMap/Images/attitudePointer.svg</file>
         <file alias="AwarenessAircraft.svg">src/FlightMap/Images/AwarenessAircraft.svg</file>
         <file alias="Battery.svg">src/ui/toolbar/Images/Battery.svg</file>
+        <file alias="camera.svg">resources/camera.svg</file>
         <file alias="camera_photo.svg">src/Camera/images/camera_photo.svg</file>
         <file alias="camera_video.svg">src/Camera/images/camera_video.svg</file>
         <file alias="CameraComponentIcon.png">src/AutoPilotPlugins/PX4/Images/CameraComponentIcon.png</file>
@@ -91,6 +91,7 @@
         <file alias="Hamburger.svg">src/ui/toolbar/Images/Hamburger.svg</file>
         <file alias="Help.svg">src/FlightMap/Images/Help.svg</file>
         <file alias="HelpBlack.svg">src/FlightMap/Images/HelpBlack.svg</file>
+        <file alias="HITL.svg">src/AutoPilotPlugins/PX4/Images/HITL.svg</file>
         <file alias="Home.svg">src/FlightMap/Images/Home.svg</file>
         <file alias="Joystick.png">src/ui/toolbar/Images/Joystick.png</file>
         <file alias="LandMode.svg">src/AutoPilotPlugins/PX4/Images/LandMode.svg</file>
@@ -117,6 +118,7 @@
         <file alias="MotorComponentIcon.svg">src/AutoPilotPlugins/Common/Images/MotorComponentIcon.svg</file>
         <file alias="no-logging-light.svg">src/AutoPilotPlugins/PX4/Images/no-logging-light.svg</file>
         <file alias="no-logging.svg">src/AutoPilotPlugins/PX4/Images/no-logging.svg</file>
+        <file alias="ObjectAvoidance.svg">src/AutoPilotPlugins/PX4/Images/ObjectAvoidance.svg</file>
         <file alias="PaperPlane.svg">src/ui/toolbar/Images/PaperPlane.svg</file>
         <file alias="PiP.svg">src/FlightMap/Images/PiP.svg</file>
         <file alias="pipHide.svg">src/FlightMap/Images/pipHide.svg</file>
diff --git a/qgroundcontrol.pro b/qgroundcontrol.pro
index 55ac49c3e5e56877588ad9046fd822c7f15fe73b..818ed0c97d9b2955a1ad70afed4dc05ca2189409 100644
--- a/qgroundcontrol.pro
+++ b/qgroundcontrol.pro
@@ -855,6 +855,7 @@ HEADERS+= \
     src/Vehicle/MultiVehicleManager.h \
     src/Vehicle/GPSRTKFactGroup.h \
     src/Vehicle/Vehicle.h \
+    src/Vehicle/VehicleObjectAvoidance.h \
     src/VehicleSetup/VehicleComponent.h \
 
 !MobileBuild { !NoSerialBuild {
@@ -881,6 +882,7 @@ SOURCES += \
     src/Vehicle/MultiVehicleManager.cc \
     src/Vehicle/GPSRTKFactGroup.cc \
     src/Vehicle/Vehicle.cc \
+    src/Vehicle/VehicleObjectAvoidance.cc \
     src/VehicleSetup/VehicleComponent.cc \
 
 !MobileBuild { !NoSerialBuild {
diff --git a/src/Airmap/AirMapAdvisoryManager.cc b/src/Airmap/AirMapAdvisoryManager.cc
index de4a4d91335e21dd260559f998444ea8936a0eb6..29151da8ed1466724b675952c177f4744b2e0039 100644
--- a/src/Airmap/AirMapAdvisoryManager.cc
+++ b/src/Airmap/AirMapAdvisoryManager.cc
@@ -84,7 +84,7 @@ AirMapAdvisoryManager::_requestAdvisories()
     }
     params.geometry = Geometry(polygon);
     //-- Rulesets
-    AirMapRulesetsManager* pRulesMgr = dynamic_cast<AirMapRulesetsManager*>(qgcApp()->toolbox()->airspaceManager()->ruleSets());
+    auto* pRulesMgr = qobject_cast<AirMapRulesetsManager*>(qgcApp()->toolbox()->airspaceManager()->ruleSets());
     QString ruleIDs;
     if(pRulesMgr) {
         for(int rs = 0; rs < pRulesMgr->ruleSets()->count(); rs++) {
diff --git a/src/Airmap/AirMapFlightPlanManager.cc b/src/Airmap/AirMapFlightPlanManager.cc
index ff763255baa82408755f84739f458e8896d362b7..e49f47b92631f784cdc70e7553c3f2df736be9d8 100644
--- a/src/Airmap/AirMapFlightPlanManager.cc
+++ b/src/Airmap/AirMapFlightPlanManager.cc
@@ -428,7 +428,7 @@ AirMapFlightPlanManager::_createFlightPlan()
 void
 AirMapFlightPlanManager::_updateRulesAndFeatures(std::vector<RuleSet::Id>& rulesets, std::unordered_map<std::string, RuleSet::Feature::Value>& features, bool updateFeatures)
 {
-    AirMapRulesetsManager* pRulesMgr = dynamic_cast<AirMapRulesetsManager*>(qgcApp()->toolbox()->airspaceManager()->ruleSets());
+    auto* pRulesMgr = qobject_cast<AirMapRulesetsManager*>(qgcApp()->toolbox()->airspaceManager()->ruleSets());
     if(pRulesMgr) {
         for(int rs = 0; rs < pRulesMgr->ruleSets()->count(); rs++) {
             AirMapRuleSet* ruleSet = qobject_cast<AirMapRuleSet*>(pRulesMgr->ruleSets()->get(rs));
diff --git a/src/Airmap/CMakeLists.txt b/src/Airmap/CMakeLists.txt
index 6952af9398d8654ca0cd3c14b252f1982040f5e7..1f8a0cd2088e84b16d1a687902e511091f73dfaf 100644
--- a/src/Airmap/CMakeLists.txt
+++ b/src/Airmap/CMakeLists.txt
@@ -17,6 +17,18 @@ if(QGC_AIRMAP)
 
 		airmap.qrc
 	)
+	add_custom_target(AirmapQml
+		SOURCES
+		AirmapSettings.qml
+		AirspaceRegulation.qml
+		ComplianceRules.qml
+		FlightDetails.qml
+		RuleSelector.qml
+		AirspaceControl.qml
+		AirspaceWeather.qml
+		FlightBrief.qml
+		FlightFeature.qml
+	)
 else()
 	add_library(Airmap
 		dummy/AirspaceManager.cc
diff --git a/src/AnalyzeView/CMakeLists.txt b/src/AnalyzeView/CMakeLists.txt
index a92627a29d9bfd006e7701a0dc45f185a9f69fdb..9f46fd9932f0719c6446a78ed362c2e8ae2016a8 100644
--- a/src/AnalyzeView/CMakeLists.txt
+++ b/src/AnalyzeView/CMakeLists.txt
@@ -17,6 +17,17 @@ add_library(AnalyzeView
 	${EXTRA_SRC}
 )
 
+add_custom_target(
+	AnalyzeViewQml
+SOURCES
+	AnalyzePage.qml
+	AnalyzeView.qml
+	GeoTagPage.qml
+	LogDownloadPage.qml
+	MavlinkConsolePage.qml
+	MAVLinkInspectorPage.qml
+)
+
 target_link_libraries(AnalyzeView
 	PRIVATE
 		qgc
diff --git a/src/AutoPilotPlugins/APM/CMakeLists.txt b/src/AutoPilotPlugins/APM/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..565e54157a17e8a03271c16ebbb1a27689f468f9
--- /dev/null
+++ b/src/AutoPilotPlugins/APM/CMakeLists.txt
@@ -0,0 +1,35 @@
+add_custom_target(APMAutoPilotPluginQml
+SOURCES
+    APMAirframeComponent.qml
+    APMAirframeComponentSummary.qml
+    APMCameraComponent.qml
+    APMCameraComponentSummary.qml
+    APMCameraSubComponent.qml
+    APMFlightModesComponent.qml
+    APMFlightModesComponentSummary.qml
+    APMHeliComponent.qml
+    APMLightsComponent.qml
+    APMLightsComponentSummary.qml
+    APMNotSupported.qml
+    APMPowerComponent.qml
+    APMPowerComponentSummary.qml
+    APMRadioComponentSummary.qml
+    APMSafetyComponent.qml
+    APMSafetyComponentCopter.qml
+    APMSafetyComponentPlane.qml
+    APMSafetyComponentRover.qml
+    APMSafetyComponentSub.qml
+    APMSafetyComponentSummary.qml
+    APMSafetyComponentSummaryCopter.qml
+    APMSafetyComponentSummaryPlane.qml
+    APMSafetyComponentSummaryRover.qml
+    APMSafetyComponentSummarySub.qml
+    APMSensorsComponent.qml
+    APMSensorsComponentSummary.qml
+    APMSubFrameComponent.qml
+    APMSubFrameComponentSummary.qml
+    APMSubMotorComponent.qml
+    APMTuningComponentCopter.qml
+    APMTuningComponentSub.qml
+
+)
\ No newline at end of file
diff --git a/src/AutoPilotPlugins/CMakeLists.txt b/src/AutoPilotPlugins/CMakeLists.txt
index 9d27b5e061f7cb8a17ec41d644d4a57a546bfc12..2a3776e928a7147d0b5c67c56586e350a999a9cb 100644
--- a/src/AutoPilotPlugins/CMakeLists.txt
+++ b/src/AutoPilotPlugins/CMakeLists.txt
@@ -1,4 +1,8 @@
 
+add_subdirectory(APM)
+add_subdirectory(Common)
+add_subdirectory(PX4)
+
 add_library(AutoPilotPlugins
 	APM/APMAirframeComponent.cc
 	APM/APMAirframeComponentController.cc
diff --git a/src/AutoPilotPlugins/Common/CMakeLists.txt b/src/AutoPilotPlugins/Common/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60f3e8382b9ec1740a202ab16fdc7ef16de69373
--- /dev/null
+++ b/src/AutoPilotPlugins/Common/CMakeLists.txt
@@ -0,0 +1,9 @@
+add_custom_target(CommonAutoPilotPluginQml
+SOURCES
+    ESP8266Component.qml
+    ESP8266ComponentSummary.qml
+    MotorComponent.qml
+    RadioComponent.qml
+    SetupPage.qml
+    SyslinkComponent.qml
+)
\ No newline at end of file
diff --git a/src/AutoPilotPlugins/PX4/CMakeLists.txt b/src/AutoPilotPlugins/PX4/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fcd4ae40461a97a9dee6272a0c8334f97489ebe9
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/CMakeLists.txt
@@ -0,0 +1,23 @@
+add_custom_target(PX4AutoPilotPluginQml
+SOURCES
+    AirframeComponent.qml
+    AirframeComponentSummary.qml
+    CameraComponent.qml
+    CameraComponentSummary.qml
+    FlightModesComponentSummary.qml
+    PX4AdvancedFlightModes.qml
+    PX4FlightModes.qml
+    PX4RadioComponentSummary.qml
+    PX4SimpleFlightModes.qml
+    PX4TuningComponentCopter.qml
+    PX4TuningComponentPlane.qml
+    PX4TuningComponentVTOL.qml
+    PowerComponent.qml
+    PowerComponentSummary.qml
+    SafetyComponent.qml
+    SafetyComponentSummary.qml
+    SensorsComponent.qml
+    SensorsComponentSummary.qml
+    SensorsComponentSummaryFixedWing.qml
+    SensorsSetup.qml
+)
\ No newline at end of file
diff --git a/src/AutoPilotPlugins/PX4/Images/HITL.svg b/src/AutoPilotPlugins/PX4/Images/HITL.svg
new file mode 100644
index 0000000000000000000000000000000000000000..d8b318bac4e16fcfdc34f910b2296965b8a660a0
--- /dev/null
+++ b/src/AutoPilotPlugins/PX4/Images/HITL.svg
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 288 288" style="enable-background:new 0 0 288 288;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#FFFFFF;}
+	.st1{fill:#FFFFFF;stroke:#FFFFFF;}
+	.st2{fill:none;stroke:#FFFFFF;stroke-width:3;stroke-linecap:round;}
+	.st3{fill:none;stroke:#FFFFFF;stroke-width:3;}
+	.st4{fill:#FFFFFF;stroke:#FFFFFF;stroke-width:3;}
+</style>
+<g>
+	<path class="st0" d="M274.534,5.498H13.465C6.043,5.498,0,11.545,0,18.963v200.232c0,7.418,6.042,13.465,13.465,13.465h94.671
+		l-6.086,39.603H85.606c-2.825,0-5.12,2.294-5.12,5.115c0,2.83,2.294,5.124,5.12,5.124h116.789c2.83,0,5.124-2.294,5.124-5.124
+		c0-2.821-2.294-5.115-5.124-5.115h-16.594l-6.091-39.603h94.825c7.427,0,13.465-6.047,13.465-13.465V18.963
+		C287.999,11.545,281.961,5.498,274.534,5.498z M112.417,272.262l6.086-39.603h50.836l6.1,39.603H112.417z M277.76,222.411H10.244
+		v-39.814H277.76V222.411z M277.76,172.349H10.244V15.746H277.76V172.349z"/>
+	<path class="st0" d="M144,209.843c4.447,0,8.068-3.621,8.068-8.068c0-4.447-3.621-8.068-8.068-8.068s-8.064,3.621-8.064,8.068
+		C135.936,206.222,139.553,209.843,144,209.843z"/>
+</g>
+<g>
+	<g>
+		<g>
+			<path id="path2991_3_" class="st1" d="M103.117,52.265c-0.629,3.062-4.237,4.993-8.034,4.185c-3.8-0.811-6.185-4.017-5.35-7.037
+				c0.835-3.02,4.405-4.745,7.999-3.982C101.323,46.2,103.746,49.204,103.117,52.265z"/>
+			<path id="path3761_3_" class="st2" d="M96.75,68.016c-12.195-0.512-21.83-9.625-20.95-19.012
+				c0.88-9.387,10.501-15.603,20.916-15.067c10.415,0.536,19.077,7.687,19.974,17.05c0.216,2.264-0.089,4.532-0.952,6.663"/>
+			<path id="path2991-6_3_" class="st1" d="M192.972,56.45c-3.8,0.811-7.408-1.12-8.034-4.185c-0.629-3.062,1.794-6.068,5.388-6.834
+				c3.594-0.766,7.164,0.962,7.999,3.982C199.157,52.434,196.772,55.643,192.972,56.45z"/>
+			<path id="path3761-1_3_" class="st2" d="M172.269,57.533c-3.477-8.831,2.261-18.332,11.889-22.067
+				c9.625-3.735,20.802-0.814,25.919,7.267c5.116,8.082,0.962,18.995-10.305,23.482c-2.725,1.086-5.676,1.704-8.625,1.807"/>
+			<path id="path2991-9_3_" class="st1" d="M200.916,130.179c-0.629-3.062,2.969-6.278,8.01-7.35
+				c5.037-1.072,9.772,0.368,10.604,3.385c0.835,3.02-2.715,6.515-7.958,7.632S201.545,133.244,200.916,130.179z"/>
+			<path id="path3761-2_3_" class="st2" d="M201.225,113.174c13.889-4.567,29.125-2.852,35.069,4.972
+				c5.945,7.824-0.904,19.658-16.404,25.125s-32.437,1.68-36.77-7.047c-1.048-2.11-1.33-4.381-0.88-6.673"/>
+			<path id="path2991-6-9_3_" class="st1" d="M79.13,122.829c5.037,1.072,8.635,4.288,8.01,7.35
+				c-0.629,3.062-5.412,4.783-10.655,3.666c-5.244-1.117-8.79-4.615-7.958-7.632C69.357,123.197,74.092,121.757,79.13,122.829z"/>
+			<path id="path3761-1-5_3_" class="st2" d="M105.835,129.678c1.752,9.47-9.7,17.39-26.156,16.047
+				c-16.456-1.344-30.155-11.662-30.1-21.304c0.052-9.642,12.363-14.94,27.015-13.425c3.546,0.368,7.072,1.124,10.425,2.244"/>
+		</g>
+		<path class="st3" d="M77.803,128.338c44.532-18.558,83.381-38.595,113.846-77.395"/>
+		<path class="st3" d="M210.262,128.338c-44.532-18.558-83.381-38.595-113.849-77.395"/>
+		<path class="st4" d="M176.661,93.677c1.68,12.408-12.889,24.599-32.633,24.599s-34.313-12.191-32.633-24.599
+			c1.68-12.408,16.256-20.699,32.633-20.699S174.977,81.266,176.661,93.677z"/>
+	</g>
+</g>
+</svg>
diff --git a/src/AutoPilotPlugins/PX4/Images/LandMode.svg b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
index d6dabab67e323daeeb4551e262252b916d8ba3c9..5a6f9801e7da7be140d71b467ee47ffa56f6c3fc 100644
--- a/src/AutoPilotPlugins/PX4/Images/LandMode.svg
+++ b/src/AutoPilotPlugins/PX4/Images/LandMode.svg
@@ -1,26 +1,24 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
-	 viewBox="0 0 39.07 60.197" style="enable-background:new 0 0 39.07 60.197;" xml:space="preserve">
+	 viewBox="0 0 72 72" style="enable-background:new 0 0 72 72;" xml:space="preserve">
 <style type="text/css">
 	.st0{fill:#FFFFFF;}
 	.st1{fill:none;stroke:#FFFFFF;stroke-miterlimit:10;}
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 </style>
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+			<path id="path3761-1_3_" class="st5" d="M244.122,61.512c-1.753-4.453,1.14-9.244,5.995-11.127
+				c4.853-1.883,10.489-0.411,13.069,3.664s0.485,9.578-5.196,11.841c-1.374,0.548-2.862,0.859-4.349,0.911"/>
+			<path id="path2991-9_3_" class="st4" d="M258.566,98.143c-0.317-1.544,1.497-3.165,4.039-3.706
+				c2.54-0.541,4.928,0.185,5.347,1.707c0.421,1.523-1.369,3.285-4.013,3.848C261.295,100.554,258.883,99.688,258.566,98.143z"/>
+			<path id="path3761-2_3_" class="st5" d="M258.722,89.568c7.003-2.303,14.686-1.438,17.683,2.507
+				c2.997,3.945-0.456,9.912-8.271,12.669s-16.356,0.847-18.541-3.554c-0.528-1.064-0.671-2.209-0.444-3.365"/>
+			<path id="path2991-6-9_3_" class="st4" d="M197.157,94.437c2.54,0.541,4.354,2.162,4.039,3.706
+				c-0.317,1.544-2.729,2.412-5.373,1.849c-2.644-0.563-4.432-2.327-4.013-3.848C192.23,94.622,194.617,93.896,197.157,94.437z"/>
+			<path id="path3761-1-5_3_" class="st5" d="M210.623,97.89c0.884,4.775-4.891,8.769-13.189,8.091s-15.205-5.881-15.178-10.742
+				c0.026-4.862,6.234-7.533,13.622-6.769c1.788,0.185,3.566,0.567,5.257,1.131"/>
+		</g>
+		<path class="st6" d="M196.489,97.214c22.455-9.358,42.044-19.461,57.405-39.025"/>
+		<path class="st6" d="M263.279,97.214c-22.455-9.358-42.044-19.461-57.407-39.025"/>
+		<path class="st7" d="M246.336,79.737c0.847,6.256-6.499,12.404-16.455,12.404s-17.302-6.147-16.455-12.404
+			c0.847-6.256,8.197-10.437,16.455-10.437S245.487,73.479,246.336,79.737z"/>
+	</g>
+</g>
+</svg>
diff --git a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
index e6c59e0438d6e937c47eeba50808eb3ef73e5a2a..0e2fe04779fb576b36088c65cf61a835802836b3 100644
--- a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
+++ b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitude.svg
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
 	 viewBox="0 0 288 144.29" style="enable-background:new 0 0 288 144.29;" xml:space="preserve">
 <style type="text/css">
diff --git a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg
index a1a779d742c1471dd6f06d80976a2ddf59dfa18e..f7a99558fa4caf57b7763efaee8c93b80b469581 100644
--- a/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg
+++ b/src/AutoPilotPlugins/PX4/Images/ReturnToHomeAltitudeCopter.svg
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- Generator: Adobe Illustrator 19.2.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!-- Generator: Adobe Illustrator 23.0.4, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
 <svg version="1.1" id="Layer_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
 	 viewBox="0 0 288 144.29" style="enable-background:new 0 0 288 144.29;" xml:space="preserve">
 <style type="text/css">
@@ -76,54 +76,30 @@
 	</g>
 </g>
 <g>
-	<defs>
-		
-		
-			<inkscape:path-effect  copytype="repeated" effect="skeletal" fuse_tolerance="0" id="path-effect4881" is_visible="true" normal_offset="0" pattern="M 0,0 1,0" prop_scale="1" prop_units="false" scale_y_rel="false" spacing="0" tang_offset="0" vertical_pattern="false">
-			</inkscape:path-effect>
-		
-			<inkscape:path-effect  bendpath="m 110,180 140,0" effect="bend_path" id="path-effect3765" is_visible="true" prop_scale="1" scale_y_rel="false" vertical="false">
-			</inkscape:path-effect>
-	</defs>
 	<g>
 		<g>
-			
-				<path id="path2991_3_" sodipodi:cx="110" sodipodi:cy="110" sodipodi:rx="20" sodipodi:ry="20" sodipodi:type="arc" class="st7" d="
-				M238.687,69.157c-0.209,1.011-1.4,1.647-2.652,1.378c-1.252-0.269-2.036-1.329-1.758-2.326c0.278-0.996,1.456-1.565,2.64-1.31
-				C238.1,67.153,238.896,68.146,238.687,69.157z"/>
-			
-				<path id="path3761_3_" sodipodi:cx="110" sodipodi:cy="110" sodipodi:end="6.4866523" sodipodi:open="true" sodipodi:rx="50" sodipodi:ry="50" sodipodi:start="1.374765" sodipodi:type="arc" class="st8" d="
-				M236.576,74.353c-4.023-0.176-7.193-3.191-6.892-6.289c0.301-3.098,3.479-5.143,6.909-4.961s6.277,2.544,6.568,5.636
-				c0.07,0.748-0.031,1.497-0.316,2.2"/>
-			
-				<path id="path2991-6_3_" inkscape:transform-center-x="-140.5" inkscape:transform-center-y="-140.5" sodipodi:cx="110" sodipodi:cy="110" sodipodi:rx="20" sodipodi:ry="20" sodipodi:type="arc" class="st7" d="
-				M268.303,70.535c-1.252,0.269-2.443-0.367-2.652-1.378c-0.209-1.011,0.587-2.004,1.77-2.258c1.184-0.254,2.362,0.314,2.64,1.31
-				C270.338,69.205,269.555,70.266,268.303,70.535z"/>
-			
-				<path id="path3761-1_3_" inkscape:transform-center-x="-140.5" inkscape:transform-center-y="-140.50478" sodipodi:cx="110" sodipodi:cy="110" sodipodi:end="6.4866523" sodipodi:open="true" sodipodi:rx="50" sodipodi:ry="50" sodipodi:start="1.374765" sodipodi:type="arc" class="st8" d="
-				M261.478,70.9c-1.151-2.914,0.736-6.052,3.903-7.288c3.167-1.237,6.851-0.28,8.547,2.384c1.696,2.664,0.337,6.271-3.376,7.758
-				c-0.898,0.36-1.871,0.566-2.844,0.602"/>
-			
-				<path id="path2991-9_3_" sodipodi:cx="110" sodipodi:cy="110" sodipodi:rx="20" sodipodi:ry="20" sodipodi:type="arc" class="st7" d="
-				M270.972,94.871c-0.209-1.011,0.979-2.074,2.643-2.432c1.664-0.358,3.23,0.114,3.508,1.11s-0.893,2.154-2.626,2.526
-				C272.764,96.448,271.181,95.882,270.972,94.871z"/>
-			
-				<path id="path3761-2_3_" sodipodi:cx="110" sodipodi:cy="110" sodipodi:end="6.4866523" sodipodi:open="true" sodipodi:rx="50" sodipodi:ry="50" sodipodi:start="1.374765" sodipodi:type="arc" class="st8" d="
-				M271.065,89.257c4.586-1.516,9.622-0.965,11.594,1.613c1.971,2.578-0.283,6.493-5.405,8.31
-				c-5.123,1.817-10.726,0.574-12.161-2.305c-0.347-0.697-0.441-1.446-0.293-2.203"/>
-			
-				<path id="path2991-6-9_3_" inkscape:transform-center-x="140.5" inkscape:transform-center-y="140.50002" sodipodi:cx="110" sodipodi:cy="110" sodipodi:rx="20" sodipodi:ry="20" sodipodi:type="arc" class="st7" d="
-				M230.723,92.439c1.664,0.358,2.852,1.421,2.643,2.432c-0.209,1.011-1.792,1.576-3.525,1.204c-1.733-0.372-2.903-1.53-2.626-2.526
-				S229.058,92.082,230.723,92.439z"/>
-			
-				<path id="path3761-1-5_3_" inkscape:transform-center-x="140.5" inkscape:transform-center-y="140.50476" sodipodi:cx="110" sodipodi:cy="110" sodipodi:end="6.4866523" sodipodi:open="true" sodipodi:rx="50" sodipodi:ry="50" sodipodi:start="1.374765" sodipodi:type="arc" class="st8" d="
-				M239.546,94.715c0.575,3.127-3.213,5.738-8.655,5.284s-9.964-3.876-9.939-7.059c0.025-3.183,4.098-4.92,8.939-4.409
-				c1.171,0.124,2.336,0.376,3.443,0.747"/>
+			<path id="path2991_3_" class="st7" d="M238.126,78.582c-0.222,1.081-1.496,1.763-2.838,1.478
+				c-1.342-0.286-2.185-1.419-1.89-2.486s1.556-1.676,2.825-1.407C237.492,76.44,238.348,77.5,238.126,78.582z"/>
+			<path id="path3761_3_" class="st8" d="M235.877,84.145c-4.307-0.181-7.71-3.4-7.4-6.715c0.311-3.316,3.709-5.511,7.388-5.322
+				c3.679,0.189,6.738,2.715,7.055,6.022c0.076,0.8-0.032,1.601-0.336,2.353"/>
+			<path id="path2991-6_3_" class="st7" d="M269.863,80.06c-1.342,0.286-2.617-0.396-2.838-1.478
+				c-0.222-1.081,0.634-2.143,1.903-2.414c1.27-0.271,2.531,0.34,2.825,1.407C272.048,78.641,271.206,79.775,269.863,80.06z"/>
+			<path id="path3761-1_3_" class="st8" d="M262.551,80.442c-1.228-3.119,0.799-6.475,4.199-7.794
+				c3.4-1.319,7.348-0.288,9.155,2.567c1.807,2.855,0.34,6.709-3.64,8.294c-0.962,0.384-2.005,0.602-3.046,0.638"/>
+			<path id="path2991-9_3_" class="st7" d="M272.669,106.102c-0.222-1.081,1.049-2.217,2.829-2.596
+				c1.779-0.379,3.452,0.13,3.745,1.195c0.295,1.067-0.959,2.301-2.811,2.696S272.892,107.185,272.669,106.102z"/>
+			<path id="path3761-2_3_" class="st8" d="M272.779,100.095c4.906-1.613,10.287-1.007,12.387,1.756
+				c2.1,2.764-0.319,6.943-5.794,8.874s-11.457,0.593-12.988-2.489c-0.37-0.745-0.47-1.547-0.311-2.357"/>
+			<path id="path2991-6-9_3_" class="st7" d="M229.653,103.506c1.779,0.379,3.05,1.515,2.829,2.596
+				c-0.222,1.081-1.912,1.689-3.764,1.295c-1.852-0.394-3.105-1.63-2.811-2.696C226.201,103.636,227.874,103.127,229.653,103.506z"
+				/>
+			<path id="path3761-1-5_3_" class="st8" d="M239.086,105.925c0.619,3.345-3.426,6.142-9.239,5.668s-10.651-4.119-10.632-7.525
+				c0.018-3.406,4.367-5.277,9.542-4.742c1.253,0.13,2.498,0.397,3.682,0.793"/>
 		</g>
-		<path class="st9" d="M230.281,94.257c15.501-6.427,26.238-13.176,37.581-25.54"/>
-		<path class="st9" d="M274.06,94.257c-15.501-6.427-26.238-13.175-37.581-25.54"/>
-		<path class="st10" d="M262.941,82.831c0.56,4.096-4.25,8.127-10.773,8.127s-11.332-4.031-10.773-8.127
-			c0.56-4.096,5.372-6.828,10.773-6.828C257.57,76.003,262.382,78.735,262.941,82.831z"/>
+		<path class="st9" d="M229.185,105.451c15.729-6.555,29.451-13.632,40.212-27.337"/>
+		<path class="st9" d="M275.971,105.451c-15.729-6.555-29.451-13.632-40.213-27.337"/>
+		<path class="st10" d="M264.102,93.209c0.594,4.383-4.552,8.689-11.526,8.689s-12.12-4.306-11.526-8.689
+			c0.593-4.383,5.742-7.311,11.526-7.311C258.36,85.898,263.507,88.825,264.102,93.209z"/>
 	</g>
 </g>
 </svg>
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.cc b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
index 047b7a3cabb542bdce2613f8d4a60500a195c5aa..06224bfe3a9ca68121dcce9285e0dd316b3bff7a 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.cc
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.cc
@@ -27,7 +27,7 @@ QString SafetyComponent::name(void) const
 
 QString SafetyComponent::description(void) const
 {
-    return tr("Safety Setup is used to setup triggers for Return to Land as well as the settings for Return to Land itself.");
+    return QString();
 }
 
 QString SafetyComponent::iconResource(void) const
diff --git a/src/AutoPilotPlugins/PX4/SafetyComponent.qml b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
index a510fe893d05956b13fa0f2291d7c2bd55224996..06e977c7fd97e6e057e0e87d896cb66a3b62bc89 100644
--- a/src/AutoPilotPlugins/PX4/SafetyComponent.qml
+++ b/src/AutoPilotPlugins/PX4/SafetyComponent.qml
@@ -14,11 +14,12 @@ import QtQuick.Controls.Styles  1.4
 import QtQuick.Layouts          1.2
 import QtGraphicalEffects       1.0
 
+import QGroundControl               1.0
 import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
-
+import QGroundControl.Palette       1.0
 
 SetupPage {
     id:             safetyPage
@@ -27,8 +28,8 @@ SetupPage {
         id: pageComponent
 
         Item {
-            width:  Math.max(availableWidth, outerGrid.width)
-            height: _hitlAvailable ? (lastRect.y + lastRect.height) : (otherLastRect.y + otherLastRect.height)
+            width:      Math.max(availableWidth, outerColumn.width)
+            height:     outerColumn.height
 
             FactPanelController {
                 id:         controller
@@ -37,539 +38,625 @@ SetupPage {
             readonly property string hitlParam: "SYS_HITL"
 
             property real _margins:         ScreenTools.defaultFontPixelHeight
-            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth * 20
-            property real _imageWidth:      ScreenTools.defaultFontPixelWidth * 15
+            property real _labelWidth:      ScreenTools.defaultFontPixelWidth  * 30
+            property real _editFieldWidth:  ScreenTools.defaultFontPixelWidth  * 24
             property real _imageHeight:     ScreenTools.defaultFontPixelHeight * 3
-
-            property Fact _enableLogging:   controller.getParameterFact(-1, "SDLOG_MODE")
-            property Fact _fenceAction:     controller.getParameterFact(-1, "GF_ACTION")
-            property Fact _fenceRadius:     controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
-            property Fact _fenceAlt:        controller.getParameterFact(-1, "GF_MAX_VER_DIST")
-            property Fact _rtlLandDelay:    controller.getParameterFact(-1, "RTL_LAND_DELAY")
-            property Fact _lowBattAction:   controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
-            property Fact _rcLossAction:    controller.getParameterFact(-1, "NAV_RCL_ACT")
-            property Fact _dlLossAction:    controller.getParameterFact(-1, "NAV_DLL_ACT")
-            property Fact _disarmLandDelay: controller.getParameterFact(-1, "COM_DISARM_LAND")
-            property Fact _landSpeedMC:     controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
-            property bool _hitlAvailable:   controller.parameterExists(-1, hitlParam)
-            property Fact _hitlEnabled:     controller.getParameterFact(-1, hitlParam, false)
-
-            Rectangle {
-                x:      lowBattGrid.x + outerGrid.x - _margins
-                y:      lowBattGrid.y + outerGrid.y - _margins
-                width:  lowBattGrid.width + (_margins * 2)
-                height: lowBattGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      rcLossGrid.x + outerGrid.x - _margins
-                y:      rcLossGrid.y + outerGrid.y - _margins
-                width:  rcLossGrid.width + (_margins * 2)
-                height: rcLossGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      dataLinkLossGrid.x + outerGrid.x - _margins
-                y:      dataLinkLossGrid.y + outerGrid.y - _margins
-                width:  dataLinkLossGrid.width + (_margins * 2)
-                height: dataLinkLossGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      geoFenceGrid.x + outerGrid.x - _margins
-                y:      geoFenceGrid.y + outerGrid.y - _margins
-                width:  geoFenceGrid.width + (_margins * 2)
-                height: geoFenceGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      returnHomeGrid.x + outerGrid.x - _margins
-                y:      returnHomeGrid.y + outerGrid.y - _margins
-                width:  returnHomeGrid.width + (_margins * 2)
-                height: returnHomeGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                x:      landModeGrid.x + outerGrid.x - _margins
-                y:      landModeGrid.y + outerGrid.y - _margins
-                width:  landModeGrid.width + (_margins * 2)
-                height: landModeGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                id:     otherLastRect
-                x:      loggingGrid.x + outerGrid.x - _margins
-                y:      loggingGrid.y + outerGrid.y - _margins
-                width:  loggingGrid.width + (_margins * 2)
-                height: loggingGrid.height + (_margins * 2)
-                color:  qgcPal.windowShade
-            }
-
-            Rectangle {
-                id:         lastRect
-                x:          hitlGrid.x + outerGrid.x - _margins
-                y:          hitlGrid.y + outerGrid.y - _margins
-                width:      hitlGrid.width + (_margins * 2)
-                height:     hitlGrid.height + (_margins * 2)
-                color:      qgcPal.windowShade
-                visible:    _hitlAvailable
-            }
-
-            GridLayout {
-                id:         outerGrid
-                columns:    3
+            property real _imageWidth:      _imageHeight * 2
+
+            property Fact _enableLogging:       controller.getParameterFact(-1, "SDLOG_MODE")
+            property Fact _fenceAction:         controller.getParameterFact(-1, "GF_ACTION")
+            property Fact _fenceRadius:         controller.getParameterFact(-1, "GF_MAX_HOR_DIST")
+            property Fact _fenceAlt:            controller.getParameterFact(-1, "GF_MAX_VER_DIST")
+            property Fact _rtlLandDelay:        controller.getParameterFact(-1, "RTL_LAND_DELAY")
+            property Fact _lowBattAction:       controller.getParameterFact(-1, "COM_LOW_BAT_ACT")
+            property Fact _rcLossAction:        controller.getParameterFact(-1, "NAV_RCL_ACT")
+            property Fact _dlLossAction:        controller.getParameterFact(-1, "NAV_DLL_ACT")
+            property Fact _disarmLandDelay:     controller.getParameterFact(-1, "COM_DISARM_LAND")
+            property Fact _collisionPrevention: controller.getParameterFact(-1, "MPC_COL_PREV_D")
+            property Fact _objectAvoidance:     controller.getParameterFact(-1, "COM_OBS_AVOID")
+            property Fact _landSpeedMC:         controller.getParameterFact(-1, "MPC_LAND_SPEED", false)
+            property bool _hitlAvailable:       controller.parameterExists(-1, hitlParam)
+            property Fact _hitlEnabled:         controller.getParameterFact(-1, hitlParam, false)
+
+            ColumnLayout {
+                id:         outerColumn
+                spacing:    _margins
                 anchors.horizontalCenter:   parent.horizontalCenter
 
                 QGCLabel {
-                    text:               qsTr("Low Battery Failsafe Trigger")
-                    Layout.columnSpan:  3
+                    text:                   qsTr("Low Battery Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
+                Rectangle {
+                    width:                  mainRow.width  + (_margins * 2)
+                    height:                 mainRow.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 mainRow
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _lowBattAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                Item { width: _margins; height: 1 }
+                            QGCLabel {
+                                text:               qsTr("Battery Warn Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_LOW_THR")
+                                Layout.fillWidth:   true
+                            }
 
-                GridLayout {
-                    id:         lowBattGrid
-                    columns:    3
+                            QGCLabel {
+                                text:               qsTr("Battery Failsafe Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_CRIT_THR")
+                                Layout.fillWidth:   true
+                            }
 
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/LowBatteryLight.svg" : "/qmlimages/LowBattery.svg"
-                        Layout.rowSpan:         4
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
+                            QGCLabel {
+                                text:               qsTr("Battery Emergency Level:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "BAT_EMERGEN_THR")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
+                }
 
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _lowBattAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                QGCLabel {
+                    text:                   qsTr("Object Detection")
+                }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Warn Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_LOW_THR")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width + (_margins * 2)
+                    height:                 odRow.height  + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 odRow
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             "/qmlimages/ObjectAvoidance.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight * 2
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Collision Prevention:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _collisionPrevention
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                currentIndex:       _collisionPrevention ? (_collisionPrevention.rawValue > 0 ? 1 : 0) : 0
+                                onActivated: {
+                                    if(_collisionPrevention) {
+                                        _collisionPrevention.value = index > 0 ? 5 : -1
+                                        console.log('Collision prevention enabled: ' + _collisionPrevention.value)
+                                    }
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Failsafe Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_CRIT_THR")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:               qsTr("Obstacle Avoidance:")
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _objectAvoidance && _collisionPrevention.rawValue > 0
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                currentIndex:       _objectAvoidance ? (_objectAvoidance.value === 0 ? 0 : 1) : 0
+                                onActivated: {
+                                    if(_objectAvoidance) {
+                                        _objectAvoidance.value = index > 0 ? 1 : 0
+                                    }
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Battery Emergency Level:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "BAT_EMERGEN_THR")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("Minimum Distance: (") + QGroundControl.appSettingsDistanceUnitsString + ")"
+                                Layout.fillWidth:   true
+                                Layout.alignment:   Qt.AlignVCenter
+                            }
+                            QGCSlider {
+                                width:              _editFieldWidth
+                                enabled:            _collisionPrevention && _collisionPrevention.rawValue > 0
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.minimumHeight:   ScreenTools.defaultFontPixelHeight * 2
+                                Layout.fillWidth:   true
+                                Layout.fillHeight:  true
+                                maximumValue:       QGroundControl.metersToAppSettingsDistanceUnits(15)
+                                minimumValue:       QGroundControl.metersToAppSettingsDistanceUnits(1)
+                                stepSize:           1
+                                displayValue:       true
+                                updateValueWhileDragging:   false
+                                Layout.alignment:   Qt.AlignVCenter
+                                value: {
+                                    if (_collisionPrevention && _collisionPrevention.rawValue > 0) {
+                                        return QGroundControl.metersToAppSettingsDistanceUnits(_collisionPrevention.rawValue)
+                                    } else {
+                                        return 1;
+                                    }
+                                }
+                                onValueChanged: {
+                                    if(_collisionPrevention) {
+                                        //-- Negative means disabled
+                                        if(_collisionPrevention.rawValue >= 0) {
+                                            _collisionPrevention.rawValue = QGroundControl.appSettingsDistanceUnitsToMeters(value)
+                                        }
+                                    }
+                                }
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("RC Loss Failsafe Trigger")
-                    Layout.columnSpan: 3
+                    text:                   qsTr("RC Loss Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         rcLossGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _rcLossAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width     + (_margins * 2)
+                    height:                 rcLossGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 rcLossGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/RCLossLight.svg" : "/qmlimages/RCLoss.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _rcLossAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("RC Loss Timeout:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "COM_RC_LOSS_T")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("RC Loss Timeout:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "COM_RC_LOSS_T")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("Data Link Loss Failsafe Trigger")
-                    Layout.columnSpan: 3
+                    text:                   qsTr("Data Link Loss Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         dataLinkLossGrid
-                    columns:    3
-
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Failsafe Action:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _dlLossAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                Rectangle {
+                    width:                  mainRow.width           + (_margins * 2)
+                    height:                 dataLinkLossGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 dataLinkLossGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/DatalinkLossLight.svg" : "/qmlimages/DatalinkLoss.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                text:               qsTr("Failsafe Action:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _dlLossAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Data Link Loss Timeout:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "COM_DL_LOSS_T")
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:               qsTr("Data Link Loss Timeout:")
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               controller.getParameterFact(-1, "COM_DL_LOSS_T")
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
-                    text:               qsTr("Geofence Failsafe Trigger")
-                    Layout.columnSpan:  3
+                    text:                   qsTr("Geofence Failsafe Trigger")
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         geoFenceGrid
-                    columns:    3
+                Rectangle {
+                    width:                  mainRow.width       + (_margins * 2)
+                    height:                 geoFenceGrid.height + (_margins * 2)
+                    color:                  qgcPal.windowShade
+                    Row {
+                        id:                 geoFenceGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
 
-                    Image {
-                        mipmap:             true
-                        fillMode:           Image.PreserveAspectFit
-                        source:             qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/GeoFenceLight.svg" : "/qmlimages/GeoFence.svg"
-                        Layout.rowSpan:     3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
 
-                    QGCLabel {
-                        text:               qsTr("Action on breach:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _fenceAction
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:               qsTr("Action on breach:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _fenceAction
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 fenceRadiusCheckBox
-                        text:               qsTr("Max Radius:")
-                        checked:            _fenceRadius.value > 0
-                        onClicked:          _fenceRadius.value = checked ? 100 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _fenceRadius
-                        enabled:                fenceRadiusCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCCheckBox {
+                                id:                 fenceRadiusCheckBox
+                                text:               qsTr("Max Radius:")
+                                checked:            _fenceRadius.value > 0
+                                onClicked:          _fenceRadius.value = checked ? 100 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _fenceRadius
+                                enabled:            fenceRadiusCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 fenceAltMaxCheckBox
-                        text:               qsTr("Max Altitude:")
-                        checked:            _fenceAlt ? _fenceAlt.value > 0 : false
-                        onClicked:          _fenceAlt.value = checked ? 100 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _fenceAlt
-                        enabled:                fenceAltMaxCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCCheckBox {
+                                id:                 fenceAltMaxCheckBox
+                                text:               qsTr("Max Altitude:")
+                                checked:            _fenceAlt ? _fenceAlt.value > 0 : false
+                                onClicked:          _fenceAlt.value = checked ? 100 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _fenceAlt
+                                enabled:            fenceAltMaxCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Return Home Settings")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         returnHomeGrid
-                    columns:    3
-
-                    QGCColoredImage {
-                        color:                  qgcPal.text
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
-                        Layout.rowSpan:         7
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Climb to altitude of:")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("Return home, then:")
-                        Layout.columnSpan:  2
-                    }
-                    Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
-                            text:               qsTr("Land immediately")
-                            onClicked:          _rtlLandDelay.value = 0
-                        }
-                    }
+                Rectangle {
+                    width:              mainRow.width         + (_margins * 2)
+                    height:             returnHomeGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
                     Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLoiterNoLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
-                            text:               qsTr("Loiter and do not land")
-                            onClicked:          _rtlLandDelay.value = -1
-                        }
-                    }
-                    Row {
-                        Layout.columnSpan:  2
-                        Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
-                        QGCRadioButton {
-                            id:                 homeLoiterLandRadio
-                            checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
-                            text:               qsTr("Loiter and land after specified time")
-                            onClicked:          _rtlLandDelay.value = 60
+                        id:                 returnHomeGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             controller.vehicle.fixedWing ? "/qmlimages/ReturnToHomeAltitude.svg" : "/qmlimages/ReturnToHomeAltitudeCopter.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight * 2
+                                anchors.centerIn:   parent
+                            }
                         }
-                    }
+                        GridLayout {
+                            columns:                    2
+                            anchors.verticalCenter:     parent.verticalCenter
+
+                            QGCLabel {
+                                text:                   qsTr("Climb to altitude of:")
+                                Layout.minimumWidth:    _labelWidth
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_RETURN_ALT")
+                                Layout.minimumWidth:    _editFieldWidth
+                                Layout.fillWidth:       true
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Loiter Time")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
-                        enabled:                homeLoiterLandRadio.checked === true
-                        Layout.minimumWidth:    _editFieldWidth
-                    }
+                            QGCLabel {
+                                text:                   qsTr("Return home, then:")
+                                Layout.columnSpan:      2
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value === 0 : false
+                                    text:               qsTr("Land immediately")
+                                    onClicked:          _rtlLandDelay.value = 0
+                                }
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLoiterNoLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value < 0 : false
+                                    text:               qsTr("Loiter and do not land")
+                                    onClicked:          _rtlLandDelay.value = -1
+                                }
+                            }
+                            Row {
+                                Layout.columnSpan:      2
+                                Item { width: ScreenTools.defaultFontPixelWidth; height: 1 }
+                                QGCRadioButton {
+                                    id:                 homeLoiterLandRadio
+                                    checked:            _rtlLandDelay ? _rtlLandDelay.value > 0 : false
+                                    text:               qsTr("Loiter and land after specified time")
+                                    onClicked:          _rtlLandDelay.value = 60
+                                }
+                            }
 
-                    QGCLabel {
-                        text:               qsTr("Loiter Altitude")
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
-                        enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCLabel {
+                                text:                   qsTr("Loiter Time")
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_LAND_DELAY")
+                                enabled:                homeLoiterLandRadio.checked === true
+                                Layout.fillWidth:       true
+                            }
+
+                            QGCLabel {
+                                text:                   qsTr("Loiter Altitude")
+                                Layout.fillWidth:       true
+                            }
+                            FactTextField {
+                                fact:                   controller.getParameterFact(-1, "RTL_DESCEND_ALT")
+                                enabled:                homeLoiterLandRadio.checked === true || homeLoiterNoLandRadio.checked === true
+                                Layout.fillWidth:       true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Land Mode Settings")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:         landModeGrid
-                    columns:    3
-
-                    QGCColoredImage {
-                        color:                  qgcPal.text
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
-                        Layout.rowSpan:         landVelocityLabel.visible ? 2 : 1
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                    }
-
-                    QGCLabel {
-                        id:                 landVelocityLabel
-                        text:               qsTr("Landing Descent Rate:")
-                        Layout.fillWidth:   true
-                        visible:            controller.vehicle && !controller.vehicle.fixedWing
-                    }
-                    FactTextField {
-                        fact:                   _landSpeedMC
-                        Layout.minimumWidth:    _editFieldWidth
-                        visible:                controller.vehicle && !controller.vehicle.fixedWing
-                    }
+                Rectangle {
+                    width:              mainRow.width       + (_margins * 2)
+                    height:             landModeGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    Row {
+                        id:                 landModeGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             controller.vehicle.fixedWing ? "/qmlimages/LandMode.svg" : "/qmlimages/LandModeCopter.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+
+                            QGCLabel {
+                                id:                 landVelocityLabel
+                                text:               qsTr("Landing Descent Rate:")
+                                visible:            controller.vehicle && !controller.vehicle.fixedWing
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _landSpeedMC
+                                visible:            controller.vehicle && !controller.vehicle.fixedWing
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
 
-                    QGCCheckBox {
-                        id:                 disarmDelayCheckBox
-                        text:               qsTr("Disarm After:")
-                        checked:            _disarmLandDelay.value > 0
-                        onClicked:          _disarmLandDelay.value = checked ? 2 : 0
-                        Layout.fillWidth:   true
-                    }
-                    FactTextField {
-                        fact:                   _disarmLandDelay
-                        enabled:                disarmDelayCheckBox.checked
-                        Layout.minimumWidth:    _editFieldWidth
+                            QGCCheckBox {
+                                id:                 disarmDelayCheckBox
+                                text:               qsTr("Disarm After:")
+                                checked:            _disarmLandDelay.value > 0
+                                onClicked:          _disarmLandDelay.value = checked ? 2 : 0
+                                Layout.fillWidth:   true
+                            }
+                            FactTextField {
+                                fact:               _disarmLandDelay
+                                enabled:            disarmDelayCheckBox.checked
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
                 QGCLabel {
                     text:               qsTr("Vehicle Telemetry Logging")
-                    Layout.columnSpan:  3
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3 }
-
-                Item { width: _margins; height: 1 }
-
-                GridLayout {
-                    id:                         loggingGrid
-                    columns:                    4
-                    columnSpacing:              ScreenTools.defaultFontPixelWidth * 4
-                    Item {
-                        Layout.fillWidth:       true
-                    }
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-                    QGCCheckBox {
-                        text:                   qsTr("Enable telemetry logging to vehicle storage")
-                        checkedState:           _enableLogging ? (_enableLogging.value >= 0 ? Qt.Checked : Qt.Unchecked) : Qt.Unchecked
-                        Layout.minimumWidth:    _editFieldWidth
-                        Layout.alignment:       Qt.AlignVCenter
-                        onClicked:  {
-                            if(_enableLogging) {
-                                _enableLogging.value = checked ? 0 : -1
+                Rectangle {
+                    width:              mainRow.width      + (_margins * 2)
+                    height:             loggingGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    Row {
+                        id:                 loggingGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            Image {
+                                mipmap:             true
+                                fillMode:           Image.PreserveAspectFit
+                                source:             qgcPal.globalTheme === QGCPalette.Light ? "/qmlimages/no-logging-light.svg" : "/qmlimages/no-logging.svg"
+                                height:             _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCLabel {
+                                text:               qsTr("Telemetry logging to vehicle storage:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            QGCComboBox {
+                                model:              [qsTr("Disabled"), qsTr("Enabled")]
+                                enabled:            _enableLogging
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                                Component.onCompleted: {
+                                    currentIndex = _enableLogging ? (_enableLogging.value >= 0 ? 1 : 0) : 0
+                                }
+                                onActivated: {
+                                    if(_enableLogging) {
+                                        _enableLogging.value = index > 0 ? 0 : -1
+                                    }
+                                }
                             }
                         }
-                    }
-                    Item {
-                        Layout.fillWidth:   true
                     }
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
                 QGCLabel {
                     text:               qsTr("Hardware in the Loop Simulation")
-                    Layout.columnSpan:  3
                     visible:            _hitlAvailable
                 }
 
-                Item { width: 1; height: _margins; Layout.columnSpan: 3; visible: _hitlAvailable }
-
-                Item { width: _margins; height: 1; visible: _hitlAvailable }
-
-                GridLayout {
-                    id:         hitlGrid
-                    columns:    3
-                    visible:    _hitlAvailable
-
-                    Image {
-                        mipmap:                 true
-                        fillMode:               Image.PreserveAspectFit
-                        source:                 qgcPal.globalTheme === qgcPal.Light ? "/qmlimages/VehicleSummaryIcon.png" : "/qmlimages/VehicleSummaryIcon.png"
-                        Layout.rowSpan:         3
-                        Layout.maximumWidth:    _imageWidth
-                        Layout.maximumHeight:   _imageHeight
-                        width:                  _imageWidth
-                        height:                 _imageHeight
-                    }
-
-                    QGCLabel {
-                        text:               qsTr("HITL Enabled:")
-                        Layout.fillWidth:   true
-                    }
-                    FactComboBox {
-                        fact:                   _hitlEnabled
-                        indexModel:             false
-                        Layout.minimumWidth:    _editFieldWidth
+                Rectangle {
+                    width:              mainRow.width   + (_margins * 2)
+                    height:             hitlGrid.height + (_margins * 2)
+                    color:              qgcPal.windowShade
+                    visible:            _hitlAvailable
+                    Row {
+                        id:                 hitlGrid
+                        spacing:            _margins
+                        anchors.centerIn:   parent
+                        Item {
+                            width:                  _imageWidth
+                            height:                 _imageHeight
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCColoredImage {
+                                color:              qgcPal.text
+                                source:             "/qmlimages/HITL.svg"
+                                height:             _imageHeight
+                                width:              _imageHeight
+                                anchors.centerIn:   parent
+                            }
+                        }
+                        GridLayout {
+                            columns:                2
+                            anchors.verticalCenter: parent.verticalCenter
+                            QGCLabel {
+                                text:               qsTr("HITL Enabled:")
+                                Layout.minimumWidth:_labelWidth
+                                Layout.fillWidth:   true
+                            }
+                            FactComboBox {
+                                fact:               _hitlEnabled
+                                indexModel:         false
+                                Layout.minimumWidth:_editFieldWidth
+                                Layout.fillWidth:   true
+                            }
+                        }
                     }
                 }
-
             }
         }
     }
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 912f6280e5cccf0c85535b86ae91eefc93e99f4e..6c065c99b69e8b872c63a417dc004b1bd4794a57 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -128,6 +128,7 @@ add_subdirectory(FollowMe)
 add_subdirectory(GPS)
 add_subdirectory(Joystick)
 add_subdirectory(MissionManager)
+add_subdirectory(PlanView)
 add_subdirectory(PositionManager)
 add_subdirectory(QmlControls)
 add_subdirectory(QtLocationPlugin)
diff --git a/src/FactSystem/CMakeLists.txt b/src/FactSystem/CMakeLists.txt
index 6b7f1999bc1e9bb1f106ac5338a23934d0f8f1cf..24bc8ccf84af55db547a7b38fe582b2b25f87f38 100644
--- a/src/FactSystem/CMakeLists.txt
+++ b/src/FactSystem/CMakeLists.txt
@@ -1,4 +1,6 @@
 
+add_subdirectory(FactControls)
+
 set(EXTRA_SRC)
 if(BUILD_TESTING)
 	list(APPEND EXTRA_SRC
@@ -11,7 +13,6 @@ endif()
 
 add_library(FactSystem
 	Fact.cc
-	FactControls/FactPanelController.cc
 	FactGroup.cc
 	FactMetaData.cc
 	FactSystem.cc
@@ -25,6 +26,7 @@ add_library(FactSystem
 target_link_libraries(FactSystem
 	PRIVATE
 		qgc
+		FactControls
 )
 
 target_include_directories(FactSystem
diff --git a/src/FactSystem/Fact.h b/src/FactSystem/Fact.h
index 0b1df3d3042291c70a2837a290ca27289464b025..af1d28533902847dff29cc789d9a6cd1a18cff42 100644
--- a/src/FactSystem/Fact.h
+++ b/src/FactSystem/Fact.h
@@ -51,7 +51,7 @@ public:
     Q_PROPERTY(QStringList  enumStrings             READ enumStrings                                        NOTIFY enumsChanged)
     Q_PROPERTY(QString      enumStringValue         READ enumStringValue        WRITE setEnumStringValue    NOTIFY valueChanged)
     Q_PROPERTY(QVariantList enumValues              READ enumValues                                         NOTIFY enumsChanged)
-    Q_PROPERTY(QString      category                READ category                                              CONSTANT)
+    Q_PROPERTY(QString      category                READ category                                           CONSTANT)
     Q_PROPERTY(QString      group                   READ group                                              CONSTANT)
     Q_PROPERTY(QString      longDescription         READ longDescription                                    CONSTANT)
     Q_PROPERTY(QVariant     max                     READ cookedMax                                          CONSTANT)
diff --git a/src/FactSystem/FactControls/CMakeLists.txt b/src/FactSystem/FactControls/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c6d3c7f9055ef274f487e8957c60f0389df2cee6
--- /dev/null
+++ b/src/FactSystem/FactControls/CMakeLists.txt
@@ -0,0 +1,19 @@
+add_library(FactControls
+    FactPanelController.cc
+)
+
+add_custom_target(FactControlsQml
+    SOURCES
+    AltitudeFactTextField.qml  
+    FactCheckBox.qml  
+    FactLabel.qml          
+    FactTextField.qml     
+    FactTextFieldSlider.qml
+    FactBitmask.qml            
+    FactComboBox.qml  
+    FactTextFieldGrid.qml  
+    FactTextFieldRow.qml  
+    FactValueSlider.qml
+)
+
+target_link_libraries(FactControls qgc)
\ No newline at end of file
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index e5ba76c473292b28e317c23e6a08263d68407f61..10e5abbad5b03b8cfc6968871701342ef3c8dd47 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -23,50 +23,56 @@ APMCopterMode::APMCopterMode(uint32_t mode, bool settable) :
     APMCustomMode(mode, settable)
 {
     setEnumToStringMapping({
-        {STABILIZE,      "Stabilize"},
-        {ACRO,           "Acro"},
-        {ALT_HOLD,       "Altitude Hold"},
-        {AUTO,           "Auto"},
-        {GUIDED,         "Guided"},
-        {LOITER,         "Loiter"},
-        {RTL,            "RTL"},
-        {CIRCLE,         "Circle"},
-        {LAND,           "Land"},
-        {DRIFT,          "Drift"},
-        {SPORT,          "Sport"},
-        {FLIP,           "Flip"},
-        {AUTOTUNE,       "Autotune"},
-        {POS_HOLD,       "Position Hold"},
-        {BRAKE,          "Brake"},
-        {THROW,          "Throw"},
-        {AVOID_ADSB,     "Avoid ADSB"},
-        {GUIDED_NOGPS,   "Guided No GPS"},
-        {SAFE_RTL,       "Smart RTL"},
+        { STABILIZE,    "Stabilize"},
+        { ACRO,         "Acro"},
+        { ALT_HOLD,     "Altitude Hold"},
+        { AUTO,         "Auto"},
+        { GUIDED,       "Guided"},
+        { LOITER,       "Loiter"},
+        { RTL,          "RTL"},
+        { CIRCLE,       "Circle"},
+        { LAND,         "Land"},
+        { DRIFT,        "Drift"},
+        { SPORT,        "Sport"},
+        { FLIP,         "Flip"},
+        { AUTOTUNE,     "Autotune"},
+        { POS_HOLD,     "Position Hold"},
+        { BRAKE,        "Brake"},
+        { THROW,        "Throw"},
+        { AVOID_ADSB,   "Avoid ADSB"},
+        { GUIDED_NOGPS, "Guided No GPS"},
+        { SMART_RTL,    "Smart RTL"},
+        { FLOWHOLD,     "Flow Hold" },
+        { FOLLOW,       "Follow Vehicle" },
+        { ZIGZAG,       "ZigZag" },
     });
 }
 
 ArduCopterFirmwarePlugin::ArduCopterFirmwarePlugin(void)
 {
     setSupportedModes({
-        APMCopterMode(APMCopterMode::STABILIZE ,true),
-        APMCopterMode(APMCopterMode::ACRO      ,true),
-        APMCopterMode(APMCopterMode::ALT_HOLD  ,true),
-        APMCopterMode(APMCopterMode::AUTO      ,true),
-        APMCopterMode(APMCopterMode::GUIDED    ,true),
-        APMCopterMode(APMCopterMode::LOITER    ,true),
-        APMCopterMode(APMCopterMode::RTL       ,true),
-        APMCopterMode(APMCopterMode::CIRCLE    ,true),
-        APMCopterMode(APMCopterMode::LAND      ,true),
-        APMCopterMode(APMCopterMode::DRIFT     ,true),
-        APMCopterMode(APMCopterMode::SPORT     ,true),
-        APMCopterMode(APMCopterMode::FLIP      ,true),
-        APMCopterMode(APMCopterMode::AUTOTUNE  ,true),
-        APMCopterMode(APMCopterMode::POS_HOLD  ,true),
-        APMCopterMode(APMCopterMode::BRAKE     ,true),
-        APMCopterMode(APMCopterMode::THROW     ,true),
-        APMCopterMode(APMCopterMode::AVOID_ADSB,true),
-        APMCopterMode(APMCopterMode::GUIDED_NOGPS,true),
-        APMCopterMode(APMCopterMode::SAFE_RTL,true),
+        APMCopterMode(APMCopterMode::STABILIZE,     true),
+        APMCopterMode(APMCopterMode::ACRO,          true),
+        APMCopterMode(APMCopterMode::ALT_HOLD,      true),
+        APMCopterMode(APMCopterMode::AUTO,          true),
+        APMCopterMode(APMCopterMode::GUIDED,        true),
+        APMCopterMode(APMCopterMode::LOITER,        true),
+        APMCopterMode(APMCopterMode::RTL,           true),
+        APMCopterMode(APMCopterMode::CIRCLE,        true),
+        APMCopterMode(APMCopterMode::LAND,          true),
+        APMCopterMode(APMCopterMode::DRIFT,         true),
+        APMCopterMode(APMCopterMode::SPORT,         true),
+        APMCopterMode(APMCopterMode::FLIP,          true),
+        APMCopterMode(APMCopterMode::AUTOTUNE,      true),
+        APMCopterMode(APMCopterMode::POS_HOLD,      true),
+        APMCopterMode(APMCopterMode::BRAKE,         true),
+        APMCopterMode(APMCopterMode::THROW,         true),
+        APMCopterMode(APMCopterMode::AVOID_ADSB,    true),
+        APMCopterMode(APMCopterMode::GUIDED_NOGPS,  true),
+        APMCopterMode(APMCopterMode::SMART_RTL,     true),
+        APMCopterMode(APMCopterMode::FLOWHOLD,      true),
+        APMCopterMode(APMCopterMode::FOLLOW,        true),
+        APMCopterMode(APMCopterMode::ZIGZAG,        true),
     });
 
     if (!_remapParamNameIntialized) {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 563baf7b68fd7db0c300ecfbf24c94257cd574a2..a675e74a4a8f516d67bec0932d1ea5fe93315905 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -41,9 +41,11 @@ public:
         THROW       = 18,
         AVOID_ADSB  = 19,
         GUIDED_NOGPS= 20,
-        SAFE_RTL   = 21,   //Safe Return to Launch
+        SMART_RTL   = 21,  // SMART_RTL returns to home by retracing its steps
+        FLOWHOLD    = 22,  // FLOWHOLD holds position with optical flow without rangefinder
+        FOLLOW      = 23,  // follow attempts to follow another vehicle or ground station
+        ZIGZAG      = 24,  // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B
     };
-    static const int modeCount = 22;
 
     APMCopterMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
index cd0ce2e8559353ac394e314f307f8fd535fc47e5..0094a669dc441e98ba3896df77b9536a8dd80084 100644
--- a/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduPlaneFirmwarePlugin.h
@@ -42,7 +42,6 @@ public:
         QLOITER       = 19,
         QLAND         = 20,
         QRTL          = 21,
-        modeCount
     };
 
     APMPlaneMode(uint32_t mode, bool settable);
diff --git a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
index 6dd7882562f9ccc694842fb76cbcf784923a8614..ad17a034ccdcb5c39939c45facdb95d121b54db1 100644
--- a/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduRoverFirmwarePlugin.h
@@ -33,7 +33,6 @@ public:
         GUIDED          = 15,
         INITIALIZING    = 16,
     };
-    static const int modeCount = 17;
 
     APMRoverMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
index 3e3767edea0b10dab8e0bc575b6f8b9a472c7fbb..26696cdbc2115ab83c4c77338178f461ec295132 100644
--- a/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduSubFirmwarePlugin.h
@@ -96,7 +96,6 @@ public:
         RESERVED_18       = 18,
         MANUAL            = 19
     };
-    static const int modeCount = 20;
 
     APMSubMode(uint32_t mode, bool settable);
 };
diff --git a/src/FirmwarePlugin/APM/CMakeLists.txt b/src/FirmwarePlugin/APM/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5a779e21c8cbaa0da44c0d88ca3263120ca7c7ea
--- /dev/null
+++ b/src/FirmwarePlugin/APM/CMakeLists.txt
@@ -0,0 +1,4 @@
+add_custom_target(APMFirmwarePluginQml
+SOURCES
+    APMSensorParams.qml
+)
diff --git a/src/FirmwarePlugin/CMakeLists.txt b/src/FirmwarePlugin/CMakeLists.txt
index 15d11e2cc7150955a90126fe623dc742bd4e9502..c2f51adae4296544ff6194f25118e51253b8cbfb 100644
--- a/src/FirmwarePlugin/CMakeLists.txt
+++ b/src/FirmwarePlugin/CMakeLists.txt
@@ -1,3 +1,4 @@
+add_subdirectory(APM)
 
 add_library(FirmwarePlugin
 	CameraMetaData.cc
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
index ca9727a5d9ad91f67c80ebe126fea9d0354f2a61..19cad429d21a0fcd1657108fc96901d0290b5555 100644
--- a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
+++ b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -360,7 +360,7 @@ void PX4FirmwarePlugin::_mavCommandResult(int vehicleId, int component, int comm
     Q_UNUSED(component);
     Q_UNUSED(noReponseFromVehicle);
 
-    Vehicle* vehicle = dynamic_cast<Vehicle*>(sender());
+    auto* vehicle = qobject_cast<Vehicle*>(sender());
     if (!vehicle) {
         qWarning() << "Dynamic cast failed!";
         return;
@@ -520,7 +520,7 @@ void PX4FirmwarePlugin::_handleAutopilotVersion(Vehicle* vehicle, mavlink_messag
 {
     Q_UNUSED(vehicle);
 
-    PX4FirmwarePluginInstanceData* instanceData = qobject_cast<PX4FirmwarePluginInstanceData*>(vehicle->firmwarePluginInstanceData());
+    auto* instanceData = qobject_cast<PX4FirmwarePluginInstanceData*>(vehicle->firmwarePluginInstanceData());
     if (!instanceData->versionNotified) {
         bool notifyUser = false;
         int supportedMajorVersion = 1;
diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 9b798522896fe2e850abd00b3239e47ea18fb62d..dc38f1260d6b246ec580efc4e804dbe1e8079b64 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -478,7 +478,7 @@ Set to 2 to use heading from motion capture</short_desc>
     </parameter>
     <parameter default="56" name="TRIG_PINS" type="INT32">
       <short_desc>Camera trigger pin</short_desc>
-      <long_desc>Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4_fmu-v2 and the rail pins on px4_fmu-v4). The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is &lt; .2 uS.</long_desc>
+      <long_desc>Selects which FMU pin is used (range: AUX1-AUX6 on Pixhawk controllers with an I/O board, MAIN1-MAIN6 on controllers without an I/O board. The PWM interface takes two pins per camera, while relay triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6. For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61. In GPIO mode the delay pin to pin is &lt; .2 uS.</long_desc>
       <min>1</min>
       <max>123456</max>
       <decimal>0</decimal>
@@ -714,9 +714,13 @@ Set -1 to disable the check</short_desc>
     </parameter>
     <parameter default="2.0" name="COM_DISARM_LAND" type="FLOAT">
       <short_desc>Time-out for auto disarm after landing</short_desc>
-      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. The vehicle will also auto-disarm right after arming if it has not even flown, however the time will always be 10 seconds such that the pilot has enough time to take off. A negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
-      <min>-1</min>
-      <max>20</max>
+      <long_desc>A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be automatically disarmed in case a landing situation has been detected during this period. A zero or negative value means that automatic disarming triggered by landing detection is disabled.</long_desc>
+      <unit>s</unit>
+      <decimal>2</decimal>
+    </parameter>
+    <parameter default="10.0" name="COM_DISARM_PRFLT" type="FLOAT">
+      <short_desc>Time-out for auto disarm if too slow to takeoff</short_desc>
+      <long_desc>A non-zero, positive value specifies the time after arming, in seconds, within which the vehicle must take off (after which it will automatically disarm). A zero or negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.</long_desc>
       <unit>s</unit>
       <decimal>2</decimal>
     </parameter>
diff --git a/src/FlightDisplay/CMakeLists.txt b/src/FlightDisplay/CMakeLists.txt
index 2a92626931778a6fd0a69f5dce1d97ebf40f7911..93dc18baa2d305226dbea1ce32520c5376ed0ae5 100644
--- a/src/FlightDisplay/CMakeLists.txt
+++ b/src/FlightDisplay/CMakeLists.txt
@@ -8,4 +8,25 @@ target_link_libraries(FlightDisplay
 		qgc
 )
 
+add_custom_target(FligthDisplayQml
+SOURCES
+	FlightDisplayView.qml       
+	FlightDisplayViewDummy.qml  
+	FlightDisplayViewMap.qml    
+	FlightDisplayViewUVC.qml      
+	FlightDisplayViewVideo.qml    
+	FlightDisplayViewWidgets.qml  
+	GuidedActionConfirm.qml       
+	GuidedActionList.qml         
+	GuidedActionsController.qml  
+	GuidedAltitudeSlider.qml     
+	MultiVehicleList.qml         
+	PreFlightBatteryCheck.qml        
+	PreFlightGPSCheck.qml
+	PreFlightRCCheck.qml             
+	PreFlightSensorsHealthCheck.qml  
+	PreFlightSoundCheck.qml
+	VirtualJoystick.qml
+)
+
 target_include_directories(FlightDisplay PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/FlightDisplay/FlightDisplayViewMap.qml b/src/FlightDisplay/FlightDisplayViewMap.qml
index 77e5f548988906b0af30e25ea49d8dd711b29635..be9eb04808f19c70432ac64e8abb4c5eff8a7825 100644
--- a/src/FlightDisplay/FlightDisplayViewMap.qml
+++ b/src/FlightDisplay/FlightDisplayViewMap.qml
@@ -296,7 +296,7 @@ FlightMap {
         sourceItem: MissionItemIndexLabel {
             checked:    true
             index:      -1
-            label:      qsTr("Goto here", "Goto here waypoint")
+            label:      qsTr("Go here", "Go to location waypoint")
         }
 
         property bool inGotoFlightMode: activeVehicle ? activeVehicle.flightMode === activeVehicle.gotoFlightMode : false
diff --git a/src/FlightDisplay/GuidedActionsController.qml b/src/FlightDisplay/GuidedActionsController.qml
index e9afe1a8b88ff3b576e05ed0f5f5f14d8f16daf8..8c0995548f50e339d530a6f012e13e397d46588e 100644
--- a/src/FlightDisplay/GuidedActionsController.qml
+++ b/src/FlightDisplay/GuidedActionsController.qml
@@ -49,7 +49,7 @@ Item {
     readonly property string orbitTitle:                    qsTr("Orbit")
     readonly property string landAbortTitle:                qsTr("Land Abort")
     readonly property string setWaypointTitle:              qsTr("Set Waypoint")
-    readonly property string gotoTitle:                     qsTr("Goto Location")
+    readonly property string gotoTitle:                     qsTr("Go To Location")
     readonly property string vtolTransitionTitle:           qsTr("VTOL Transition")
 
     readonly property string armMessage:                        qsTr("Arm the vehicle.")
diff --git a/src/FlightDisplay/VideoManager.cc b/src/FlightDisplay/VideoManager.cc
index 23db603639cf17814efab55d158d29dd4e11dd81..ee1ac37e7340ecb73292e0b61892019a26793f6b 100644
--- a/src/FlightDisplay/VideoManager.cc
+++ b/src/FlightDisplay/VideoManager.cc
@@ -271,6 +271,20 @@ VideoManager::uvcEnabled()
 }
 #endif
 
+//-----------------------------------------------------------------------------
+void
+VideoManager::setfullScreen(bool f)
+{
+    if(f) {
+        //-- No can do if no vehicle or connection lost
+        if(!_activeVehicle || _activeVehicle->connectionLost()) {
+            f = false;
+        }
+    }
+    _fullScreen = f;
+    emit fullScreenChanged();
+}
+
 //-----------------------------------------------------------------------------
 void
 VideoManager::_updateSettings()
@@ -357,6 +371,7 @@ void
 VideoManager::_setActiveVehicle(Vehicle* vehicle)
 {
     if(_activeVehicle) {
+        disconnect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
         if(_activeVehicle->dynamicCameras()) {
             QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
             if(pCamera) {
@@ -367,6 +382,7 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
     }
     _activeVehicle = vehicle;
     if(_activeVehicle) {
+        connect(_activeVehicle, &Vehicle::connectionLostChanged, this, &VideoManager::_connectionLostChanged);
         if(_activeVehicle->dynamicCameras()) {
             connect(_activeVehicle->dynamicCameras(), &QGCCameraManager::streamChanged, this, &VideoManager::restartVideo);
             QGCCameraControl* pCamera = _activeVehicle->dynamicCameras()->currentCameraInstance();
@@ -374,11 +390,24 @@ VideoManager::_setActiveVehicle(Vehicle* vehicle)
                 pCamera->resumeStream();
             }
         }
+    } else {
+        //-- Disable full screen video if vehicle is gone
+        setfullScreen(false);
     }
     emit autoStreamConfiguredChanged();
     restartVideo();
 }
 
+//----------------------------------------------------------------------------------------
+void
+VideoManager::_connectionLostChanged(bool connectionLost)
+{
+    if(connectionLost) {
+        //-- Disable full screen video if connection is lost
+        setfullScreen(false);
+    }
+}
+
 //----------------------------------------------------------------------------------------
 void
 VideoManager::_aspectRatioChanged()
diff --git a/src/FlightDisplay/VideoManager.h b/src/FlightDisplay/VideoManager.h
index dfeafdcdee32414ea7fb41b7763e0478067737ee..fcd8707f4d2d3b62a5563abb7838b788b8afa8cd 100644
--- a/src/FlightDisplay/VideoManager.h
+++ b/src/FlightDisplay/VideoManager.h
@@ -73,7 +73,7 @@ public:
     virtual bool        uvcEnabled          ();
 #endif
 
-    virtual void        setfullScreen       (bool f) { _fullScreen = f; emit fullScreenChanged(); }
+    virtual void        setfullScreen       (bool f);
     virtual void        setIsTaisync        (bool t) { _isTaisync = t;  emit isTaisyncChanged(); }
 
     // Override from QGCTool
@@ -100,6 +100,7 @@ protected slots:
     void _updateUVC                 ();
     void _setActiveVehicle          (Vehicle* vehicle);
     void _aspectRatioChanged        ();
+    void _connectionLostChanged     (bool connectionLost);
 
 protected:
     void _updateSettings            ();
diff --git a/src/FlightMap/CMakeLists.txt b/src/FlightMap/CMakeLists.txt
index ba631e46af36fe9387e66944e5168f44b574bebc..2d72ca253f4c5d0dd58a371df1da671324e85da1 100644
--- a/src/FlightMap/CMakeLists.txt
+++ b/src/FlightMap/CMakeLists.txt
@@ -1,4 +1,7 @@
 
+add_subdirectory(MapItems)
+add_subdirectory(Widgets)
+
 add_library(FlightMap
 	Widgets/ValuesWidgetController.cc
 )
@@ -15,3 +18,8 @@ target_include_directories(FlightMap
 		Widgets
 	)
 
+add_custom_target(FligthMapQml
+	QGCVideoBackground.qml
+	FlightMap.qml
+	MapScale.qml
+)
diff --git a/src/FlightMap/MapItems/CMakeLists.txt b/src/FlightMap/MapItems/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74556fc88e60a63a1392c230ed3daae3188cf0ad
--- /dev/null
+++ b/src/FlightMap/MapItems/CMakeLists.txt
@@ -0,0 +1,12 @@
+add_custom_target(FligthMapItemsQml
+SOURCES
+    PolygonEditor.qml
+    MissionItemIndicator.qml
+    MissionItemView.qml
+    VehicleMapItem.qml
+    MissionItemIndicatorDrag.qml
+    CustomMapItems.qml
+    PlanMapItems.qml
+    MissionLineView.qml
+    CameraTriggerIndicator.qml
+)
\ No newline at end of file
diff --git a/src/FlightMap/Widgets/CMakeLists.txt b/src/FlightMap/Widgets/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38e766f3e8992a092b7ad4864a672ffef3f20c6d
--- /dev/null
+++ b/src/FlightMap/Widgets/CMakeLists.txt
@@ -0,0 +1,22 @@
+add_custom_target(FligthMapWidgetsQml
+SOURCES
+    CenterMapDropButton.qml
+    HealthPageWidget.qml
+    CameraPageWidget.qml
+    QGCAttitudeWidget.qml
+    QGCArtificialHorizon.qml
+    QGCPitchIndicator.qml
+    InstrumentSwipeView.qml
+    QGCInstrumentWidget.qml
+    QGCAttitudeHUD.qml
+    QGCMapToolButton.qml
+    QGCWaypointEditor.qml
+    QGCInstrumentWidgetAlternate.qml
+    ValuePageWidget.qml
+    CenterMapDropPanel.qml
+    VideoPageWidget.qml
+    MapFitFunctions.qml
+    VibrationPageWidget.qml
+    CompassRing.qml
+    QGCCompassWidget.qml
+)
\ No newline at end of file
diff --git a/src/MissionManager/CMakeLists.txt b/src/MissionManager/CMakeLists.txt
index 67a62a48027420d996c41909a8b3ab7ce774067f..ddda11e3d53b75e2ff4ed541b84b7f404e06f40d 100644
--- a/src/MissionManager/CMakeLists.txt
+++ b/src/MissionManager/CMakeLists.txt
@@ -64,6 +64,13 @@ add_library(MissionManager
 	${EXTRA_SRC}
 )
 
+add_custom_Target(MisionManagerQml
+SOURCES
+	QGCMapCircleVisuals.qml  
+	QGCMapPolygonVisuals.qml  
+	QGCMapPolylineVisuals.qml
+)
+
 target_link_libraries(MissionManager
 	PUBLIC
 		Qt5::Xml
diff --git a/src/PlanView/CMakeLists.txt b/src/PlanView/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c9a478489dee759c22fd91ed278be42624bd995
--- /dev/null
+++ b/src/PlanView/CMakeLists.txt
@@ -0,0 +1,29 @@
+add_custom_target(PlanViewQml
+SOURCES
+    RallyPointMapVisuals.qml
+    CorridorScanEditor.qml
+    CameraSection.qml
+    SurveyMapVisual.qml
+    CameraCalc.qml
+    SurveyItemEditor.qml
+    RallyPointEditorHeader.qml
+    GeoFenceMapVisuals.qml
+    CorridorScanMapVisual.qml
+    CMakeLists.txt
+    PlanToolBarIndicators.qml
+    MissionItemEditor.qml
+    MissionItemStatus.qml
+    RallyPointItemEditor.qml
+    PlanView.qml
+    FWLandingPatternMapVisual.qml
+    GeoFenceEditor.qml
+    MissionItemMapVisual.qml
+    SimpleItemMapVisual.qml
+    StructureScanEditor.qml
+    PlanToolBar.qml
+    TransectStyleComplexItemStats.qml
+    MissionSettingsEditor.qml
+    SimpleItemEditor.qml
+    StructureScanMapVisual.qml
+    FWLandingPatternEditor.qml
+)
\ No newline at end of file
diff --git a/src/QGCApplication.cc b/src/QGCApplication.cc
index 07ef945d4a75cdbef1ce2f82a62df9b2e1d7a323..28e2a9a3906aefb193e0ebcd923d7e96404fa427 100644
--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -95,6 +95,7 @@
 #include "MAVLinkInspectorController.h"
 #include "GeoTagController.h"
 #include "LogReplayLink.h"
+#include "VehicleObjectAvoidance.h"
 
 #ifndef __mobile__
 #include "FirmwareUpgradeController.h"
@@ -466,18 +467,19 @@ void QGCApplication::_initCommon()
     qmlRegisterType<QGCPalette>     ("QGroundControl.Palette", 1, 0, "QGCPalette");
     qmlRegisterType<QGCMapPalette>  ("QGroundControl.Palette", 1, 0, "QGCMapPalette");
 
-    qmlRegisterUncreatableType<Vehicle>             (kQGCVehicle,                           1, 0, "Vehicle",                    kRefOnly);
-    qmlRegisterUncreatableType<MissionItem>         (kQGCVehicle,                           1, 0, "MissionItem",                kRefOnly);
-    qmlRegisterUncreatableType<MissionManager>      (kQGCVehicle,                           1, 0, "MissionManager",             kRefOnly);
-    qmlRegisterUncreatableType<ParameterManager>    (kQGCVehicle,                           1, 0, "ParameterManager",           kRefOnly);
-    qmlRegisterUncreatableType<QGCCameraManager>    (kQGCVehicle,                           1, 0, "QGCCameraManager",           kRefOnly);
-    qmlRegisterUncreatableType<QGCCameraControl>    (kQGCVehicle,                           1, 0, "QGCCameraControl",           kRefOnly);
-    qmlRegisterUncreatableType<QGCVideoStreamInfo>  (kQGCVehicle,                           1, 0, "QGCVideoStreamInfo",         kRefOnly);
-    qmlRegisterUncreatableType<LinkInterface>       (kQGCVehicle,                           1, 0, "LinkInterface",              kRefOnly);
-    qmlRegisterUncreatableType<MissionController>   (kQGCControllers,                       1, 0, "MissionController",          kRefOnly);
-    qmlRegisterUncreatableType<GeoFenceController>  (kQGCControllers,                       1, 0, "GeoFenceController",         kRefOnly);
-    qmlRegisterUncreatableType<RallyPointController>(kQGCControllers,                       1, 0, "RallyPointController",       kRefOnly);
-    qmlRegisterUncreatableType<VisualMissionItem>   (kQGCControllers,                       1, 0, "VisualMissionItem",          kRefOnly);
+    qmlRegisterUncreatableType<Vehicle>                 (kQGCVehicle,                       1, 0, "Vehicle",                    kRefOnly);
+    qmlRegisterUncreatableType<MissionItem>             (kQGCVehicle,                       1, 0, "MissionItem",                kRefOnly);
+    qmlRegisterUncreatableType<MissionManager>          (kQGCVehicle,                       1, 0, "MissionManager",             kRefOnly);
+    qmlRegisterUncreatableType<ParameterManager>        (kQGCVehicle,                       1, 0, "ParameterManager",           kRefOnly);
+    qmlRegisterUncreatableType<VehicleObjectAvoidance>  (kQGCVehicle,                       1, 0, "VehicleObjectAvoidance",     kRefOnly);
+    qmlRegisterUncreatableType<QGCCameraManager>        (kQGCVehicle,                       1, 0, "QGCCameraManager",           kRefOnly);
+    qmlRegisterUncreatableType<QGCCameraControl>        (kQGCVehicle,                       1, 0, "QGCCameraControl",           kRefOnly);
+    qmlRegisterUncreatableType<QGCVideoStreamInfo>      (kQGCVehicle,                       1, 0, "QGCVideoStreamInfo",         kRefOnly);
+    qmlRegisterUncreatableType<LinkInterface>           (kQGCVehicle,                       1, 0, "LinkInterface",              kRefOnly);
+    qmlRegisterUncreatableType<MissionController>       (kQGCControllers,                   1, 0, "MissionController",          kRefOnly);
+    qmlRegisterUncreatableType<GeoFenceController>      (kQGCControllers,                   1, 0, "GeoFenceController",         kRefOnly);
+    qmlRegisterUncreatableType<RallyPointController>    (kQGCControllers,                   1, 0, "RallyPointController",       kRefOnly);
+    qmlRegisterUncreatableType<VisualMissionItem>       (kQGCControllers,                   1, 0, "VisualMissionItem",          kRefOnly);
 
     qmlRegisterUncreatableType<CoordinateVector>    ("QGroundControl",                      1, 0, "CoordinateVector",           kRefOnly);
     qmlRegisterUncreatableType<QmlObjectListModel>  ("QGroundControl",                      1, 0, "QmlObjectListModel",         kRefOnly);
diff --git a/src/QmlControls/CMakeLists.txt b/src/QmlControls/CMakeLists.txt
index ff7d06189514074691d824ca24ace84bbd6099cb..109958ba84784ad98f84dedd20c31093fc53257c 100644
--- a/src/QmlControls/CMakeLists.txt
+++ b/src/QmlControls/CMakeLists.txt
@@ -13,6 +13,79 @@ add_library(QmlControls
 	ScreenToolsController.cc
 )
 
+add_custom_target(QmlControlsQml
+	SOURCES
+	APMSubMotorDisplay.qml	
+	AppMessages.qml
+	AxisMonitor.qml
+	ClickableColor.qml
+	DeadMouseArea.qml
+	DropButton.qml
+	DropPanel.qml
+	EditPositionDialog.qml
+	ExclusiveGroupItem.qml
+	FactSliderPanel.qml
+	FileButton.qml
+	FlightModeDropdown.qml
+	FlightModeMenu.qml
+	HackAndroidFileDialog.qml
+	HackFileDialog.qml
+	IndicatorButton.qml
+	JoystickThumbPad.qml
+	LogReplayStatusBar.qml
+	MAVLinkMessageButton.qml
+	MissionCommandDialog.qml
+	MissionItemIndexLabel.qml
+	ModeSwitchDisplay.qml
+	MultiRotorMotorDisplay.qml
+	OfflineMapButton.qml
+	PageView.qml
+	ParameterEditor.qml
+	ParameterEditorDialog.qml
+	PIDTuning.qml
+	PreFlightCheckButton.qml
+	PreFlightCheckGroup.qml
+	PreFlightCheckModel.qml
+	QGCButton.qml
+	QGCCheckBox.qml
+	QGCColoredImage.qml
+	QGCComboBox.qml
+	QGCFileDialog.qml
+	QGCFlickable.qml
+	QGCFlickableHorizontalIndicator.qml
+	QGCFlickableVerticalIndicator.qml
+	QGCGroupBox.qml
+	QGCHoverButton.qml
+	QGCLabel.qml
+	QGCListView.qml
+	QGCMapLabel.qml
+	QGCMenu.qml
+	QGCMenuItem.qml
+	QGCMenuSeparator.qml
+	QGCMouseArea.qml
+	QGCMovableItem.qml
+	QGCPipable.qml
+	QGCRadioButton.qml
+	QGCSlider.qml
+	QGCSwitch.qml
+	QGCTabBar.qml
+	QGCTabButton.qml
+	QGCTextField.qml
+	QGCToolBarButton.qml
+	QGCViewDialog.qml
+	QGCViewDialogContainer.qml
+	QGCViewMessage.qml
+	QmlTest.qml
+	RCChannelMonitor.qml
+	RoundButton.qml
+	ScreenTools.qml
+	SectionHeader.qml
+	SliderSwitch.qml
+	SubMenuButton.qml
+	ToolStrip.qml
+	VehicleRotationCal.qml
+	VehicleSummaryRow.qml
+)
 target_link_libraries(QmlControls
         PUBLIC
 		qgc
diff --git a/src/QmlControls/LogReplayStatusBar.qml b/src/QmlControls/LogReplayStatusBar.qml
index e102680a146d4dadb21225e6f5c6f2a9b77408ca..4a5b8362f35d2f8384cfc3eb2fe34f1d4473b41d 100644
--- a/src/QmlControls/LogReplayStatusBar.qml
+++ b/src/QmlControls/LogReplayStatusBar.qml
@@ -1,5 +1,5 @@
 import QtQuick          2.3
-import QtQuick.Controls 1.2
+import QtQuick.Controls 2.4
 import QtQuick.Layouts  1.11
 import QtQuick.Dialogs  1.2
 
@@ -11,8 +11,8 @@ Rectangle {
     height:             visible ? (rowLayout.height + (_margins * 2)) : 0
     color:              qgcPal.window
 
-    property real _margins:         ScreenTools.defaultFontPixelHeight / 4
-    property var  _logReplayLink:   null
+    property real   _margins:       ScreenTools.defaultFontPixelHeight / 4
+    property var    _logReplayLink: null
 
     function pickLogFile() {
         if (mainWindow.activeVehicle) {
@@ -56,13 +56,29 @@ Rectangle {
             onClicked:  controller.isPlaying = !controller.isPlaying
         }
 
+        QGCComboBox {
+            textRole:       "text"
+            currentIndex:   3
+
+            model: ListModel {
+                ListElement { text: "0.1";  value: 0.1 }
+                ListElement { text: "0.25"; value: 0.25 }
+                ListElement { text: "0.5";  value: 0.5 }
+                ListElement { text: "1x";   value: 1 }
+                ListElement { text: "2x";   value: 2 }
+                ListElement { text: "5x";   value: 5 }
+            }
+
+            onActivated: controller.playbackSpeed = model.get(currentIndex).value
+        }
+
         QGCLabel { text: controller.playheadTime }
 
         Slider {
             id:                 slider
             Layout.fillWidth:   true
-            minimumValue:       0
-            maximumValue:       100
+            from:               0
+            to:                 100
             enabled:            controller.link
 
             property bool manualUpdate: false
diff --git a/src/QmlControls/QGCColoredImage.qml b/src/QmlControls/QGCColoredImage.qml
index 58a0ff2136d4c6de0880788b4a1272165236ec4b..a6639f6a0f4a9991831d3fde062bc96c8ec10720 100644
--- a/src/QmlControls/QGCColoredImage.qml
+++ b/src/QmlControls/QGCColoredImage.qml
@@ -27,18 +27,19 @@ Item {
     height: image.height
 
     Image {
-        id:             image
-        smooth:         true
-        mipmap:         true
-        antialiasing:   true
-        visible:        false
-        fillMode:       Image.PreserveAspectFit
-        anchors.fill:   parent
+        id:                 image
+        smooth:             true
+        mipmap:             true
+        antialiasing:       true
+        visible:            false
+        fillMode:           Image.PreserveAspectFit
+        anchors.fill:       parent
+        sourceSize.height:  height
     }
 
     ColorOverlay {
-        anchors.fill:   image
-        source:         image
-        color:          parent.color
+        anchors.fill:       image
+        source:             image
+        color:              parent.color
     }
 }
diff --git a/src/QmlControls/QGCComboBox.qml b/src/QmlControls/QGCComboBox.qml
index 8a02e764245623543f28e95fd1770bcba6994233..4b4d8ae9221807c716ca16aef47b78bb6010113c 100644
--- a/src/QmlControls/QGCComboBox.qml
+++ b/src/QmlControls/QGCComboBox.qml
@@ -37,7 +37,7 @@ ComboBox {
             width:                      control.width
 
             contentItem: Text {
-                text:                   textRole ? modelData[textRole] : modelData
+                text:                   control.textRole ? (Array.isArray(control.model) ? modelData[control.textRole] : model[control.textRole]) : modelData
                 color:                  control.currentIndex === index ? qgcPal.buttonHighlightText : qgcPal.buttonText
                 verticalAlignment:      Text.AlignVCenter
             }
diff --git a/src/QtLocationPlugin/QGCMapUrlEngine.cpp b/src/QtLocationPlugin/QGCMapUrlEngine.cpp
index b04cc0f519c86bf8d8027fa14b2501e0a7b2e22a..56e622b8ee4f16c2054621ee6b538573fd1b552a 100644
--- a/src/QtLocationPlugin/QGCMapUrlEngine.cpp
+++ b/src/QtLocationPlugin/QGCMapUrlEngine.cpp
@@ -410,7 +410,7 @@ UrlFactory::_getURL(MapType type, int x, int y, int zoom, QNetworkAccessManager*
                     server += "mapbox.high-contrast";
                     break;
                 default:
-                    return QString::null;
+                    return {};
             }
             server += QString("/%1/%2/%3.jpg80?access_token=%4").arg(zoom).arg(x).arg(y).arg(mapBoxToken);
             return server;
@@ -473,7 +473,7 @@ UrlFactory::_getURL(MapType type, int x, int y, int zoom, QNetworkAccessManager*
         qWarning("Unknown map id %d\n", type);
         break;
     }
-    return QString::null;
+    return {};
 }
 
 //-----------------------------------------------------------------------------
diff --git a/src/Settings/FlyView.SettingsGroup.json b/src/Settings/FlyView.SettingsGroup.json
index ec456ebdfa7b3483f2868f1f51165b5d54d8cb23..a426507b336cf266b239aa87c2780f410bc00401 100644
--- a/src/Settings/FlyView.SettingsGroup.json
+++ b/src/Settings/FlyView.SettingsGroup.json
@@ -24,5 +24,13 @@
     "shortDescription": "Use Vertical Instrument Panel instead of the default one",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":             "maxGoToLocationDistance",
+    "shortDescription": "Maximum distance allowed for Go To Location.",
+    "type":             "double",
+    "units":            "m",
+    "defaultValue":     1000,
+    "min":              1
 }
 ]
diff --git a/src/Settings/FlyViewSettings.cc b/src/Settings/FlyViewSettings.cc
index 2d3d1f8fa2d723d9b2aa7b0e2530bb0e4558f118..603fed613ef6c2dbc4938af8f4765155e0292e2d 100644
--- a/src/Settings/FlyViewSettings.cc
+++ b/src/Settings/FlyViewSettings.cc
@@ -21,3 +21,4 @@ DECLARE_SETTINGSFACT(FlyViewSettings, guidedMinimumAltitude)
 DECLARE_SETTINGSFACT(FlyViewSettings, guidedMaximumAltitude)
 DECLARE_SETTINGSFACT(FlyViewSettings, showLogReplayStatusBar)
 DECLARE_SETTINGSFACT(FlyViewSettings, alternateInstrumentPanel)
+DECLARE_SETTINGSFACT(FlyViewSettings, maxGoToLocationDistance)
diff --git a/src/Settings/FlyViewSettings.h b/src/Settings/FlyViewSettings.h
index ee12163b25d8949299fcffb5b5ec4958eec37e91..67d4fd5a1c1c45d15a2d098ee247608401a8dc86 100644
--- a/src/Settings/FlyViewSettings.h
+++ b/src/Settings/FlyViewSettings.h
@@ -23,4 +23,5 @@ public:
     DEFINE_SETTINGFACT(guidedMaximumAltitude)
     DEFINE_SETTINGFACT(showLogReplayStatusBar)
     DEFINE_SETTINGFACT(alternateInstrumentPanel)
+    DEFINE_SETTINGFACT(maxGoToLocationDistance)
 };
diff --git a/src/Taisync/TaisyncManager.cc b/src/Taisync/TaisyncManager.cc
index c7699667459a2ae5e0c975d58f983f9a99010c40..f029459fe4145ede24e0300f2fc240de5259c180 100644
--- a/src/Taisync/TaisyncManager.cc
+++ b/src/Taisync/TaisyncManager.cc
@@ -318,7 +318,7 @@ TaisyncManager::_setEnabled()
 void
 TaisyncManager::_restoreVideoSettings(Fact* setting)
 {
-    SettingsFact* pFact = dynamic_cast<SettingsFact*>(setting);
+    auto* pFact = qobject_cast<SettingsFact*>(setting);
     if(pFact) {
         pFact->setVisible(qgcApp()->toolbox()->corePlugin()->adjustSettingMetaData(VideoSettings::settingsGroup, *setting->metaData()));
     }
diff --git a/src/Vehicle/CMakeLists.txt b/src/Vehicle/CMakeLists.txt
index 0b058fb5b606e48758de69b9aae7e85823970870..d115b9c39a74cc960142a5a800fdca2a5f398a0c 100644
--- a/src/Vehicle/CMakeLists.txt
+++ b/src/Vehicle/CMakeLists.txt
@@ -9,6 +9,7 @@ endif()
 add_library(Vehicle
 	ADSBVehicle.cc
 	GPSRTKFactGroup.cc
+	VehicleObjectAvoidance.cc
 	MAVLinkLogManager.cc
 	MultiVehicleManager.cc
 	Vehicle.cc
diff --git a/src/Vehicle/MultiVehicleManager.cc b/src/Vehicle/MultiVehicleManager.cc
index 78fee84865f7f47dc3507c89bbb4dfd6b7a1efb9..7eb94b5ecd3b3b60a19c4571c4cc7ef5b1c415da 100644
--- a/src/Vehicle/MultiVehicleManager.cc
+++ b/src/Vehicle/MultiVehicleManager.cc
@@ -304,7 +304,7 @@ void MultiVehicleManager::_setActiveVehiclePhase2(void)
 
 void MultiVehicleManager::_vehicleParametersReadyChanged(bool parametersReady)
 {
-    ParameterManager* paramMgr = dynamic_cast<ParameterManager*>(sender());
+    auto* paramMgr = qobject_cast<ParameterManager*>(sender());
 
     if (!paramMgr) {
         qWarning() << "Dynamic cast failed!";
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index eaa65792e629ae69582bc9f38540dd655aced5f2..efd7b6fd8cad109c771253a93655377b4a01bb63 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -41,6 +41,8 @@
 #include "VideoManager.h"
 #include "VideoSettings.h"
 #include "PositionManager.h"
+#include "VehicleObjectAvoidance.h"
+
 #if defined(QGC_AIRMAP_ENABLED)
 #include "AirspaceVehicleManager.h"
 #endif
@@ -156,7 +158,6 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _geoFenceManagerInitialRequestSent(false)
     , _rallyPointManager(nullptr)
     , _rallyPointManagerInitialRequestSent(false)
-    , _parameterManager(nullptr)
 #if defined(QGC_AIRMAP_ENABLED)
     , _airspaceVehicleManager(nullptr)
 #endif
@@ -359,7 +360,6 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _geoFenceManagerInitialRequestSent(false)
     , _rallyPointManager(nullptr)
     , _rallyPointManagerInitialRequestSent(false)
-    , _parameterManager(nullptr)
 #if defined(QGC_AIRMAP_ENABLED)
     , _airspaceVehicleManager(nullptr)
 #endif
@@ -451,6 +451,8 @@ void Vehicle::_commonInit(void)
     _parameterManager = new ParameterManager(this);
     connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
 
+    _objectAvoidance = new VehicleObjectAvoidance(this, this);
+
     // GeoFenceManager needs to access ParameterManager so make sure to create after
     _geoFenceManager = new GeoFenceManager(this);
     connect(_geoFenceManager, &GeoFenceManager::error,          this, &Vehicle::_geoFenceManagerError);
@@ -812,6 +814,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
         _handleGimbalOrientation(message);
         break;
+    case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
+        _handleObstacleDistance(message);
+        break;
 
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
     {
@@ -3041,9 +3046,9 @@ void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
     if (!coordinate().isValid()) {
         return;
     }
-    double maxDistance = 1000.0;
+    double maxDistance = _settingsManager->flyViewSettings()->maxGoToLocationDistance()->rawValue().toDouble();
     if (coordinate().distanceTo(gotoCoord) > maxDistance) {
-        qgcApp()->showMessage(QString("New location is too far. Must be less than %1 %2").arg(qRound(FactMetaData::metersToAppSettingsDistanceUnits(maxDistance).toDouble())).arg(FactMetaData::appSettingsDistanceUnitsString()));
+        qgcApp()->showMessage(QString("New location is too far. Must be less than %1 %2.").arg(qRound(FactMetaData::metersToAppSettingsDistanceUnits(maxDistance).toDouble())).arg(FactMetaData::appSettingsDistanceUnitsString()));
         return;
     }
     _firmwarePlugin->guidedModeGotoLocation(this, gotoCoord);
@@ -4057,6 +4062,13 @@ void Vehicle::_handleGimbalOrientation(const mavlink_message_t& message)
     }
 }
 
+void Vehicle::_handleObstacleDistance(const mavlink_message_t& message)
+{
+    mavlink_obstacle_distance_t o;
+    mavlink_msg_obstacle_distance_decode(&message, &o);
+    _objectAvoidance->update(&o);
+}
+
 //-----------------------------------------------------------------------------
 //-----------------------------------------------------------------------------
 
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 231e82f4acdde729470f9584f3bd8dc4e450305a..f4e35b61e1472ea7e8fbc98bf086ed36f48dfde5 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -37,6 +37,8 @@ class SettingsManager;
 class ADSBVehicle;
 class QGCCameraManager;
 class Joystick;
+class VehicleObjectAvoidance;
+
 #if defined(QGC_AIRMAP_ENABLED)
 class AirspaceVehicleManager;
 #endif
@@ -484,7 +486,6 @@ private:
 #endif
 };
 
-
 class Vehicle : public FactGroup
 {
     Q_OBJECT
@@ -652,7 +653,8 @@ public:
     Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
     Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
 
-    Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)
+    Q_PROPERTY(ParameterManager*        parameterManager    READ parameterManager   CONSTANT)
+    Q_PROPERTY(VehicleObjectAvoidance*  objectAvoidance     READ objectAvoidance    CONSTANT)
 
     // FactGroup object model properties
 
@@ -989,8 +991,9 @@ public:
 
     void setConnectionLostEnabled(bool connectionLostEnabled);
 
-    ParameterManager* parameterManager(void) { return _parameterManager; }
-    ParameterManager* parameterManager(void) const { return _parameterManager; }
+    ParameterManager*       parameterManager() { return _parameterManager; }
+    ParameterManager*       parameterManager() const { return _parameterManager; }
+    VehicleObjectAvoidance* objectAvoidance()  { return _objectAvoidance; }
 
     static const int cMaxRcChannels = 18;
 
@@ -1295,6 +1298,7 @@ private:
     void _handleOrbitExecutionStatus(const mavlink_message_t& message);
     void _handleMessageInterval(const mavlink_message_t& message);
     void _handleGimbalOrientation(const mavlink_message_t& message);
+    void _handleObstacleDistance(const mavlink_message_t& message);
     // ArduPilot dialect messages
 #if !defined(NO_ARDUPILOT_DIALECT)
     void _handleCameraFeedback(const mavlink_message_t& message);
@@ -1425,7 +1429,8 @@ private:
     RallyPointManager*  _rallyPointManager;
     bool                _rallyPointManagerInitialRequestSent;
 
-    ParameterManager*   _parameterManager;
+    ParameterManager*       _parameterManager   = nullptr;
+    VehicleObjectAvoidance* _objectAvoidance    = nullptr;
 
 #if defined(QGC_AIRMAP_ENABLED)
     AirspaceVehicleManager* _airspaceVehicleManager;
diff --git a/src/Vehicle/VehicleObjectAvoidance.cc b/src/Vehicle/VehicleObjectAvoidance.cc
new file mode 100644
index 0000000000000000000000000000000000000000..d6b9151e9ade14bb798de52bc7f136c596e4d0dd
--- /dev/null
+++ b/src/Vehicle/VehicleObjectAvoidance.cc
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#include "Vehicle.h"
+#include "VehicleObjectAvoidance.h"
+#include "ParameterManager.h"
+#include <cmath>
+
+static const char* kColPrevParam = "MPC_COL_PREV_D";
+
+//-----------------------------------------------------------------------------
+VehicleObjectAvoidance::VehicleObjectAvoidance(Vehicle *vehicle, QObject* parent)
+    : QObject(parent)
+    , _vehicle(vehicle)
+{
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::update(mavlink_obstacle_distance_t* message)
+{
+    //-- Collect raw data
+    if(std::isfinite(message->increment_f) && message->increment_f > 0) {
+        _increment = static_cast<qreal>(message->increment_f);
+    } else {
+        _increment = static_cast<qreal>(message->increment);
+    }
+    _minDistance = message->min_distance;
+    _maxDistance = message->max_distance;
+    _angleOffset = static_cast<qreal>(message->angle_offset);
+    if(_distances.count() == 0) {
+        for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+            _distances.append(static_cast<int>(message->distances[i]));
+        }
+    } else {
+        for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+            _distances[i] = static_cast<int>(message->distances[i]);
+        }
+    }
+    //-- Create a plottable grid with found objects
+    _objGrid.clear();
+    _objDistance.clear();
+    auto* sp = qobject_cast<VehicleSetpointFactGroup*>(_vehicle->setpointFactGroup());
+    qreal startAngle = sp->yaw()->rawValue().toDouble() + _angleOffset;
+    for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
+        if(_distances[i] < _maxDistance && message->distances[i] != UINT16_MAX) {
+            qreal d = static_cast<qreal>(_distances[i]);
+            d = d / static_cast<qreal>(_maxDistance);
+            qreal a = (_increment * i) - startAngle;
+            if(a < 0) a = a + 360;
+            qreal rd = (M_PI / 180.0) * a;
+            QPointF p = QPointF(d * cos(rd), d * sin(rd));
+            _objGrid.append(p);
+            _objDistance.append(d);
+        }
+    }
+    emit objectAvoidanceChanged();
+}
+
+//-----------------------------------------------------------------------------
+bool
+VehicleObjectAvoidance::enabled()
+{
+    uint8_t id = static_cast<uint8_t>(_vehicle->id());
+    if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+        return _vehicle->parameterManager()->getParameter(id, kColPrevParam)->rawValue().toInt() >= 0;
+    }
+    return false;
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::start(int minDistance)
+{
+    uint8_t id = static_cast<uint8_t>(_vehicle->id());
+    if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+        _vehicle->parameterManager()->getParameter(id, kColPrevParam)->setRawValue(minDistance);
+        emit objectAvoidanceChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+void
+VehicleObjectAvoidance::stop()
+{
+    uint8_t id = static_cast<uint8_t>(_vehicle->id());
+    if(_vehicle->parameterManager()->parameterExists(id, kColPrevParam)) {
+        _vehicle->parameterManager()->getParameter(id, kColPrevParam)->setRawValue(-1);
+        emit objectAvoidanceChanged();
+    }
+}
+
+//-----------------------------------------------------------------------------
+QPointF
+VehicleObjectAvoidance::grid(int i)
+{
+    if(i < _objGrid.count() && i >= 0) {
+        return _objGrid[i];
+    }
+    return QPointF(0,0);
+}
+
+//-----------------------------------------------------------------------------
+qreal
+VehicleObjectAvoidance::distance(int i)
+{
+    if(i < _objDistance.count() && i >= 0) {
+        return _objDistance[i];
+    }
+    return 0;
+}
diff --git a/src/Vehicle/VehicleObjectAvoidance.h b/src/Vehicle/VehicleObjectAvoidance.h
new file mode 100644
index 0000000000000000000000000000000000000000..b892285d3200e2140610c1acece80159f3b9f14e
--- /dev/null
+++ b/src/Vehicle/VehicleObjectAvoidance.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   (c) 2009-2019 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <QObject>
+#include <QVector>
+#include <QPointF>
+
+#include "QGCMAVLink.h"
+
+class Vehicle;
+
+class VehicleObjectAvoidance : public QObject
+{
+    Q_OBJECT
+public:
+    VehicleObjectAvoidance(Vehicle* vehicle, QObject* parent = nullptr);
+
+    Q_PROPERTY(bool             available   READ available      NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(bool             enabled     READ enabled        NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(QList<int>       distances   READ distances      NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(qreal            increment   READ increment      NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(int              minDistance READ minDistance    NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(int              maxDistance READ maxDistance    NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(qreal            angleOffset READ angleOffset    NOTIFY objectAvoidanceChanged)
+    Q_PROPERTY(int              gridSize    READ gridSize       NOTIFY objectAvoidanceChanged)
+
+    //-- Start collision avoidance. Argument is minimum distance the vehicle should keep to all obstacles
+    Q_INVOKABLE void    start   (int minDistance);
+    //-- Stop collision avoidance.
+    Q_INVOKABLE void    stop    ();
+    //-- Object locations (in relationship to vehicle)
+    Q_INVOKABLE QPointF grid    (int i);
+    Q_INVOKABLE qreal   distance(int i);
+
+    bool            available   () { return _distances.count() > 0; }
+    bool            enabled     ();
+    QList<int>      distances   () { return _distances; }
+    qreal           increment   () { return _increment; }
+    int             minDistance () { return _minDistance; }
+    int             maxDistance () { return _maxDistance; }
+    qreal           angleOffset () { return _angleOffset; }
+    int             gridSize    () { return _objGrid.count(); }
+
+    void            update      (mavlink_obstacle_distance_t* message);
+
+signals:
+    void            objectAvoidanceChanged  ();
+
+private:
+    QList<int>      _distances;
+    QVector<QPointF>_objGrid;
+    QVector<qreal>  _objDistance;
+    qreal           _increment      = 0;
+    int             _minDistance    = 0;
+    int             _maxDistance    = 0;
+    qreal           _angleOffset    = 0;
+    Vehicle*        _vehicle        = nullptr;
+};
+
diff --git a/src/VehicleSetup/CMakeLists.txt b/src/VehicleSetup/CMakeLists.txt
index 6969fd5bbee2205c9998a9a74a95544b55f08a70..143ced158bbada3a8adee76ea229ddeb4fd41e13 100644
--- a/src/VehicleSetup/CMakeLists.txt
+++ b/src/VehicleSetup/CMakeLists.txt
@@ -8,6 +8,20 @@ add_library(VehicleSetup
 	VehicleComponent.cc
 )
 
+add_custom_target(VehicleSetupQml
+SOURCES
+	JoystickConfigCalibration.qml
+	JoystickConfigGeneral.qml
+	SetupParameterEditor.qml
+	VehicleSummary.qml
+	JoystickConfigButtons.qml
+	PX4FlowSensor.qml
+	FirmwareUpgrade.qml
+	JoystickConfig.qml
+	JoystickConfigAdvanced.qml
+	SetupView.qml
+)
+
 target_link_libraries(VehicleSetup
 	PUBLIC
 		qgc
diff --git a/src/ViewWidgets/CMakeLists.txt b/src/ViewWidgets/CMakeLists.txt
index 9c631c1026d920dba6a29ca87fe1cab5bc3ef765..a4471a380772a8def42b088da7a0951f8985520f 100644
--- a/src/ViewWidgets/CMakeLists.txt
+++ b/src/ViewWidgets/CMakeLists.txt
@@ -8,4 +8,9 @@ target_link_libraries(ViewWidgets
 		qgc
 )
 
+add_custom_target(ViewWidgetsQml 
+SOURCE
+	ViewWidget.qml
+)
+
 target_include_directories(ViewWidgets INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/comm/BluetoothLink.cc b/src/comm/BluetoothLink.cc
index 31ef9bd51343aee6ecdca0878db5bfedc67f5dda..320c4a4140107971afd74a24e289fc31a2acc998 100644
--- a/src/comm/BluetoothLink.cc
+++ b/src/comm/BluetoothLink.cc
@@ -270,7 +270,7 @@ QString BluetoothConfiguration::settingsTitle()
 void BluetoothConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
-    BluetoothConfiguration* usource = dynamic_cast<BluetoothConfiguration*>(source);
+    auto* usource = qobject_cast<BluetoothConfiguration*>(source);
     Q_ASSERT(usource != nullptr);
     _device = usource->device();
 }
@@ -303,7 +303,7 @@ void BluetoothConfiguration::loadSettings(QSettings& settings, const QString& ro
 void BluetoothConfiguration::updateSettings()
 {
     if(_link) {
-        BluetoothLink* ulink = dynamic_cast<BluetoothLink*>(_link);
+        auto* ulink = qobject_cast<BluetoothLink*>(_link);
         if(ulink) {
             ulink->_restartConnection();
         }
diff --git a/src/comm/LinkConfiguration.cc b/src/comm/LinkConfiguration.cc
index 50a720c802b520a6d771d45957ac14225be59e31..287c2affdec35a105b9a6c79ed9a610a6fc59af9 100644
--- a/src/comm/LinkConfiguration.cc
+++ b/src/comm/LinkConfiguration.cc
@@ -118,26 +118,26 @@ LinkConfiguration* LinkConfiguration::duplicateSettings(LinkConfiguration* sourc
     switch(source->type()) {
 #ifndef NO_SERIAL_LINK
         case TypeSerial:
-            dupe = new SerialConfiguration(dynamic_cast<SerialConfiguration*>(source));
+            dupe = new SerialConfiguration(qobject_cast<SerialConfiguration*>(source));
             break;
 #endif
         case TypeUdp:
-            dupe = new UDPConfiguration(dynamic_cast<UDPConfiguration*>(source));
+            dupe = new UDPConfiguration(qobject_cast<UDPConfiguration*>(source));
             break;
         case TypeTcp:
-            dupe = new TCPConfiguration(dynamic_cast<TCPConfiguration*>(source));
+            dupe = new TCPConfiguration(qobject_cast<TCPConfiguration*>(source));
             break;
 #ifdef QGC_ENABLE_BLUETOOTH
         case TypeBluetooth:
-            dupe = new BluetoothConfiguration(dynamic_cast<BluetoothConfiguration*>(source));
+            dupe = new BluetoothConfiguration(qobject_cast<BluetoothConfiguration*>(source));
             break;
 #endif
         case TypeLogReplay:
-            dupe = new LogReplayLinkConfiguration(dynamic_cast<LogReplayLinkConfiguration*>(source));
+            dupe = new LogReplayLinkConfiguration(qobject_cast<LogReplayLinkConfiguration*>(source));
             break;
 #ifdef QT_DEBUG
         case TypeMock:
-            dupe = new MockConfiguration(dynamic_cast<MockConfiguration*>(source));
+            dupe = new MockConfiguration(qobject_cast<MockConfiguration*>(source));
             break;
 #endif
         case TypeLast:
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index 4ed7a1719b6f0ec7607368cd0090a68e89327174..caa4d09230c4f72fc0ff75bcbe537b5e928f5b0f 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -114,11 +114,11 @@ LinkInterface* LinkManager::createConnectedLink(SharedLinkConfigurationPointer&
 #ifndef NO_SERIAL_LINK
     case LinkConfiguration::TypeSerial:
     {
-        SerialConfiguration* serialConfig = dynamic_cast<SerialConfiguration*>(config.data());
+        auto* serialConfig = qobject_cast<SerialConfiguration*>(config.data());
         if (serialConfig) {
             pLink = new SerialLink(config, isPX4Flow);
             if (serialConfig->usbDirect()) {
-                _activeLinkCheckList.append(dynamic_cast<SerialLink*>(pLink));
+                _activeLinkCheckList.append(qobject_cast<SerialLink*>(pLink));
                 if (!_activeLinkCheckTimer.isActive()) {
                     _activeLinkCheckTimer.start();
                 }
@@ -378,26 +378,26 @@ void LinkManager::loadLinkConfigurationList()
                             switch(type) {
 #ifndef NO_SERIAL_LINK
                             case LinkConfiguration::TypeSerial:
-                                pLink = dynamic_cast<LinkConfiguration*>(new SerialConfiguration(name));
+                                pLink = new SerialConfiguration(name);
                                 break;
 #endif
                             case LinkConfiguration::TypeUdp:
-                                pLink = dynamic_cast<LinkConfiguration*>(new UDPConfiguration(name));
+                                pLink = new UDPConfiguration(name);
                                 break;
                             case LinkConfiguration::TypeTcp:
-                                pLink = dynamic_cast<LinkConfiguration*>(new TCPConfiguration(name));
+                                pLink = new TCPConfiguration(name);
                                 break;
 #ifdef QGC_ENABLE_BLUETOOTH
                             case LinkConfiguration::TypeBluetooth:
-                                pLink = dynamic_cast<LinkConfiguration*>(new BluetoothConfiguration(name));
+                                pLink = new BluetoothConfiguration(name);
                                 break;
 #endif
                             case LinkConfiguration::TypeLogReplay:
-                                pLink = dynamic_cast<LinkConfiguration*>(new LogReplayLinkConfiguration(name));
+                                pLink = new LogReplayLinkConfiguration(name);
                                 break;
 #ifdef QT_DEBUG
                             case LinkConfiguration::TypeMock:
-                                pLink = dynamic_cast<LinkConfiguration*>(new MockConfiguration(name));
+                                pLink = new MockConfiguration(name);
                                 break;
 #endif
                             case LinkConfiguration::TypeLast:
diff --git a/src/comm/LogReplayLink.cc b/src/comm/LogReplayLink.cc
index a7be15b2208ec2a41e781a925809c410f7b46b25..e6e420b6bf8646cfc1b97bbb6d93af75cbc74e73 100644
--- a/src/comm/LogReplayLink.cc
+++ b/src/comm/LogReplayLink.cc
@@ -33,7 +33,7 @@ LogReplayLinkConfiguration::LogReplayLinkConfiguration(LogReplayLinkConfiguratio
 void LogReplayLinkConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
-    LogReplayLinkConfiguration* ssource = dynamic_cast<LogReplayLinkConfiguration*>(source);
+    auto* ssource = qobject_cast<LogReplayLinkConfiguration*>(source);
     if (ssource) {
         _logFilename = ssource->logFilename();
     } else {
@@ -67,10 +67,10 @@ QString LogReplayLinkConfiguration::logFilenameShort(void)
 }
 
 LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config)
-    : LinkInterface(config)
-    , _logReplayConfig(qobject_cast<LogReplayLinkConfiguration*>(config.data()))
-    , _connected(false)
-    , _replayAccelerationFactor(1.0f)
+    : LinkInterface     (config)
+    , _logReplayConfig  (qobject_cast<LogReplayLinkConfiguration*>(config.data()))
+    , _connected        (false)
+    , _playbackSpeed    (1)
 {
     if (!_logReplayConfig) {
         qWarning() << "Internal error";
@@ -80,10 +80,10 @@ LogReplayLink::LogReplayLink(SharedLinkConfigurationPointer& config)
     
     _readTickTimer.moveToThread(this);
     
-    QObject::connect(&_readTickTimer, &QTimer::timeout, this, &LogReplayLink::_readNextLogEntry);
-    QObject::connect(this, &LogReplayLink::_playOnThread, this, &LogReplayLink::_play);
-    QObject::connect(this, &LogReplayLink::_pauseOnThread, this, &LogReplayLink::_pause);
-    QObject::connect(this, &LogReplayLink::_setAccelerationFactorOnThread, this, &LogReplayLink::_setAccelerationFactor);
+    QObject::connect(&_readTickTimer, &QTimer::timeout,                 this, &LogReplayLink::_readNextLogEntry);
+    QObject::connect(this, &LogReplayLink::_playOnThread,               this, &LogReplayLink::_play);
+    QObject::connect(this, &LogReplayLink::_pauseOnThread,              this, &LogReplayLink::_pause);
+    QObject::connect(this, &LogReplayLink::_setPlaybackSpeedOnThread,   this, &LogReplayLink::_setPlaybackSpeed);
     
     moveToThread(this);
 }
@@ -269,7 +269,9 @@ bool LogReplayLink::_loadLogFile(void)
     QString logFilename = _logReplayConfig->logFilename();
     QFileInfo logFileInfo;
     int logDurationSecondsTotal;
-    
+    quint64 startTimeUSecs;
+    quint64 endTimeUSecs;
+
     if (_logFile.isOpen()) {
         errorMsg = tr("Attempt to load new log while log being played");
         goto Error;
@@ -283,52 +285,26 @@ bool LogReplayLink::_loadLogFile(void)
     logFileInfo.setFile(logFilename);
     _logFileSize = logFileInfo.size();
     
-    _logTimestamped = logFilename.endsWith(".tlog");
-    
-    if (_logTimestamped) {
-        quint64 startTimeUSecs = _parseTimestamp(_logFile.read(cbTimestamp));
-        quint64 endTimeUSecs = _findLastTimestamp();
-
-        if (endTimeUSecs <= startTimeUSecs) {
-            errorMsg = tr("The log file '%1' is corrupt or empty.").arg(logFilename);
-            goto Error;
-        }
-        
-        // Remember the start and end time so we can move around this _logFile with the slider.
-        _logEndTimeUSecs = endTimeUSecs;
-        _logStartTimeUSecs = startTimeUSecs;
-        _logDurationUSecs = endTimeUSecs - startTimeUSecs;
-        _logCurrentTimeUSecs = startTimeUSecs;
+    startTimeUSecs = _parseTimestamp(_logFile.read(cbTimestamp));
+    endTimeUSecs = _findLastTimestamp();
 
-        // Reset our log file so when we go to read it for the first time, we start at the beginning.
-        _logFile.reset();
-        
-        logDurationSecondsTotal = (_logDurationUSecs) / 1000000;
-    } else {
-        // Load in binary mode. In this mode, files should be have a filename postfix
-        // of the baud rate they were recorded at, like `test_run_115200.bin`. Then on
-        // playback, the datarate is equal to set to this value.
-        
-        
-        // Set baud rate if any present. Otherwise we default to 57600.
-        QStringList parts = logFileInfo.baseName().split("_");
-        _binaryBaudRate = _defaultBinaryBaudRate;
-        if (parts.count() > 1)
-        {
-            bool ok;
-            int rate = parts.last().toInt(&ok);
-            // 9600 baud to 100 MBit
-            if (ok && (rate > 9600 && rate < 100000000))
-            {
-                // Accept this as valid baudrate
-                _binaryBaudRate = rate;
-            }
-        }
-        
-        logDurationSecondsTotal = logFileInfo.size() / (_binaryBaudRate / 10);
+    if (endTimeUSecs <= startTimeUSecs) {
+        errorMsg = tr("The log file '%1' is corrupt or empty.").arg(logFilename);
+        goto Error;
     }
+
+    // Remember the start and end time so we can move around this _logFile with the slider.
+    _logEndTimeUSecs = endTimeUSecs;
+    _logStartTimeUSecs = startTimeUSecs;
+    _logDurationUSecs = endTimeUSecs - startTimeUSecs;
+    _logCurrentTimeUSecs = startTimeUSecs;
+
+    // Reset our log file so when we go to read it for the first time, we start at the beginning.
+    _logFile.reset();
+
+    logDurationSecondsTotal = (_logDurationUSecs) / 1000000;
     
-    emit logFileStats(_logTimestamped, logDurationSecondsTotal, _binaryBaudRate);
+    emit logFileStats(logDurationSecondsTotal);
     
     return true;
     
@@ -348,59 +324,40 @@ void LogReplayLink::_readNextLogEntry(void)
 {
     QByteArray bytes;
 
-    // If we have a file with timestamps, try and pace this out following the time differences
-    // between the timestamps and the current playback speed.
-    if (_logTimestamped) {
-        // Now parse MAVLink messages, grabbing their timestamps as we go. We stop once we
-        // have at least 3ms until the next one.
-        
-        // We track what the next execution time should be in milliseconds, which we use to set
-        // the next timer interrupt.
-        int timeToNextExecutionMSecs = 0;
-        
-        while (timeToNextExecutionMSecs < 3) {
-            // Read the next mavlink message from the log
-            qint64 nextTimeUSecs = _readNextMavlinkMessage(bytes);
-            emit bytesReceived(this, bytes);
-            emit playbackPercentCompleteChanged(((float)(_logCurrentTimeUSecs - _logStartTimeUSecs) / (float)_logDurationUSecs) * 100);
-            
-            if (_logFile.atEnd()) {
-                _finishPlayback();
-                return;
-            }
-            
-            _logCurrentTimeUSecs = nextTimeUSecs;
-            
-            // Calculate how long we should wait in real time until parsing this message.
-            // We pace ourselves relative to the start time of playback to fix any drift (initially set in play())
-            qint64 timeDiffMSecs = ((_logCurrentTimeUSecs - _logStartTimeUSecs) / 1000) / _replayAccelerationFactor;
-            quint64 desiredPacedTimeMSecs = _playbackStartTimeMSecs + timeDiffMSecs;
-            quint64 currentTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
-            timeToNextExecutionMSecs = desiredPacedTimeMSecs - currentTimeMSecs;
-        }
+    // Now parse MAVLink messages, grabbing their timestamps as we go. We stop once we
+    // have at least 3ms until the next one.
 
-        _signalCurrentLogTimeSecs();
+    // We track what the next execution time should be in milliseconds, which we use to set
+    // the next timer interrupt.
+    int timeToNextExecutionMSecs = 0;
 
-        // And schedule the next execution of this function.
-        _readTickTimer.start(timeToNextExecutionMSecs);
-    }
-    else
-    {
-        // Binary format - read at fixed rate
-        const int len = 100;
-        QByteArray chunk = _logFile.read(len);
-        
-        emit bytesReceived(this, chunk);
-        emit playbackPercentCompleteChanged(((float)_logFile.pos() / (float)_logFileSize) * 100);
-        
-        // Check if reached end of file before reading next timestamp
-        if (chunk.length() < len || _logFile.atEnd())
-        {
+    while (timeToNextExecutionMSecs < 3) {
+        // Read the next mavlink message from the log
+        qint64 nextTimeUSecs = _readNextMavlinkMessage(bytes);
+        emit bytesReceived(this, bytes);
+        emit playbackPercentCompleteChanged(((float)(_logCurrentTimeUSecs - _logStartTimeUSecs) / (float)_logDurationUSecs) * 100);
+
+        if (_logFile.atEnd()) {
             _finishPlayback();
             return;
         }
+
+        _logCurrentTimeUSecs = nextTimeUSecs;
+
+        // Calculate how long we should wait in real time until parsing this message.
+        // We pace ourselves relative to the start time of playback to fix any drift (initially set in play())
+
+        quint64 currentTimeMSecs =                  (quint64)QDateTime::currentMSecsSinceEpoch();
+        quint64 desiredPlayheadMovementTimeMSecs =  ((_logCurrentTimeUSecs - _playbackStartLogTimeUSecs) / 1000) / _playbackSpeed;
+        quint64 desiredCurrentTimeMSecs =           _playbackStartTimeMSecs + desiredPlayheadMovementTimeMSecs;
+
+        timeToNextExecutionMSecs = desiredCurrentTimeMSecs - currentTimeMSecs;
     }
-    
+
+    _signalCurrentLogTimeSecs();
+
+    // And schedule the next execution of this function.
+    _readTickTimer.start(timeToNextExecutionMSecs);
 }
 
 void LogReplayLink::_play(void)
@@ -415,22 +372,9 @@ void LogReplayLink::_play(void)
         _resetPlaybackToBeginning();
     }
     
-    // Always correct the current start time such that the next message will play immediately at playback.
-    // We do this by subtracting the current file playback offset  from now()
-    _playbackStartTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch() - ((_logCurrentTimeUSecs - _logStartTimeUSecs) / 1000);
-    
-    // Start timer
-    if (_logTimestamped) {
-        _readTickTimer.start(1);
-    } else {
-        // Read len bytes at a time
-        int len = 100;
-        // Calculate the number of times to read 100 bytes per second
-        // to guarantee the baud rate, then divide 1000 by the number of read
-        // operations to obtain the interval in milliseconds
-        int interval = 1000 / ((_binaryBaudRate / 10) / len);
-        _readTickTimer.start(interval / _replayAccelerationFactor);
-    }
+    _playbackStartTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
+    _playbackStartLogTimeUSecs = _logCurrentTimeUSecs;
+    _readTickTimer.start(1);
     
     emit playbackStarted();
 }
@@ -455,6 +399,7 @@ void LogReplayLink::_resetPlaybackToBeginning(void)
     
     // And since we haven't starting playback, clear the time of initial playback and the current timestamp.
     _playbackStartTimeMSecs = 0;
+    _playbackStartLogTimeUSecs = 0;
     _logCurrentTimeUSecs = _logStartTimeUSecs;
 }
 
@@ -462,7 +407,7 @@ void LogReplayLink::movePlayhead(qreal percentComplete)
 {
     if (isPlaying()) {
         _pauseOnThread();
-        QSignalSpy waitForPause(this, SIGNAL(playbackPaused));
+        QSignalSpy waitForPause(this, SIGNAL(playbackPaused()));
         waitForPause.wait();
         if (_readTickTimer.isActive()) {
             return;
@@ -478,90 +423,55 @@ void LogReplayLink::movePlayhead(qreal percentComplete)
     
     qreal percentCompleteMult = percentComplete / 100.0;
     
-    if (_logTimestamped) {
-        // But if we have a timestamped MAVLink log, then actually aim to hit that percentage in terms of
-        // time through the file.
-        qint64 newFilePos = (qint64)(percentCompleteMult * (qreal)_logFile.size());
-        
-        // Now seek to the appropriate position, failing gracefully if we can't.
-        if (!_logFile.seek(newFilePos)) {
-            _replayError(tr("Unable to seek to new position"));
-            return;
-        }
-        
-        // But we do align to the next MAVLink message for consistency.
-        mavlink_message_t dummy;
-        _logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
-        
-        // Now calculate the current file location based on time.
-        qreal newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
-        
-        // Calculate the effective baud rate of the file in bytes/s.
-        qreal baudRate = _logFile.size() / (qreal)_logDurationUSecs / 1e6;
-        
-        // And the desired time is:
-        qreal desiredTimeUSecs = percentCompleteMult * _logDurationUSecs;
-        
-        // And now jump the necessary number of bytes in the proper direction
-        qint64 offset = (newRelativeTimeUSecs - desiredTimeUSecs) * baudRate;
-        if (!_logFile.seek(_logFile.pos() + offset)) {
-            _replayError(tr("Unable to seek to new position"));
-            return;
-        }
-        
-        // And scan until we reach the start of a MAVLink message. We make sure to record this timestamp for
-        // smooth jumping around the file.
-        _logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
-        _signalCurrentLogTimeSecs();
-
-        // Now update the UI with our actual final position.
-        newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
-        percentComplete = (newRelativeTimeUSecs / _logDurationUSecs) * 100;
-        emit playbackPercentCompleteChanged(percentComplete);
-    } else {
-        // If we're working with a non-timestamped file, we just jump to that percentage of the file,
-        // align to the next MAVLink message and roll with it. No reason to do anything more complicated.
-        qint64 newFilePos = (qint64)(percentCompleteMult * (qreal)_logFile.size());
-        
-        // Now seek to the appropriate position, failing gracefully if we can't.
-        if (!_logFile.seek(newFilePos)) {
-            _replayError(tr("Unable to seek to new position"));
-            return;
-        }
-        
-        // But we do align to the next MAVLink message for consistency.
-        mavlink_message_t dummy;
-        _seekToNextMavlinkMessage(&dummy);
+    // But if we have a timestamped MAVLink log, then actually aim to hit that percentage in terms of
+    // time through the file.
+    qint64 newFilePos = (qint64)(percentCompleteMult * (qreal)_logFile.size());
+
+    // Now seek to the appropriate position, failing gracefully if we can't.
+    if (!_logFile.seek(newFilePos)) {
+        _replayError(tr("Unable to seek to new position"));
+        return;
     }
+
+    // But we do align to the next MAVLink message for consistency.
+    mavlink_message_t dummy;
+    _logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
+
+    // Now calculate the current file location based on time.
+    qreal newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
+
+    // Calculate the effective baud rate of the file in bytes/s.
+    qreal baudRate = _logFile.size() / (qreal)_logDurationUSecs / 1e6;
+
+    // And the desired time is:
+    qreal desiredTimeUSecs = percentCompleteMult * _logDurationUSecs;
+
+    // And now jump the necessary number of bytes in the proper direction
+    qint64 offset = (newRelativeTimeUSecs - desiredTimeUSecs) * baudRate;
+    if (!_logFile.seek(_logFile.pos() + offset)) {
+        _replayError(tr("Unable to seek to new position"));
+        return;
+    }
+
+    // And scan until we reach the start of a MAVLink message. We make sure to record this timestamp for
+    // smooth jumping around the file.
+    _logCurrentTimeUSecs = _seekToNextMavlinkMessage(&dummy);
+    _signalCurrentLogTimeSecs();
+
+    // Now update the UI with our actual final position.
+    newRelativeTimeUSecs = (qreal)(_logCurrentTimeUSecs - _logStartTimeUSecs);
+    percentComplete = (newRelativeTimeUSecs / _logDurationUSecs) * 100;
+    emit playbackPercentCompleteChanged(percentComplete);
 }
 
-void LogReplayLink::_setAccelerationFactor(int factor)
+void LogReplayLink::_setPlaybackSpeed(qreal playbackSpeed)
 {
-    // factor: -100: 0.01X, 0: 1.0X, 100: 100.0X
-    
-    if (factor < 0) {
-        _replayAccelerationFactor = 0.01f;
-        factor -= -100;
-        if (factor > 0) {
-            _replayAccelerationFactor *= (float)factor;
-        }
-    } else if (factor > 0) {
-        _replayAccelerationFactor = 1.0f * (float)factor;
-    } else {
-        _replayAccelerationFactor = 1.0f;
-    }
+    _playbackSpeed = playbackSpeed;
     
-    // Update timer interval
-    if (!_logTimestamped) {
-        // Read len bytes at a time
-        int len = 100;
-        // Calculate the number of times to read 100 bytes per second
-        // to guarantee the baud rate, then divide 1000 by the number of read
-        // operations to obtain the interval in milliseconds
-        int interval = 1000 / ((_binaryBaudRate / 10) / len);
-        _readTickTimer.stop();
-        _readTickTimer.start(interval / _replayAccelerationFactor);
-    }
+    // Let _readNextLogEntry update to correct speed
+    _playbackStartTimeMSecs = (quint64)QDateTime::currentMSecsSinceEpoch();
+    _playbackStartLogTimeUSecs = _logCurrentTimeUSecs;
+    _readTickTimer.start(1);
 }
 
 /// @brief Called when playback is complete
@@ -582,14 +492,15 @@ LogReplayLinkController::LogReplayLinkController(void)
     , _isPlaying        (false)
     , _percentComplete  (0)
     , _playheadSecs     (0)
+    , _playbackSpeed    (1)
 {
-
 }
 
 void LogReplayLinkController::setLink(LogReplayLink* link)
 {
     if (_link) {
         disconnect(_link);
+        disconnect(this, &LogReplayLinkController::playbackSpeedChanged, _link, &LogReplayLink::setPlaybackSpeed);
         _isPlaying = false;
         _percentComplete = 0;
         _playheadTime.clear();
@@ -605,12 +516,16 @@ void LogReplayLinkController::setLink(LogReplayLink* link)
 
     if (link) {
         _link = link;
+
         connect(_link, &LogReplayLink::logFileStats,                      this, &LogReplayLinkController::_logFileStats);
         connect(_link, &LogReplayLink::playbackStarted,                   this, &LogReplayLinkController::_playbackStarted);
         connect(_link, &LogReplayLink::playbackPaused,                    this, &LogReplayLinkController::_playbackPaused);
         connect(_link, &LogReplayLink::playbackPercentCompleteChanged,    this, &LogReplayLinkController::_playbackPercentCompleteChanged);
         connect(_link, &LogReplayLink::currentLogTimeSecs,                this, &LogReplayLinkController::_currentLogTimeSecs);
         connect(_link, &LogReplayLink::disconnected,                      this, &LogReplayLinkController::_linkDisconnected);
+
+        connect(this, &LogReplayLinkController::playbackSpeedChanged, _link, &LogReplayLink::setPlaybackSpeed);
+
         emit linkChanged(_link);
     }
 }
@@ -629,11 +544,8 @@ void LogReplayLinkController::setPercentComplete(qreal percentComplete)
     _link->movePlayhead(percentComplete);
 }
 
-void LogReplayLinkController::_logFileStats(bool logTimestamped, int logDurationSecs, int binaryBaudRate)
+void LogReplayLinkController::_logFileStats(int logDurationSecs)
 {
-    Q_UNUSED(logTimestamped);
-    Q_UNUSED(binaryBaudRate);
-
     _totalTime = _secondsToHMS(logDurationSecs);
     emit totalTimeChanged(_totalTime);
 }
@@ -684,5 +596,9 @@ QString LogReplayLinkController::_secondsToHMS(int seconds)
     secondsPart -= 60 * minutesPart;
     minutesPart -= 60 * hoursPart;
 
-    return tr("%1h:%2m:%3s").arg(hoursPart, 2).arg(minutesPart, 2).arg(secondsPart, 2);
+    if (hoursPart == 0) {
+        return tr("%2m:%3s").arg(minutesPart, 2, 10, QLatin1Char('0')).arg(secondsPart, 2, 10, QLatin1Char('0'));
+    } else {
+        return tr("%1h:%2m:%3s").arg(hoursPart, 2, 10, QLatin1Char('0')).arg(minutesPart, 2, 10, QLatin1Char('0')).arg(secondsPart, 2, 10, QLatin1Char('0'));
+    }
 }
diff --git a/src/comm/LogReplayLink.h b/src/comm/LogReplayLink.h
index c513ce4654fc9bb7cd8090dbabf5cc63698029c3..d5546b6da4984bbff76df49e01552a3361dbdb42 100644
--- a/src/comm/LogReplayLink.h
+++ b/src/comm/LogReplayLink.h
@@ -57,70 +57,66 @@ public:
     /// @return true: log is currently playing, false: log playback is paused
     bool isPlaying(void) { return _readTickTimer.isActive(); }
 
-    /// Start replay at current position
-    void play(void) { emit _playOnThread(); }
-
-    /// Pause replay
-    void pause(void) { emit _pauseOnThread(); }
-
-    /// Move the playhead to the specified percent complete
-    void movePlayhead(qreal percentComplete);
-
-    /// Sets the acceleration factor: -100: 0.01X, 0: 1.0X, 100: 100.0X
-    void setAccelerationFactor(int factor) { emit _setAccelerationFactorOnThread(factor); }
+    void play           (void) { emit _playOnThread(); }
+    void pause          (void) { emit _pauseOnThread(); }
+    void movePlayhead   (qreal percentComplete);
 
     // Virtuals from LinkInterface
-    virtual QString getName(void) const { return _config->name(); }
-    virtual void requestReset(void){ }
-    virtual bool isConnected(void) const { return _connected; }
-    virtual qint64 getConnectionSpeed(void) const { return 100000000; }
-    virtual qint64 bytesAvailable(void) { return 0; }
-    virtual bool isLogReplay(void) { return true; }
+    virtual QString getName             (void) const { return _config->name(); }
+    virtual void    requestReset        (void){ }
+    virtual bool    isConnected         (void) const { return _connected; }
+    virtual qint64  getConnectionSpeed  (void) const { return 100000000; }
+    virtual qint64  bytesAvailable      (void) { return 0; }
+    virtual bool    isLogReplay         (void) { return true; }
 
     // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
     // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
-    bool connect(void);
-    bool disconnect(void);
+    bool connect    (void);
+    bool disconnect (void);
+
+public slots:
+    /// Sets the acceleration factor: -100: 0.01X, 0: 1.0X, 100: 100.0X
+    void setPlaybackSpeed(qreal playbackSpeed) { emit _setPlaybackSpeedOnThread(playbackSpeed); }
 
 private slots:
     virtual void _writeBytes(const QByteArray bytes);
 
 signals:
-    void logFileStats(bool logTimestamped, int logDurationSecs, int binaryBaudRate);
-    void playbackStarted(void);
-    void playbackPaused(void);
-    void playbackAtEnd(void);
-    void playbackPercentCompleteChanged(qreal percentComplete);
-    void currentLogTimeSecs(int secs);
+    void logFileStats                   (int logDurationSecs);
+    void playbackStarted                (void);
+    void playbackPaused                 (void);
+    void playbackAtEnd                  (void);
+    void playbackPercentCompleteChanged (qreal percentComplete);
+    void currentLogTimeSecs             (int secs);
 
     // Internal signals
-    void _playOnThread(void);
-    void _pauseOnThread(void);
-    void _setAccelerationFactorOnThread(int factor);
+    void _playOnThread              (void);
+    void _pauseOnThread             (void);
+    void _setPlaybackSpeedOnThread  (qreal playbackSpeed);
 
 private slots:
-    void _readNextLogEntry(void);
-    void _play(void);
-    void _pause(void);
-    void _setAccelerationFactor(int factor);
+    void _readNextLogEntry  (void);
+    void _play              (void);
+    void _pause             (void);
+    void _setPlaybackSpeed  (qreal playbackSpeed);
 
 private:
     // Links are only created/destroyed by LinkManager so constructor/destructor is not public
     LogReplayLink(SharedLinkConfigurationPointer& config);
     ~LogReplayLink();
 
-    void _replayError(const QString& errorMsg);
-    quint64 _parseTimestamp(const QByteArray& bytes);
-    quint64 _seekToNextMavlinkMessage(mavlink_message_t* nextMsg);
-    quint64 _findLastTimestamp(void);
-    quint64 _readNextMavlinkMessage(QByteArray& bytes);
-    bool _loadLogFile(void);
-    void _finishPlayback(void);
-    void _resetPlaybackToBeginning(void);
-    void _signalCurrentLogTimeSecs(void);
+    void    _replayError                (const QString& errorMsg);
+    quint64 _parseTimestamp             (const QByteArray& bytes);
+    quint64 _seekToNextMavlinkMessage   (mavlink_message_t* nextMsg);
+    quint64 _findLastTimestamp          (void);
+    quint64 _readNextMavlinkMessage     (QByteArray& bytes);
+    bool    _loadLogFile                (void);
+    void    _finishPlayback             (void);
+    void    _resetPlaybackToBeginning   (void);
+    void    _signalCurrentLogTimeSecs   (void);
 
     // Virtuals from LinkInterface
-    virtual bool _connect(void);
+    virtual bool _connect   (void);
     virtual void _disconnect(void);
 
     // Virtuals from QThread
@@ -139,16 +135,13 @@ private:
     quint64 _logEndTimeUSecs;       ///< The last timestamp in the current log file.
     quint64 _logDurationUSecs;
 
-    static const int    _defaultBinaryBaudRate = 57600;
-    int                 _binaryBaudRate;        ///< Playback rate for binary log format
-
-    float   _replayAccelerationFactor;  ///< Factor to apply to playback rate
+    qreal   _playbackSpeed;
     quint64 _playbackStartTimeMSecs;    ///< The time when the logfile was first played back. This is used to pace out replaying the messages to fix long-term drift/skew. 0 indicates that the player hasn't initiated playback of this log file.
+    quint64 _playbackStartLogTimeUSecs;
 
     MAVLinkProtocol*    _mavlink;
     QFile               _logFile;
     quint64             _logFileSize;
-    bool                _logTimestamped;    ///< true: Timestamped log format, false: no timestamps
 
     static const int cbTimestamp = sizeof(quint64);
 };
@@ -163,6 +156,7 @@ public:
     Q_PROPERTY(qreal            percentComplete READ percentComplete    WRITE setPercentComplete    NOTIFY percentCompleteChanged)
     Q_PROPERTY(QString          totalTime       MEMBER _totalTime                                   NOTIFY totalTimeChanged)
     Q_PROPERTY(QString          playheadTime    MEMBER _playheadTime                                NOTIFY playheadTimeChanged)
+    Q_PROPERTY(qreal            playbackSpeed   MEMBER _playbackSpeed                               NOTIFY playbackSpeedChanged)
 
     LogReplayLinkController(void);
 
@@ -180,9 +174,10 @@ signals:
     void percentCompleteChanged (qreal percentComplete);
     void playheadTimeChanged    (QString playheadTime);
     void totalTimeChanged       (QString totalTime);
+    void playbackSpeedChanged   (qreal playbackSpeed);
 
 private slots:
-    void _logFileStats                   (bool logTimestamped, int logDurationSecs, int binaryBaudRate);
+    void _logFileStats                   (int logDurationSecs);
     void _playbackStarted                (void);
     void _playbackPaused                 (void);
     void _playbackAtEnd                  (void);
@@ -199,5 +194,6 @@ private:
     int             _playheadSecs;
     QString         _playheadTime;
     QString         _totalTime;
+    qreal           _playbackSpeed;
 };
 
diff --git a/src/comm/MockLink.cc b/src/comm/MockLink.cc
index edce306482ea0e9569022f33fb2bd17f2606f2ff..51aaf868967bdec22ecfe2af85a298c2426a960e 100644
--- a/src/comm/MockLink.cc
+++ b/src/comm/MockLink.cc
@@ -1134,7 +1134,7 @@ MockConfiguration::MockConfiguration(MockConfiguration* source)
 void MockConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
-    MockConfiguration* usource = dynamic_cast<MockConfiguration*>(source);
+    auto* usource = qobject_cast<MockConfiguration*>(source);
 
     if (!usource) {
         qWarning() << "dynamic_cast failed" << source << usource;
diff --git a/src/comm/SerialLink.cc b/src/comm/SerialLink.cc
index 4190f956d7f08e9d7a89170ecdf9584207260643..46e5bfeaf2498636e2fa0d10c729a14655fa4abf 100644
--- a/src/comm/SerialLink.cc
+++ b/src/comm/SerialLink.cc
@@ -405,7 +405,7 @@ SerialConfiguration::SerialConfiguration(SerialConfiguration* copy) : LinkConfig
 void SerialConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
-    SerialConfiguration* ssource = dynamic_cast<SerialConfiguration*>(source);
+    auto* ssource = qobject_cast<SerialConfiguration*>(source);
     if (ssource) {
         _baud               = ssource->baud();
         _flowControl        = ssource->flowControl();
@@ -423,7 +423,7 @@ void SerialConfiguration::copyFrom(LinkConfiguration *source)
 void SerialConfiguration::updateSettings()
 {
     if(_link) {
-        SerialLink* serialLink = dynamic_cast<SerialLink*>(_link);
+        auto* serialLink = qobject_cast<SerialLink*>(_link);
         if(serialLink) {
             serialLink->_resetConfiguration();
         }
diff --git a/src/comm/TCPLink.cc b/src/comm/TCPLink.cc
index 516b3ff4146aa1c80db015cef69d28749e68e5b8..dddbf76cb64c09340db0d12d2af1ec1a9e44ef82 100644
--- a/src/comm/TCPLink.cc
+++ b/src/comm/TCPLink.cc
@@ -280,7 +280,7 @@ TCPConfiguration::TCPConfiguration(TCPConfiguration* source) : LinkConfiguration
 void TCPConfiguration::copyFrom(LinkConfiguration *source)
 {
     LinkConfiguration::copyFrom(source);
-    TCPConfiguration* usource = dynamic_cast<TCPConfiguration*>(source);
+    auto* usource = qobject_cast<TCPConfiguration*>(source);
     Q_ASSERT(usource != nullptr);
     _port    = usource->port();
     _address = usource->address();
@@ -302,7 +302,7 @@ void TCPConfiguration::setHost(const QString host)
     if(ipAdd.isEmpty()) {
         qWarning() << "TCP:" << "Could not resolve host:" << host;
     } else {
-        _address = ipAdd;
+        _address = QHostAddress(ipAdd);
     }
 }
 
@@ -326,7 +326,7 @@ void TCPConfiguration::loadSettings(QSettings& settings, const QString& root)
 void TCPConfiguration::updateSettings()
 {
     if(_link) {
-        TCPLink* ulink = dynamic_cast<TCPLink*>(_link);
+        auto* ulink = qobject_cast<TCPLink*>(_link);
         if(ulink) {
             ulink->_restartConnection();
         }
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 86a1e4d6699e278afc39e6b0de661b15874fba9c..1642b9d92fca1dba7b634d578df163d69db75a0b 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -396,7 +396,7 @@ void UDPConfiguration::copyFrom(LinkConfiguration *source)
 
 void UDPConfiguration::_copyFrom(LinkConfiguration *source)
 {
-    UDPConfiguration* usource = dynamic_cast<UDPConfiguration*>(source);
+    auto* usource = qobject_cast<UDPConfiguration*>(source);
     if (usource) {
         _localPort = usource->localPort();
         _clearTargetHosts();
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 2d27e5b4500bdd2ed52141cc83fe7124dfe47d04..19f31d74107e7d2064475e9028b7d1c2fedc1702 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1094,7 +1094,7 @@ void UAS::pairRX(int rxType, int rxSubType)
 #ifndef __mobile__
 void UAS::enableHilJSBSim(bool enable, QString options)
 {
-    QGCJSBSimLink* link = dynamic_cast<QGCJSBSimLink*>(simulation);
+    auto* link = qobject_cast<QGCJSBSimLink*>(simulation);
     if (!link) {
         // Delete wrong sim
         if (simulation) {
@@ -1104,7 +1104,7 @@ void UAS::enableHilJSBSim(bool enable, QString options)
         simulation = new QGCJSBSimLink(_vehicle, options);
     }
     // Connect Flight Gear Link
-    link = dynamic_cast<QGCJSBSimLink*>(simulation);
+    link = qobject_cast<QGCJSBSimLink*>(simulation);
     link->setStartupArguments(options);
     if (enable)
     {
@@ -1123,7 +1123,7 @@ void UAS::enableHilJSBSim(bool enable, QString options)
 #ifndef __mobile__
 void UAS::enableHilXPlane(bool enable)
 {
-    QGCXPlaneLink* link = dynamic_cast<QGCXPlaneLink*>(simulation);
+    auto* link = qobject_cast<QGCXPlaneLink*>(simulation);
     if (!link) {
         if (simulation) {
             stopHil();
diff --git a/src/ui/CMakeLists.txt b/src/ui/CMakeLists.txt
index edef4d5187f9320942133bf5e893ab18e10ee4b6..8635a2b6a3cdb525d3942c353546be1a6f2e9d0c 100644
--- a/src/ui/CMakeLists.txt
+++ b/src/ui/CMakeLists.txt
@@ -1,3 +1,5 @@
+add_subdirectory(preferences)
+add_subdirectory(toolbar)
 
 add_library(ui
 
@@ -19,6 +21,13 @@ add_library(ui
 	QMap3D.ui
 )
 
+add_custom_target(uiQml
+SOURCES
+	AppSettings.qml
+	ExitWithErrorWindow.qml
+	MainRootWindow.qml
+)
+
 target_link_libraries(ui
 	PUBLIC
 		qgc
diff --git a/src/ui/preferences/CMakeLists.txt b/src/ui/preferences/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5a717c75748f933e57031d0ec0a7b8b55303d03
--- /dev/null
+++ b/src/ui/preferences/CMakeLists.txt
@@ -0,0 +1,15 @@
+add_custom_target(UiPreferencesQml
+SOURCES
+    SerialSettings.qml
+    HelpSettings.qml
+    TcpSettings.qml
+    MavlinkSettings.qml
+    DebugWindow.qml
+    UdpSettings.qml
+    LinkSettings.qml
+    MockLink.qml
+    GeneralSettings.qml
+    BluetoothSettings.qml
+    LogReplaySettings.qml
+    MockLinkSettings.qml
+)
\ No newline at end of file
diff --git a/src/ui/preferences/GeneralSettings.qml b/src/ui/preferences/GeneralSettings.qml
index eda8d14c37ae8d21597b8471d215073bc6add64f..8dfd223d61965948bfc9ac68f7ccb677c98763af 100644
--- a/src/ui/preferences/GeneralSettings.qml
+++ b/src/ui/preferences/GeneralSettings.qml
@@ -479,16 +479,38 @@ Rectangle {
                             GridLayout {
                                 columns: 2
 
-                                QGCLabel { text: qsTr("Guided Minimum Altitude") }
+                                property Fact _guidedMinimumAltitude:   QGroundControl.settingsManager.flyViewSettings.guidedMinimumAltitude
+                                property Fact _guidedMaximumAltitude:   QGroundControl.settingsManager.flyViewSettings.guidedMaximumAltitude
+                                property Fact _maxGoToLocationDistance: QGroundControl.settingsManager.flyViewSettings.maxGoToLocationDistance
+
+                                QGCLabel {
+                                    text:       qsTr("Guided Minimum Altitude")
+                                    visible:    parent._guidedMinimumAltitude.visible
+                                }
                                 FactTextField {
                                     Layout.preferredWidth:  _valueFieldWidth
-                                    fact:                   QGroundControl.settingsManager.flyViewSettings.guidedMinimumAltitude
+                                    visible:                parent._guidedMinimumAltitude.visible
+                                    fact:                   parent._guidedMinimumAltitude
                                 }
 
-                                QGCLabel { text: qsTr("Guided Maximum Altitude") }
+                                QGCLabel {
+                                    text:       qsTr("Guided Maximum Altitude")
+                                    visible:    parent._guidedMaximumAltitude.visible
+                                }
+                                FactTextField {
+                                    Layout.preferredWidth:  _valueFieldWidth
+                                    visible:                parent._guidedMaximumAltitude.visible
+                                    fact:                   parent._guidedMaximumAltitude
+                                }
+
+                                QGCLabel {
+                                    text:       qsTr("Go To Location Max Distance")
+                                    visible:    parent._maxGoToLocationDistance.visible
+                                }
                                 FactTextField {
                                     Layout.preferredWidth:  _valueFieldWidth
-                                    fact:                   QGroundControl.settingsManager.flyViewSettings.guidedMaximumAltitude
+                                    visible:                parent._maxGoToLocationDistance.visible
+                                    fact:                   parent._maxGoToLocationDistance
                                 }
                             }
                         }
diff --git a/src/ui/toolbar/CMakeLists.txt b/src/ui/toolbar/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b23df04be854dcca93adc08bf0f97c1d9a31d34a
--- /dev/null
+++ b/src/ui/toolbar/CMakeLists.txt
@@ -0,0 +1,18 @@
+add_custom_target(UiToolbarQml
+SOURCES
+    ArmedIndicator.qml
+    BatteryIndicator.qml
+    GPSIndicator.qml
+    GPSRTKIndicator.qml
+    JoystickIndicator.qml
+    LinkIndicator.qml
+    MainToolBar.qml
+    MainToolBarIndicators.qml
+    MessageIndicator.qml
+    ModeIndicator.qml
+    MultiVehicleSelector.qml
+    RCRSSIIndicator.qml
+    SignalStrength.qml
+    TelemetryRSSIIndicator.qml
+    VTOLModeIndicator.qml
+)
\ No newline at end of file