diff --git a/ground/src/plugins/config/ahrs.ui b/ground/src/plugins/config/ahrs.ui
index dac374e73..b25c9a142 100644
--- a/ground/src/plugins/config/ahrs.ui
+++ b/ground/src/plugins/config/ahrs.ui
@@ -34,7 +34,7 @@
       <x>10</x>
       <y>10</y>
       <width>341</width>
-      <height>141</height>
+      <height>131</height>
      </rect>
     </property>
     <property name="toolTip">
@@ -100,7 +100,7 @@ Hint: run this with engines at cruising speed.</string>
     <property name="geometry">
      <rect>
       <x>10</x>
-      <y>390</y>
+      <y>380</y>
       <width>111</width>
       <height>17</height>
      </rect>
@@ -113,7 +113,7 @@ Hint: run this with engines at cruising speed.</string>
     <property name="geometry">
      <rect>
       <x>140</x>
-      <y>380</y>
+      <y>370</y>
       <width>131</width>
       <height>31</height>
      </rect>
@@ -171,14 +171,14 @@ Hint: run this with engines at cruising speed.</string>
      </rect>
     </property>
    </widget>
-   <widget class="QCheckBox" name="checkBox">
+   <widget class="QCheckBox" name="homeLocation">
     <property name="enabled">
      <bool>false</bool>
     </property>
     <property name="geometry">
      <rect>
-      <x>310</x>
-      <y>380</y>
+      <x>320</x>
+      <y>370</y>
       <width>201</width>
       <height>22</height>
      </rect>
@@ -254,9 +254,9 @@ specific calibration button on top of the screen.</string>
    <widget class="QLabel" name="label">
     <property name="geometry">
      <rect>
-      <x>360</x>
+      <x>370</x>
       <y>10</y>
-      <width>271</width>
+      <width>251</width>
       <height>17</height>
      </rect>
     </property>
@@ -302,6 +302,19 @@ specific calibration button on top of the screen.</string>
      <string>Save Position</string>
     </property>
    </widget>
+   <widget class="QCheckBox" name="indoorFlight">
+    <property name="geometry">
+     <rect>
+      <x>320</x>
+      <y>400</y>
+      <width>201</width>
+      <height>22</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Indoor flight mode</string>
+    </property>
+   </widget>
   </widget>
  </widget>
  <resources/>
diff --git a/ground/src/plugins/config/configahrswidget.cpp b/ground/src/plugins/config/configahrswidget.cpp
index 9d8c9b46c..defccc3ae 100644
--- a/ground/src/plugins/config/configahrswidget.cpp
+++ b/ground/src/plugins/config/configahrswidget.cpp
@@ -187,7 +187,7 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_ahrs->ahrsSettingsRequest, SIGNAL(clicked()), this, SLOT(ahrsSettingsRequest()));
     connect(m_ahrs->ahrsSettingsSaveRAM, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveRAM()));
     connect(m_ahrs->ahrsSettingsSaveSD, SIGNAL(clicked()), this, SLOT(ahrsSettingsSaveSD()));
-    connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(calibrationMode()));
+    connect(m_ahrs->sixPointsStart, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMode()));
     connect(m_ahrs->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData()));
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
 
@@ -350,6 +350,7 @@ void ConfigAHRSWidget::attitudeRawUpdated(UAVObject * obj)
             computeScaleBias();
             m_ahrs->sixPointsStart->setEnabled(true);
             m_ahrs->sixPointsSave->setEnabled(false);
+            saveAHRSCalibration(); // Saves the result to SD.
 
             /* Cleanup original settings */
             obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
@@ -521,7 +522,10 @@ void ConfigAHRSWidget::computeScaleBias()
 
 }
 
-void ConfigAHRSWidget::calibrationMode()
+/**
+  Six point calibration mode
+  */
+void ConfigAHRSWidget::sixPointCalibrationMode()
 {
     UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSCalibration")));
 
@@ -619,8 +623,15 @@ void ConfigAHRSWidget::ahrsSettingsRequest()
     UAVObject *obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AHRSSettings")));
     obj->requestUpdate();
     UAVObjectField *field = obj->getField(QString("Algorithm"));
-    m_ahrs->algorithm->setCurrentIndex(m_ahrs->algorithm->findText(field->getValue().toString()));
+    if (field)
+        m_ahrs->algorithm->setCurrentIndex(m_ahrs->algorithm->findText(field->getValue().toString()));
     drawVariancesGraph();
+
+    obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("HomeLocation")));
+    field = obj->getField(QString("Indoor"));
+    if (field)
+        m_ahrs->homeLocation->setEnabled(field->getValue().toBool());
+
     m_ahrs->ahrsCalibStart->setEnabled(true);
     m_ahrs->sixPointsStart->setEnabled(true);
     m_ahrs->calibInstructions->setText(QString("Press \"Start\" above to calibrate."));
diff --git a/ground/src/plugins/config/configahrswidget.h b/ground/src/plugins/config/configahrswidget.h
index c20464d45..d206f7d60 100644
--- a/ground/src/plugins/config/configahrswidget.h
+++ b/ground/src/plugins/config/configahrswidget.h
@@ -100,7 +100,7 @@ private slots:
     void ahrsSettingsSaveSD();
     void savePositionData();
     void computeScaleBias();
-    void calibrationMode();
+    void sixPointCalibrationMode();
     void attitudeRawUpdated(UAVObject * obj);
 protected:
     void showEvent(QShowEvent *event);