diff --git a/ground/src/plugins/uploader/devicewidget.cpp b/ground/src/plugins/uploader/devicewidget.cpp
index 9f4aae307..fe6e33379 100644
--- a/ground/src/plugins/uploader/devicewidget.cpp
+++ b/ground/src/plugins/uploader/devicewidget.cpp
@@ -58,6 +58,7 @@ void deviceWidget::populate()
     myDevice->deviceACL->setText(QString("Access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
     myDevice->maxCodeSize->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode));
     myDevice->fwCRC->setText(QString("FW CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC));
+    myDevice->BLVersion->setText(QString("BL Version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
 
     int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc;
     m_dfu->enterDFU(deviceID);
@@ -69,6 +70,26 @@ void deviceWidget::populate()
 
 }
 
+/**
+  Freezes the contents of the widget so that a user cannot
+  try to modify the contents
+  */
+void deviceWidget::freeze()
+{
+   myDevice->description->setEnabled(false);
+   myDevice->updateButton->setEnabled(false);
+   myDevice->verifyButton->setEnabled(false);
+   myDevice->retrieveButton->setEnabled(false);
+}
+
+/**
+  Updates status message
+  */
+void deviceWidget::status(QString str)
+{
+    myDevice->statusLabel->setText(str);
+}
+
 /**
   Verifies the firmware CRC
   */
@@ -88,27 +109,29 @@ void deviceWidget::uploadFirmware()
     }
 
     bool verify = true;
+    QString filename = setOpenFileName();
 
+    if (filename.isEmpty()) {
+        status("Empty filename");
+        return;
+    }
 
-
-    /*
-                OP_DFU::Status retstatus=dfu.UploadFirmware(file.toAscii(),verify, device);
-                if(retstatus!=OP_DFU::Last_operation_Success)
-                {
-                    cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).toLatin1().data();
-                    return -1;
-                }
-                if(!description.isEmpty())
-                {
-                    retstatus=dfu.UploadDescription(description);
-                    if(retstatus!=OP_DFU::Last_operation_Success)
-                    {
-                        cout<<"Upload failed with code:"<<dfu.StatusToString(retstatus).toLatin1().data();
-                        return -1;
-                    }
-                }
-                cout<<"Uploading Succeded!\n";
-*/
+    status("Uploading firmware to device");
+    repaint(); // FW Upload is not threaded and will mostly freeze the UI...
+    connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
+    OP_DFU::Status retstatus = m_dfu->UploadFirmware(filename.toAscii(),verify, deviceID);
+    if(retstatus != OP_DFU::Last_operation_Success) {
+        status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data());
+        return;
+    } else
+    if(!myDevice->description->text().isEmpty()) {
+        retstatus = m_dfu->UploadDescription(myDevice->description->text());
+        if( retstatus != OP_DFU::Last_operation_Success) {
+            status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data());
+            return;
+        }
+    }
+    status("Uploading Succeded!");
 }
 
 /**
@@ -127,3 +150,29 @@ void deviceWidget::downloadFirmware()
                 return ret;
 */
 }
+
+/**
+  Slot to update the progress bar
+  */
+void deviceWidget::setProgress(int percent)
+{
+    myDevice->progressBar->setValue(percent);
+}
+
+/**
+
+Opens an open file dialog.
+
+*/
+QString deviceWidget::setOpenFileName()
+{
+    QFileDialog::Options options;
+    QString selectedFilter;
+    QString fileName = QFileDialog::getOpenFileName(this,
+                                                    tr("Select firmware file"),
+                                                    "",
+                                                    tr("All Files (*);;Firmware Files (*.bin)"),
+                                                    &selectedFilter,
+                                                    options);
+    return fileName;
+}
diff --git a/ground/src/plugins/uploader/devicewidget.h b/ground/src/plugins/uploader/devicewidget.h
index 5e3227dca..b53ccdce6 100644
--- a/ground/src/plugins/uploader/devicewidget.h
+++ b/ground/src/plugins/uploader/devicewidget.h
@@ -31,6 +31,8 @@
 #include "ui_devicewidget.h"
 #include "op_dfu.h"
 #include <QWidget>
+#include <QFileDialog>
+
 
 class deviceWidget : public QWidget
 {
@@ -40,11 +42,14 @@ public:
     void setDeviceID(int devID);
     void setDfu(OP_DFU* dfu);
     void populate();
+    void freeze();
+    QString setOpenFileName();
 
 private:
     Ui_deviceWidget *myDevice;
     int deviceID;
     OP_DFU *m_dfu;
+    void status(QString str);
 
 signals:
 
@@ -52,6 +57,7 @@ public slots:
     void verifyFirmware();
     void uploadFirmware();
     void downloadFirmware();
+    void setProgress(int);
 
 };
 
diff --git a/ground/src/plugins/uploader/op_dfu.cpp b/ground/src/plugins/uploader/op_dfu.cpp
index b49c207e9..5b2dbed79 100644
--- a/ground/src/plugins/uploader/op_dfu.cpp
+++ b/ground/src/plugins/uploader/op_dfu.cpp
@@ -24,6 +24,11 @@ OP_DFU::OP_DFU(bool _debug): debug(_debug)
         qDebug() << numDevices << " device(s) opened";
 }
 
+OP_DFU::~OP_DFU()
+{
+
+}
+
 bool OP_DFU::SaveByteArrayToFile(QString const & sfile, const QByteArray &array)
 {
     QFile file(sfile);
@@ -147,7 +152,7 @@ bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray  & data)
         //        }
         // qDebug()<<" Data0="<<(int)data[0]<<" Data0="<<(int)data[1]<<" Data0="<<(int)data[2]<<" Data0="<<(int)data[3]<<" buf6="<<(int)buf[6]<<" buf7="<<(int)buf[7]<<" buf8="<<(int)buf[8]<<" buf9="<<(int)buf[9];
         //delay::msleep(send_delay);
-        if(int ret=StatusRequest()!=OP_DFU::uploading) return false;
+        if(StatusRequest()!=OP_DFU::uploading) return false;
         int result = hidHandle.send(0,buf, BUF_LEN, 5000);
      //   qDebug()<<"sent:"<<result;
         if(result<1)
@@ -162,7 +167,7 @@ bool OP_DFU::UploadData(qint32 const & numberOfBytes, QByteArray  & data)
     // while(true){}
     return true;
 }
-OP_DFU::Status OP_DFU::UploadDescription(QString  & description)
+OP_DFU::Status OP_DFU::UploadDescription(QString description)
 {
      cout<<"Starting uploading description\n";
     if(description.length()%4!=0)
@@ -191,6 +196,9 @@ OP_DFU::Status OP_DFU::UploadDescription(QString  & description)
         qDebug()<<"Upload description Status="<<ret;
     return (OP_DFU::Status)ret;
 }
+
+
+
 QString OP_DFU::DownloadDescription(int const & numberOfChars)
 {
     // enterDFU(devNumber);
@@ -199,26 +207,7 @@ QString OP_DFU::DownloadDescription(int const & numberOfChars)
     return str;
 
 }
-void OP_DFU::test()
-{
-    char buf[BUF_LEN];
-    int result;
-    buf[0]=0x02;
-    buf[1]=11;
-    buf[2]=11;
-    buf[63]=333;
-    while(true)
-    {
-        buf[0]=0x02;
-        ++buf[1];
-        ++buf[2];
-        ++buf[63];
-        hidHandle.send(0,buf,BUF_LEN,5000);
-        result = hidHandle.receive(0,buf,BUF_LEN,5000);
 
-        qDebug()<<"Result="<<result;
-        qDebug()<<(int)buf[0]<<":"<<(int)buf[1]<<":"<<(int)buf[2]<<":"<<(int)buf[63];
-    }}
 
 QByteArray OP_DFU::StartDownload(qint32 const & numberOfBytes, TransferTypes const & type)
 {
@@ -275,7 +264,8 @@ QByteArray OP_DFU::StartDownload(qint32 const & numberOfBytes, TransferTypes con
     StatusRequest();
     return ret;
 }
-void OP_DFU::ResetDevice(void)
+
+int OP_DFU::ResetDevice(void)
 {
     char buf[BUF_LEN];
     buf[0] =0x02;//reportID
@@ -288,9 +278,10 @@ void OP_DFU::ResetDevice(void)
     buf[7] = 0;
     buf[8] = 0;
     buf[9] = 0;
-    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+    return hidHandle.send(0,buf, BUF_LEN, 500);
 }
-void OP_DFU::AbortOperation(void)
+
+int OP_DFU::AbortOperation(void)
 {
     char buf[BUF_LEN];
     buf[0] =0x02;//reportID
@@ -303,9 +294,10 @@ void OP_DFU::AbortOperation(void)
     buf[7] = 0;
     buf[8] = 0;
     buf[9] = 0;
-    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+    return hidHandle.send(0,buf, BUF_LEN, 500);
 }
-void OP_DFU::JumpToApp()
+
+int OP_DFU::JumpToApp()
 {
     char buf[BUF_LEN];
     buf[0] =0x02;//reportID
@@ -319,7 +311,7 @@ void OP_DFU::JumpToApp()
     buf[8] = 0;
     buf[9] = 0;
 
-    int result = hidHandle.send(0,buf, BUF_LEN, 500);
+    return hidHandle.send(0,buf, BUF_LEN, 500);
 }
 
 OP_DFU::Status OP_DFU::StatusRequest()
@@ -659,6 +651,8 @@ QString OP_DFU::StatusToString(OP_DFU::Status const & status)
 void OP_DFU::printProgBar( int const & percent,QString const& label){
     std::string bar;
 
+    emit(progressUpdated(percent));
+
     for(int i = 0; i < 50; i++){
         if( i < (percent/2)){
             bar.replace(i,1,"=");
diff --git a/ground/src/plugins/uploader/op_dfu.h b/ground/src/plugins/uploader/op_dfu.h
index 19a9b0d1e..61610a6f2 100644
--- a/ground/src/plugins/uploader/op_dfu.h
+++ b/ground/src/plugins/uploader/op_dfu.h
@@ -12,23 +12,13 @@
 using namespace std;
 #define BUF_LEN 64
 
-//Command Line Options
-#define DOWNLOAD            "-dn"    //done
-#define DEVICE              "-d"     //done
-//#define DOWNDESCRIPTION     "-dd"    //done
-#define PROGRAMFW           "-p"     //done
-#define PROGRAMDESC         "-w"     //done
-#define VERIFY              "-v"     //done
-#define COMPARECRC         "-cc"
-#define COMPAREALL          "-ca"
-#define STATUSREQUEST       "-s"    //done
-#define LISTDEVICES         "-ls"   //done
-#define RESET               "-r"
-#define JUMP                "-j"
 
-class OP_DFU
+class OP_DFU : public QObject
 {
-public:
+    Q_OBJECT;
+
+    public:
+
     enum TransferTypes
     {
         FW,
@@ -99,12 +89,15 @@ public:
             bool Writable;
     };
 
-    void JumpToApp();
-    void ResetDevice(void);
+    OP_DFU(bool debug);
+    ~OP_DFU();
+
+    int JumpToApp();
+    int ResetDevice(void);
     bool enterDFU(int const &devNumber);
     bool StartUpload(qint32  const &numberOfBytes, TransferTypes const & type,quint32 crc);
     bool UploadData(qint32 const & numberOfPackets,QByteArray  & data);
-    Status UploadDescription(QString  & description);
+    Status UploadDescription(QString description);
     Status UploadFirmware(const QString &sfile, const bool &verify,int device);
     Status StatusRequest();
     bool EndOperation();
@@ -114,7 +107,6 @@ public:
     bool SaveByteArrayToFile(QString const & file,QByteArray const &array);
     void CopyWords(char * source, char* destination, int count);
    // QByteArray DownloadData(int devNumber,int numberOfPackets);
-    OP_DFU(bool debug);
     bool findDevices();
     QList<device> devices;
     int numberOfDevices;
@@ -122,14 +114,17 @@ public:
     OP_DFU::Status CompareFirmware(const QString &sfile, const CompareType &type,int device);
     quint32 CRC32WideFast(quint32 Crc, quint32 Size, quint32 *Buffer);
     quint32 CRCFromQBArray(QByteArray array, quint32 Size);
-    void test();
+
     int send_delay;
     bool use_delay;
-    void AbortOperation(void);
+    int AbortOperation(void);
+
+signals:
+   void progressUpdated(int);
+
 private:
     bool debug;
     int RWFlags;
-
     pjrc_rawhid hidHandle;
     int setStartBit(int command){return command|0x20;}
 };
diff --git a/ground/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/src/plugins/uploader/uploadergadgetwidget.cpp
index f598d0b04..c953c1e75 100755
--- a/ground/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -32,6 +32,7 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
     m_config->setupUi(this);
     currentStep = IAP_STATE_READY;
     resetOnly=false;
+    dfu = NULL;
 
     //m_config->systemElements->addTab((QWidget*)new deviceWidget(),QString("Device"));
 
@@ -118,28 +119,28 @@ void UploaderGadgetWidget::goToBootloader(UAVObject* callerObj, bool success)
 
         // Tell the mainboard to get into bootloader state:
         log("Going into Bootloader mode...");
-        OP_DFU dfu(true);
-        dfu.AbortOperation();
-        if(!dfu.enterDFU(0))
+        dfu = new OP_DFU(false);
+        dfu->AbortOperation();
+        if(!dfu->enterDFU(0))
         {
             log("Could not enter DFU mode.");
             return;
         }
         m_config->boardStatus->setText("Bootloader");
         currentStep = IAP_STATE_BOOTLOADER;
-        //OP_DFU::Status ret=dfu.StatusRequest();
-        dfu.findDevices();
-        log(QString("Found ") + QString::number(dfu.numberOfDevices) + QString(" device(s)."));
+        //dfu.StatusRequest();
+        dfu->findDevices();
+        log(QString("Found ") + QString::number(dfu->numberOfDevices) + QString(" device(s)."));
         // Delete all previous tabs:
         for (int i=0; i< m_config->systemElements->count(); i++) {
              QWidget *qw = m_config->systemElements->widget(i);
              m_config->systemElements->removeTab(i);
              delete qw;
         }
-        for(int i=0;i<dfu.numberOfDevices;i++) {
+        for(int i=0;i<dfu->numberOfDevices;i++) {
             deviceWidget* dw = new deviceWidget(this);
             dw->setDeviceID(i);
-            dw->setDfu(&dfu);
+            dw->setDfu(dfu);
             dw->populate();
             m_config->systemElements->addTab(dw, QString("Device") + QString::number(i));
         }
@@ -175,15 +176,16 @@ void UploaderGadgetWidget::systemBoot()
 {
     if (currentStep == IAP_STATE_BOOTLOADER) {
         clearLog();
-        OP_DFU dfu(true);
-        dfu.AbortOperation();
-        if(!dfu.enterDFU(0))
+        if (!dfu)
+            dfu = new OP_DFU(true);
+        dfu->AbortOperation();
+        if(!dfu->enterDFU(0))
         {
             log("Could not enter DFU mode.");
             return;
         }
         log("Booting system...");
-        dfu.JumpToApp();
+        dfu->JumpToApp();
         currentStep = IAP_STATE_READY;
         // stop the polling thread: otherwise it will mess up DFU
         ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@@ -193,6 +195,14 @@ void UploaderGadgetWidget::systemBoot()
         m_config->haltButton->setEnabled(true);
         m_config->resetButton->setEnabled(true);
         m_config->boardStatus->setText("Running");
+        // Freeze the tabs, they are not useful anymore and their buttons
+        // will cause segfaults or weird stuff if we use them.
+        for (int i=0; i< m_config->systemElements->count(); i++) {
+             deviceWidget *qw = (deviceWidget*)m_config->systemElements->widget(i);
+             qw->freeze();
+        }
+
+        delete dfu;
 
     } else {
         log("Not in bootloader mode!");
@@ -214,35 +224,12 @@ void UploaderGadgetWidget::clearLog()
     m_config->textBrowser->clear();
 }
 
-//user pressed send, send file using a new thread with qymodem library
-void UploaderGadgetWidget::send()
-{
-
-}
-//destructor !!?! do I need to delete something else?
 UploaderGadgetWidget::~UploaderGadgetWidget()
 {
-}
-
-
-/**
-
-Opens an open file dialog.
-
-*/
-void UploaderGadgetWidget::setOpenFileName()
-{
-    QFileDialog::Options options;
-    QString selectedFilter;
-    QString fileName = QFileDialog::getOpenFileName(this,
-                                                    tr("QFileDialog::getOpenFileName()"),
-                                                    openFileNameLE->text(),
-                                                    tr("All Files (*);;Text Files (*.bin)"),
-                                                    &selectedFilter,
-                                                    options);
-    if (!fileName.isEmpty()) openFileNameLE->setText(fileName);
 
 }
+
+
 /**
 Shows a message box with an error string.
 
diff --git a/ground/src/plugins/uploader/uploadergadgetwidget.h b/ground/src/plugins/uploader/uploadergadgetwidget.h
index 551ac21c0..3eeaf79ed 100755
--- a/ground/src/plugins/uploader/uploadergadgetwidget.h
+++ b/ground/src/plugins/uploader/uploadergadgetwidget.h
@@ -42,7 +42,6 @@
 #include <QLabel>
 #include <QLineEdit>
 #include <QThread>
-#include <QFileDialog>
 #include <QMessageBox>
 
 
@@ -58,6 +57,7 @@ public:
 
 private:
      Ui_UploaderWidget *m_config;
+     OP_DFU *dfu;
      IAPStep currentStep;
      bool resetOnly;
      void log(QString str);
@@ -66,8 +66,6 @@ private:
      QLineEdit* openFileNameLE;
 
 private slots:
-    void setOpenFileName();
-    void send();
     void error(QString errorString,int errorNumber);
     void info(QString infoString,int infoNumber);
     void goToBootloader(UAVObject* = NULL, bool = false);