diff --git a/flight/EntireFlash/Makefile b/flight/EntireFlash/Makefile
index 548461a24..13aae597d 100644
--- a/flight/EntireFlash/Makefile
+++ b/flight/EntireFlash/Makefile
@@ -33,16 +33,23 @@ OUTDIR := $(TOP)/build/$(TARGET)
 .PHONY: bin
 bin: $(OUTDIR)/$(TARGET).bin
 
-FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
-$(OUTDIR)/$(TARGET).pad:
+FW_PRE_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
+$(OUTDIR)/$(TARGET).fw_pre.pad:
 	$(V0) @echo $(MSG_PADDING) $@
-	$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+	$(V1) dd status=noxfer if=/dev/zero count=$(FW_PRE_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+
+FW_POST_PAD = $(shell echo $$[$(FW_BANK_SIZE)-$(FW_DESC_SIZE)-$$(stat -c%s $(FW_BIN))])
+$(OUTDIR)/$(TARGET).fw_post.pad:
+	$(V0) @echo $(MSG_PADDING) $@
+	$(V1) dd status=noxfer if=/dev/zero count=$(FW_POST_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
+
 
 BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
 FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
-$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad
+FWINFO_BIN = $(FW_BIN).firmwareinfo.bin
+$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(OUTDIR)/$(TARGET).fw_post.pad
 	$(V0) @echo $(MSG_FLASH_IMG) $@
-	$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@
+	$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(FW_BIN) $(OUTDIR)/$(TARGET).fw_post.pad $(FWINFO_BIN) > $@
 
 .PHONY: dfu
 dfu: $(OUTDIR)/$(TARGET).bin
diff --git a/flight/Modules/Attitude/attitude.c b/flight/Modules/Attitude/attitude.c
index baa0c5453..6b0c16cec 100644
--- a/flight/Modules/Attitude/attitude.c
+++ b/flight/Modules/Attitude/attitude.c
@@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 		gyrosData->z += gyro_correct_int[2];
 	}
 
+	// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
+	// and make it average zero (weakly)
+	gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
+
 	GyrosSet(gyrosData);
 	AccelsSet(accelsData);
 
diff --git a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld b/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
index 777e09aa6..19f70959d 100644
--- a/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
+++ b/flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
@@ -75,6 +75,7 @@ SECTIONS
     {
 	. = ALIGN(4);
 	KEEP(*(.boardinfo))
+	. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
     } > BD_INFO
 
     /* Stabs debugging sections.  */
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
index 86660fd3e..3b858d82f 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/core/opmaps.cpp
@@ -43,6 +43,8 @@ namespace core {
         LanguageStr=LanguageType().toShortString(Language);
         Cache::Instance();
 
+//        OPMaps::MemoryCache();
+
     }
 
 
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
index 18688ca06..27fd90808 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojection.cpp
@@ -91,6 +91,7 @@ Size PlateCarreeProjection::GetTileMatrixMaxXY(const int &zoom)
 
 Size PlateCarreeProjection::GetTileMatrixMinXY(const int &zoom)
 {
+    Q_UNUSED(zoom);
     return Size(0, 0);
 }
 }
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
index 106674ad2..89d598bd6 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/platecarreeprojectionpergo.cpp
@@ -90,6 +90,7 @@ Size PlateCarreeProjectionPergo::GetTileMatrixMaxXY(const int &zoom)
 
 Size PlateCarreeProjectionPergo::GetTileMatrixMinXY(const int &zoom)
 {
+    Q_UNUSED(zoom)
     return Size(0, 0);
 }
 }
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
index 6dad1e034..09ef9d497 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
@@ -28,7 +28,7 @@
 namespace mapcontrol
 {
     HomeItem::HomeItem(MapGraphicItem* map,OPMapWidget* parent):safe(true),map(map),mapwidget(parent),
-        showsafearea(true),safearea(1000),altitude(0),isDragging(false),toggleRefresh(true)
+        showsafearea(true),toggleRefresh(true),safearea(1000),altitude(0),isDragging(false)
     {
         pic.load(QString::fromUtf8(":/markers/images/home2.svg"));
         pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
index 30eea862d..bdc60225d 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/opmapwidget.cpp
@@ -34,7 +34,7 @@ namespace mapcontrol
 {
 
     OPMapWidget::OPMapWidget(QWidget *parent, Configuration *config):QGraphicsView(parent),configuration(config),UAV(0),GPS(0),Home(0)
-      ,followmouse(true),compass(0),showuav(false),showhome(false),showDiag(false),diagGraphItem(0),diagTimer(0),overlayOpacity(1)
+      ,followmouse(true),compass(0),showuav(false),showhome(false),diagTimer(0),diagGraphItem(0),showDiag(false),overlayOpacity(1)
     {
         setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
         core=new internals::Core;
@@ -392,7 +392,6 @@ namespace mapcontrol
     }
     void OPMapWidget::WPDeleteAll()
     {
-        int x=0;
         foreach(QGraphicsItem* i,map->childItems())
         {
             WayPointItem* w=qgraphicsitem_cast<WayPointItem*>(i);
@@ -419,7 +418,9 @@ namespace mapcontrol
                 }
             }
         }
+        return false;
     }
+
     void OPMapWidget::deleteAllOverlays()
     {
         foreach(QGraphicsItem* i,map->childItems())
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
index fabf6ee9a..ae13de21b 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/trailitem.cpp
@@ -37,6 +37,9 @@ TrailItem::TrailItem(internals::PointLatLng const& coord,int const& altitude, QB
 
     void TrailItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
     {
+        Q_UNUSED(option);
+        Q_UNUSED(widget);
+
         painter->setBrush(m_brush);
         painter->drawEllipse(-2,-2,4,4);
     }
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
index 9f045a701..aad50ef0b 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointcircle.cpp
@@ -60,6 +60,9 @@ int WayPointCircle::type() const
 
 void WayPointCircle::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
 {
+    Q_UNUSED(option);
+    Q_UNUSED(widget);
+
     QPointF p1;
     QPointF p2;
     p1=QPointF(line.p1().x(),line.p1().y()+line.length());
diff --git a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
index 527ca46f9..ad245cbc1 100644
--- a/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
+++ b/ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/waypointline.cpp
@@ -75,6 +75,8 @@ QPainterPath WayPointLine::shape() const
 }
 void WayPointLine::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
 {
+    Q_UNUSED(option);
+    Q_UNUSED(widget);
 
     QPen myPen = pen();
     myPen.setColor(myColor);
diff --git a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
index 7192aabe1..10b0db0bc 100644
--- a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
+++ b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.cpp
@@ -492,7 +492,7 @@ QString QScienceSpinBox::stripped(const QString &t, int *pos) const
 }
 
 // reimplemented function, copied from qspinbox.cpp
-static bool isIntermediateValueHelper(qint64 num, qint64 min, qint64 max, qint64 *match)
+bool QScienceSpinBox::isIntermediateValueHelper(qint64 num, qint64 min, qint64 max, qint64 *match)
 {
     QSBDEBUG("%lld %lld %lld", num, min, max);
 
diff --git a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
index 812447840..8b2ab98ed 100644
--- a/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
+++ b/ground/openpilotgcs/src/libs/qscispinbox/QScienceSpinBox.h
@@ -11,7 +11,6 @@
 #include <QtCore/QDebug>
 #include <QtCore/QString>
 
-static bool isIntermediateValueHelper(qint64 num, qint64 minimum, qint64 maximum, qint64 *match = 0);
 
 class QScienceSpinBox : public QDoubleSpinBox
 {
@@ -24,6 +23,7 @@ public:
 
     QString textFromValue ( double value ) const;
     double valueFromText ( const QString & text ) const;
+    static bool isIntermediateValueHelper(qint64 num, qint64 minimum, qint64 maximum, qint64 *match = 0);
 
 private:
 	int dispDecimals;
diff --git a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
index c412a475c..7c26acf45 100644
--- a/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
+++ b/ground/openpilotgcs/src/libs/utils/mytabbedstackwidget.cpp
@@ -114,6 +114,8 @@ void MyTabbedStackWidget::showWidget(int index)
 
 void MyTabbedStackWidget::insertCornerWidget(int index, QWidget *widget)
 {
+    Q_UNUSED(index);
+
     widget->hide();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index e7ca51fd1..47b730dbf 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -218,6 +218,7 @@ ConfigCcpmWidget::~ConfigCcpmWidget()
 
 void ConfigCcpmWidget::setupUI(QString frameType)
 {
+    Q_UNUSED(frameType);
 }
 
 void ConfigCcpmWidget::ResetActuators(GUIConfigDataUnion* configData)
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index 7ed667828..9d5fec352 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -291,7 +291,7 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -371,7 +371,7 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
@@ -449,7 +449,7 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
     int channel;
     double value;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
index 2309ed872..656a6f8f3 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configgroundvehiclewidget.cpp
@@ -239,7 +239,7 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
 void ConfigGroundVehicleWidget::refreshWidgetsValues(QString frameType)
 {
 	UAVDataObject*	obj;
-	UAVObjectField *field;
+//	UAVObjectField *field;
 	
     GUIConfigDataUnion config = GetConfigData();
 
@@ -307,7 +307,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleMotorcycle(QString airframeTyp
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -364,7 +364,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleDifferential(QString airframeT
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
@@ -419,7 +419,7 @@ bool ConfigGroundVehicleWidget::setupGroundVehicleCar(QString airframeType)
 
     int channel;
     //disable all
-    for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++) {
+    for (channel=0; (unsigned int) channel < VehicleConfig::CHANNEL_NUMELEM; channel++) {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
     }
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index bfa4fe7a2..4442f5224 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -971,7 +971,7 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     Q_ASSERT(mixer);
 
     //disable all
-    for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    for (unsigned int channel=0; channel < VehicleConfig::CHANNEL_NUMELEM; channel++)
     {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
         resetMixerVector(mixer, channel);
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index fe76f1660..63f4351bb 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -112,7 +112,9 @@ void VehicleConfig::SetConfigData(GUIConfigDataUnion configData) {
 
 void VehicleConfig::ResetActuators(GUIConfigDataUnion* configData)
 {
+    Q_UNUSED(configData);
 }
+
 QStringList VehicleConfig::getChannelDescriptions()
 {
     QStringList channelDesc;
diff --git a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
index 4a3b27e38..618927ea6 100644
--- a/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
@@ -218,6 +218,8 @@ void ConfigGadgetWidget::tabAboutToChange(int i,bool * proceed)
   */
 void ConfigGadgetWidget::updatePipXStatus(UAVObject *)
 {
+    Q_UNUSED(object);
+
     // Restart the disconnection timer.
     pipxTimeout->start(5000);
     if (!pipxConnected)
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index e0425d963..7f6c6339f 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -1268,7 +1268,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
 
         restoreMdata();
 
-        for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
+        for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
             manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
 
         // Force flight mode neutral to middle
diff --git a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
index 9b3e6e01b..4f6baaf8e 100644
--- a/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
@@ -231,7 +231,7 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
 {
     Q_UNUSED(obj);
 
-    bool dirty=isDirty();
+//    bool dirty=isDirty();
 
     // Get Actuator Settings
     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
diff --git a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
index 7808b6dfa..7d46840ac 100644
--- a/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
@@ -266,7 +266,9 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
   */
 void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
 {
-	if (!settingsUpdated)
+    Q_UNUSED(object);
+
+    if (!settingsUpdated)
 	{
 		settingsUpdated = true;
 		enableControls(true);
diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
index 0f28dba51..86e3f18e6 100644
--- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
@@ -74,9 +74,9 @@ public:
 ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) :
     ConfigTaskWidget(parent),
     collectingData(false),
+    m_ui(new Ui_RevoSensorsWidget()),
     position(-1)
 {
-    m_ui = new Ui_RevoSensorsWidget();
     m_ui->setupUi(this);
 
     // Initialization of the Paper plane widget
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 1a765a381..53e949c1e 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -109,7 +109,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
 
     //Generate lists of mixerTypeNames, mixerVectorNames, channelNames
     channelNames << "None";
-    for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
+    for (unsigned int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
 
         mixerTypes << QString("Mixer%1Type").arg(i+1);
         mixerVectors << QString("Mixer%1Vector").arg(i+1);
diff --git a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
index a4479bae2..aa5356705 100644
--- a/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
+++ b/ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
@@ -84,6 +84,8 @@ void ModeManager::init()
 
 void ModeManager::addWidget(QWidget *widget)
 {
+    Q_UNUSED(widget);
+
     // We want the actionbar to stay on the bottom
     // so m_modeStack->cornerWidgetCount() -1 inserts it at the position immediately above
     // the actionbar
@@ -220,6 +222,8 @@ void ModeManager::aboutToRemoveObject(QObject *obj)
 
 void ModeManager::addAction(Command *command, int priority, QMenu *menu)
 {
+    Q_UNUSED(menu);
+
     m_actions.insert(command, priority);
 
     // Count the number of commands with a higher priority
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
index b95082fb9..485cd7b31 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
@@ -198,6 +198,8 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
 
 void GCSControlGadget::gamepads(quint8 count)
 {
+    Q_UNUSED(count);
+
 //    sdlGamepad.setGamepad(0);
 //    sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
 }
@@ -291,7 +293,7 @@ double GCSControlGadget::constrain(double value)
 
 void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
 {
-    int state;
+//    int state;
     if ((buttonSettings[number].ActionID>0)&&(buttonSettings[number].FunctionID>0)&&(pressed))
     {//this button is configured
         ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
index 1a68c6be6..d85390725 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
@@ -71,6 +71,8 @@ void GCSControlGadgetOptionsPage::buttonState(ButtonNumber number, bool pressed)
 
 void GCSControlGadgetOptionsPage::gamepads(quint8 count)
 {
+    Q_UNUSED(count);
+
     /*options_page->AvailableControllerList->clear();
     for (int i=0;i<count;i++)
     {
@@ -105,6 +107,8 @@ void GCSControlGadgetOptionsPage::axesValues(QListInt16 values)
 //creates options page widget (uses the UI file)
 QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
+
     int i;
     options_page = new Ui::GCSControlGadgetOptionsPage();
     QWidget *optionsPageWidget = new QWidget;
diff --git a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
index 09e25132d..82a5f7b73 100644
--- a/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
@@ -154,6 +154,8 @@ void GCSControlGadgetWidget::toggleArmed(int state)
 
 void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
 {
+    Q_UNUSED(obj);
+
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
index 10d89d26e..e6e9c49d1 100644
--- a/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/gpsdisplay/gpsdisplaygadgetoptionspage.cpp
@@ -165,6 +165,8 @@ return s1.portName<s2.portName;
 //creates options page widget (uses the UI file)
 QWidget *GpsDisplayGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
+
     options_page = new Ui::GpsDisplayGadgetOptionsPage();
     QWidget *optionsPageWidget = new QWidget;
     options_page->setupUi(optionsPageWidget);
diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
index e856251ab..cca79a565 100644
--- a/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
+++ b/ground/openpilotgcs/src/plugins/gpsdisplay/nmeaparser.cpp
@@ -301,7 +301,7 @@ void NMEAParser::nmeaProcessGPGSV(char *packet)
 
     const int sentence_total = tokenslist.at(1).toInt(); // Number of sentences for full data
     const int sentence_index = tokenslist.at(2).toInt(); // sentence x of y
-    const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
+//    const int sat_count = tokenslist.at(3).toInt(); // Number of satellites in view
 
     int sats = (tokenslist.size() - 4) /4;
     for(int sat = 0; sat < sats; sat++) {
diff --git a/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp b/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
index e08d2be52..b0db7f291 100644
--- a/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
+++ b/ground/openpilotgcs/src/plugins/gpsdisplay/telemetryparser.cpp
@@ -117,7 +117,7 @@ void TelemetryParser::updateSats( UAVObject* object1) {
     UAVObjectField* azimuth = object1->getField(QString("Azimuth"));
     UAVObjectField* snr = object1->getField(QString("SNR"));
 
-    for (int i=0;i< prn->getNumElements();i++) {
+    for (unsigned int i=0;i< prn->getNumElements();i++) {
         emit satellite(i,prn->getValue(i).toInt(),elevation->getValue(i).toInt(),
                        azimuth->getValue(i).toInt(), snr->getValue(i).toInt());
     }
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
index e90f52ab2..2fabfa8bb 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionconfiguration.cpp
@@ -34,6 +34,8 @@ IPconnectionConfiguration::IPconnectionConfiguration(QString classId, QSettings*
     m_Port(1000),
     m_UseTCP(1)
 {
+    Q_UNUSED(qSettings);
+
     settings = Core::ICore::instance()->settings();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
index 5d166584c..04339b713 100644
--- a/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/ipconnection/ipconnectionplugin.cpp
@@ -73,7 +73,6 @@ void IPConnection::onOpenDevice(QString HostName, int Port, bool UseTCP)
 {
     QAbstractSocket *ipSocket;
     const int Timeout = 5 * 1000;
-    int state;
 
     ipConMutex.lock();
     if (UseTCP) {
@@ -177,6 +176,8 @@ QList <Core::IConnection::device> IPconnectionConnection::availableDevices()
 
 QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
 {
+    Q_UNUSED(deviceName);
+
     QString HostName;
     int Port;
     bool UseTCP;
@@ -211,6 +212,8 @@ QIODevice *IPconnectionConnection::openDevice(const QString &deviceName)
 
 void IPconnectionConnection::closeDevice(const QString &deviceName)
 {
+    Q_UNUSED(deviceName);
+
     if (ipSocket){
         ipConMutex.lock();
         emit CloseSocket(ipSocket);
diff --git a/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp b/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
index 04bcdd93c..4bf2f664e 100644
--- a/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
@@ -169,6 +169,7 @@ bool flightDataModel::setColumnByIndex(pathPlanData  *row,const int index,const
     default:
         return false;
     }
+    return false;
 }
 QVariant flightDataModel::getColumnByIndex(const pathPlanData *row,const int index) const
 {
diff --git a/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp b/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
index 406d8e23d..a802d69f8 100644
--- a/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
@@ -60,6 +60,8 @@ void modelMapProxy::WPValuesChanged(WayPointItem * wp)
 
 void modelMapProxy::currentRowChanged(QModelIndex current, QModelIndex previous)
 {
+    Q_UNUSED(previous);
+
     QList<WayPointItem*> list;
     WayPointItem * wp=findWayPointNumber(current.row());
     if(!wp)
@@ -202,6 +204,8 @@ WayPointItem * modelMapProxy::findWayPointNumber(int number)
 
 void modelMapProxy::rowsRemoved(const QModelIndex &parent, int first, int last)
 {
+    Q_UNUSED(parent);
+
     for(int x=last;x>first-1;x--)
     {
         myMap->WPDelete(x);
@@ -211,6 +215,8 @@ void modelMapProxy::rowsRemoved(const QModelIndex &parent, int first, int last)
 
 void modelMapProxy::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight)
 {
+    Q_UNUSED(bottomRight);
+
     WayPointItem * item=findWayPointNumber(topLeft.row());
     if(!item)
         return;
diff --git a/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp b/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
index cab739b8e..11df41f88 100644
--- a/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
+++ b/ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
@@ -287,5 +287,7 @@ void opmap_edit_waypoint_dialog::enableEditWidgets(bool value)
 
 void opmap_edit_waypoint_dialog::currentRowChanged(QModelIndex current, QModelIndex previous)
 {
+    Q_UNUSED(previous);
+
     mapper->setCurrentIndex(current.row());
 }
diff --git a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
index 89a877a0f..4268742e9 100644
--- a/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/pfd/pfdgadgetoptionspage.cpp
@@ -46,6 +46,7 @@ PFDGadgetOptionsPage::PFDGadgetOptionsPage(PFDGadgetConfiguration *config, QObje
 //creates options page widget (uses the UI file)
 QWidget *PFDGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
 
     options_page = new Ui::PFDGadgetOptionsPage();
     //main widget
diff --git a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
index 8cc110d1a..f88299cdb 100644
--- a/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/qmlview/qmlviewgadgetoptionspage.cpp
@@ -46,6 +46,7 @@ QmlViewGadgetOptionsPage::QmlViewGadgetOptionsPage(QmlViewGadgetConfiguration *c
 //creates options page widget (uses the UI file)
 QWidget *QmlViewGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
 
     options_page = new Ui::QmlViewGadgetOptionsPage();
     //main widget
diff --git a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
index 382c43829..490ea2fdd 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/pjrc_rawhid_mac.cpp
@@ -90,7 +90,7 @@ static void hid_close(hid_t *);
 static void attach_callback(void *, IOReturn, void *, IOHIDDeviceRef);
 static void detach_callback(void *, IOReturn, void *hid_mgr, IOHIDDeviceRef dev);
 static void input_callback(void *, IOReturn, void *, IOHIDReportType, uint32_t, uint8_t *, CFIndex);
-static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
+//static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len);
 static void timeout_callback(CFRunLoopTimerRef, void *);
 
 
@@ -173,7 +173,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     IOHIDManagerRegisterDeviceRemovalCallback(hid_manager, detach_callback, NULL);
     ret = IOHIDManagerOpen(hid_manager, kIOHIDOptionsTypeNone);
     if (ret != kIOReturnSuccess) {
-        printf("Could not start IOHIDManager");
+        qDebug()<< "Could not start IOHIDManager";
         IOHIDManagerUnscheduleFromRunLoop(hid_manager,
                                           CFRunLoopGetCurrent(), kCFRunLoopDefaultMode);
         CFRelease(hid_manager);
@@ -181,7 +181,7 @@ int pjrc_rawhid::open(int max, int vid, int pid, int usage_page, int usage)
     }
     // Set the run loop reference:
     the_correct_runloop = CFRunLoopGetCurrent();
-    printf("run loop\n");
+    qDebug() << "run loop";
     // let it do the callback for all devices
     while (CFRunLoopRunInMode(kCFRunLoopDefaultMode, 0, true) == kCFRunLoopRunHandledSource) ;
     // count up how many were added by the callback
@@ -240,7 +240,7 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
            break;
        }
        if (!hid->open) {
-           printf("pjrc_rawhid_recv, device not open\n");
+           qDebug() << "pjrc_rawhid_recv, device not open\n";
            ret = -1;
            break;
        }
@@ -263,6 +263,8 @@ int pjrc_rawhid::receive(int num, void *buf, int len, int timeout)
 //
 int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 {
+    Q_UNUSED(timeout);
+
     hid_t *hid;
     int result=-100;
 
@@ -287,6 +289,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 
 #endif
 #if 0
+#define TIMEOUT_FIXED
     // No matter what I tried this never actually sends an output
     // report and output_callback never gets called.  Why??
     // Did I miss something?  This is exactly the same params as
@@ -315,7 +318,7 @@ int pjrc_rawhid::send(int num, void *buf, int len, int timeout)
 
 QString pjrc_rawhid::getserial(int num) {
     hid_t *hid;
-    char buf[128];
+//    char buf[128];
 
     hid = get_hid(num);
 
@@ -358,6 +361,9 @@ void pjrc_rawhid::close(int num)
 //
 static void input_callback(void *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
 {
+    Q_UNUSED(type);
+    Q_UNUSED(id);
+
     buffer_t *n;
     hid_t *hid;
 
@@ -365,7 +371,7 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
     if (ret != kIOReturnSuccess || len < 1) return;
     hid = (hid_t*)context;
     if (!hid || hid->ref != sender) return;
-    printf("Processing packet");
+    qDebug() << "Processing packet";
     n = (buffer_t *)malloc(sizeof(buffer_t));
     if (!n) return;
     if (len > BUFFER_SIZE) len = BUFFER_SIZE;
@@ -385,6 +391,8 @@ static void input_callback(void *context, IOReturn ret, void *sender, IOHIDRepor
 
 static void timeout_callback(CFRunLoopTimerRef timer, void *info)
 {
+    Q_UNUSED(timer);
+
    //qDebug("timeout_callback\n");
    *(int *)info = 1;
    //qDebug() << "Stop CFRunLoop from timeout_callback" << CFRunLoopGetCurrent();
@@ -440,9 +448,13 @@ static void hid_close(hid_t *hid)
 
 static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     hid_t *p;
 
-    printf("detach callback\n");
+    qDebug()<< "detach callback";
     for (p = first_hid; p; p = p->next) {
             if (p->ref == dev) {
                     p->open = 0;
@@ -454,9 +466,13 @@ static void detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
 
 static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     struct hid_struct *h;
 
-    printf("attach callback\n");
+    qDebug() << "attach callback";
     if (IOHIDDeviceOpen(dev, kIOHIDOptionsTypeNone) != kIOReturnSuccess) return;
     h = (hid_t *)malloc(sizeof(hid_t));
     if (!h) return;
@@ -468,15 +484,22 @@ static void attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDevic
     add_hid(h);
 }
 
+#ifdef TIMEOUT_FIXED
 static void output_callback(hid_t *context, IOReturn ret, void *sender, IOHIDReportType type, uint32_t id, uint8_t *data, CFIndex len)
 {
-        printf("output_callback, r=%d\n", ret);
-        if (ret == kIOReturnSuccess) {
-                *(int *)context = len;
-        } else {
-                // timeout if not success?
-                *(int *)context = 0;
-        }
-        CFRunLoopStop(CFRunLoopGetCurrent());
-}
+    Q_UNUSED(sender);
+    Q_UNUSED(type);
+    Q_UNUSED(id);
+    Q_UNUSED(data);
 
+    qDebug()<< QString("output_callback, r=%1").arg(ret);
+//    printf("output_callback, r=%d\n", ret);
+    if (ret == kIOReturnSuccess) {
+            *(int *)context = len;
+    } else {
+            // timeout if not success?
+            *(int *)context = 0;
+    }
+    CFRunLoopStop(CFRunLoopGetCurrent());
+}
+#endif
diff --git a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
index 51fd6cce7..2f04b4b37 100644
--- a/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
+++ b/ground/openpilotgcs/src/plugins/rawhid/usbmonitor_mac.cpp
@@ -45,8 +45,6 @@ static bool HID_GetStrProperty(IOHIDDeviceRef dev, CFStringRef property, QString
   */
 USBMonitor::USBMonitor(QObject *parent): QThread(parent) {
     hid_manager=NULL;
-    CFMutableDictionaryRef dict;
-    CFNumberRef num;
     IOReturn ret;
 
     m_instance = this;
@@ -117,6 +115,10 @@ void USBMonitor::removeDevice(IOHIDDeviceRef dev) {
   */
 void USBMonitor::detach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     qDebug() << "USBMonitor: Device detached event";
     instance()->removeDevice(dev);
 }
@@ -129,9 +131,12 @@ void USBMonitor::addDevice(USBPortInfo info) {
 
 void USBMonitor::attach_callback(void *context, IOReturn r, void *hid_mgr, IOHIDDeviceRef dev)
 {
+    Q_UNUSED(context);
+    Q_UNUSED(r);
+    Q_UNUSED(hid_mgr);
+
     bool got_properties = true;
 
-    CFTypeRef prop;
     USBPortInfo deviceInfo;
 
     deviceInfo.dev_handle = dev;
diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
index 789085596..75510f52c 100644
--- a/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp
@@ -38,6 +38,8 @@ SerialPluginConfiguration::SerialPluginConfiguration(QString classId, QSettings*
     IUAVGadgetConfiguration(classId, parent),
     m_speed("57600")
 {
+    Q_UNUSED(qSettings);
+
     settings = Core::ICore::instance()->settings();
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
index 3dd62df2f..ef3d0e7b0 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
@@ -55,20 +55,24 @@ if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv')
 	error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.');
 end
 
-$(ALLOCATIONCODE)
+$(INSTANTIATIONCODE)
 
 
 fid = fopen(logfile);
+buffer=fread(fid,Inf,'uchar=>uchar');
+fseek(fid, 0, 'bof');
+
+bufferIdx=1;
+
 correctMsgByte=hex2dec('20');
 correctTimestampedByte=hex2dec('A0');
 correctSyncByte=hex2dec('3C');
 unknownObjIDList=zeros(1,2);
 
 % Parse log file, entry by entry
-prebuf = fread(fid, 12, 'uint8');
-log_size = dir(logfile);
-log_size = log_size.bytes;
-last_print = 0;
+% prebuf = buffer(1:12);
+
+last_print = -1e10;
 
 startTime=clock;
 
@@ -116,15 +120,18 @@ $(SWITCHCODE)
 		otherwise
 			unknownObjIDListIdx=find(unknownObjIDList(:,1)==objID, 1, 'first');
 			if isempty(unknownObjIDListIdx)
-				unknownObjIDList=[unknownObjIDList; objID 1]; 
+				unknownObjIDList=[unknownObjIDList; uint32(objID) 1]; %#ok<AGROW>
 			else
-				unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
+				unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1; 
 			end
+			
+			datasize = typecast(buffer(datasizeBufferIdx + 4:datasizeBufferIdx + 12-1), 'uint64');
+
 			msgBytesLeft = datasize - 1 - 1 - 2 - 4;
 			if msgBytesLeft > 255
 				msgBytesLeft = 0;
 			end
-			fread(fid, msgBytesLeft, 'uint8');
+			bufferIdx=bufferIdx+msgBytesLeft;
 	end
 	catch
 		% One of the reads failed - indicates EOF
@@ -132,43 +139,41 @@ $(SWITCHCODE)
 	end
 
 	if (wrongSyncByte ~= lastWrongSyncByte || wrongMessageByte~=lastWrongMessageByte ) ||...
-			(ftell(fid) / log_size - last_print) > 0.01
+			bufferIdx - last_print > 5e4 %Every 50,000 bytes show the status update
 
 		lastWrongSyncByte=wrongSyncByte;
 		lastWrongMessageByte=wrongMessageByte;
 
 		str1=[];
 		for i=1:length([str2 str3 str4 str5]);
-			str1=[str1 sprintf('\b')];
+			str1=[str1 sprintf('\b')]; %#ok<AGROW>
 		end
 		str2=sprintf('wrongSyncByte instances:    % 10d\n', wrongSyncByte );
 		str3=sprintf('wrongMessageByte instances: % 10d\n\n', wrongMessageByte );
 		
-		str4=sprintf('Completed bytes: % 9d of % 9d\n', ftell(fid), log_size);
+		str4=sprintf('Completed bytes: % 9d of % 9d\n', bufferIdx, length(buffer));
 		
 	        % Arbitrary times two so that it is at least as long	
-		estTimeRemaining=(log_size-ftell(fid))/(ftell(fid)/etime(clock,startTime)) * 2;
+		estTimeRemaining=(length(buffer)-bufferIdx)/(bufferIdx/etime(clock,startTime)) * 2;
 		h=floor(estTimeRemaining/3600);
 		m=floor((estTimeRemaining-h*3600)/60);
 		s=ceil(estTimeRemaining-h*3600-m*60);
 		
 		str5=sprintf('Est. time remaining, %02dh:%02dm:%02ds \n', h,m,s);
 
-		last_print = ftell(fid) / log_size;
+		last_print = bufferIdx;
 		
 		fprintf([str1 str2 str3 str4 str5]);
 	end
 
-	if msgType ~= correctTimestampedByte
-		prebuf = fread(fid, 12, 'uint8');
+	%Check if at end of file. If not, load next prebuffer
+	if bufferIdx+12-1 > length(buffer)
+		break;
 	end
+% 	bufferIdx=bufferIdx+12;
+
 end
 
-fprintf('%d records in %0.2f seconds.\n', ftell(fid), etime(clock,startTime));
-
-for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
-   disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
-end
 
 for i=2:size(unknownObjIDList,1) %Don't show the first one, as it was simply a dummy placeholder
    disp(['Unknown object ID: 0x' dec2hex(unknownObjIDList(i,1),8) ' appeared ' int2str(unknownObjIDList(i,2)) ' times.']);
@@ -177,28 +182,25 @@ end
 %% Clean Up and Save mat file
 fclose(fid);
 
-% Trim output structs
+%% Prune vectors
 $(CLEANUPCODE)
 
+
+%% Perform typecasting on vectors
+$(ALLOCATIONCODE)
+
+%% Save data to file
 if strcmpi(outputType,'mat')
-	matfile = strrep(logfile,'opl','mat');
+	[path, name]=fileparts(logfile);
+	matfile = fullfile(path,[name '.mat']);
 	save(matfile $(SAVEOBJECTSCODE));
 else
-$(EXPORTCSVCODE);
+$(EXPORTCSVCODE)
 end
 
+fprintf('%d records in %0.2f seconds.\n', length(buffer), etime(clock,startTime));
 
 
-%% Object reading functions
-$(FUNCTIONSCODE)
-
-% This function prunes the excess pre-allocated space
-function [structOut]=PruneStructOfArrays(structIn, lastIndex)
-
-	fieldNames = fieldnames(structIn);
-	for i=1:length(fieldNames)
-		structOut.(fieldNames{i})=structIn.(fieldNames{i})(:,1:lastIndex);
-	end
 
 	
 function	OPLog2csv(structIn, structName, logfile)
@@ -236,3 +238,28 @@ function crc = compute_crc(data)
         crc = crc_table(1+bitxor(data(i),crc));
     end
 
+function out=mcolon(inStart, inFinish)
+%% This function was inspired by Bruno Luong's 'mcolon'. The name is kept the same as his 'mcolon'
+% function, found on Matlab's file exchange. The two functions return identical
+% results, although his is much faster. Unfortunately, C-compiled mex
+% code would make this function non-cross-platform, so a Matlab scripted
+% version is provided here.
+	if size(inStart,1) > 1 || size(inFinish,1) > 1
+		if size(inStart,2) > 1 || size(inFinish,2) > 1
+			error('Inputs must be vectors, i.e just one column wide.')		
+		else
+			inStart=inStart';
+			inFinish=inFinish';
+		end
+	end
+	
+	diffIn=diff([inStart; inFinish]);
+	numElements=sum(diffIn)+length(inStart);
+	
+	out=zeros(1,numElements);
+	
+	idx=1;
+	for i=1:length(inStart)
+		out(idx:idx+diffIn(i))=inStart(i):inFinish(i);
+		idx=idx+diffIn(i)+1;
+	end
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
index f726c5ffc..2eca2f3df 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
@@ -268,7 +268,7 @@ QByteArray UAVObjectUtilManager::getBoardCPUSerial()
     QByteArray cpuSerial;
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
-    for (int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
+    for (unsigned int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
         cpuSerial.append(firmwareIapData.CPUSerial[i]);
 
     return cpuSerial;
@@ -288,7 +288,7 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
     QByteArray ret;
     FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
-    for (int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
+    for (unsigned int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
         ret.append(firmwareIapData.Description[i]);
 
     return ret;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
index 74737c019..3f46cec40 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
@@ -32,7 +32,7 @@
 /**
  * Constructor
  */
-ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
+ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),allowWidgetUpdates(true),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
 {
     pm = ExtensionSystem::PluginManager::instance();
     objManager = pm->getObject<UAVObjectManager>();
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index e1aa5ecf6..137fd4dc3 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -457,7 +457,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
         default:
             rxState = STATE_SYNC;
             stats.rxErrors++;
-            UAVTALK_QXTLOG_DEBUG("UAVTalk: ???->Sync");
+            UAVTALK_QXTLOG_DEBUG("UAVTalk: \?\?\?->Sync"); //Use the escape character for '?' so that the tripgraph isn't triggered.
     }
 
     // Done
diff --git a/ground/openpilotgcs/src/plugins/uploader/SSP/port.h b/ground/openpilotgcs/src/plugins/uploader/SSP/port.h
index ff4725b99..1521ab412 100644
--- a/ground/openpilotgcs/src/plugins/uploader/SSP/port.h
+++ b/ground/openpilotgcs/src/plugins/uploader/SSP/port.h
@@ -43,7 +43,7 @@ public:
     uint8_t 	maxRetryCount;					// max. times to try to transmit the 'send' packet
     uint16_t 	max_retry;                             	// Maximum number of retrys for a single transmit.
     int32_t 	timeoutLen;						// how long to wait for each retry to succeed
-    int32_t		timeout;						// current timeout. when 'time' reaches this point we have timed out
+    uint32_t		timeout;						// current timeout. when 'time' reaches this point we have timed out
     uint8_t 	txSeqNo; 						// current 'send' packet sequence number
     uint16_t 	rxBufPos;						//  current buffer position in the receive packet
     uint16_t	rxBufLen;						// number of 'data' bytes in the buffer
diff --git a/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp b/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
index 356cb3604..b5eb5b1b7 100644
--- a/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/SSP/qssp.cpp
@@ -802,6 +802,8 @@ qssp::qssp(port * info,bool debug):debug(debug)
 }
 void qssp::pfCallBack( uint8_t * buf, uint16_t size)
 {
+    Q_UNUSED(size);
+
      if (debug)
          qDebug()<<"receive callback"<<buf[0]<<buf[1]<<buf[2]<<buf[3]<<buf[4];
 }
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
index 98dd118ae..d8eb426c0 100755
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetoptionspage.cpp
@@ -47,6 +47,8 @@ UploaderGadgetOptionsPage::UploaderGadgetOptionsPage(UploaderGadgetConfiguration
 //creates options page widget
 QWidget *UploaderGadgetOptionsPage::createPage(QWidget *parent)
 {
+    Q_UNUSED(parent);
+
     //main widget
     QWidget *widget = new QWidget;
 
diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
index 97e3e9e92..515366112 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
@@ -31,7 +31,9 @@ using namespace std;
 bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString templatepath,QString outputpath) {
 
     fieldTypeStrMatlab << "int8" << "int16" << "int32"
-        << "uint8" << "uint16" << "uint32" << "float32" << "uint8";
+        << "uint8" << "uint16" << "uint32" << "single" << "uint8";
+    fieldSizeStrMatlab << "1" << "2" << "4"
+        << "1" << "2" << "4" << "4" << "1";
 
     QDir matlabTemplatePath = QDir( templatepath + QString("ground/openpilotgcs/src/plugins/uavobjects"));
     QDir matlabOutputPath = QDir( outputpath + QString("matlab") );
@@ -46,14 +48,15 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
 
     for (int objidx = 0; objidx < parser->getNumObjects(); ++objidx) {
         ObjectInfo* info=parser->getObjectByIndex(objidx);
-        process_object(info);
+        int numBytes=parser->getNumBytes(objidx);
+        process_object(info, numBytes);
     }
 
-    matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
+    matlabCodeTemplate.replace( QString("$(INSTANTIATIONCODE)"), matlabInstantiationCode);
     matlabCodeTemplate.replace( QString("$(SWITCHCODE)"), matlabSwitchCode);
     matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
     matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
-    matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
+    matlabCodeTemplate.replace( QString("$(ALLOCATIONCODE)"), matlabAllocationCode);
     matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
 
     bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate );
@@ -68,7 +71,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
 /**
  * Generate the matlab object files
  */
-bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
+bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info, int numBytes)
 {
     if (info == NULL)
         return false;
@@ -78,75 +81,103 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     // QString objectTableName(objectName + "Objects");
     QString objectTableName(objectName);
     QString tableIdxName(objectName.toLower() + "Idx");
-    QString functionName("Read" + info->name + "Object");
-    QString functionCall(functionName + "(fid, timestamp, checkCRC, ");
     QString objectID(QString().setNum(info->id));
-    QString isSingleInst = boolTo01String( info->isSingleInst );
+    QString numBytesString=QString("%1").arg(numBytes);
 
-	
-	//===================================================================//
-    // Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
-	//===================================================================//
-	//    matlabSwitchCode.append("\t\tcase " + objectID + "\n");
-    matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
-	QString type;
-	QString allocfields;
-	if (0){
-		matlabAllocationCode.append("\t" + objectTableName + ".timestamp = 0;\n");
-		for (int n = 0; n < info->fields.length(); ++n) {
-			// Determine type
-			type = fieldTypeStrMatlab[info->fields[n]->type];
-			// Append field
-			if ( info->fields[n]->numElements > 1 )
-				allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
-			else
-				allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
-		}
-	}
-	else{
-		matlabAllocationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
-		if (!info->isSingleInst) {
-			allocfields.append(",...\n\t\t 'instanceID', 0");
-		}
-		for (int n = 0; n < info->fields.length(); ++n) {
-			// Determine type
-			type = fieldTypeStrMatlab[info->fields[n]->type];
-			// Append field
-			if ( info->fields[n]->numElements > 1 )
-				allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
-			else
-				allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
-		}
-		allocfields.append(");\n");
+
+    //=========================================================================//
+    // Generate instantiation code (will replace the $(INSTANTIATIONCODE) tag) //
+    //=========================================================================//
+    QString type;
+    QString instantiationFields;
+
+    matlabInstantiationCode.append("\n\t" + tableIdxName + " = 0;\n");
+    matlabInstantiationCode.append("\t" + objectTableName + "=struct('timestamp', 0");
+    if (!info->isSingleInst) {
+        instantiationFields.append(",...\n\t\t 'instanceID', 0");
     }
-    matlabAllocationCode.append(allocfields);
-    matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
+    for (int n = 0; n < info->fields.length(); ++n) {
+        // Determine type
+        type = fieldTypeStrMatlab[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 )
+            instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
+        else
+            instantiationFields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
+    }
+    instantiationFields.append(");\n");
+
+    matlabInstantiationCode.append(instantiationFields);
+    matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
+    matlabInstantiationCode.append("\t" + objectTableName.toUpper() + "_NUMBYTES=" + numBytesString + ";\n");
+    matlabInstantiationCode.append("\t" + objectName + "FidIdx = [];\n");
 
 
     //==============================================================//
     // Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
     //==============================================================//
-	
-
-	
     matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
-//	matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
-	matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
-	matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
-    matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +".timestamp) %Check to see if pre-allocated memory is exhausted\n");
-    matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
-    matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
-    matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
-    matlabSwitchCode.append("\t\t\t\tend\n");
+    matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
+    matlabSwitchCode.append("\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + ") = bufferIdx; %#ok<*AGROW>\n");
+    matlabSwitchCode.append("\t\t\tbufferIdx=bufferIdx + " +  objectTableName.toUpper() + "_NUMBYTES+1; %+1 is for CRC\n");
+    if(!info->isSingleInst){
+        matlabSwitchCode.append("\t\t\tbufferIdx = bufferIdx + 2; %An extra two bytes for the instance ID\n");
+    }
+    matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +"FidIdx) %Check to see if pre-allocated memory is exhausted\n");
+    matlabSwitchCode.append("\t\t\t\t" + objectTableName + "FidIdx(" + tableIdxName + "*2) = 0;\n");
     matlabSwitchCode.append("\t\t\tend\n");
-	
+
 	
     //============================================================//
     // Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
     //============================================================//
-    matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +");\n" );
+    matlabCleanupCode.append(objectTableName + "FidIdx =" + objectTableName + "FidIdx(1:" + tableIdxName +");\n" );
+
+    //=================================================================//
+    // Generate functions code (will replace the $(ALLOCATIONCODE) tag) //
+	//=================================================================//
+    //Generate function description comment
+    matlabAllocationCode.append("% " + objectName + " typecasting\n");
+    QString allocationFields;
+
+    //Add timestamp
+    allocationFields.append("\t" + objectName + ".timestamp = " +
+                      "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                      "- 20, " + objectName + "FidIdx + 4-1 -20)), 'uint32'))';\n");
+
+    int currentIdx=0;
+
+    //Add Instance ID, if necessary
+    if(!info->isSingleInst){
+        allocationFields.append("\t" + objectName + ".instanceID = " +
+                          "double(typecast(buffer(mcolon(" + objectName + "FidIdx "
+                          ", " + objectName + "FidIdx + 2-1)), 'uint16'))';\n");
+        currentIdx+=2;
+    }
+
+    for (int n = 0; n < info->fields.length(); ++n) {
+        // Determine variabel type
+        type = fieldTypeStrMatlab[info->fields[n]->type];
+
+        //Determine variable type length
+        QString size = fieldSizeStrMatlab[info->fields[n]->type];
+        // Append field
+        if ( info->fields[n]->numElements > 1 ){
+            allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
+                              "reshape(double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
+                              ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt()*info->fields[n]->numElements - 1) + ")), '" + type + "')), "+ QString::number(info->fields[n]->numElements, 10) + ", [] );\n");
+        }
+        else{
+            allocationFields.append("\t" + objectName + "." + info->fields[n]->name + " = " +
+                              "double(typecast(buffer(mcolon(" + objectName + "FidIdx + " + QString("%1").arg(currentIdx) +
+                              ", " + objectName + "FidIdx + " + QString("%1").arg(currentIdx + size.toInt() - 1) + ")), '" + type + "'))';\n");
+        }
+        currentIdx+=size.toInt()*info->fields[n]->numElements;
+    }
+    matlabAllocationCode.append(allocationFields);
+    matlabAllocationCode.append("\n");
+
 
-	
     //========================================================================//
     // Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
     //========================================================================//
@@ -158,56 +189,8 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
     //==========================================================================//
     matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n");
 //	OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
-	
-	//=================================================================//
-    // Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
-	//=================================================================//
-    //Generate function description comment
-    matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
-	
-    matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
 
-    
-    matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
-    matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
-    matlabFunctionsCode.append("\t\theaderSize = 8;\n");
-    matlabFunctionsCode.append("\telse\n");
-    matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
-    matlabFunctionsCode.append("\t\theaderSize = 10;\n");
-    matlabFunctionsCode.append("\tend\n\n");
 
-    // Generate functions code, actual fields of the object
-    QString funcfields;
-
-    matlabFunctionsCode.append("\tstartPos = ftell(fid) - headerSize;\n");    
-
-    for (int n = 0; n < info->fields.length(); ++n) {
-        // Determine type
-        type = fieldTypeStrMatlab[info->fields[n]->type];
-        // Append field
-        if ( info->fields[n]->numElements > 1 )
-            funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
-        else
-            funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
-    }
-    matlabFunctionsCode.append(funcfields);
-
-    matlabFunctionsCode.append("\tobjLen = ftell(fid) - startPos;\n");
-
-    matlabFunctionsCode.append("\t% read CRC\n");
-    matlabFunctionsCode.append("\tcrc_read = fread(fid, 1, '*uint8');\n");
-
-    matlabFunctionsCode.append("\tif checkCRC\n");
-    matlabFunctionsCode.append("\t\tfseek(fid, startPos, 'bof');\n");
-    matlabFunctionsCode.append("\t\tcrc_calc = compute_crc(uint8(fread(fid,objLen,'uint8')));\n");
-    matlabFunctionsCode.append("\t\tfread(fid,1,'uint8');\n");
-    matlabFunctionsCode.append("\t\tif (crc_calc ~= crc_read)\n");    
-    matlabFunctionsCode.append("\t\t\tdisp('CRC Error')\n");
-    matlabFunctionsCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName + " - 1;\n");
-    matlabFunctionsCode.append("\t\tend\n");
-    matlabFunctionsCode.append("\tend\n");
-
-    matlabFunctionsCode.append("\n\n");
 
     return true;
 }
diff --git a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
index c4025a4f4..67817867b 100644
--- a/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
+++ b/ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
@@ -35,14 +35,15 @@ public:
     bool generate(UAVObjectParser* gen,QString templatepath,QString outputpath);
 
 private:
-    bool process_object(ObjectInfo* info);
-    QString matlabAllocationCode;
+    bool process_object(ObjectInfo* info, int numBytes);
+    QString matlabInstantiationCode;
     QString matlabSwitchCode;
     QString matlabCleanupCode;
+    QString matlabAllocationCode;
     QString matlabSaveObjectsCode;
     QString matlabExportCsvCode;
-    QString matlabFunctionsCode;
     QStringList fieldTypeStrMatlab;
+    QStringList fieldSizeStrMatlab;
 
 };