diff --git a/src/ui/configuration/BatteryMonitorConfig.cc b/src/ui/configuration/BatteryMonitorConfig.cc
index e94ce6da3b3789ed76192d8baba577ea89146a59..6e56877884a1f843a5567808fb6f16b9e8edbd0b 100644
--- a/src/ui/configuration/BatteryMonitorConfig.cc
+++ b/src/ui/configuration/BatteryMonitorConfig.cc
@@ -18,7 +18,8 @@ BatteryMonitorConfig::BatteryMonitorConfig(QWidget *parent) : AP2ConfigWidget(pa
     ui.apmVerComboBox->addItem("1: APM2 - 2.5 non 3DR");
     ui.apmVerComboBox->addItem("2: APM2.5 - 3DR Power Module");
     ui.apmVerComboBox->addItem("3: PX4");
-    ui.alertOnLowCheckBox->setVisible(false);
+
+    ui.alertOnLowCheckBox->setVisible(false); //Unimpelemented, but TODO.
 
 
     connect(ui.monitorComboBox,SIGNAL(currentIndexChanged(int)),this,SLOT(monitorCurrentIndexChanged(int)));
@@ -46,6 +47,9 @@ void BatteryMonitorConfig::activeUASSet(UASInterface *uas)
     connect(uas,SIGNAL(batteryChanged(UASInterface*,double,double,double,int)),this,SLOT(batteryChanged(UASInterface*,double,double,double,int)));
 
 }
+void BatteryMonitorConfig::alertOnLowClicked(bool checked)
+{
+}
 
 void BatteryMonitorConfig::calcDividerSet()
 {
diff --git a/src/ui/configuration/BatteryMonitorConfig.h b/src/ui/configuration/BatteryMonitorConfig.h
index a7349766eaf918eccc088e5b9f78b50d19a2e6dd..417e6922a95e8fe73e71f1041c0a9865ac3bb182 100644
--- a/src/ui/configuration/BatteryMonitorConfig.h
+++ b/src/ui/configuration/BatteryMonitorConfig.h
@@ -20,6 +20,7 @@ private slots:
     void calcDividerSet();
     void ampsPerVoltSet();
     void batteryCapacitySet();
+    void alertOnLowClicked(bool checked);
     void activeUASSet(UASInterface *uas);
     void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
 private:
diff --git a/src/ui/configuration/BatteryMonitorConfig.ui b/src/ui/configuration/BatteryMonitorConfig.ui
index 6d6974a81edfbade3972147c6ed4676756bf3c85..5d11f960adc90b000a3ff7e3c50c464a039c6644 100644
--- a/src/ui/configuration/BatteryMonitorConfig.ui
+++ b/src/ui/configuration/BatteryMonitorConfig.ui
@@ -53,12 +53,12 @@
     <rect>
      <x>480</x>
      <y>120</y>
-     <width>70</width>
+     <width>91</width>
      <height>17</height>
     </rect>
    </property>
    <property name="text">
-    <string>CheckBox</string>
+    <string>Alert On Low</string>
    </property>
   </widget>
   <widget class="QGroupBox" name="groupBox">
diff --git a/src/ui/configuration/FrameTypeConfig.cc b/src/ui/configuration/FrameTypeConfig.cc
index 430bb35e0438b6267b73285a4f498d6a4976d4d5..7ee5abad3ddd32ea2a241f04ffbb77ed3ca93bfc 100644
--- a/src/ui/configuration/FrameTypeConfig.cc
+++ b/src/ui/configuration/FrameTypeConfig.cc
@@ -73,24 +73,30 @@ void FrameTypeConfig::parameterChanged(int uas, int component, QString parameter
 
 void FrameTypeConfig::xFrameSelected()
 {
-    if (m_uas)
+    if (!m_uas)
     {
-        m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(1));
+        showNullMAVErrorMessageBox();
+        return;
     }
+    m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(1));
 }
 
 void FrameTypeConfig::plusFrameSelected()
 {
-    if (m_uas)
+    if (!m_uas)
     {
-        m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(0));
+        showNullMAVErrorMessageBox();
+        return;
     }
+    m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(0));
 }
 
 void FrameTypeConfig::vFrameSelected()
 {
-    if (m_uas)
+    if (!m_uas)
     {
-        m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(2));
+        showNullMAVErrorMessageBox();
+        return;
     }
+    m_uas->getParamManager()->setParameter(1,"FRAME",QVariant(2));
 }
diff --git a/src/ui/configuration/OpticalFlowConfig.cc b/src/ui/configuration/OpticalFlowConfig.cc
index 085a83f3f134beb3ec48ba13e6a8aea5d9cb74ee..cc0404a06d4418511ef2dfe78fe742cd1ecf0106 100644
--- a/src/ui/configuration/OpticalFlowConfig.cc
+++ b/src/ui/configuration/OpticalFlowConfig.cc
@@ -29,7 +29,7 @@ void OpticalFlowConfig::enableCheckBoxClicked(bool checked)
 {
     if (!m_uas)
     {
-        QMessageBox::information(0,tr("Error"),tr("Please connect to a MAV before attempting to set configuration"));
+        showNullMAVErrorMessageBox();
         return;
     }
     m_uas->getParamManager()->setParameter(1,"FLOW_ENABLE",checked ? 1 : 0);
diff --git a/src/ui/configuration/RadioCalibrationConfig.h b/src/ui/configuration/RadioCalibrationConfig.h
index fb2519863ccb4f678fda96efc63f6a9b235c96e6..00b90f8e20970fd1f2b3d7bf313149727f741758 100644
--- a/src/ui/configuration/RadioCalibrationConfig.h
+++ b/src/ui/configuration/RadioCalibrationConfig.h
@@ -57,10 +57,14 @@ private slots:
     void guiUpdateTimerTick();
     void calibrateButtonClicked();
 private:
-    double rcMin[8];
-    double rcMax[8];
-    double rcTrim[8];
-    double rcValue[8];
+    QList<double> rcMin;
+    QList<double> rcMax;
+    QList<double> rcTrim;
+    QList<double> rcValue;
+    //double rcMin[8];
+    //double rcMax[8];
+    //double rcTrim[8];
+    //double rcValue[8];
     QTimer *guiUpdateTimer;
     bool m_calibrationEnabled;
     Ui::RadioCalibrationConfig ui;