diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 620faf6c5..47006a789 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>730</width>
-    <height>602</height>
+    <width>796</width>
+    <height>618</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -74,7 +74,7 @@
        <item>
         <widget class="QStackedWidget" name="airframesWidget">
          <property name="currentIndex">
-          <number>1</number>
+          <number>0</number>
          </property>
          <widget class="QWidget" name="fixedWing">
           <property name="enabled">
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
index 10b1d6bbf..a7e46eb83 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
@@ -25,7 +25,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "configccpmwidget.h"
-//#include "mixersettings.h"
 
 #include <QDebug>
 #include <QStringList>
@@ -555,7 +554,7 @@ void ConfigCcpmWidget::updateThrottleCurveValue(QList<double> curveValues0,doubl
 
     for (i=0; i<internalCurveValues.length(); i++)
     {
-        CurrentValue=m_ccpm->CurveSettings->item(i, 1 )->text().toDouble();
+        CurrentValue=m_ccpm->CurveSettings->item(i, 0 )->text().toDouble();
         if (CurrentValue!=internalCurveValues[i])
         {
             m_ccpm->CurveSettings->item(i, 0)->setText(QString().sprintf("%.3f",internalCurveValues.at(i)));
@@ -1225,11 +1224,10 @@ void ConfigCcpmWidget::setMixer()
     }
 
     //get the user data for the curve into the mixer settings
-    for (i=0;i<5;i++)
+    for (i=0;i<5;i++) {
         mixerSettingsData.ThrottleCurve1[i] = m_ccpm->CurveSettings->item(i, 0)->text().toDouble();
-
-    for (i=0;i<5;i++)
         mixerSettingsData.ThrottleCurve2[i] = m_ccpm->CurveSettings->item(i, 1)->text().toDouble();
+    }
     
     //mapping of collective input to curve 2...
     //MixerSettings.Curve2Source = Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
index b1354a447..cbb7f94cf 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configfixedwingwidget.cpp
@@ -182,18 +182,16 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
 	QString airframeType = "FixedWing";
 	
 	// Save the curve (common to all Fixed wing frames)
-	UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-	
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
 	// Remove Feed Forward, it is pointless on a plane:
-	UAVObjectField* field = obj->getField(QString("FeedForward"));
+    UAVObjectField* field = mixer->getField(QString("FeedForward"));
 	field->setDouble(0);
 	
-	field = obj->getField("ThrottleCurve1");
-	QList<double> curve = m_aircraft->fixedWingThrottle->getCurve();
-	for (int i=0;i<curve.length();i++) {
-		field->setValue(curve.at(i),i);
-	}
-	
+    // Set the throttle curve
+    setThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
+
 	//All airframe types must start with "FixedWing"
 	if (m_aircraft->fixedWingType->currentText() == "Elevator aileron rudder" ) {
 		airframeType = "FixedWing";
@@ -229,36 +227,26 @@ void ConfigFixedWingWidget::refreshWidgetsValues(QString frameType)
     setComboCurrentIndex(m_aircraft->fwRudder1ChannelBox, fixed.FixedWingYaw1);
     setComboCurrentIndex(m_aircraft->fwRudder2ChannelBox, fixed.FixedWingYaw2);
 
-    UAVDataObject* obj;
-    UAVObjectField *field;
+    UAVDataObject* mixer= dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
 
+    int channel;
 	if (frameType == "FixedWingElevon") {
         // If the airframe is elevon, restore the slider setting
-		// Find the channel number for Elevon1 (FixedWingRoll1)
-		obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-		Q_ASSERT(obj);
-		int chMixerNumber = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
-		if (chMixerNumber >= 0) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
-			field = obj->getField(mixerVectors.at(chMixerNumber));
-			int ti = field->getElementNames().indexOf("Roll");
-			m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
-			ti = field->getElementNames().indexOf("Pitch");
-			m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
+        // Find the channel number for Elevon1 (FixedWingRoll1)
+        channel = m_aircraft->fwAileron1ChannelBox->currentIndex()-1;
+        if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
+            m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)*100);
+            m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
 		}
 	}
-	if (frameType == "FixedWingVtail") {
-		obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-		Q_ASSERT(obj);
-		int chMixerNumber = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
-		if (chMixerNumber >=0) {
-			field = obj->getField(mixerVectors.at(chMixerNumber));
-			int ti = field->getElementNames().indexOf("Yaw");
-			m_aircraft->elevonSlider1->setValue(field->getDouble(ti)*100);
-			ti = field->getElementNames().indexOf("Pitch");
-			m_aircraft->elevonSlider2->setValue(field->getDouble(ti)*100);
-		}
-	}
-	
+    if (frameType == "FixedWingVtail") {
+        channel = m_aircraft->fwElevator1ChannelBox->currentIndex()-1;
+        if (channel > -1) { // If for some reason the actuators were incoherent, we might fail here, hence the check.
+            m_aircraft->elevonSlider1->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)*100);
+            m_aircraft->elevonSlider2->setValue(getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)*100);
+        }
+	}	
 }
 
 
@@ -312,7 +300,10 @@ bool ConfigFixedWingWidget::setupFrameFixedWing(QString airframeType)
     int channel;
     //disable all
     for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
+    }
 
     //motor
     channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
@@ -396,7 +387,10 @@ bool ConfigFixedWingWidget::setupFrameElevon(QString airframeType)
     double value;
     //disable all
     for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
+    }
 
     //motor
     channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
@@ -478,7 +472,10 @@ bool ConfigFixedWingWidget::setupFrameVtail(QString airframeType)
     double value;
     //disable all
     for (channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
         setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
+    }
 
     //motor
     channel = m_aircraft->fwEngineChannelBox->currentIndex()-1;
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
index 35044965d..5b390c0e3 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
@@ -25,7 +25,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 #include "configmultirotorwidget.h"
-#include "mixersettings.h"
 
 #include <QDebug>
 #include <QStringList>
@@ -296,12 +295,8 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
 	field = obj->getField(QString("MaxAccel"));
 	field->setDouble(m_aircraft->maxAccelSlider->value());
 	
-	// Curve is also common to all quads:
-	field = obj->getField("ThrottleCurve1");
-	QList<double> curve = m_aircraft->multiThrottleCurve->getCurve();
-	for (int i=0;i<curve.length();i++) {
-		field->setValue(curve.at(i),i);
-	}
+    // Curve is also common to all quads:
+    setThrottleCurve(obj, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->multiThrottleCurve->getCurve() );
 	
 	if (m_aircraft->multirotorFrameType->currentText() == "Quad +") {
 		airframeType = "QuadP";
@@ -1036,20 +1031,22 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     qDebug()<<mixerFactors[5][0]<<" "<<mixerFactors[5][1]<<" "<<mixerFactors[5][2];
     qDebug()<<mixerFactors[6][0]<<" "<<mixerFactors[6][1]<<" "<<mixerFactors[6][2];
     qDebug()<<mixerFactors[7][0]<<" "<<mixerFactors[7][1]<<" "<<mixerFactors[7][2];
-	
-    UAVObjectField *field;
+
     QList<QComboBox*> mmList;
     mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2 << m_aircraft->multiMotorChannelBox3
 	<< m_aircraft->multiMotorChannelBox4 << m_aircraft->multiMotorChannelBox5 << m_aircraft->multiMotorChannelBox6
 	<< m_aircraft->multiMotorChannelBox7 << m_aircraft->multiMotorChannelBox8;
-    UAVDataObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    // 1. Assign the servo/motor/none for each channel
-    // Disable all
-    foreach(QString mixer, mixerTypes) {
-        field = obj->getField(mixer);
-        Q_ASSERT(field);
-        field->setValue("Disabled");
+
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
+    //disable all
+    for (int channel=0; channel<VehicleConfig::CHANNEL_NUMELEM; channel++)
+    {
+        setMixerType(mixer,channel,VehicleConfig::MIXERTYPE_DISABLED);
+        resetMixerVector(mixer, channel);
     }
+
     // and enable only the relevant channels:
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
     double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
index 7a275e401..3ccc0de6b 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h
@@ -29,6 +29,7 @@
 
 #include "ui_airframe.h"
 #include "../uavobjectwidgetutils/configtaskwidget.h"
+#include "cfg_vehicletypes/vehicleconfig.h"
 
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
index a5b1ac8b4..549778540 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.cpp
@@ -233,6 +233,60 @@ void VehicleConfig::setMixerVectorValue(UAVDataObject* mixer, int channel, Mixer
     }
 }
 
+void VehicleConfig::setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve)
+{
+    QPointer<UAVObjectField> field;
+
+    switch (curveType)
+    {
+        case MIXER_THROTTLECURVE1:
+        {
+            field = mixer->getField("ThrottleCurve1");
+            break;
+        }
+        case MIXER_THROTTLECURVE2:
+        {
+            field = mixer->getField("ThrottleCurve2");
+            break;
+        }
+    }
+
+    if (field && field->getNumElements() == curve.length()) {
+        for (int i=0;i<curve.length();i++) {
+           field->setValue(curve.at(i),i);
+        }
+    }
+}
+
+void VehicleConfig::getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve)
+{
+    Q_ASSERT(mixer);
+    Q_ASSERT(curve);
+
+    QPointer<UAVObjectField> field;
+
+    switch (curveType)
+    {
+        case MIXER_THROTTLECURVE1:
+        {
+            field = mixer->getField("ThrottleCurve1");
+            break;
+        }
+        case MIXER_THROTTLECURVE2:
+        {
+            field = mixer->getField("ThrottleCurve2");
+            break;
+        }
+    }
+
+    if (field) {
+        curve->clear();
+        for (unsigned int i=0; i < field->getNumElements(); i++) {
+            curve->append(field->getValue(i).toDouble());
+        }
+    }
+}
+
 /**
   Reset the contents of a field
   */
diff --git a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
index 9700a8789..343cfcf0c 100644
--- a/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
+++ b/ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
@@ -111,6 +111,9 @@ class VehicleConfig: public ConfigTaskWidget
         VehicleConfig(QWidget *parent = 0);
         ~VehicleConfig();
 
+        /* Enumeration options for ThrottleCurves */
+        typedef enum { MIXER_THROTTLECURVE1=0, MIXER_THROTTLECURVE2=1 } MixerThrottleCurveElem;
+
         /* Enumeration options for field MixerType */
         typedef enum { MIXERTYPE_DISABLED=0, MIXERTYPE_MOTOR=1, MIXERTYPE_SERVO=2, MIXERTYPE_CAMERAROLL=3, MIXERTYPE_CAMERAPITCH=4, MIXERTYPE_CAMERAYAW=5, MIXERTYPE_ACCESSORY0=6, MIXERTYPE_ACCESSORY1=7, MIXERTYPE_ACCESSORY2=8, MIXERTYPE_ACCESSORY3=9, MIXERTYPE_ACCESSORY4=10, MIXERTYPE_ACCESSORY5=11 } MixerTypeElem;
         /* Array element names for field MixerVector */
@@ -127,6 +130,8 @@ class VehicleConfig: public ConfigTaskWidget
         void    resetMixerVector(UAVDataObject* mixer, int channel);
         QString getMixerType(UAVDataObject* mixer, int channel);
         void    setMixerType(UAVDataObject* mixer, int channel, MixerTypeElem mixerType);
+        void    setThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double> curve);
+        void    getThrottleCurve(UAVDataObject* mixer, MixerThrottleCurveElem curveType, QList<double>* curve);
 
         virtual void ResetActuators(GUIConfigDataUnion* configData);
         virtual QStringList getChannelDescriptions();
diff --git a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
index 4a2130b26..ba1dbb74e 100644
--- a/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
@@ -46,7 +46,7 @@
 #define STICK_MIN_MOVE -8
 #define STICK_MAX_MOVE 8
 
-ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),loop(NULL),skipflag(false),transmitterType(heli)
+ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
 {
     manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
     manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 45e4285e9..19047af55 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -36,10 +36,11 @@
 #include <math.h>
 #include <QDesktopServices>
 #include <QUrl>
+#include <QEventLoop>
+
 #include "systemsettings.h"
 #include "mixersettings.h"
 #include "actuatorsettings.h"
-#include <QEventLoop>
 
 /**
   Helper delegate for the custom mixer editor table.
@@ -119,7 +120,8 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     airframeTypes << "Fixed Wing" << "Multirotor" << "Helicopter" << "Ground" << "Custom";
     m_aircraft->aircraftType->addItems(airframeTypes);
 
-    m_aircraft->aircraftType->setCurrentIndex(0); //Set default vehicle to Fixed Wing
+    m_aircraft->aircraftType->setCurrentIndex(0);    //Set default vehicle to Fixed Wing
+    m_aircraft->airframesWidget->setCurrentIndex(0); // Force the tab index to match
 
     QStringList fixedWingTypes;
     fixedWingTypes << "Elevator aileron rudder" << "Elevon" << "Vtail";
@@ -780,77 +782,65 @@ void ConfigVehicleTypeWidget::resetField(UAVObjectField * field)
   Note: does NOT ask for an object refresh itself!
   */
 void ConfigVehicleTypeWidget::updateCustomAirframeUI()
-{
+{    
+    UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+    Q_ASSERT(mixer);
+
+    VehicleConfig* vconfig = new VehicleConfig();
+
     QList<double> curveValues;
 
-    UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-    Q_ASSERT(obj);
+    // setup throttlecurve 1
+    vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE1,&curveValues);
 
-    UAVObjectField* field = obj->getField(QString("ThrottleCurve1"));
-    if (field)
-    {
-        // If the 1st element of the curve is <= -10, then the curve
-        // is a straight line (that's how the mixer works on the mainboard):
-        if (field->getValue(0).toInt() <= -10) {
-            m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
-        } else {
-            double temp=0;
-            double value;
-            for (unsigned int i=0; i < field->getNumElements(); i++) {
-                value=field->getValue(i).toDouble();
-                temp+=value;
-                curveValues.append(value);
-            }
-            if(temp==0)
-                m_aircraft->customThrottle1Curve->initLinearCurve(field->getNumElements(),(double)1);
-            else
-                m_aircraft->customThrottle1Curve->initCurve(curveValues);
-        }
+    int total = 0;
+    for (int i=0; i<curveValues.length(); i++)
+        total += curveValues.at(i);
+
+    if (curveValues.at(0) <= -10 || total == 0) {
+        m_aircraft->customThrottle1Curve->initLinearCurve(curveValues.length(),(double)1);
+    }
+    else {
+        m_aircraft->customThrottle1Curve->initCurve(curveValues);
     }
 
-    curveValues.clear();
+    // setup throttlecurve 2
+    vconfig->getThrottleCurve(mixer,VehicleConfig::MIXER_THROTTLECURVE2,&curveValues);
 
-    field = obj->getField(QString("ThrottleCurve2"));
-    if (field)
-    {
-        // If the 1st element of the curve is <= -10, then the curve
-        // is a straight line (that's how the mixer works on the mainboard):
-        if (field->getValue(0).toInt() <= -10) {
-            m_aircraft->customThrottle2Curve->initLinearCurve(field->getNumElements(),(double)1);
-        } else {
-            for (unsigned int i=0; i < field->getNumElements(); i++) {
-                curveValues.append(field->getValue(i).toDouble());
-            }
-            m_aircraft->customThrottle2Curve->initCurve(curveValues);
-        }
+    total = 0;
+    for (int i=0; i<curveValues.length(); i++)
+        total += curveValues.at(i);
+
+    if (curveValues.at(0) <= -10 || total == 0) {
+        m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.length(),(double)1);
+    }
+    else {
+        m_aircraft->customThrottle2Curve->initCurve(curveValues);
     }
 
-    // Update the table:
-    for (int i=0; i<8; i++) {
-        field = obj->getField(mixerTypes.at(i));
+
+    // Update the mixer table:
+    for (int channel=0; channel<8; channel++) {
+        UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
         if (field)
         {
-            QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
+            QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
             if (q)
             {
                 QString s = field->getValue().toString();
                 setComboCurrentIndex(q, q->findText(s));
             }
 
-            field = obj->getField(mixerVectors.at(i));
-            if (field)
-            {
-                int ti = field->getElementNames().indexOf("ThrottleCurve1");
-                m_aircraft->customMixerTable->item(1,i)->setText(field->getValue(ti).toString());
-                ti = field->getElementNames().indexOf("ThrottleCurve2");
-                m_aircraft->customMixerTable->item(2,i)->setText(field->getValue(ti).toString());
-                ti = field->getElementNames().indexOf("Roll");
-                m_aircraft->customMixerTable->item(3,i)->setText(field->getValue(ti).toString());
-                ti = field->getElementNames().indexOf("Pitch");
-                m_aircraft->customMixerTable->item(4,i)->setText(field->getValue(ti).toString());
-                ti = field->getElementNames().indexOf("Yaw");
-                m_aircraft->customMixerTable->item(5,i)->setText(field->getValue(ti).toString());
-            }
+            m_aircraft->customMixerTable->item(1,channel)->setText(
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1)));
+            m_aircraft->customMixerTable->item(2,channel)->setText(
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2)));
+            m_aircraft->customMixerTable->item(3,channel)->setText(
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL)));
+            m_aircraft->customMixerTable->item(4,channel)->setText(
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH)));
+            m_aircraft->customMixerTable->item(5,channel)->setText(
+                QString::number(vconfig->getMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW)));
         }
     }
 }
@@ -865,9 +855,6 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
 */
 void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
 {
-    UAVDataObject* obj;
-    UAVObjectField* field;
-
     QString airframeType = "Custom"; //Sets airframe type default to "Custom"
     if (m_aircraft->aircraftType->currentText() == "Fixed Wing") {
         airframeType = m_fixedwing->updateConfigObjectsFromWidgets();
@@ -882,45 +869,42 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
          airframeType = m_groundvehicle->updateConfigObjectsFromWidgets();
     }
     else {
-        obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
-        field = obj->getField(QString("FeedForward"));
 
-        // Curve is also common to all quads:
-        field = obj->getField("ThrottleCurve1");
-        QList<double> curve = m_aircraft->customThrottle1Curve->getCurve();
-        for (int i=0;i<curve.length();i++) {
-            field->setValue(curve.at(i),i);
-        }
+        UAVDataObject* mixer = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("MixerSettings")));
+        Q_ASSERT(mixer);
 
-        field = obj->getField("ThrottleCurve2");
-        curve.clear();
-        curve = m_aircraft->customThrottle2Curve->getCurve();
-        for (int i=0;i<curve.length();i++) {
-            field->setValue(curve.at(i),i);
-        }
+        VehicleConfig* vconfig = new VehicleConfig();
+
+        vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->customThrottle1Curve->getCurve());
+        vconfig->setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->customThrottle2Curve->getCurve());
 
         // Update the table:
-        for (int i=0; i<8; i++) {
-            field = obj->getField(mixerTypes.at(i));
-            QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,i);
-            field->setValue(q->currentText());
-            field = obj->getField(mixerVectors.at(i));
-            int ti = field->getElementNames().indexOf("ThrottleCurve1");
-            field->setValue(m_aircraft->customMixerTable->item(1,i)->text(),ti);
-            ti = field->getElementNames().indexOf("ThrottleCurve2");
-            field->setValue(m_aircraft->customMixerTable->item(2,i)->text(),ti);
-            ti = field->getElementNames().indexOf("Roll");
-            field->setValue(m_aircraft->customMixerTable->item(3,i)->text(),ti);
-            ti = field->getElementNames().indexOf("Pitch");
-            field->setValue(m_aircraft->customMixerTable->item(4,i)->text(),ti);
-            ti = field->getElementNames().indexOf("Yaw");
-            field->setValue(m_aircraft->customMixerTable->item(5,i)->text(),ti);
+        for (int channel=0; channel<8; channel++) {
+            QComboBox* q = (QComboBox*)m_aircraft->customMixerTable->cellWidget(0,channel);
+
+            vconfig->setMixerType(mixer,channel,
+                q->currentText() == "Servo" ? VehicleConfig::MIXERTYPE_SERVO : VehicleConfig::MIXERTYPE_MOTOR);
+
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
+                                            m_aircraft->customMixerTable->item(1,channel)->text().toDouble());
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_THROTTLECURVE2,
+                                            m_aircraft->customMixerTable->item(2,channel)->text().toDouble());
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_ROLL,
+                                            m_aircraft->customMixerTable->item(3,channel)->text().toDouble());
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_PITCH,
+                                            m_aircraft->customMixerTable->item(4,channel)->text().toDouble());
+            vconfig->setMixerVectorValue(mixer,channel,VehicleConfig::MIXERVECTOR_YAW,
+                                            m_aircraft->customMixerTable->item(5,channel)->text().toDouble());
         }
     }
+
     // set the airframe type
-    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
-    field = obj->getField(QString("AirframeType"));
-    field->setValue(airframeType);
+    UAVDataObject* system = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("SystemSettings")));
+    Q_ASSERT(system);
+
+    QPointer<UAVObjectField> field = system->getField(QString("AirframeType"));
+    if (field)
+        field->setValue(airframeType);
 
     updateCustomAirframeUI();
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
index d128acaf5..3cca72ba1 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
@@ -38,6 +38,7 @@
 #include "cfg_vehicletypes/configfixedwingwidget.h"
 #include "cfg_vehicletypes/configmultirotorwidget.h"
 #include "cfg_vehicletypes/configgroundvehiclewidget.h"
+#include "cfg_vehicletypes/vehicleconfig.h"
 
 #include <QtGui/QWidget>
 #include <QList>
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index fd6b01ca8..3f985a66e 100755
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -495,7 +495,7 @@
             <property name="geometry">
              <rect>
               <x>0</x>
-              <y>-114</y>
+              <y>0</y>
               <width>673</width>
               <height>790</height>
              </rect>
@@ -11797,7 +11797,7 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="2">
+                <item row="0" column="3">
                  <widget class="QPushButton" name="pushButton_4">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -11850,7 +11850,7 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="1" column="0" colspan="3">
+                <item row="1" column="0" colspan="4">
                  <widget class="QGroupBox" name="RateStabilizationGroup_9">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -14693,6 +14693,19 @@ value as the Kp.</string>
                   </layout>
                  </widget>
                 </item>
+                <item row="0" column="2">
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                </layout>
               </widget>
              </item>
@@ -15272,7 +15285,7 @@ value as the Kp.</string>
                 <bool>false</bool>
                </property>
                <layout class="QGridLayout" name="gridLayout_4">
-                <item row="1" column="0" colspan="3">
+                <item row="1" column="0" colspan="4">
                  <widget class="QGroupBox" name="RateStabilizationGroup_5">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -17936,7 +17949,7 @@ border-radius: 5;</string>
                   </property>
                  </spacer>
                 </item>
-                <item row="0" column="2">
+                <item row="0" column="3">
                  <widget class="QPushButton" name="pushButton_2">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -17999,6 +18012,19 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
+                <item row="0" column="2">
+                 <spacer name="horizontalSpacer">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                </layout>
               </widget>
              </item>
diff --git a/ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro b/ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro
index f567fc401..58475b05f 100644
--- a/ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro
+++ b/ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro
@@ -1,5 +1,5 @@
 TEMPLATE = lib
-TARGET = HITLV2
+TARGET = HITLv2
 QT += network
 include(../../openpilotgcsplugin.pri)
 include(hitlv2_dependencies.pri)
diff --git a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
index f83efe968..1f7a476f0 100644
--- a/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
+++ b/ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
@@ -128,7 +128,7 @@ QList <Core::IConnection::device> SerialConnection::availableDevices()
         foreach( QextPortInfo port, ports ) {
            device d;
            d.displayName=port.friendName;
-           d.name=port.friendName;
+           d.name=port.physName;
            list.append(d);
         }
     }
@@ -143,7 +143,7 @@ QIODevice *SerialConnection::openDevice(const QString &deviceName)
     }
     QList<QextPortInfo> ports = QextSerialEnumerator::getPorts();
     foreach( QextPortInfo port, ports ) {
-           if(port.friendName == deviceName)
+           if(port.physName == deviceName)
             {
             //we need to handle port settings here...
             PortSettings set;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
index ced1bfcba..a6924e71d 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
@@ -27,6 +27,77 @@
 
 #include "treeitem.h"
 
+/* Constructor */
+HighLightManager::HighLightManager(long checkingInterval)
+{
+    // Start the timer and connect it to the callback
+    m_expirationTimer.start(checkingInterval);
+    connect(&m_expirationTimer, SIGNAL(timeout()), this, SLOT(checkItemsExpired()));
+}
+
+/*
+ * Called to add item to list. Item is only added if absent.
+ * Returns true if item was added, otherwise false.
+ */
+bool HighLightManager::add(TreeItem *itemToAdd)
+{
+    // Lock to ensure thread safety
+    QMutexLocker locker(&m_listMutex);
+
+    // Check so that the item isn't already in the list
+    if(!m_itemsList.contains(itemToAdd))
+    {
+        m_itemsList.append(itemToAdd);
+        return true;
+    }
+    return false;
+}
+
+/*
+ * Called to remove item from list.
+ * Returns true if item was removed, otherwise false.
+ */
+bool HighLightManager::remove(TreeItem *itemToRemove)
+{
+    // Lock to ensure thread safety
+    QMutexLocker locker(&m_listMutex);
+
+    // Remove item and return result
+    return m_itemsList.removeOne(itemToRemove);
+}
+
+/*
+ * Callback called periodically by the timer.
+ * This method checks for expired highlights and
+ * removes them if they are expired.
+ * Expired highlights are restored.
+ */
+void HighLightManager::checkItemsExpired()
+{
+    // Lock to ensure thread safety
+    QMutexLocker locker(&m_listMutex);
+
+    // Get a mutable iterator for the list
+    QMutableLinkedListIterator<TreeItem*> iter(m_itemsList);
+
+    // This is the timestamp to compare with
+    QTime now = QTime::currentTime();
+
+    // Loop over all items, check if they expired.
+    while(iter.hasNext())
+    {
+        TreeItem* item = iter.next();
+        if(item->getHiglightExpires() < now)
+        {
+            // If expired, call removeHighlight
+            item->removeHighlight();
+
+            // Remove from list since it is restored.
+            iter.remove();
+        }
+    }
+}
+
 int TreeItem::m_highlightTimeMs = 500;
 
 TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
@@ -36,7 +107,6 @@ TreeItem::TreeItem(const QList<QVariant> &data, TreeItem *parent) :
         m_highlight(false),
         m_changed(false)
 {
-    connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
 }
 
 TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
@@ -46,7 +116,6 @@ TreeItem::TreeItem(const QVariant &data, TreeItem *parent) :
         m_changed(false)
 {
     m_data << data << "" << "";
-    connect(&m_timer, SIGNAL(timeout()), this, SLOT(removeHighlight()));
 }
 
 TreeItem::~TreeItem()
@@ -108,21 +177,50 @@ void TreeItem::apply() {
         child->apply();
 }
 
+/*
+ * Called after a value has changed to trigger highlightning of tree item.
+ */
 void TreeItem::setHighlight(bool highlight) {
     m_highlight = highlight;
     m_changed = false;
     if (highlight) {
-        if (m_timer.isActive()) {
-            m_timer.stop();
+        // Update the expires timestamp
+        m_highlightExpires = QTime::currentTime().addMSecs(m_highlightTimeMs);
+
+        // Add to highlightmanager
+        if(m_highlightManager->add(this))
+        {
+            // Only emit signal if it was added
+            emit updateHighlight(this);
         }
-        m_timer.setSingleShot(true);
-        m_timer.start(m_highlightTimeMs);
     }
-    emit updateHighlight(this);
+    else if(m_highlightManager->remove(this))
+    {
+        // Only emit signal if it was removed
+        emit updateHighlight(this);
+    }
+
+    // If we have a parent, call recursively to update highlight status of parents.
+    // This will ensure that the root of a leaf that is changed also is highlighted.
+    // Only updates that really changes values will trigger highlight of parents.
+    if(m_parent)
+    {
+        m_parent->setHighlight(highlight);
+    }
 }
 
 void TreeItem::removeHighlight() {
     m_highlight = false;
-    update();
+    //update();
     emit updateHighlight(this);
 }
+
+void TreeItem::setHighlightManager(HighLightManager *mgr)
+{
+    m_highlightManager = mgr;
+}
+
+QTime TreeItem::getHiglightExpires()
+{
+    return m_highlightExpires;
+}
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
index 937631b05..c4f8e0355 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
@@ -32,10 +32,58 @@
 #include "uavmetaobject.h"
 #include "uavobjectfield.h"
 #include <QtCore/QList>
+#include <QtCore/QLinkedList>
 #include <QtCore/QVariant>
+#include <QTCore/QTime>
 #include <QtCore/QTimer>
 #include <QtCore/QObject>
+#include <QtCore/QDebug>
 
+class TreeItem;
+
+/*
+* Small utility class that handles the higlighting of
+* tree grid items.
+* Basicly it maintains all items due to be restored to
+* non highlighted state in a linked list.
+* A timer traverses this list periodically to find out
+* if any of the items should be restored. All items are
+* updated withan expiration timestamp when they expires.
+* An item that is beeing restored is removed from the
+* list and its removeHighlight() method is called. Items
+* that are not expired are left in the list til next time.
+* Items that are updated during the expiration time are
+* left untouched in the list. This reduces unwanted emits
+* of signals to the repaint/update function.
+*/
+class HighLightManager : public QObject
+{
+Q_OBJECT
+public:
+    // Constructor taking the checking interval in ms.
+    HighLightManager(long checkingInterval);
+
+    // This is called when an item has been set to
+    // highlighted = true.
+    bool add(TreeItem* itemToAdd);
+
+    //This is called when an item is set to highlighted = false;
+    bool remove(TreeItem* itemToRemove);
+
+private slots:
+    // Timer callback method.
+    void checkItemsExpired();
+
+private:
+    // The timer checking highlight expiration.
+    QTimer m_expirationTimer;
+
+    // The list holding all items due to be updated.
+    QLinkedList<TreeItem*> m_itemsList;
+
+    //Mutex to lock when accessing list.
+    QMutex m_listMutex;
+};
 
 class TreeItem : public QObject
 {
@@ -77,11 +125,16 @@ public:
     inline bool changed() { return m_changed; }
     inline void setChanged(bool changed) { m_changed = changed; }
 
+    virtual void setHighlightManager(HighLightManager* mgr);
+
+    QTime getHiglightExpires();
+
+    virtual void removeHighlight();
+
 signals:
     void updateHighlight(TreeItem*);
 
 private slots:
-    void removeHighlight();
 
 private:
     QList<TreeItem*> m_children;
@@ -91,7 +144,8 @@ private:
     TreeItem *m_parent;
     bool m_highlight;
     bool m_changed;
-    QTimer m_timer;
+    QTime m_highlightExpires;
+    HighLightManager* m_highlightManager;
 public:
     static const int dataColumn = 1;
 private:
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
index ac2e4bcee..9bd8b20b4 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
@@ -47,6 +47,8 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
 
+    // Create highlight manager, let it run every 300 ms.
+    m_highlightManager = new HighLightManager(300);
     connect(objManager, SIGNAL(newObject(UAVObject*)), this, SLOT(newObject(UAVObject*)));
     connect(objManager, SIGNAL(newInstance(UAVObject*)), this, SLOT(newObject(UAVObject*)));
 
@@ -56,6 +58,7 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent) :
 
 UAVObjectTreeModel::~UAVObjectTreeModel()
 {
+    delete m_highlightManager;
     delete m_rootItem;
 }
 
@@ -67,9 +70,12 @@ void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
     m_rootItem = new TreeItem(rootData);
 
     m_settingsTree = new TopTreeItem(tr("Settings"), m_rootItem);
+    m_settingsTree->setHighlightManager(m_highlightManager);
     m_rootItem->appendChild(m_settingsTree);
     m_nonSettingsTree = new TopTreeItem(tr("Data Objects"), m_rootItem);
+    m_nonSettingsTree->setHighlightManager(m_highlightManager);
     m_rootItem->appendChild(m_nonSettingsTree);
+    m_rootItem->setHighlightManager(m_highlightManager);
     connect(m_settingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     connect(m_nonSettingsTree, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
 
@@ -96,6 +102,7 @@ void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
         addInstance(obj, root->child(index));
     } else {
         DataObjectTreeItem *data = new DataObjectTreeItem(obj->getName() + " (" + QString::number(obj->getNumBytes()) + " bytes)");
+        data->setHighlightManager(m_highlightManager);
         connect(data, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
         int index = root->nameIndex(obj->getName());
         root->insert(index, data);
@@ -110,6 +117,7 @@ void UAVObjectTreeModel::addMetaObject(UAVMetaObject *obj, TreeItem *parent)
 {
     connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(highlightUpdatedObject(UAVObject*)));
     MetaObjectTreeItem *meta = new MetaObjectTreeItem(obj, tr("Meta Data"));
+    meta->setHighlightManager(m_highlightManager);
     connect(meta, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     foreach (UAVObjectField *field, obj->getFields()) {
         if (field->getNumElements() > 1) {
@@ -132,6 +140,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
     } else {
         QString name = tr("Instance") +  " " + QString::number(obj->getInstID());
         item = new InstanceTreeItem(obj, name);
+        item->setHighlightManager(m_highlightManager);
         connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
         parent->appendChild(item);
     }
@@ -148,6 +157,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
 void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
 {
     TreeItem *item = new ArrayFieldTreeItem(field->getName());
+    item->setHighlightManager(m_highlightManager);
     connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     for (uint i = 0; i < field->getNumElements(); ++i) {
         addSingleField(i, field, item);
@@ -192,6 +202,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
     default:
         Q_ASSERT(false);
     }
+    item->setHighlightManager(m_highlightManager);
     connect(item, SIGNAL(updateHighlight(TreeItem*)), this, SLOT(updateHighlight(TreeItem*)));
     parent->appendChild(item);
 }
@@ -352,7 +363,6 @@ void UAVObjectTreeModel::highlightUpdatedObject(UAVObject *obj)
     Q_ASSERT(obj);
     ObjectTreeItem *item = findObjectTreeItem(obj);
     Q_ASSERT(item);
-    item->setHighlight(true);
     item->update();
     QModelIndex itemIndex = index(item);
     Q_ASSERT(itemIndex != QModelIndex());
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
index 17399611c..d9787e3a7 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h
@@ -97,6 +97,9 @@ private:
     int m_recentlyUpdatedTimeout;
     QColor m_recentlyUpdatedColor;
     QColor m_manuallyChangedColor;
+
+    // Highlight manager to handle highlighting of tree items.
+    HighLightManager *m_highlightManager;
 };
 
 #endif // UAVOBJECTTREEMODEL_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
index 76d6b55bd..3cac0abc0 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
@@ -84,7 +84,7 @@ public:
     };
 
     ConfigTaskWidget(QWidget *parent = 0);
-    ~ConfigTaskWidget();
+    virtual ~ConfigTaskWidget();
 
     void disableMouseWheelEvents();
     bool eventFilter( QObject * obj, QEvent * evt );
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
index 6eaa8f5ed..64b9912b1 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.cpp
@@ -43,6 +43,7 @@ Node::Node(MixerCurveWidget *graphWidget)
     setCacheMode(DeviceCoordinateCache);
     setZValue(-1);
     vertical = false;
+    value = 0;
 }
 
 void Node::addEdge(Edge *edge)
@@ -98,6 +99,15 @@ void Node::verticalMove(bool flag){
     vertical = flag;
 }
 
+double Node::getValue() {
+    return value;
+}
+
+void Node::setValue(double val) {
+    value = val;
+}
+
+
 QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
 {
 
@@ -117,11 +127,19 @@ QVariant Node::itemChange(GraphicsItemChange change, const QVariant &value)
                 newPos.setY(h);
               return newPos;
     }
-    case ItemPositionHasChanged:
+    case ItemPositionHasChanged: {
         foreach (Edge *edge, edgeList)
             edge->adjust();
-        graph->itemMoved((h-newPos.y())/h);
+
+        double min = graph->getMin();
+        double range = graph->getMax() - min;
+        double ratio = (h - newPos.y()) / h;
+        double val = (range * ratio ) + min;
+        setValue(val);
+
+        graph->itemMoved(val);
         break;
+    }
     default:
         break;
     };
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
index 987875e32..19b940625 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvepoint.h
@@ -48,12 +48,16 @@ public:
     enum { Type = UserType + 1 };
     int type() const { return Type; }
 
+
     void verticalMove(bool flag);
 
     QRectF boundingRect() const;
     QPainterPath shape() const;
     void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
 
+    void   setValue(double val);
+    double getValue();
+
 protected:
     QVariant itemChange(GraphicsItemChange change, const QVariant &value);
 
@@ -61,6 +65,8 @@ protected:
     void mouseReleaseEvent(QGraphicsSceneMouseEvent *event);
     
 private:
+
+    double value;
     QList<Edge *> edgeList;
     QPointF newPos;
     MixerCurveWidget *graph;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
index f21d782f6..56ed8bee9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.cpp
@@ -32,8 +32,6 @@
 #include <QtGui>
 #include <QDebug>
 
-
-
 /*
  * Initialize the widget
  */
@@ -74,11 +72,48 @@ MixerCurveWidget::MixerCurveWidget(QWidget *parent) : QGraphicsView(parent)
     scene->setSceneRect(plot->boundingRect());
     setScene(scene);
 
+    initNodes(MixerCurveWidget::NODE_NUMELEM);
 }
 
 MixerCurveWidget::~MixerCurveWidget()
 {
+    for (int i=0; i<nodePool.count(); i++)
+        delete nodePool.at(i);
 
+    for (int i=0; i<edgePool.count(); i++)
+        delete edgePool.at(i);
+}
+
+Node* MixerCurveWidget::getNode(int index)
+{
+    Node* node;
+
+    if (index >= 0 && index < nodePool.count())
+    {
+        node = nodePool.at(index);
+    }
+    else {
+        node = new Node(this);
+        nodePool.append(node);
+    }
+    return node;
+}
+
+Edge* MixerCurveWidget::getEdge(int index, Node* sourceNode, Node* destNode)
+{
+    Edge* edge;
+
+    if (index >= 0 && index < edgePool.count())
+    {
+        edge = edgePool.at(index);
+        edge->setSourceNode(sourceNode);
+        edge->setDestNode(destNode);
+    }
+    else {
+        edge = new Edge(sourceNode,destNode);
+        edgePool.append(edge);
+    }
+    return edge;
 }
 
 /**
@@ -89,60 +124,62 @@ MixerCurveWidget::~MixerCurveWidget()
   */
 void MixerCurveWidget::initCurve(QList<double> points)
 {
-
     if (points.length() < 2)
         return; // We need at least 2 points on a curve!
 
-    // First of all, reset the list
-    // TODO: one edge might not get deleted properly, small mem leak maybe...
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    // finally, set node positions
+    setCurve(points);
+}
+
+void MixerCurveWidget::initNodes(int numPoints)
+{
+    // First of all, clear any existing list
+    if (nodeList.count()) {
         foreach (Node *node, nodeList ) {
             QList<Edge*> edges = node->edges();
             foreach(Edge *edge, edges) {
-                if (scene()->items().contains(edge))
-                        scene()->removeItem(edge);
-                else
+                if (edge->destNode() == node) {
                     delete edge;
+                }
+                else {
+                    scene()->removeItem(edge);
+                }
             }
-        scene()->removeItem(node);
-        delete node;
-    }
-    nodeList.clear();
+            scene()->removeItem(node);
+        }
+
+        nodeList.clear();
+    }
+
+    // Create the nodes and edges
+    Node* prevNode = 0;
+    for (int i=0; i<numPoints; i++) {
+
+        Node *node = getNode(i);
 
-    // Create the nodes
-    qreal w = plot->boundingRect().width()/(points.length()-1);
-    qreal h = plot->boundingRect().height();
-    for (int i=0; i<points.length(); i++) {
-        Node *node = new Node(this);
-        scene()->addItem(node);
         nodeList.append(node);
-        double val = points.at(i);
-        if (val>curveMax)
-                val=curveMax;
-        if (val<curveMin)
-                val=curveMin;
-        val+=curveMin;
-        val/=(curveMax-curveMin);
-        node->setPos(w*i,h-val*h);
-        node->verticalMove(true);
-    }
+        scene()->addItem(node);
 
-    // ... and link them together:
-    for (int i=0; i<(points.length()-1); i++) {
-        scene()->addItem(new Edge(nodeList.at(i),nodeList.at(i+1)));
-    }
+        if (prevNode) {
+            scene()->addItem(getEdge(i, prevNode, node));
+        }
 
+        prevNode = node;
+    }
 }
 
-
 /**
   Returns the current curve settings
   */
 QList<double> MixerCurveWidget::getCurve() {
+
     QList<double> list;
 
-    qreal h = plot->boundingRect().height();
     foreach(Node *node, nodeList) {
-        list.append(((curveMax-curveMin)*(h-node->pos().y())/h)+curveMin);
+        list.append(node->getValue());
     }
 
     return list;
@@ -150,11 +187,15 @@ QList<double> MixerCurveWidget::getCurve() {
 /**
   Sets a linear graph
   */
-void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
+void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue, double minValue)
 {
+    Q_UNUSED(maxValue);
+    Q_UNUSED(minValue);
+
     QList<double> points;
     for (double i=0; i<numPoints;i++) {
-        points.append(maxValue*(i/(numPoints-1)));
+        double val = ((curveMax - curveMin) * (i/(numPoints-1))) + curveMin;
+        points.append(val);
     }
     initCurve(points);
 }
@@ -163,25 +204,35 @@ void MixerCurveWidget::initLinearCurve(quint32 numPoints, double maxValue)
   */
 void MixerCurveWidget::setCurve(QList<double> points)
 {
-    if (nodeList.length()<1)
-    {
-        initCurve(points);
-    }
-    else
-    {
-        qreal w = plot->boundingRect().width()/(points.length()-1);
-        qreal h = plot->boundingRect().height();
-        for (int i=0; i<points.length(); i++) {
-            double val = points.at(i);
-            if (val>curveMax)
-                    val=curveMax;
-            if (val<curveMin)
-                    val=curveMin;
-            val-=curveMin;
-            val/=(curveMax-curveMin);
-            nodeList.at(i)->setPos(w*i,h-val*h);
-        }
+    curveUpdating = true;
+
+    if (nodeList.count() != points.count())
+        initNodes(points.count());
+
+    double min = curveMin + 10;
+    double max = curveMax + 10;
+
+    qreal w = plot->boundingRect().width()/(points.count()-1);
+    qreal h = plot->boundingRect().height();
+    for (int i=0; i<points.count(); i++) {
+
+        double val = points.at(i);
+        if (val < curveMin)
+            val = curveMin;
+        if (val > curveMax)
+            val = curveMax;
+
+        val += 10;
+        val -= min;
+        val /= (max - min);
+
+        nodeList.at(i)->setPos(w*i, h - (val*h));
+        nodeList.at(i)->verticalMove(true);
     }
+
+    curveUpdating = false;
+
+    emit curveUpdated(points, (double)0);
 }
 
 
@@ -205,8 +256,10 @@ void MixerCurveWidget::resizeEvent(QResizeEvent* event)
 
 void MixerCurveWidget::itemMoved(double itemValue)
 {
-    QList<double> list = getCurve();
-    emit curveUpdated(list, itemValue);
+    if (!curveUpdating) {
+        QList<double> list = getCurve();
+        emit curveUpdated(list, itemValue);
+    }
 }
 
 void MixerCurveWidget::setMin(double value)
@@ -217,6 +270,14 @@ void MixerCurveWidget::setMax(double value)
 {
     curveMax = value;
 }
+double MixerCurveWidget::getMin()
+{
+    return curveMin;
+}
+double MixerCurveWidget::getMax()
+{
+    return curveMax;
+}
 void MixerCurveWidget::setRange(double min, double max)
 {
     curveMin = min;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
index 9a14123a7..92c9c3a8c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/mixercurvewidget.h
@@ -31,6 +31,7 @@
 #include <QGraphicsView>
 #include <QtSvg/QSvgRenderer>
 #include <QtSvg/QGraphicsSvgItem>
+#include <QtCore/QPointer>
 #include "mixercurvepoint.h"
 #include "mixercurveline.h"
 #include "uavobjectwidgetutils_global.h"
@@ -45,12 +46,16 @@ public:
    void itemMoved(double itemValue); // Callback when a point is moved, to be updated
    void initCurve (QList<double> points);
    QList<double> getCurve();
-   void initLinearCurve(quint32 numPoints, double maxValue);
+   void initLinearCurve(quint32 numPoints, double maxValue = 1, double minValue = 0);
    void setCurve(QList<double>);
    void setMin(double value);
+   double getMin();
    void setMax(double value);
+   double getMax();
    void setRange(double min, double max);
 
+   static const int NODE_NUMELEM = 5;
+
 signals:
    void curveUpdated(QList<double>, double );
 
@@ -58,9 +63,19 @@ private slots:
 
 private:
    QGraphicsSvgItem *plot;
+
+   QList<Node*> nodePool;
+   QList<Edge*> edgePool;
    QList<Node*> nodeList;
+   QList<double> points;
+
    double curveMin;
    double curveMax;
+   bool   curveUpdating;
+
+   void  initNodes(int numPoints);
+   Node* getNode(int index);
+   Edge* getEdge(int index, Node* sourceNode, Node* destNode);
 
 protected:
     void showEvent(QShowEvent *event);
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
index dd0fb21a7..d12d6d9fe 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp
@@ -110,10 +110,12 @@ void UAVTalk::processInputStream()
 {
     quint8 tmp;
 
-    while (io->bytesAvailable() > 0)
-    {
-        io->read((char*)&tmp, 1);
-        processInputByte(tmp);
+    if (io && io->isReadable()) {
+        while (io->bytesAvailable() > 0)
+        {
+            io->read((char*)&tmp, 1);
+            processInputByte(tmp);
+        }
     }
 }
 
@@ -731,9 +733,8 @@ bool UAVTalk::transmitNack(quint32 objId)
 
     qToLittleEndian<quint16>(dataOffset, &txBuffer[2]);
 
-
     // Send buffer, check that the transmit backlog does not grow above limit
-    if ( io->bytesToWrite() < TX_BUFFER_SIZE )
+    if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+CHECKSUM_LENGTH);
     }
@@ -823,7 +824,7 @@ bool UAVTalk::transmitSingleObject(UAVObject* obj, quint8 type, bool allInstance
     txBuffer[dataOffset+length] = updateCRC(0, txBuffer, dataOffset + length);
 
     // Send buffer, check that the transmit backlog does not grow above limit
-    if ( io->bytesToWrite() < TX_BUFFER_SIZE )
+    if (io && io->isWritable() && io->bytesToWrite() < TX_BUFFER_SIZE )
     {
         io->write((const char*)txBuffer, dataOffset+length+CHECKSUM_LENGTH);
     }
diff --git a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
index 217f110d9..6f0bf2e8d 100644
--- a/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
+++ b/ground/openpilotgcs/src/plugins/uavtalk/uavtalk.h
@@ -27,6 +27,7 @@
 #ifndef UAVTALK_H
 #define UAVTALK_H
 
+#include <QtCore>
 #include <QIODevice>
 #include <QMutex>
 #include <QMutexLocker>
@@ -100,7 +101,7 @@ private:
     typedef enum {STATE_SYNC, STATE_TYPE, STATE_SIZE, STATE_OBJID, STATE_INSTID, STATE_DATA, STATE_CS} RxStateType;
 
     // Variables
-    QIODevice* io;
+    QPointer<QIODevice> io;
     UAVObjectManager* objMngr;
     QMutex* mutex;
     QMap<quint32, Transaction*> transMap;